DE102007002267A1 - Motor vehicle parking method, involves blocking longitudinal movement of vehicle up to adjusted steering position by blocking device of longitudinal movement controller when preset steering angle is reached, and removing blocking - Google Patents

Abstract

The method involves providing sub-sections (10, 11) with a constant steering angle on a parking trajectory (12). Parameters of the sections and the steering angle adjusted to the sections are determined, and the adjusted steering angle is provided to a driver. A longitudinal movement of a motor vehicle (6) is blocked up to an adjusted steering position by a blocking device of a longitudinal movement controller when a preset steering angle is reached, and the blocking is removed. A speeding-up of the vehicle is automatically caused by the controller during removal of the blocking. An independent claim is also included for a longitudinal movement controller comprising a detection device.

Description

The Invention is in the field of motor vehicles, more specifically on the Area of assistance functions for Vehicles that make handling safer for certain operations and to make it more comfortable. Under such assistance functions are for example speed and distance control functions known as autopilot and distance warning, as well as lane-departure systems, which should prevent the agreement from the road surface and so-called Parking aids.

When Parking aids become fully or partially automated systems designated either to the driver during a parking operation or provide information in advance for an accurate, comfortable and accurate collision-free parking are necessary or functions, which take over a part of the control of the vehicle independently.

So are for example at the front and / or rear end of the vehicle Distance sensors known, for example, on a laser or ultrasound basis work and the driver in case of impending collision warn by acoustic or optical signals.

It are also known lateral sensors on vehicles, such as cameras, for recording and / or surveying of parking spaces serve, where the vehicle drives past.

It Also known are systems that calculate optimized parking trajectories and doing the necessary steering angle along the trajectory determine.

Basically it is possible a complete one to effect automatic parking, in which all movements of the Vehicle according to the previously determined by sensors conditions to be controlled.

At the Use of such fully automatic systems, however, arise Disadvantages in that the driver is responsible for the parking not completely should be removed and that also many functions of the Vehicles would need to be provided with actuators such as a automatic activity the steering would have to be provided.

Of the The present invention is based on the object, a method and a device for to create a motor vehicle at low cost and as possible low constructive effort a comfortable support of the Allow driver to park without his influence during the Process too restrictive.

The Task is according to the invention solved with the features of claim 1.

Of the Invention is based on the idea that for parking the vehicle a trajectory can be determined, at least partially from sections exists, which are traversed with a constant steering angle can. In this way it is possible in front of each section to set a predetermined steering angle, then the steering unchanged to fix the section to drive through and then a new steering angle for the following section adjust.

For example can for at least one section its length and the steering angle are determined, the corresponding steering adjustment be given to the driver, this manually by turning the steering wheel adjusts and then the vehicle can drive through the section.

Around To facilitate the handling of the driver, it is provided that a first blocking device longitudinal movement of the motor vehicle blocked until the steering adjustment to be set is reached and only then lifts the blockage.

The corresponding first blocking device, for example, a independently acting brake or a function of a longitudinal motion control system of the vehicle, which determines the appropriate steering angle and compared with a previously determined adjusted steering angle and only at agreement the blocking picks up. The longitudinal motion control system of the vehicle, for example, both the control of the brakes as well as the drive of the vehicle, especially in automatic transmissions take over. The first blocking device can, for example, by a module of a electronic control realized on brakes and drive the vehicle acts.

Of the Steering is done by sensors either on the steering wheel or better still determined directly on the wheels to be steered and by means of corresponding data of the first blocking device supplied.

To Reaching the steering angle to be set, the first blocking device except the lifting of the block also in the context of longitudinal motion control the vehicle cause an acceleration of the motor vehicle. In that case would have the driver exclusively to operate the steering, where For example, in each case the direction in which he turn the steering wheel would have would be displayed and upon reaching the steering angle to be adjusted would automatically move the vehicle. It can be advantageous be provided that at this time for driving through the corresponding section of the Trajektorie the steering wheel or the steering fixed becomes. This can be the driver, for example, acoustically or Haptic inform by a snap of the steering wheel.

there can also be provided that the driver locking the Steering wheel by an elevated Force can lift to unforeseen incidents in traffic to be able to react.

It can also be provided that only one operation of a control element by the driver a movement of the vehicle in the intended Direction triggers, after the blocking by the first blocking device is canceled is.

