DE102008022971A1 - Adjustment examining method for ultrasonic sensor utilized for measuring distance during parking assistance of driver of car, involves comparing measured distance of sensor from edge of parking space with computed distance - Google Patents
Adjustment examining method for ultrasonic sensor utilized for measuring distance during parking assistance of driver of car, involves comparing measured distance of sensor from edge of parking space with computed distance Download PDFInfo
- Publication number
- DE102008022971A1 DE102008022971A1 DE102008022971A DE102008022971A DE102008022971A1 DE 102008022971 A1 DE102008022971 A1 DE 102008022971A1 DE 102008022971 A DE102008022971 A DE 102008022971A DE 102008022971 A DE102008022971 A DE 102008022971A DE 102008022971 A1 DE102008022971 A1 DE 102008022971A1
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- Germany
- Prior art keywords
- sensor
- distance
- motor vehicle
- parking space
- parking
- 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.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Prüfung der Justage eines zu einer Seite eines Kraftfahrzeuges ausgerichteten Sensors zur Abstandsmessung für die Einparkassistenz. Weiterhin betrifft die Erfindung ein Kraftfahrzeug mit einem zu einer Seite des Kraftfahrzeugs ausgerichteten Sensor und einer Vorrichtung zur Prüfung der Justage des Sensors.The The invention relates to a method for testing the adjustment a sensor aligned to one side of a motor vehicle for distance measurement for parking assistance. Farther The invention relates to a motor vehicle with a to one side of the Motor vehicle-oriented sensor and a device for testing the adjustment of the sensor.
Es
ist bekannt, seitlich in Fahrzeugen Ultraschallsensoren anzuordnen
und mit diesen eine Erkennung des Straßenrandes, insbesondere
des Bordsteins, vorzunehmen. Bei der Vorbeifahrt an einer Parklücke
z. B. an einem Straßenrand zwischen zwei Autos wird während
der Vorbeifahrt die Parklücke mit Hilfe des Ultraschallsensors
vermessen und dann ein rückwärtiger Einparkvorgang
entweder für den Fahrer assistiert oder vollständig
automatisch durchgeführt. Dies läßt sich
beispielsweise den Druckschriften
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zu schaffen, mit dem die Ausrichtung der Sensoren mit hoher Genauigkeit während des Betriebs überprüft werden kann.Of the Invention has for its object to provide a method with the orientation of the sensors with high accuracy during of the operation can be checked.
Die Lösung dieser Aufgabe erfolgt mit einem Verfahren mit den Merkmalen des Patentanspruchs 1. Vorteilhafte Weiterentwicklungen der Erfindung sind in den Unteransprüchen beschrieben.The Solution to this problem is done with a method with the Features of claim 1. Advantageous developments The invention are described in the subclaims.
Bei einem Verfahren zur Prüfung der Justage eines zu einer Seite eines Kraftfahrzeuges ausgerichteten Sensors zur Abstandsmessung für die Einparkassistenz sind erfindungswesentlich folgende Schritte vorgesehen: Vermessung einer Parklücke während der Vorbeifahrt an der Parklücke mit dem zur Seite des Kraftfahrzeuges ausgerichteten Sensor, Berechnung des Abstands des zu prüfenden Sensors vom Rand der Parklücke während eines Einparkvorganges aus den Meßwerten während der Vorbeifahrt an der Parklücke und dem Fahrweg des Kraftfahrzeugs, Messung des Abstands des zu prüfenden Sensors vom Rand der Parklücke während des Einparkvorgangs und Vergleich des berechneten und des gemessenen Abstands des zu prüfenden Sensors vom Rand der Parklücke.at a method for checking the adjustment of a Side of a motor vehicle oriented sensor for distance measurement for parking assistance, the following steps are essential to the invention provided: measurement of a parking space during Passing the parking space with the side of the Motor vehicle oriented sensor, calculation of the distance of the sensor to be tested from the edge of the parking space during a parking process from the measured values during Passing the parking space and the travel path of the motor vehicle, Measurement of the distance of the sensor to be tested from the edge the parking space during the parking process and Comparison of the calculated and the measured distance of the sensor to be tested from the edge of the parking space.
