CN110466605A - Method for operating the motor vehicles with auto-steering parking assistant - Google Patents
Method for operating the motor vehicles with auto-steering parking assistant Download PDFInfo
- Publication number
- CN110466605A CN110466605A CN201910369688.3A CN201910369688A CN110466605A CN 110466605 A CN110466605 A CN 110466605A CN 201910369688 A CN201910369688 A CN 201910369688A CN 110466605 A CN110466605 A CN 110466605A
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- motor vehicles
- parked
- parking
- park
- transmitting signal
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 2
- 230000004913 activation Effects 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to a kind of methods for operating the motor vehicles (2) with auto-steering parking assistant (20), this method has follow steps: with parking assistant (20) detection parking space (10), detection and parking space (10) adjacent parking stall (22, 24, at least one of 26) motor vehicles (4 parked, 6, 8), passive detection is from the motor vehicles (4 at least parked, 6, 8) transmitting signal, the transmitting signal represents the motor vehicles (4 parked, 6, 8) direction, assessment transmitting signal is to determine the motor vehicles (4 parked, 6, it 8) is that longitudinal direction is parked or laterally parked, and output instruction parking space (10) is used for the output signal of vertical or horizontal parking.
Description
Technical field
The present invention relates to the methods for operating the motor vehicles with auto-steering parking assistant, and further relate to calculate
Machine program product, parking assistant and the motor vehicles with auto-steering parking assistant.
Background technique
Motor vehicles are parked in longitudinal parking space automatically and laterally stopped by parking assistant (also referred to as steer without driving assistant)
Vehicle space.These system helps driver oneself selects correct steering angle.In addition, before this, they to parking space into
Row measurement.Driver oneself only needs to start throttle or brake.Such parking assistant can be at any time by Driver override.
In addition to this semi-automatic parking, assistant of stopping can also be designed for full-automatic parking.In this case, longitudinal movement also by
Motor vehicles actively monitor.
In general, parking assistant is started by switch, such as start in the console of motor vehicles.But it also may be selected with it
His mode starts parking assistant.Driver slowly travels then along the motor vehicles and parking space parked.In the process,
Parking assistant scans the right side and left side of road in the process of moving, to find possible longitudinally and/or laterally parking space.So
Driver selects him to want the side for the road parked afterwards, such as by the way that direction signal indicator is arranged.If parking space is sufficient
It is enough long, such as can be indicated in the display to driver.Then driver is driven to the starting point of instruction and engagement is reversed gear.Parking
Assistant becomes state of activation, and auto-steering driving device is stopped.But driver must continue to concern for the environment field, and
Motor vehicles are driven into parking space by operating throttle with caution.For example, acoustically indicating the end of reversing.Then, pass through
Further prompt (such as in the display) indicate that driver advances and moves backward again in appropriate circumstances.Disengaging movement
Quantity depend on parking space length.
But before parking, it is necessary to determine that parking space stops if appropriate for longitudinal parking or laterally.
Summary of the invention
Therefore, it is an object of the present invention to provide a kind of methods, and the direction of parking space can be determined using this method,
That is, parking space is appropriate for longitudinal parking or laterally parking.
The purpose for operating there is the method for the motor vehicles of auto-steering parking assistant to realize by a kind of, the party
Method has follow steps:
Parking space is detected with parking assistant；
Detect at least motor vehicles parked in the parking stall adjacent with parking space；
Transmitting signal of the passive detection from the motor vehicles at least parked represents the direction for the motor vehicles parked；
Assessment transmitting signal is to determine that the motor vehicles parked are longitudinal to park or laterally park；And
Output instruction parking space is used for the output signal of vertical or horizontal parking.
In other words, the transmitting signal for the motor vehicles that testing and evaluation is parked, to determine the motor vehicles parked
Direction.For this purpose, parking assistant may be previously by driver activation, or parking assistant may be permanent activation.Stop
The motor vehicles put can have such orientation, wherein the longitudinal axis for the motor vehicles parked is arranged essentially parallel to wait park
Motor vehicles longitudinal axis, alternatively, the longitudinal axis for the motor vehicles parked can substantially with motor vehicle to be parked
Longitudinal axis at right angle.From the direction for the motor vehicles parked, the direction of parking space is inferred, that is to say, that if
The motor vehicles longitudinally parked are detected beside parking space or near the parking space in predetermined space, are thus inferred, are examined
The parking space that measures allows longitudinal parking, and if near parking space beside parking space or in predetermined space
It detects the motor vehicles laterally parked, thus infers, the parking space detected allows laterally parking.It therefore, can be with spy
Not simple mode obtains the information stopped about parking space if appropriate for longitudinal parking or laterally.