Thereby reserves the driver is responsible for the movement of the vehicle. He can also at any time during the Parking operation, press the brake to stop the vehicle immediately.

To such an activity a control by the driver can increase the speed of the driver Vehicle by the longitudinal motion control device be controlled so that at the time one through the Amplitude of actuation the control element has not exceeded the upper limit becomes. The longitudinal motion controller can set quite a lower speed, if This makes sense, however, the driver can by a corresponding low amplitude in its operation of the operating element determine that the vehicle, for example is moved very slowly.

It can also be provided that the set or controlled Speed of the motor vehicle proportional to the amplitude of the activity of the control element is.

at Such a control gives the driver the usual feeling that the vehicle the stronger is accelerated the further he operates a control.

there can also be provided that the operating element by the Accelerator pedal is formed. In this case basically changes for the driver across from the unsupported one Parking nothing except that the gear ratio of the Gaspedals changed can be.

It can according to the invention be provided that after passing through the section of the Trajectory before a necessary change of the steering angle the vehicle is automatically braked.

This has the advantage that the driver is not covered on the Must respect driving distance to set a new steering angle, but can rest assured that before the start of a new section braked the vehicle and as far as necessary set a new Steering is communicated. The vehicle can basically until be slowed to a standstill to give the driver enough time to give to adjust the new steering angle. It can, however be provided that the vehicle is at minimum speed moved on to the actuation the steering with stationary wheels to avoid. However, there should be a final stop of the vehicle be provided for when the driver for the operation of the Steering needed for a long time And while the intended breakpoint as the end point of the section of the Trajectory overrun too far becomes.

It may also be provided that after passing through the section ( 10 . 11 ) of the trajectory ( 12 ) before a necessary change of the steering angle, an automatic braking operation for the motor vehicle ( 6 ) is initiated by a single operation of the brake by the driver.

Of the Driver then has to do not control the entire braking process, but only initiate this.

Advantageous can also be provided that by the termination of the brake by the driver in the following, the braking acceleration to a predetermined Value is limited.

Thereby In any case, the vehicle is braked, but to a limited extent, provided that the driver does not continue to apply the brake.

A advantageous embodiment may also provide that while retaining the brake operation the driver in the following controlled the braking acceleration so is that the vehicle at the very end of each section to Standing comes.

The Control can if necessary even increase the brake pressure to stop the vehicle at the end of the section.

A further function in the method according to the invention can provide that monitors the distance to obstacles and the motor vehicle is braked in time before a collision with an obstacle.

These Function is particularly simple in the method according to the invention to realize because anyway blocking devices for the longitudinal motion control device the vehicle are provided and this only in addition to Sensors linked Need to become, which detect the distance of the vehicle to obstacles when parking.

It can additionally be provided that on the wheels of the motor vehicle in total acting torque determines and a longitudinal movement of the motor vehicle is blocked until the applied by the engine on the wheels Torque is sufficient to the motor vehicle against others acting personnel to move in the intended direction.

Thereby will prevent it from loosening corresponding blockages of blocking devices of the vehicle this due to the slope of a parking lot in an unscheduled Direction rolls and created on the one hand dangerous situations could become and on the other hand, the vehicle from the controlled parking lot removed again.

If The slope of the parking lot causes the vehicle to move on independently the intended direction rolls on a section, this can also thereby taken into account be solved that, for example, only the blocking, the Drive the vehicle but is not coupled, as this is to Passing through the section is not necessary.

Would that be Rolling the vehicle in the wrong direction, so must with the release of the Blocking be maintained until the drive is a corresponding Torque on the wheels applies to overcome corresponding downhill forces of the vehicle.

The Invention relates except on a method for parking a motor vehicle on a longitudinal motion control device for a Motor vehicle for implementation of the described method.

there can according to the invention a first detection device for the adjusted steering angle and a first blocking device may be provided which controls the longitudinal movement of the motor vehicle blocked as long as a proposed steering angle not set.

The corresponding detection device for the steering angle, for example detect corresponding steering angles at the wheels that are in electronic, For example, converted digital signals and by means of an electrical Line or a bus system to the blocking device or the Longitudinal motion controller transmitted by the vehicle become. The first blocking device may be an electronic module the longitudinal movement control device be that provides an input, when calculating a brake application or actuation of the Drive is calculated.