Bei Feststellung eines Unterschieds des berechneten und des gemessenen Abstands des zu prüfenden Sensors vom Rand der Parklücke läßt sich daraus auf eine Dejustage des zur Seite ausgerichteten Sensors schließen. Dann kann als Konsequenz entweder eine Meldung an den Fahrer ergehen, daß ein Service in einer Werkstatt notwendig ist, um den Sensor neu zu justieren oder es kann aus der Größe der Abweichung der beiden Werte ein Rückschluß auf die Dejustage und die Größe der Dejustage gezogen werden und die so festgestellte Ausrichtung des Sensors kann den künftigen Abstandsmessungen zugrunde gelegt werden.at Determination of a difference between the calculated and the measured Distance of the sensor to be tested from the edge of the parking space can be deduced from this on a misalignment of the side close aligned sensor. Then, as a consequence, either a message to the driver that a service in a workshop is necessary to readjust the sensor or it may be the size of the deviation of the two Values a conclusion on the misalignment and the Size of the misalignment be pulled and the like detected orientation of the sensor can be the future Distance measurements are taken as a basis.
Bei der Vermessung der Parklücke erfolgt dies bevorzugt an dem Bordstein bzw. an vor und hinter der Parklücke parkenden anderen Kraftfahrzeugen. Bei der Berechnung des Abstands des zu prüfenden Sensors vom Rand der Parklücke aus dem während der Vorbeifahrt gemessenen Abstand von der Parklücke und dem Fahrweg, kann zur Ermittlung des Fahrwegs der Einschlagwinkel der Räder von dem Fahrwerk des Kraftfahrzeuges entweder unmittelbar auch mittelbar bestimmt werden, z. B. kann beim Einschlagwinkel der Räder des Kraftfahrzeuges auch mittelbar auf eine Information aus dem Einschlagwinkel des Lenkrades zurückgegriffen werden. Am präzisesten ist jedoch eine Information, die jeweils unmittelbar die fraglichen Werte abgreift. Der Fahrweg ist mit dem Einschlagwinkel der Räder im wesentlichen die Information über die zurückgelegte Strecke beim jeweiligen Einschlagwinkel der Räder, so daß aus diesen beiden Werten der genaue Fahrweg ermittelt werden kann. Alternativ kann der Fahrweg auch aus sensorisch gewonnenen Daten oder aus GPS-Daten bestimmt werden. Bei den sensorisch gewonnen Daten handelt es sich ebenfalls um Informationen aus Abstandssensoren, wobei bevorzugt keine Daten des zu überprüfenden Sensors verwendet werden, aus denen bzw. und den sich ändernden Abstandsmessungen ebenfalls ein Fahrweg berechnet werden kann. Die Messung des Abstandes des zu prüfenden Sensors vom Rand der Parklücke während des Einparkvorgangs wird bevorzugt genau an dem Punkt vorgenommen, an dem beim Einfahren in die Parklücke das Sensorsignal zuerst auftritt. Bei einem mit 90° von der Kraftfahrzeugachse ausgerichteten Sensor ist an diesem Punkt noch mit einem vergleichsweise großen Abstand vom Bordstein zu rechnen und der Unterschied zwischen Meßwert und berechnetem Wert sollte dadurch größer und daher leichter feststellbar ausfallen. Der berechnete Wert kann auch als Erwartungswert bezeichnet oder aufgefaßt werden. Bevorzugt wird die Prüfung des Sensors bei einem rückwärtigen Einparkvorgang durchgeführt. Die Abstandsmessung wird bevorzugt an einem Bordstein durchgeführt.In the measurement of the parking space, this is preferably done on the curb or on before and behind the parking space parked other vehicles. In the calculation of the distance of the sensor to be tested from the edge of the parking space from the measured during the passage distance from the parking space and the track, the turning angle of the wheels of the chassis of the motor vehicle can be determined either indirectly directly to determine the travel path, for. B. can be recourse also indirectly to information from the steering angle of the steering wheel at the steering angle of the wheels of the motor vehicle. Most precise, however, is information that directly picks up the values in question. The travel path with the steering angle of the wheels essentially the information about the distance traveled at the respective steering angle of the wheels, so that the exact route can be determined from these two values. Alternatively, the travel path can also be determined from sensorically obtained data or from GPS data. The sensorically obtained data are also information from distance sensors, wherein preferably no data of the sensor to be tested is used, from which and / or the changing distance measurements also a travel path can be calculated. The measurement of the distance of the sensor to be tested from the edge of the parking space during the parking process is preferably carried out exactly at the point at which the sensor signal first occurs when entering the parking space. In the case of a sensor oriented at 90 ° from the motor vehicle axle, a comparatively large distance from the curb is still to be expected at this point, and the difference between the measured value and the calculated value should therefore be greater he and therefore easier to determine. The calculated value can also be called or interpreted as an expected value. Preferably, the test of the sensor is carried out in a rear parking operation. The distance measurement is preferably carried out on a curb.
