DE102008022971B4 - 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 - Google Patents
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 Download PDFInfo
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- DE102008022971B4 DE102008022971B4 DE102008022971.7A DE102008022971A DE102008022971B4 DE 102008022971 B4 DE102008022971 B4 DE 102008022971B4 DE 102008022971 A DE102008022971 A DE 102008022971A DE 102008022971 B4 DE102008022971 B4 DE 102008022971B4
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Verfahren zur Prüfung der Justage eines zu einer Seite eines Kraftfahrzeuges (1) ausgerichteten Sensors (2) zur Abstandsmessung für die Einparkassistenz mit den Schritten:Vermessung einer Parklücke (3) während der Vorbeifahrt an der Parklücke (3) mit dem zur Seite des Kraftfahrzeugs ausgerichteten Sensor (2),Berechnung des Abstands des zu prüfenden Sensors (2) vom Rand der Parklücke (3) während eines Einparkvorgangs aus den Messwerten während der Vorbeifahrt an der Parklücke (3) und dem Fahrweg des Kraftfahrzeugs,Messung des Abstands des zu prüfenden Sensors (2) vom Rand der Parklücke (3) während des Einparkvorgangs,Vergleichen des berechneten und des gemessenen Abstands des zu prüfenden Sensors (2) vom Rand der Parklücke.Method for checking the adjustment of a sensor (2) aligned to one side of a motor vehicle (1) for measuring the distance for the parking assistance, comprising the steps: measuring a parking space (3) while driving past the parking space (3) with the one aligned to the side of the motor vehicle Sensor (2), calculation of the distance of the sensor to be tested (2) from the edge of the parking space (3) during a parking process from the measured values while driving past the parking space (3) and the route of the motor vehicle, measurement of the distance of the sensor to be tested (2) from the edge of the parking space (3) during the parking process, comparing the calculated and the measured distance of the sensor to be tested (2) from the edge of the parking space.
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 invention relates to a method for checking the adjustment of a sensor aligned to one side of a motor vehicle for measuring the distance for the parking assistance. Furthermore, the invention relates to a motor vehicle with a sensor aligned to one side of the motor vehicle and a device for checking 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
Die
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.The invention has for its object to provide a method with which the alignment of the sensors can be checked with high accuracy during operation.
Die Lösung dieser Aufgabe erfolgt mit einem Verfahren mit den Merkmalen des Patentanspruchs 1. Vorteilhafte Weiterentwicklungen der Erfindung sind in den Unteransprüchen beschrieben.This object is achieved with a method having the features of
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.In a method for checking the adjustment of a sensor for distance measurement for parking assistance oriented to a side of a motor vehicle, the following steps are provided according to the invention: measuring a parking space while driving past the parking space with the sensor oriented to the side of the motor vehicle, calculating the distance of the person to be checked Sensor from the edge of the parking space during a parking process from the measured values while driving past the parking space and the route of the motor vehicle, measuring the distance of the sensor to be checked from the edge of the parking space during the parking process and comparing the calculated and the measured distance of the sensor to be tested from 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.If a difference between the calculated and the measured distance of the sensor to be tested from the edge of the parking space is found, it can be concluded that the sensor is aligned to the side. As a consequence, a message can either be sent to the driver that service in a workshop is necessary to readjust the sensor, or a conclusion can be drawn about the misalignment and the size of the misalignment from the magnitude of the deviation of the two values and the orientation of the sensor determined in this way can be used as a basis for future distance measurements.
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.When measuring the parking space, this is preferably done on the curb or on other motor vehicles parked in front of and behind the parking space. When calculating the distance of the sensor to be checked from the edge of the parking space from the distance from the parking space and the travel path measured during the passage, the turning angle of the wheels from the chassis of the motor vehicle can be determined either directly or indirectly, e.g. In the steering angle of the wheels of the motor vehicle, information from the steering angle of the steering wheel can also be used indirectly. However, the most precise information is one that directly captures the values in question. The travel path with the turning angle of the wheels is essentially the information about the distance traveled at the respective turning angle of the wheels, so that the exact travel path can be determined from these two values. Alternatively, the route can also be determined from sensor-acquired data or from GPS data. The data obtained by sensors is also information from distance sensors, preferably no data from the sensor to be checked is used, from which and or the changing distance measurements can also be used to calculate a route. 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 axis, a comparatively large distance from the curb can still be expected at this point and the difference between the measured value and the calculated value should thereby be larger and therefore easier to determine. The calculated value can also be referred to or understood as an expected value. The sensor is preferably checked during a rear parking process. 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 a particularly preferred embodiment, the adjustment is checked in a separate adjustment mode. In such a separate adjustment mode, the sensor, in particular the ultrasonic sensor, could be operated at a higher frequency in order to thereby form an even narrower lobe. This would reduce the horizontal measuring range and achieve even greater accuracy in determining the exact alignment of the sensor or the adjustment or misalignment.
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.A further aspect of the invention consists in the provision of a motor vehicle with a sensor oriented to one side of the motor vehicle and a device for checking the misalignment of the sensor for carrying out the method according to one of the above claims. Such a device for checking the adjustment of the sensor is preferably distinguished by the fact that it has a calculation device with which the distance of the sensor to be checked from the edge of the parking space during the parking process from the measurement data while driving past the parking space, the turning angle of the wheels of the motor vehicle and the route of the motor vehicle is determined during the parking process. The device for checking the adjustment of the sensor also preferably has a comparison device with which a calculated distance and a measured distance of the sensor to be tested from the edge of the parking space can be compared.
Nachfolgend wird die Erfindung anhand eines in der Zeichnung dargestellten Ausführungsbeispiels weiter erläutert. Im Einzelnen zeigen die schematischen Darstellungen in:
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1 : Ein Kraftfahrzeug während der Vorbeifahrt an einer Parklücke; -
2 : Das Fahrzeug nach beendeter Vorbeifahrt und vor Beginn des Einparkvorgangs; -
3 : Das Fahrzeug während des Einparkvorgangs.
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1 : A motor vehicle while driving past a parking space; -
2nd : The vehicle after passing by and before the start of the parking process; -
3rd : The vehicle during the parking process.
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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 |
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Families Citing this family (6)
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DE102009031561A1 (en) * | 2009-07-02 | 2011-01-05 | Valeo Schalter Und Sensoren Gmbh | Method for detecting and correcting a malposition of a distance sensor and a driving assistance system for vehicles |
DE102010020203A1 (en) | 2010-05-12 | 2011-11-17 | Volkswagen Ag | Method for parking or parking and avoiding a collision of a vehicle and corresponding assistance systems and vehicle |
DE102010047161A1 (en) * | 2010-09-30 | 2012-04-05 | Valeo Schalter Und Sensoren Gmbh | Method and device for supporting a parking operation of a vehicle |
CN104176051B (en) * | 2014-07-31 | 2016-07-13 | 奇瑞汽车股份有限公司 | Automated parking system test device and method of testing |
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 |
DE102017221692A1 (en) | 2017-12-01 | 2019-06-06 | Volkswagen Aktiengesellschaft | Method for checking a distance measuring device of a motor vehicle having at least one ultrasonic sensor |
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