The inventive device can additionally a detection device for monitoring traversing the trajectory and a second blocking device have to decelerate the vehicle at the end of a section of a Trajectory.

The second detection device, for example, roll sensors on the wheels comprise on the one hand the direction of rotation on the other hand, the traveled Monitor the angle of rotation of the wheels, to get information about a traveled Track to determine and this to the second blocking device or the longitudinal motion control device to convey.

The Longitudinal motion controller the vehicle has data, which define the trajectory to be traversed. The corresponding Data can For example, the positions of the breakpoints between the different sections and to include each set steering angle. The data can also be the Length of sections include, so that these directly with the through the second detection device determined data can be compared.

To passing through a particular section then causes the second Blocking device braking the vehicle to a very low Speed or to a stop. The corresponding signals the second blocking device are in the context of the longitudinal movement control device included in the calculation of their output signals.

In addition, can a third obstacle detection device and a third obstacle detection device Blocking device for braking the motor vehicle in the event an impending collision with an obstacle may be provided.

The corresponding detection device comprises per se known distance sensors, whose signals are supplied to the third blocking device and thus as an input of the longitudinal motion control device to disposal stand.

The Invention also looks a fourth detection device for the sum of the wheels of the motor vehicle acting torque before and a fourth blocking device, the the longitudinal movement of the motor vehicle blocked until the sum of the drive and other sources of power applied to the wheels torque to an acceleration of the motor vehicle in the intended direction leads.

such Facilities are in themselves known as hill-start facilities known to start off for to facilitate a vehicle on a slope. In the present invention can such a sub-function with very little effort additionally be provided, as appropriate blocking devices anyway are provided and only the necessary sensors for a fourth Detecting device must be provided to the Losrollen of the Prevent vehicle in an unforeseen direction on a section. It can thus be prevented that the vehicle during the Parking procedure when the driver set the correct steering angle for a section has, for example, on the roadway rolls before the longitudinal motion control device one enough high torque on the wheels applies to the wheels in the intended direction into the parking space to move.

in the The following is the invention with reference to an embodiment in a drawing shown and then described.

there shows:

1 in a schematic view from above a parking trajectory;

2 in a schematic top view of a motor vehicle with a device for carrying out the method according to the invention;

3 a schematic flow diagram of the parking method.

1 schematically shows two at the roadside 1 parked vehicles 2 . 3 , between which a parking space 4 is released. The centerline of the roadway is with 5 designated. The own vehicle 6 should in the parking space 4 be turned off.

First of all, this is the position and size of the parking space 4 by means of the on the vehicle 6 arranged sensors 7 . 8th . 9 when driving past the parking space 4 to determine exactly and the relative position of the vehicle 6 as shown in the figure, to the desired end position in the parking space 4 ,

Thereafter, an ideal parking trajectory is calculated, which is a fixed point of the motor vehicle 6 on the way into the parking space 4 should go through. This parking trajectory is divided into sections 10 . 11 decomposed at the in the 1 illustrated real trajectory 12 are shown as straight lines, but this does not mean that the vehicle is between the breakpoints 13 . 14 . 15 each moved on a straight line, but which merely indicates that on these sections of the steering angle of the vehicle 6 not changed. That means the vehicle 6 on the sections each with a fixed steering angle, that is moved with a constant radius of curvature.

The final position of the motor vehicle 6 is through the last breakpoint 16 in the parking space 4 represents the starting point through the first breakpoint 17 is shown.

In the 2 schematically the device for performing the method is shown within a motor vehicle.

It is initially a facility 18 for calculating the real parking trajectory 12 provided due to the sensor data supplied to the sensors 7 . 8th . 9 a list of breakpoints 13 . 14 . 15 generated together with the lying between these lengths of track and to be set between the breakpoints steering angles and this list to a memory device 19 transmitted. Within the storage device 19 This list is processed section by section in succession.

For this purpose, first the steering angle to be set is sent to a display unit 20 issued where the steering angle to be adjusted is displayed to the driver. This can also be done, for example, only in the form of a direction indication that signals to the driver whether he should turn the steering wheel to the right or to the left.

At the same time are steering angle sensors 21 provided that the steering angle φ, that is, the deviation of the Radrollrichtung from the straight-ahead direction 22 measure and a comparator 23 forward. The comparison device 23 also gets from the storage device 19 the information about the currently set steering angle and can compare whether the intended steering angle has already been reached or not.