In einer besonders bevorzugten Ausführungsform wird die Prüfung der Justage in einem gesonderten Justiermodus durchgeführt. In einem solchen gesonderten Justiermodus könnte der Sensor, insbesondere Ultraschallsensor, mit einer höheren Frequenz betrieben werden um dadurch eine noch schmalere Keule auszubilden. Dadurch würde sich der horizontale Meßbereich verkleinern und eine noch höhere Genauigkeit bei der Feststellung der genauen Ausrichtung des Sensors bzw. der Justage oder Dejustage erreicht werden.In In a particularly preferred embodiment, the test the adjustment performed in a separate adjustment mode. In such a separate adjustment mode, the sensor, in particular Ultrasonic sensor, operated at a higher frequency to thereby form an even narrower club. Thereby the horizontal measuring range would decrease and an even higher accuracy in determining the exact alignment of the sensor or the adjustment or misalignment be achieved.
Ein weiterer Aspekt der Erfindung besteht in der Bereitstellung eines Kraftfahrzeugs mit einem zu einer Seite des Kraftfahrzeugs ausgerichteten Sensor und einer Vorrichtung zur Prüfung der Dejustage des Sensors zur Durchführung des Verfahrens nach einem der obengenannten Ansprüche. Bevorzugt zeichnet sich eine solche Vorrichtung zur Prüfung der Justage des Sensors dadurch aus, daß sie eine Berechnungseinrichtung aufweist, mit der der Abstand des zu prüfenden Sensors vom Rand der Parklücke während des Einparkvorgangs aus den Meßdaten während der Vorbeifahrt an der Parklücke, dem Einschlagwinkel der Räder des Kraftfahrzeuges und der Fahrstrecke des Kraftfahrzeuges während des Einparkvorgangs ermittelt wird. Die Vorrichtung zur Prüfung der Justage des Sensors weist weiterhin bevorzugt eine Vergleichseinrichtung auf, mit der ein berechneter Abstand und ein gemessener Abstand des zu prüfenden Sensors vom Rand der Parklücke vergleichbar ist.One Another aspect of the invention is to provide a Motor vehicle with a aligned to one side of the motor vehicle Sensor and a device for checking the misalignment of the Sensor for performing the method according to one of above claims. Preferably, such is one Device for checking the adjustment of the sensor thereby from that it has a calculation device, with the distance of the sensor to be tested from the edge of the parking space during the parking process from the measured data during the Passing by the parking space, the turning angle of the wheels of the motor vehicle and the route of the motor vehicle during of the parking process is determined. The device for testing the adjustment of the sensor further preferably has a comparison device on, with which a calculated distance and a measured distance of the sensor to be tested from the edge of the parking space is comparable.