According to one embodiment, emitting signal is the pressure sensor from direct system for monitoring pressure in tyre (TPMS)
Electromagnetic signal.In direct system for monitoring pressure in tyre, pressure sensor records the internal pressure of the tire of motor vehicles.The letter
Breath passes through the control unit that radio is sent to motor vehicles at certain intervals together with identifier.Therefore, it can detecte vehicle
The slow or even unexpected pressure loss at wheel.In general, all wheels of monitoring motor vehicles.Therefore, by that will emit
Signal distributes to the corresponding wheel for the motor vehicles parked --- off-front wheel, the near front wheel, off hind wheel, left rear wheel --- can be special
Easily detect its orientation.For example, by means of ionization meter, while the distance of traveling is recorded, can detecte to be parked motor-driven
Whether vehicle has passed through the motor vehicles (for example, the spacing between off-front wheel and off hind wheel is big) longitudinally parked or has laterally parked
Motor vehicles (for example, the spacing between off hind wheel and left rear wheel is small).
According to another embodiment, the identifier of transmitting signal is recorded and assesses, the identifier represents the motor vehicle parked
Off-front wheel and/or the near front wheel and/or off hind wheel and/or left rear wheel.Record the position of each wheel for the motor vehicles parked
Set unique identifier.Therefore, signal will be emitted and distributes to each wheels of the motor vehicles parked --- off-front wheel, the near front wheel,
Off hind wheel, left rear wheel --- work simplify again.
According to another embodiment, in order to which the motor vehicles that determination is parked are that longitudinal direction is parked or transverse direction is parked, by what is parked
The direction of motor vehicles is compared with the direction of motor vehicles to be parked, if motor vehicles to be parked and the machine parked
The direction of motor-car is essentially identical, then the motor vehicles for being inferred to park be it is longitudinal park, if motor vehicles to be parked and
The direction for the motor vehicles parked is substantially different, then the motor vehicles for being inferred to park are laterally to park.In this respect, " base
On this in the range of habit is allowed " it will be understood by, such as occur during parking.It is used for for example, can create
The value logical zero of the value logic 1 of the same direction and different directions is distributed to logical variable by the logical variable in direction.
It is helped for realizing the computer program product of such method, parking assistant and with such parking
The motor vehicles of hand also belong to the present invention.
Detailed description of the invention
The present invention will be illustrated based on attached drawing now.It is shown:
Fig. 1 is to illustrate to illustrate the first situation with the parking space for longitudinally stopping.
Fig. 2 is to illustrate to illustrate the second situation with the parking space for laterally stopping.
Specific embodiment
Referring initially to Fig. 1.
Represented is the case where drivers of motor vehicles 2 (such as passenger car) is look for parking stall.
Motor vehicles 2 have auto-steering parking assistant 20.
In the present embodiment, parking assistant 20 is designed to semi-automatic or complete in longitudinal parking space and lateral parking space
Full-automatic parking motor vehicles 2.For these tasks and function and those described below, in the present embodiment, parking is helped
Hand 20 shows hardware component and/or component software.
Driver has had activated parking assistant 20 --- for example, opening in the passenger compartment for passing through driving motor vehicles 2
Close --- and also select that motor vehicles 2 will be parked longitudinally.But deviateing the present embodiment, parking assistant 20 is also possible to
Permanent activation.In addition, deviateing the present embodiment, motor vehicles 2 can use the form of autonomous driving motor vehicles --- also
It is to say, robotic vehicle --- or motor vehicles 2 can be by driver's remote driving outside passenger compartment.
Driver slowly travels along the motor vehicles 4,6,8 for being parked in road side, and the first motor vehicles 4 parked are located at
In first parking stall 22, the second motor vehicles 6 parked are located in the second parking stall 24, and the motor vehicles 8 that third is parked
In third parking stall 26.
In the present embodiment, suitable parking space 10 be located on 2 driving direction F of motor vehicles second park it is motor-driven
Between the third parking stall 26 for the motor vehicles 8 that second parking stall 24 of vehicle 6 and third are parked.
When driving is passed through, parking assistant 20 examines for example by ultrasonic sensor scanning circumstance to find parking selection
Survey parking space 10.
In order to which the parking space 10 confirmly detected stops if appropriate for longitudinal parking or laterally --- that is, parking
Which direction space 10 has, and parking assistant 20 passively detects the transmitting signal from the motor vehicles 4,6,8 parked.
In this respect, it " passively " is interpreted as parking assistant 20 and does not issue any kind of signal, but only detect to come from and park
Motor vehicles 4,6,8 component signal.
The component of the motor vehicles 4,6,8 parked in the present embodiment is direct system for monitoring pressure in tyre (TPMS) 28
Pressure sensor.