If the intended steering angle is reached during the operation of the steering wheel by the driver, so blocked either the comparator 23 the steering wheel or it initiates the issuance of a confirmation signal to the driver, which causes it to leave the steering wheel in the set position. A mechanical locking of the steering wheel can be provided.

At the same time, the decision of the comparator leads 23 in that the required steering angle is set, in addition to that in a brake / blocking device 43 the blocking shown only schematically 24 the drive wheels 25 will be annulled.

In addition, due to signals 26 of displacement sensors, the rotational movement of the wheels 25 Monitor, decided whether the corresponding section that is currently being driven, has already passed completely. If this is the case, then the wheels 25 through the blocking device 43 braked again.

At the beginning of a corresponding section, as soon as the corresponding steering angle is set, in some cases, a downhill force, which results in a sloping road course to overcome. Thus, if the steering angle adjusted and the end of the corresponding portion is not reached, so is a drive device 27 causes a sufficiently large torque on the wheels 25 in the intended direction of travel of the vehicle 6 to give. There are between the drive device 27 and the wheels 25 torque units 28 provided, which act on each of the wheels torques, namely the torque acting through the slope effect and that by the drive means 27 Compare acting torque and locking the wheels 25 only cancel when the drive torque is large enough to move the vehicle in the intended direction of travel.

There are also distance sensors 7 . 29 provided the environment of the vehicle 6 and, if a collision hazard occurs, when a certain safety distance to obstacles is not reached, either give a warning signal to the driver or automatically to the wheels 25 act by means of a braking device, which is not shown separately for the sake of clarity and with the device 43 can be identical.

The safety distance at which through the sensors 7 . 29 triggered a deceleration of the vehicle In addition, may be dependent on the driving speed of the vehicle.

In principle, the blocking devices 28 . 43 or the types to which is braked in the presence of certain conditions, as described above, the vehicle by a single braking device, but which can be controlled by different units, so that a braking effect occurs when one of said devices corresponding signals to the Outputs braking device. This can be realized, for example, in that each of said devices drives its own hydraulic pump, which gives corresponding pressure to a hydraulic brake line, or that each of the devices acts electronically on one and the same hydraulic pump to increase the hydraulic pressure or on a valve, or that in total Braking device is realized electronically and can be addressed by the various institutions.

The inventive method is based on the 3 shown in detail below.

In a first step 30 is at the beginning of a section by the storage device 19 the information about the necessary steering angle to the display device 20 delivered so that the steering wheel can be operated accordingly.

The set steering angle is in a second step 31 detected. In a third step 32 the set steering angle is compared with the intended steering angle.

If the intended steering angle is reached, then the next, fourth step 33 passed. If this is not the case, then the blockage 34 confirmed and the process jumps back to the process step 31 , in which further the set steering angle is checked.

In the next step 33 is checked based on the information of the displacement sensors, whether the corresponding section is already passed to the end. If this is the case, then it becomes the step 35 jumped and stopped the vehicle. Then, because of in the storage device 19 deposited data are checked, if more cuts follow.

If the corresponding section has not yet been completed, then the method step takes place 36 , in which it checks if that by the drive system 27 on the wheels 25 applied torque sufficient to overcome any downgrade forces. If this is not the case, then the process step 37 jumped and the brakes are blocked.

At the same time, the drive device 27 be made to provide a larger drive torque available.

If the driving forces are sufficient to overcome any external forces, this becomes the method step 38 in which it is checked whether the way for the vehicle is free of obstacles.

If this is not the case or if corresponding safety distances are undershot, then the process step becomes 39 jumped and the vehicle is stopped by means of a blocking device.

If the way is clear, this blocking is also released and, as a result, the vehicle moves in the next method step 40 a step further, whereupon the process cyclically returns to the beginning and checks whether the required steering angle still agrees with the actually set steering angle.

By the described method according to the invention Is it possible, without a continuous steering movement a parking trajectory in sections to pass through, with a minimum of hardware to ensure is that the steering movement is performed by the driver. The various blocking mechanisms guarantee, on the one hand, that the intended cuts on the other hand, most external disturbances and Risks that can influence the parking process are minimized.