Nachfolgend wird die Erfindung anhand eines in der Zeichnung dargestellten Ausführungsbeispiels weiter erläutert. Im Einzelnen zeigen die schematischen Darstellungen in:following the invention with reference to an embodiment shown in the drawing further explained. In detail, the schematic show Representations in:
In
In
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 102004047483 A1 [0002] - DE 102004047483 A1 [0002]
- - DE 102005044050 A1 [0002] DE 102005044050 A1 [0002]
- - DE 102005061396 A1 [0002] DE 102005061396 A1 [0002]
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008022971.7A DE102008022971B4 (en) | 2008-05-09 | 2008-05-09 | Method for checking the adjustment of a sensor for a distance measurement for the parking assistance system which is aligned to one side of a motor vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008022971.7A DE102008022971B4 (en) | 2008-05-09 | 2008-05-09 | Method for checking the adjustment of a sensor for a distance measurement for the parking assistance system which is aligned to one side of a motor vehicle |
Publications (2)
Publication Number | Publication Date |
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DE102008022971A1 true DE102008022971A1 (en) | 2009-11-12 |
DE102008022971B4 DE102008022971B4 (en) | 2020-07-02 |
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DE102008022971.7A Active DE102008022971B4 (en) | 2008-05-09 | 2008-05-09 | Method for checking the adjustment of a sensor for a distance measurement for the parking assistance system which is aligned to one side of a motor vehicle |
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Cited By (6)
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---|---|---|---|---|
WO2011000483A1 (en) * | 2009-07-02 | 2011-01-06 | Valeo Schalter Und Sensoren Gmbh | Method for detecting and correcting an incorrect position of a distance sensor of a driver assistance system for vehicles |
WO2012041670A1 (en) * | 2010-09-30 | 2012-04-05 | Valeo Schalter Und Sensoren Gmbh | Method and device for assisting a parking maneuver of a vehicle |
US8712642B2 (en) | 2010-05-12 | 2014-04-29 | Volkswagen Ag | Method for parking or exiting a parking bay and for avoiding a collision of a vehicle, and corresponding assistance systems and vehicle |
CN104176051A (en) * | 2014-07-31 | 2014-12-03 | 奇瑞汽车股份有限公司 | Testing device and method for automatic parking system |
CN105652690A (en) * | 2016-01-13 | 2016-06-08 | 重庆长安汽车股份有限公司 | In-loop test system and method for automatic parking system vehicle |
WO2019106131A1 (en) * | 2017-12-01 | 2019-06-06 | Volkswagen Aktiengesellschaft | Method for checking a distance measuring device of a motor vehicle, said distance measuring device having an ultrasonic sensor |
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DE102004047505A1 (en) * | 2004-09-28 | 2006-04-06 | Daimlerchrysler Ag | Distance sensor`s horizontal misalignment detecting method for motor vehicle, involves determining difference between two transverse misalignments of vehicle and object, and determining value for misalignment of sensor using difference |
DE102004047483A1 (en) | 2004-09-30 | 2006-04-13 | Robert Bosch Gmbh | Parking procedure for a vehicle |
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DE102005044050A1 (en) | 2005-09-15 | 2007-03-22 | Hella Kgaa Hueck & Co. | Method for parking space determination for motor vehicles |
DE102005061396A1 (en) | 2005-12-22 | 2007-07-05 | Robert Bosch Gmbh | Ultrasonic sensor for locating parking space, involves re-controlling of one sensitivity parameter or characteristic sensitivity curve in accordance with humidity or temperature |
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2008
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DE19957186A1 (en) * | 1999-11-27 | 2001-05-31 | Volkswagen Ag | Method for adjusting a distance and direction sensor of a vehicle |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011000483A1 (en) * | 2009-07-02 | 2011-01-06 | Valeo Schalter Und Sensoren Gmbh | Method for detecting and correcting an incorrect position of a distance sensor of a driver assistance system for vehicles |
US8712642B2 (en) | 2010-05-12 | 2014-04-29 | Volkswagen Ag | Method for parking or exiting a parking bay and for avoiding a collision of a vehicle, and corresponding assistance systems and vehicle |
WO2012041670A1 (en) * | 2010-09-30 | 2012-04-05 | Valeo Schalter Und Sensoren Gmbh | Method and device for assisting a parking maneuver of a vehicle |
CN104176051A (en) * | 2014-07-31 | 2014-12-03 | 奇瑞汽车股份有限公司 | Testing device and method for automatic parking system |
CN105652690A (en) * | 2016-01-13 | 2016-06-08 | 重庆长安汽车股份有限公司 | In-loop test system and method for automatic parking system vehicle |
WO2019106131A1 (en) * | 2017-12-01 | 2019-06-06 | Volkswagen Aktiengesellschaft | Method for checking a distance measuring device of a motor vehicle, said distance measuring device having an ultrasonic sensor |
US11520025B2 (en) | 2017-12-01 | 2022-12-06 | Volkswagen Aktiengesellschaft | Method for checking a distance measuring device having an ultrasonic sensor |
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