System for monitoring pressure in tyre 28 is used to monitor the tire pressure in motor vehicles 4,6,8, to prevent by tire pressure
Accident caused by failure.In addition to this, using best tire pressure, fuel can be saved and avoid unnecessary tire wear.
It is indirectly and directly distinct between system for monitoring pressure in tyre.
Indirect system for monitoring pressure in tyre is inferred to the pressure loss from wheel velocity.In order to obtain necessary data,
It must resort to sensor present in motor vehicles.Wheel velocity is by ABS (anti-lock braking system) sensor or ESP (electricity
Sub- stability program) sensor or polling power controlling device record.
Direct system for monitoring pressure in tyre 28 is designed to record the motor vehicles parked respectively with corresponding pressure sensor
4, the tire pressure of 6,8 off-front wheel 12, the near front wheel 14, off hind wheel 16 and left rear wheel 18, and wirelessly by above-mentioned wheel
Tire pressure is transmitted to the control unit for the motor vehicles 4,6,8 parked accordingly, such as passes through radio link.
Therefore, in the present embodiment, pressure sensor of the testing and evaluation from direct system for monitoring pressure in tyre 28
Electromagnetic signal.In addition, in the present embodiment, the identifier of record and assessment transmitting signal.In this case, identifier represents
The off-front wheel 12 and the near front wheel 14 and off hind wheel 16 and left rear wheel 18 for the motor vehicles 4,6,8 parked accordingly.
Therefore, by record identifier and ionization meter, can detecte which wheel closest to motor vehicles 2 and which
Wheel is related.Furthermore, it is possible to detect which wheel second close to motor vehicles 2 and which wheel be related etc..
According to the distribution of these distances and wheel, can be parked relative to the determination of the longitudinal direction of motor vehicles 2 motor-driven
The direction of vehicle 4,6,8, the direction are directed toward driving direction F.
Therefore, in the current situation, detect that the motor vehicles 4,6,8 parked continuously are indulged on direction of travel F
To parking.In other words, the longitudinal axis of motor vehicles 2 is arranged essentially parallel to the corresponding longitudinal direction for the motor vehicles 4,6,8 parked
Axis.In this respect, it will be understood by " substantially in the range of habit is allowed ", such as occur during parking.
Therefore, motor vehicles 2 and the direction having the same of motor vehicles 4,6,8 parked.
Then the logical variable for creating direction, distributes the value logic 1 of the same direction then for it.
It is possible thereby to infer, parking space 10 is suitable for longitudinal parking.Then output instruction parking space 10 is for longitudinal
The output signal of parking.
This is indicated to driver, such as in the display.Then driver is driven to the starting point of instruction and engagement is reversed gear.Stop
Then vehicle assistant 20 is stopped.
Referring additionally now to Fig. 2.
What is indicated now is such scene, and wherein the driver of motor vehicles 2 (such as passenger car) is look for stopping
Position, and parking space 10 is designed to lateral parking.
Therefore, in the current situation, detect that the motor vehicles 4,6,8 parked are parked laterally side by side.In other words,
The longitudinal axis of motor vehicles 2 is substantially to the corresponding longitudinal axis for the motor vehicles 4,6,8 parked at right angle.In this respect,
" substantially in the range of habit is allowed " will be understood by, such as occur during parking.Therefore, motor vehicles 2
There is different directions with the motor vehicles 4,6,8 parked.
Then the logical variable for creating direction, distributes the value logical zero of different directions then for it.
It is possible thereby to infer, parking space 10 is suitable for lateral parking.Then output instruction parking space 10 is for laterally
The output signal of parking.
This is indicated to driver, such as in the display.Then driver is driven to the starting point of instruction and engagement is reversed gear.Stop
Then vehicle assistant 20 is stopped.
Stop about parking space 10 if appropriate for vertical or horizontal in this way it is possible to provide in a particularly simple way
The item of information of vehicle.
Reference signs list:
2 motor vehicles
4 motor vehicles
6 motor vehicles
8 motor vehicles
10 parking spaces
12 off-front wheels
14 the near front wheels
16 off hind wheels
18 left rear wheels
20 auto-steerings parking assistant
22 parking stalls
24 parking stalls
26 parking stalls
28 direct system for monitoring pressure in tyre
F direction of travel
Claims (10)
1. method of the one kind for operating the motor vehicles (2) with auto-steering parking assistant (20), has follow steps:
Parking space (10) are detected with the parking assistant (20)；
Motor vehicles that detection is parked at least one of the parking space (10) adjacent parking stall (22,24,26) (4,
6,8)；
Transmitting signal of the passive detection from at least described motor vehicles (4,6,8) parked, described in the transmitting signal representative
The direction for the motor vehicles (4,6,8) parked；
It is longitudinally to park or laterally park that the transmitting signal, which is assessed, with the motor vehicles (4,6,8) parked described in determination；With
And
Output instruction parking space (10) is used for the output signal of vertical or horizontal parking.