LIST OF REFERENCE NUMBERS

1 kerbside 2 . 3 vehicles 4 parking lot 5 center line 6 own vehicle 7 . 8th . 9 sensors 10 . 11 Pieces of the parking trajectory 12 Reale trajectory 13 . 14 . 15 breakpoints 16 end position 17 starting point 18 Facility for the calculation of the trajectory 19 memory device 20 display unit 21 steering angle sensors 22 straight alignment 23 comparator 24 blocking 25 drive wheels 26 signals 27 driving means 28 torque units 29 distance sensor 30 step 31 step 32 step 33 step 34 blocking 35 step 36 step 37 step 38 step 39 ninth step 40 tenth step 41 eleventh step 42 operating element 43 blocking device

Claims (17)

Method for parking a motor vehicle ( 6 ) in which on a trajectory ( 12 ) at least one section ( 10 . 11 ) is determined with constant steering angle and wherein parameters of the section and to be set on the section steering angle are determined, the steering angle to be set is given to the driver, a first blocking device ( 43 ) of a longitudinal movement control system blocks the longitudinal movement of the motor vehicle until the steering adjustment to be set is reached and then releases the blockage. Method according to Claim 1, characterized in that, when the blockage is canceled by the first blocking device, the longitudinal movement control device automatically controls an acceleration of the motor vehicle ( 6 ) causes. Method according to Claim 1, characterized in that, when the acceleration is canceled by the first blocking device, an actuation of a control element ( 42 ) by the driver a movement of the motor vehicle ( 6 ) in the intended direction triggers. A method according to claim 3, characterized in that an amplitude of the actuation of the operating element ( 42 ) determines the upper limit of the speed of the motor vehicle to be controlled at the respective time. A method according to claim 4, characterized in that a speed of the motor vehicle is controlled, which is substantially proportional to the amplitude of the actuation of the operating element ( 42 ). Method according to Claim 3 or one of the following, characterized in that the operating element ( 42 ) is an accelerator pedal. Method according to Claim 1 or one of the following, characterized in that the motor vehicle ( 6 ) after passing through the section ( 10 . 11 ) of the trajectory ( 12 ) is automatically braked before a necessary change in the steering angle. Method according to Claim 1 or one of the following, characterized in that after passing through the section ( 10 . 11 ) of the trajectory ( 12 ) before a necessary change of the steering angle, an automatic braking operation for the motor vehicle ( 6 ) is initiated by a single operation of the brake by the driver. Method according to claim 8, characterized in that that by the termination of the brake by the driver in the following limits the deceleration to a predetermined value becomes. A method according to claim 8, characterized in that while maintaining the brake by the driver in the following controlled the braking acceleration so is that the vehicle at the very end of each section to Standing comes. Method according to claim 7, characterized in that the motor vehicle ( 6 ) is braked to a standstill before a necessary change in the steering angle. Method according to Claim 1 or one of the following, characterized in that the distance of the motor vehicle ( 6 ) to obstacles ( 2 . 3 ) and the motor vehicle ( 6 ) is braked in time before a collision with an obstacle. Method according to Claim 1 or one of the following claims, characterized in that the movement on the wheels ( 25 ) of the motor vehicle ( 6 ) is determined in total acting torque and a longitudinal movement of the motor vehicle is blocked until the torque applied by the engine to the wheels sufficient to move the motor vehicle against other forces acting in the intended direction. Longitudinal motion control device for a motor vehicle with a first detection device ( 21 ) for the adjusted steering angle and with a first blocking device, the longitudinal movement of the motor vehicle ( 6 ) blocked as long as a designated steering angle is not set. Longitudinal motion control device according to claim 14, characterized by a second detection device for monitoring the passage through the trajectory ( 12 ) and a second blocking device, for braking the motor vehicle to the end of a portion of the trajectory. A longitudinal movement control device according to claim 14 or 15, characterized by a third detection device ( 7 . 29 ) for obstacles and a third blocking device for braking the motor vehicle in the event of an imminent collision with an obstacle. A longitudinal movement control according to claim 14, 15 or 16, characterized by a fourth detection device ( 28 ) for the sum of the wheels ( 25 ) of the motor vehicle acting torque and a fourth blocking device which blocks the longitudinal movement of the motor vehicle until the sum of the torque applied to the wheels by the drive and other power sources leads to an acceleration of the motor vehicle in the intended direction.