DE102005051804B4 - Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements - Google Patents
Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements Download PDFInfo
- Publication number
- DE102005051804B4 DE102005051804B4 DE200510051804 DE102005051804A DE102005051804B4 DE 102005051804 B4 DE102005051804 B4 DE 102005051804B4 DE 200510051804 DE200510051804 DE 200510051804 DE 102005051804 A DE102005051804 A DE 102005051804A DE 102005051804 B4 DE102005051804 B4 DE 102005051804B4
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- image data
- lane
- camera
- display
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
- B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
-
- 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
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Verfahren
zur Fahrerunterstützung beim
Rangieren eines Fahrzeuges oder Fahrzeuggespanns, bei welchem dieses
Gefährt
(1) aus mehreren gegeneinander knickbaren Fahrzeugelementen (2,
3) besteht,
wobei mit wenigstens einer Kamera (9) Bilddaten
von der rückwärtigen Umgebung
des Gefährts
(1) erfasst werden,
wobei diese Bilddaten gemeinsam mit den
Daten über
den Lenkwinkel (7) wenigstens einer lenkbaren Achse (6) des Gefährts (1),
sowie über
den Knickwinkel (5) wenigstens zwischen zwei Fahrzeugelementen (2,
3) einem Prozessormodul zugeführt
werden,
welches anhand der Daten über Lenk- und Knickwinkel (5,7)
in Kenntnis wenigstens der Geometrie des Gefährts (1), dessen künftigen
Fahrverlauf im Umfang dessen Fahrspur (21, 31, 32) und/oder dessen
Schleppspur (22, 33, 34) prognostiziert,
dadurch gekennzeichnet,
dass
ein Abbild der Fahrspur (21, 31, 32) und/oder der Schleppspur (22,
33, 34) perspektivisch richtig, symbolisch den durch die Kamera
aufgenommenen Bilddaten überlagert
wird und die so bearbeiteten Bilddaten auf einer Anzeige (10) dem
Fahrer des...Method for driver assistance when maneuvering a vehicle or vehicle combination, in which this vehicle (1) consists of a plurality of mutually bendable vehicle elements (2, 3),
wherein at least one camera (9) captures image data from the rear environment of the vehicle (1),
wherein these image data, together with the data about the steering angle (7) at least one steerable axle (6) of the vehicle (1), as well as over the bending angle (5) at least between two vehicle elements (2, 3) are fed to a processor module,
which is based on the data on steering and articulation angle (5,7) with knowledge of at least the geometry of the vehicle (1), the future course of driving in the circumference of the lane (21, 31, 32) and / or its towing lane (22, 33, 34 ) predicts
characterized,
that an image of the traffic lane (21, 31, 32) and / or the towing lane (22, 33, 34) is superimposed in perspective correctly, symbolically on the image data recorded by the camera, and the thus processed image data are displayed on a display (10) to the driver of the vehicle ...
Description
Die Erfindung betrifft eine Rangierhilfe für Fahrzeuge und Fahrzeuggespanne, welche gegeneinander bewegliche Teilabschnitte aufweisen.The Invention relates to a maneuvering aid for vehicles and vehicle combinations, which have mutually movable sections.
Beim Führen eines Fahrzeuges ist es zur Vermeidung von Unfällen notwendig, dass der Fahrzeugführer das Umfeld des Fahrzeuges möglichst optimal einsehen kann. Die Erfassung des Fahrzeugumfeldes erfolgt dabei im Wesentlichen durch Sichtprüfung durch den Fahrzeugführer. Insbesondere beim Rangieren eines Fahrzeuges stellt sich auf Grund der Sitzposition des Fahrers jedoch das Problem, dass ein großer Teil des einzusehenden Fahrzeugrückraums durch den Fahrzeugkörper selbst verdeckt wird. Zur Lösung dieses Problems sind unterschiedlichste Spiegel- und Linsenkonstruktionen zur Anbringung am Fahrzeug bekannt. Auch wird neuerdings vorgeschlagen, den Rückraum des Fahrzeuges mit Hilfe einer Kameraeinrichtung zu erfassen und die so gewonnenen Bilddaten dem Fahrzeugführer gut einsehbar auf einem Display in Armaturenbereich darzustellen.At the To lead In order to avoid accidents, it is necessary for the driver of the vehicle to do so Environment of the vehicle as optimal as possible can see. The detection of the vehicle environment takes place essentially by visual inspection by the driver. In particular, when maneuvering a vehicle arises due the driver's seating position, however, the problem that a large part of the vehicle rear space to be viewed through the vehicle body itself is hidden. To the solution This problem is a variety of mirror and lens designs for Attachment to the vehicle known. Also, it is recently proposed the back room to capture the vehicle using a camera device and The image data thus obtained the driver well visible on a Display in dashboard area.
