DE102008013519A1 - Method for automatic parking and exit of motor vehicle, involves automatically braking vehicle, when vehicle approaches object up to adjusted safety distance to reach parking or exit position - Google Patents
Method for automatic parking and exit of motor vehicle, involves automatically braking vehicle, when vehicle approaches object up to adjusted safety distance to reach parking or exit position Download PDFInfo
- Publication number
- DE102008013519A1 DE102008013519A1 DE102008013519A DE102008013519A DE102008013519A1 DE 102008013519 A1 DE102008013519 A1 DE 102008013519A1 DE 102008013519 A DE102008013519 A DE 102008013519A DE 102008013519 A DE102008013519 A DE 102008013519A DE 102008013519 A1 DE102008013519 A1 DE 102008013519A1
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- vehicle
- parking
- influencing
- motor vehicle
- control unit
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Classifications
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- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum autonomen Ein- oder Ausparken eines Kraftfahrzeuges.The The invention relates to a method and a device for autonomous Parking or parking a motor vehicle.
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Der Erfindung liegt das technische Problem zugrunde, ein Verfahren und eine Vorrichtung zum autonomen Ein- oder Ausparken eines Kraftfahrzeuges zu schaffen, das den Kraftfahrzeugführer zum Einhalten seiner Kontrollpflichten anhält.Of the Invention is the technical problem underlying a method and a device for autonomous parking in or out of a motor vehicle to create, which the motor vehicle driver to comply with of his inspection duties.
Die Lösung des technischen Problems ergibt sich durch die Gegenstände mit den Merkmalen der Patentansprüche 1 und 7. Weitere vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen.The Solution of the technical problem results from the objects with the features of claims 1 and 7. Further advantageous embodiments of the invention will become apparent from the Dependent claims.
Das Verfahren zum autonomen Ein- oder Ausparken eines Kraftfahrzeuges, mittels einer Aktorik zur Beeinflussung eines Lenkwinkels, einer Aktorik zur Beeinflussung einer Fahrzeugbremse, einer Aktorik zur Beeinflussung einer Gangwahl, einer Aktorik zur Beeinflussung der Geschwindigkeit, einer Sensorik zur Erfassung von Objekten, einem Eingabemittel zur Vorgabe einer Parkseite, einer Steuereinheit und eines Sicherheitstasters, umfasst die Verfahrensschritte:
- a) Eingeben einer Parkseite mittels der Eingabemittel zur Vorgabe einer Parkseite und Einlegen einer vordefinierten Gangstellung durch den Kraftfahrzeugführer,
- b) Starten des Parkvorgangs durch Betätigen des Sicherheitstasters,
- c) Auswerten der Daten der Sensorik zur Erfassung von Objekten durch die Steuereinheit,
- d) Automatische Gangwahl für eine Fahrtrichtung und automatische Einstellung eines Lenkwinkels durch die Steuereinheit,
- e) Ansteuerung der Aktorik zur Beeinflussung der Geschwindigkeit, so dass sich das Fahrzeug in der eingestellten Fahrtrichtung mit dem eingestellten Lenkwinkel bewegt,
- f) Automatisches Abbremsen des Fahrzeugs, wenn sich das Fahrzeug einem Objekt bis auf eine eingestellte Sicherheitsentfernung nähert,
- g) Wiederholen der Verfahrensschritte c) bis f) mit geänderter Fahrtrichtung und geändertem Lenkwinkel, bis das Fahrzeug eine Einpark- oder Ausparkposition erreicht hat, wobei die Verfahrensschritte c) bis g) nur solange ausgeführt werden, wie der Sicherheitstaster betätigt ist.