2. the method for claim 1, wherein the transmitting signal is from direct system for monitoring pressure in tyre (28)
The electromagnetic signal of pressure sensor.
3. method according to claim 2, wherein record and assess the identifier of the transmitting signal, the identifier generation
The off-front wheel (12) and/or the near front wheel (14) and/or off hind wheel (16) of the motor vehicles (4,6,8) parked described in table and/or a left side
Rear-wheel (18).
4. method as claimed in claim 1,2 or 3, wherein in order to which the motor vehicles (4,6,8) parked described in determination are longitudinal
It parks or laterally parks, the direction of motor vehicles (4,6,8) parked and the direction of motor vehicles (2) are compared
Compared with being inferred to described park if the direction of motor vehicles (2) and the motor vehicles (4,6,8) parked is essentially identical
Motor vehicles (4,6,8) be it is longitudinal park, if the direction of motor vehicles (2) and the motor vehicles (4,6,8) parked
Substantially different, then being inferred to the motor vehicles (4,6,8) parked is laterally to park.
5. a kind of computer program product is designed to carry out method according to any one of claims 1 to 4.
6. a kind of parking assistant (20), designed for passing through the parking assistant (20) detection parking space (10), detection and institute
The motor vehicles (4,6,8) parked at least one of adjacent parking stall of parking space (10) (22,24,26) are stated, it is passive to examine
The transmitting signal from at least described motor vehicles (4,6,8) parked is surveyed, is parked described in the transmitting signal representative motor-driven
The direction of vehicle (4,6,8), assessing the transmitting signal with the motor vehicles (4,6,8) parked described in determination is longitudinal park also
It is laterally to park, and export the output signal for indicating the parking space (10) for vertical or horizontal parking.
7. parking assistant (20) as claimed in claim 6, wherein the transmitting signal is from direct monitoring tire pressure system
The electromagnetic signal of the pressure sensor of system (28).
8. parking assistant (20) as claimed in claim 7, wherein the parking assistant (20) is designed for recording and assessing institute
State the identifier of transmitting signal, the off-front wheel (12) for the motor vehicles (4,6,8) parked described in the identifier representative and/or a left side
Front-wheel (14) and/or off hind wheel (16) and/or left rear wheel (18).
9. the parking assistant (20) as described in claim 6,7 or 8, wherein in order to parked described in determination motor vehicles (4,6,
It 8) is that longitudinal direction is parked or laterally parked, parking assistant (20) is designed for the motor vehicles (4,6,8) parked
Direction be compared with the direction of motor vehicles (2), if motor vehicles (2) and the motor vehicles (4,6,8) parked
Direction it is essentially identical, then be inferred to the motor vehicles (4,6,8) parked be it is longitudinal park, if motor vehicles (2) and
The direction of the motor vehicles (4,6,8) parked is substantially different, then being inferred to the motor vehicles (4,6,8) parked is
Laterally park.
10. a kind of motor vehicles (2) have the parking assistant (20) as described in any one of claim 6 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018207234.5A DE102018207234A1 (en) | 2018-05-09 | 2018-05-09 | Method for operating a motor vehicle with a self-steering parking assistant |
| DE102018207234.5 | 2018-05-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110466605A true CN110466605A (en) | 2019-11-19 |
Family
ID=68336802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910369688.3A Pending CN110466605A (en) | 2018-05-09 | 2019-05-06 | Method for operating the motor vehicles with auto-steering parking assistant |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110466605A (en) |
| DE (1) | DE102018207234A1 (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012018112A1 (en) * | 2012-09-13 | 2014-03-13 | Valeo Schalter Und Sensoren Gmbh | Method for determining the orientation of a parking space, parking assistance system and motor vehicle |
| DE102014210043A1 (en) * | 2014-05-27 | 2015-10-29 | Robert Bosch Gmbh | Method for carrying out a parking operation of a vehicle in a transverse parking space, and corresponding computer program and parking assistant |
| US10328932B2 (en) * | 2014-06-02 | 2019-06-25 | Magna Electronics Inc. | Parking assist system with annotated map generation |
-
2018
- 2018-05-09 DE DE102018207234.5A patent/DE102018207234A1/en active Pending
-
2019
- 2019-05-06 CN CN201910369688.3A patent/CN110466605A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| DE102018207234A1 (en) | 2019-11-14 |
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