Um
den Fahrzeugführer
neben der Kamerabildanzeige bei der Rückwärtsfahrt weiter zu unterstützen wird
in den Schrif ten
Die
deutsche Offenlegungsschrift
Auch
bei dem in der deutschen Offenlegungsschrift
Zur
Unterstützung
von Fahrzeuglenkern bei schwierigen Fahrmanövern wird in der deutschen
Offenlegungsschrift
Aufgabe der Erfindung ist es eine verbesserte Rangierhilfe zu schaffen, welche für ein breites Spektrum von Kraftfahrzeugen verwendbar ist.task The invention is to provide an improved maneuvering aid, which for a wide range of motor vehicles is usable.
Die Aufgabe wird durch eine Vorrichtung und ein Verfahren mit den Merkmalen der Patentansprüche 1 und 9 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung werden durch die Unteransprüche beschrieben.The The object is achieved by a device and a method with the features of the claims 1 and 9 solved. Advantageous embodiments and further developments of the invention will be by the subclaims described.
Das
System zur Fahrerunterstützung
beim Rangieren ist so ausgelegt, dass es sich auch zum Führen eines
Fahrzeuges bzw. Fahrzeuggespanns (
Lenkwinkel
(
Die
mit der Kamera erfassten Bilddaten, sowie die ermittelten Lenk-
und Kippwinkel werden einem Prozessormodul zugeführt. Dieses Prozessormodul
besteht zumindest aus einer Einheit zur Bilddatenverarbeitung, sowie
wenigstens einem Speicher, welcher die Abmaße der Geometrie, insbesondere
die Umfangsgeometrie (
Anhand
der Daten über
Lenk- und Knickwinkel (
In
besonders vorteilhafter Weise wird der Speicher, welcher die geometrischen
Abmaße
des Gefährts
(
Um dem Fahrzeugführer eine möglichst umfassende Einsicht in die rückwärtige Umgebung präsentieren zu können bietet sich die Verwendung einer omnidirektionalen (katadioptrische)Kamera an. Hierdurch kann die Anzahl der zur Rückraumüberwachung notwendigen Kameras minimiert werdenAround the driver one possible comprehensive insight into the rear environment present to be able to offers the use of an omnidirectional (catadioptric) camera at. As a result, the number of cameras required for monitoring the back room can be be minimized
Zur
Anzeige der mit den Daten der Fahrspur (
Selbstverständlich ist
es für
das System zur Fahrerunterstützung
beim Rangieren vorteilhaft, wenn alle Lenk- und/oder Knickwinkel (
Nachfolgend wird das erfindungsgemäße System im Detail mit Hilfe von Figuren beschrieben. Dabei zeigt.following becomes the system according to the invention described in detail with the help of figures. It shows.
Zudem
erfolgt bei dem in der
Die
noch in den Bilddaten (
Bei
den in den
Die Erfindung eignet sich gleichsam beim Einsatz mit Traktoren oder anderen Zugfahrzeugen mit einem oder mehreren Anhängern oder aber mit Sattelschleppern oder Gelenkbussen.The Invention is as it were when used with tractors or other towing vehicles with one or more trailers or but with semi-trailers or articulated buses.