- a) entering a parking page by means of the input means for specifying a parking page and inserting a predefined gear position by the motor vehicle driver,
- b) starting the parking operation by pressing the safety button,
- c) evaluating the data of the sensors for the detection of objects by the control unit,
- d) Automatic gear selection for one direction of travel and automatic adjustment of a steering angle by the control unit,
- e) control of the actuators for influencing the speed, so that the vehicle moves in the set direction of travel with the set steering angle,
- f) automatically decelerating the vehicle as the vehicle approaches an object to a set safety distance,
- g) repeating the method steps c) to f) with changed direction and changed steering angle until the vehicle has reached a parking or Ausparkposition, the method steps c) to g) are executed only as long as the safety button is pressed.
Dabei können die Eingabemittel als Fahrtrichtungsanzeigerhebel ausgebildet sein.there The input means can be used as a direction indicator lever be educated.
Des Weiteren kann ein Speicher vorgesehen sein, der beim Ausparken auf die Traktion beim Einparken zurückgreift. Die vordefinierte Gangstellung ist vorzugsweise der N-Gang eines Automatikgetriebes.Of Furthermore, a memory may be provided which when ausparken on the traction when parking returns. The predefined Gear position is preferably the N-speed of an automatic transmission.
In einer bevorzugten Ausführungsform ist der Sicherheitstaster als Gaspedal ausgebildet, wobei bei Betätigung des Gaspedals das Verfahren startet. Dabei kann weiter vorgesehen sein, dass das Gaspedal über einen ersten Schwellwert hinweg betätigt werden muss, bevor das Verfahren startet. Dabei kann vorgesehen sein, dass die Betätigung des Gaspedals ausschließlich dem Starten bzw. der Aufrechterhaltung des Verfahrens dient, wohingegen die tatsächlich eingestellte Geschwindigkeit ausschließlich von der Steuereinheit vorgegeben wird.In a preferred embodiment, the safety button is designed as an accelerator pedal, wherein the process starts when the accelerator pedal is actuated. It can further be provided that the Accelerator pedal must be applied over a first threshold before the procedure starts. It can be provided that the operation of the accelerator pedal is used exclusively for starting or maintaining the method, whereas the actually set speed is specified exclusively by the control unit.
In einer weiteren bevorzugten Ausführungsform wird hingegen die Fahrzeuggeschwindigkeit anhand der eingestellten Gaspedalstellung gewählt. Dabei kann vorgesehen sein, dass die Geschwindigkeit über ein Übersetzungsverhältnis eingestellt wird. Beispielsweise wird bei Betätigung des Gaspedals über den ersten Schwellwert der Parkvorgang mit einer Geschwindigkeit V1 durchgeführt und bei Betätigung des Gaspedals über einen weiteren Schwellwert mit der Geschwindigkeit V2 durchgeführt, wobei V2 > V1 gilt. Allerdings kann die Geschwindigkeit auch kontinuierlich angepasst werden.In a further preferred embodiment, however, is the vehicle speed based on the set accelerator pedal position selected. It can be provided that the speed over a gear ratio is set. For example becomes over the first one when the accelerator pedal is pressed Threshold of parking operation performed at a speed V1 and upon actuation of the accelerator pedal via another Threshold with the speed V2 performed, where V2> V1 applies. Indeed The speed can also be adjusted continuously.
In einer weiteren bevorzugten Ausführungsform wird durch aktiven Eingriff des Kraftfahrzeugführers in eine Aktorik das Verfahren beendet, beispielsweise durch einen Lenkeingriff.In Another preferred embodiment is characterized by active Intervention of the motor vehicle driver in an actuator the method terminated, for example by a steering intervention.
In einer weiteren bevorzugten Ausführungsform wird mittels einer Anzeigeeinheit der Kraftfahrzeugführer visuell unterstützt, insbesondere erhält dieser Hinweise über die Bedienung der Vorrichtung.In Another preferred embodiment is by means of visually supports a display unit of the motor vehicle driver, In particular, this information about the operation receives the device.
Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels näher erläutert. Die Fig. zeigen:The Invention will be described below with reference to a preferred embodiment explained in more detail. The figures show:
Die
Vorrichtung
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 102005058500 A1 [0002] - DE 102005058500 A1 [0002]
- - DE 10220427 A1 [0002] DE 10220427 A1 [0002]
- - WO 2007/079825 [0003] - WO 2007/079825 [0003]
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013519.4A DE102008013519B4 (en) | 2008-03-07 | 2008-03-07 | Method and device for autonomously parking or parking a motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013519.4A DE102008013519B4 (en) | 2008-03-07 | 2008-03-07 | Method and device for autonomously parking or parking a motor vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102008013519A1 true DE102008013519A1 (en) | 2009-09-10 |
DE102008013519B4 DE102008013519B4 (en) | 2018-05-03 |
Family
ID=40936382
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008013519.4A Active DE102008013519B4 (en) | 2008-03-07 | 2008-03-07 | Method and device for autonomously parking or parking a motor vehicle |
Country Status (1)
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DE (1) | DE102008013519B4 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009057646A1 (en) * | 2009-12-09 | 2011-06-16 | Bayerische Motoren Werke Aktiengesellschaft | Parking assistance system for motor vehicle, has sensors detecting obstacles, and parking-in and parking-out process defined by trajectory that begins with automatic direction change and ends by limitation signal of sensors |
CN104340224A (en) * | 2013-08-02 | 2015-02-11 | 福特全球技术公司 | Method and apparatus for autonomous movement of a parked motor vehicle |
US9047780B2 (en) | 2012-11-16 | 2015-06-02 | Robert Bosch Gmbh | Collision mitigation systems and methods using driver attentiveness |
DE102014209984A1 (en) * | 2014-05-26 | 2015-11-26 | Volkswagen Aktiengesellschaft | Method and device for identifying an automatically moving vehicle |
EP2957474A1 (en) * | 2014-06-19 | 2015-12-23 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus |
CN106608258A (en) * | 2015-10-21 | 2017-05-03 | 上汽通用汽车有限公司 | Automatic parking system |
CN107776571A (en) * | 2017-10-31 | 2018-03-09 | 重庆长安汽车股份有限公司 | A kind of automated parking system |
CN108556841A (en) * | 2018-06-25 | 2018-09-21 | 四川野马汽车股份有限公司 | A kind of system and its working method that electric vehicle is automatically parked |
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US20030122687A1 (en) * | 2001-12-27 | 2003-07-03 | Philips Electronics North America Corportion | Computer vision based parking assistant |
DE10220427A1 (en) | 2002-05-08 | 2003-11-27 | Valeo Schalter & Sensoren Gmbh | Method for operating a parking assistance system and parking assistance system |
DE10256770A1 (en) * | 2002-12-05 | 2004-06-17 | Bayerische Motoren Werke Ag | Method for steering a vehicle to be parked backwards into a parking space |
DE60105684T2 (en) * | 2000-04-05 | 2005-02-10 | Matsushita Electric Industrial Co., Ltd., Kadoma | System and method for driver assistance |
DE10343174A1 (en) * | 2003-09-18 | 2005-04-14 | Robert Bosch Gmbh | Device and method for controlling the speed of a vehicle when maneuvering / parking the vehicle |
US20060235590A1 (en) * | 2005-02-11 | 2006-10-19 | Farhad Bolourchi | Parking assist utilizing steering system |
DE102005042853A1 (en) * | 2005-09-09 | 2007-03-22 | Hella Kgaa Hueck & Co. | Method and device for determining the geometry and position of a parking space |
DE102005058500A1 (en) | 2005-12-01 | 2007-06-06 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system for parking motor vehicle into parking space, has evaluation unit, which is formed for parking of motor vehicle to generate concerned instructions and commands |
WO2007079825A1 (en) | 2005-12-23 | 2007-07-19 | Volkswagen Aktiengesellschaft | Parking steering assistance system and method for operating a parking steering assistance system |