Claims (15)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510051804 DE102005051804B4 (en) | 2005-10-27 | 2005-10-27 | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements |
DE102005063445A DE102005063445B4 (en) | 2005-10-27 | 2005-10-27 | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510051804 DE102005051804B4 (en) | 2005-10-27 | 2005-10-27 | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements |
DE102005063445A DE102005063445B4 (en) | 2005-10-27 | 2005-10-27 | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102005051804A1 DE102005051804A1 (en) | 2007-05-03 |
DE102005051804B4 true DE102005051804B4 (en) | 2007-11-29 |
Family
ID=37912747
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102005063445A Expired - Fee Related DE102005063445B4 (en) | 2005-10-27 | 2005-10-27 | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements |
DE200510051804 Expired - Fee Related DE102005051804B4 (en) | 2005-10-27 | 2005-10-27 | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102005063445A Expired - Fee Related DE102005063445B4 (en) | 2005-10-27 | 2005-10-27 | Rangierhilfe for drivers of vehicles or vehicle combinations, which consist of mutually bendable vehicle elements |
Country Status (1)
Country | Link |
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DE (2) | DE102005063445B4 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008060770A1 (en) | 2008-12-05 | 2009-09-17 | Daimler Ag | Driver aiding method for use during parking of car, involves producing representation of trajectory via stored reference circle data in dependent of steering angle, vehicle data, and position and adjustment of camera |
US9156496B2 (en) | 2007-03-21 | 2015-10-13 | Ford Global Technologies, Llc | Vehicle maneuvering aids |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008006309A1 (en) | 2007-08-01 | 2009-02-05 | Daimler Ag | Method and device for driver assistance when maneuvering a vehicle or vehicle combination |
DE102007040250A1 (en) * | 2007-08-27 | 2009-03-05 | Daimler Ag | Method and device for driver assistance when maneuvering a vehicle or vehicle combination |
DE102009012253A1 (en) * | 2009-03-07 | 2010-09-09 | Valeo Schalter Und Sensoren Gmbh | Method for assisting driver during reverse driving of locomotive set from drawing vehicle with trailer, involves fading trajectory in display of video image, so that locomotive set is moved along trajectory during reverse driving of set |
DE102009039111A1 (en) | 2009-08-27 | 2011-03-03 | Spiegelmacher, Kurt, Prof. Dr. Ing. | Method for automatic or driver supported reversing method of vehicle units, involves providing global positioning system based navigation system |
DE202010007914U1 (en) * | 2010-06-12 | 2010-08-26 | Conwys Ag | Rear view aid for a vehicle combination |
DE102011010859B4 (en) * | 2011-02-10 | 2021-05-06 | Connaught Electronics Ltd. | Method for operating a camera system in a motor vehicle, camera system and motor vehicle |
DE102012022816A1 (en) | 2012-11-22 | 2014-05-22 | Wabco Gmbh | Method and device for controlling a rear-space monitoring system of a vehicle combination |
US9862413B2 (en) | 2013-05-15 | 2018-01-09 | Volvo Truck Company | Method for assisting the reversal of an articulated vehicle |
DE102013014908A1 (en) | 2013-09-06 | 2015-03-12 | Man Truck & Bus Ag | Driver assistance system of a vehicle, in particular a commercial vehicle |
DE102015201586A1 (en) | 2015-01-29 | 2016-08-04 | Volkswagen Aktiengesellschaft | Method and device for recognizing a trailer |
DE102016009330A1 (en) | 2016-07-30 | 2017-02-02 | Daimler Ag | Method for improving the rear view |
DE102017100669A1 (en) * | 2017-01-16 | 2018-07-19 | Connaught Electronics Ltd. | Method for detecting an environmental region of a motor vehicle with adaptation of a region of interest as a function of a trailer, computing device, camera system and motor vehicle |
DE102018221863A1 (en) | 2018-12-17 | 2020-06-18 | Volkswagen Aktiengesellschaft | Method for operating a trailer assistance system, trailer assistance system and motor vehicle |