DE102006028278A1 (en) * | 2006-06-20 | 2007-12-27 | Robert Bosch Gmbh | Site selection method for parking assistance of motor vehicle, involves manipulating directional sign of vehicle, and is evaluated to determine site selection, where vehicle side is selected for conducting parking assistance at this side |
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KR20010035738A (en) | 1999-10-01 | 2001-05-07 | 장정필 | Auto Parking System |
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DE60105684T2 (en) * | 2000-04-05 | 2005-02-10 | Matsushita Electric Industrial Co., Ltd., Kadoma | System and method for driver assistance |
US20030122687A1 (en) * | 2001-12-27 | 2003-07-03 | Philips Electronics North America Corportion | Computer vision based parking assistant |
DE10220427A1 (en) | 2002-05-08 | 2003-11-27 | Valeo Schalter & Sensoren Gmbh | Method for operating a parking assistance system and parking assistance system |
DE10256770A1 (en) * | 2002-12-05 | 2004-06-17 | Bayerische Motoren Werke Ag | Method for steering a vehicle to be parked backwards into a parking space |
DE10343174A1 (en) * | 2003-09-18 | 2005-04-14 | Robert Bosch Gmbh | Device and method for controlling the speed of a vehicle when maneuvering / parking the vehicle |
US20060235590A1 (en) * | 2005-02-11 | 2006-10-19 | Farhad Bolourchi | Parking assist utilizing steering system |
DE102005042853A1 (en) * | 2005-09-09 | 2007-03-22 | Hella Kgaa Hueck & Co. | Method and device for determining the geometry and position of a parking space |
DE102005058500A1 (en) | 2005-12-01 | 2007-06-06 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system for parking motor vehicle into parking space, has evaluation unit, which is formed for parking of motor vehicle to generate concerned instructions and commands |
WO2007079825A1 (en) | 2005-12-23 | 2007-07-19 | Volkswagen Aktiengesellschaft | Parking steering assistance system and method for operating a parking steering assistance system |
DE102006028278A1 (en) * | 2006-06-20 | 2007-12-27 | Robert Bosch Gmbh | Site selection method for parking assistance of motor vehicle, involves manipulating directional sign of vehicle, and is evaluated to determine site selection, where vehicle side is selected for conducting parking assistance at this side |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102009057646A1 (en) * | 2009-12-09 | 2011-06-16 | Bayerische Motoren Werke Aktiengesellschaft | Parking assistance system for motor vehicle, has sensors detecting obstacles, and parking-in and parking-out process defined by trajectory that begins with automatic direction change and ends by limitation signal of sensors |
DE102009057646B4 (en) * | 2009-12-09 | 2019-06-13 | Bayerische Motoren Werke Aktiengesellschaft | Parking assistance system |
US9047780B2 (en) | 2012-11-16 | 2015-06-02 | Robert Bosch Gmbh | Collision mitigation systems and methods using driver attentiveness |
CN104340224A (en) * | 2013-08-02 | 2015-02-11 | 福特全球技术公司 | Method and apparatus for autonomous movement of a parked motor vehicle |
CN104340224B (en) * | 2013-08-02 | 2018-05-01 | 福特全球技术公司 | Method and apparatus for operating motor vehicles |
DE102014209984A1 (en) * | 2014-05-26 | 2015-11-26 | Volkswagen Aktiengesellschaft | Method and device for identifying an automatically moving vehicle |
EP2957474A1 (en) * | 2014-06-19 | 2015-12-23 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus |
US9387853B2 (en) | 2014-06-19 | 2016-07-12 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus |
CN106608258A (en) * | 2015-10-21 | 2017-05-03 | 上汽通用汽车有限公司 | Automatic parking system |
CN107776571A (en) * | 2017-10-31 | 2018-03-09 | 重庆长安汽车股份有限公司 | A kind of automated parking system |
CN108556841A (en) * | 2018-06-25 | 2018-09-21 | 四川野马汽车股份有限公司 | A kind of system and its working method that electric vehicle is automatically parked |
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DE102008013519B4 (en) | 2018-05-03 |
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