KR20210148109A (en) | 2019-03-08 | 2021-12-07 | 올라코 프로덕츠 비.브이. | Method for Generating Collision Detection Training Set Containing Ego Part Exclusions |
DE102021121763A1 (en) | 2021-08-23 | 2023-02-23 | Zf Cv Systems Global Gmbh | Method for checking the stability of a combination with a vehicle and control unit for carrying out the method and vehicle or combination with the brake control unit |
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DE19526702A1 (en) * | 1995-07-24 | 1997-02-06 | Horst J Prof Dr Ing Roos | Accurate reversing control method and appts. for articulated truck - using input from monitoring video camera to microcomputer to regulate steering of vehicle |
DE19801884A1 (en) * | 1998-01-20 | 1999-07-22 | Mannesmann Vdo Ag | CCTV monitoring system for blind spots around motor vehicle |
DE19925584A1 (en) * | 1999-06-04 | 2000-12-21 | Bosch Gmbh Robert | Route visualization method and device |
DE10000215A1 (en) * | 2000-01-05 | 2001-07-12 | Bosch Gmbh Robert | Adjusting motor vehicle rear view mirror involves sensor detecting angle between tractor and trailer vehicles and controller adjusting mirror for observing the side/rear areas accordingly |
DE10131720A1 (en) * | 2001-06-30 | 2003-01-16 | Bosch Gmbh Robert | Head-up display system and method |
DE10317044A1 (en) * | 2003-04-11 | 2004-10-21 | Daimlerchrysler Ag | Optical monitoring system for use in maneuvering road vehicles provides virtual guide surfaces to ensure collision free movement |
DE10326190A1 (en) * | 2003-06-06 | 2004-12-30 | Daimlerchrysler Ag | Apparatus and method for determining a spatial orientation of a hanger or trailer |
-
2005
- 2005-10-27 DE DE102005063445A patent/DE102005063445B4/en not_active Expired - Fee Related
- 2005-10-27 DE DE200510051804 patent/DE102005051804B4/en not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19526702A1 (en) * | 1995-07-24 | 1997-02-06 | Horst J Prof Dr Ing Roos | Accurate reversing control method and appts. for articulated truck - using input from monitoring video camera to microcomputer to regulate steering of vehicle |
DE19801884A1 (en) * | 1998-01-20 | 1999-07-22 | Mannesmann Vdo Ag | CCTV monitoring system for blind spots around motor vehicle |
DE19925584A1 (en) * | 1999-06-04 | 2000-12-21 | Bosch Gmbh Robert | Route visualization method and device |
DE10000215A1 (en) * | 2000-01-05 | 2001-07-12 | Bosch Gmbh Robert | Adjusting motor vehicle rear view mirror involves sensor detecting angle between tractor and trailer vehicles and controller adjusting mirror for observing the side/rear areas accordingly |
DE10131720A1 (en) * | 2001-06-30 | 2003-01-16 | Bosch Gmbh Robert | Head-up display system and method |
DE10317044A1 (en) * | 2003-04-11 | 2004-10-21 | Daimlerchrysler Ag | Optical monitoring system for use in maneuvering road vehicles provides virtual guide surfaces to ensure collision free movement |
DE10326190A1 (en) * | 2003-06-06 | 2004-12-30 | Daimlerchrysler Ag | Apparatus and method for determining a spatial orientation of a hanger or trailer |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9156496B2 (en) | 2007-03-21 | 2015-10-13 | Ford Global Technologies, Llc | Vehicle maneuvering aids |
US9566911B2 (en) | 2007-03-21 | 2017-02-14 | Ford Global Technologies, Llc | Vehicle trailer angle detection system and method |
US9971943B2 (en) | 2007-03-21 | 2018-05-15 | Ford Global Technologies, Llc | Vehicle trailer angle detection system and method |
DE102008060770A1 (en) | 2008-12-05 | 2009-09-17 | Daimler Ag | Driver aiding method for use during parking of car, involves producing representation of trajectory via stored reference circle data in dependent of steering angle, vehicle data, and position and adjustment of camera |
Also Published As
Publication number | Publication date |
---|---|
DE102005063445B4 (en) | 2010-05-20 |
DE102005051804A1 (en) | 2007-05-03 |
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