DE102009046912A1 - Method for guiding vehicle from start position to target position, involves providing information of location of target position to vehicle at start position - Google Patents
Method for guiding vehicle from start position to target position, involves providing information of location of target position to vehicle at start position Download PDFInfo
- Publication number
- DE102009046912A1 DE102009046912A1 DE102009046912A DE102009046912A DE102009046912A1 DE 102009046912 A1 DE102009046912 A1 DE 102009046912A1 DE 102009046912 A DE102009046912 A DE 102009046912A DE 102009046912 A DE102009046912 A DE 102009046912A DE 102009046912 A1 DE102009046912 A1 DE 102009046912A1
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- Germany
- Prior art keywords
- vehicle
- target position
- trajectory
- data
- 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.)
- Pending
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000003550 marker Substances 0.000 claims 1
- 230000001404 mediated effect Effects 0.000 claims 1
- 238000012546 transfer Methods 0.000 description 3
- 229910019250 POS3 Inorganic materials 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 101150117587 pos5 gene Proteins 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Optics & Photonics (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren für die Fahrzeugführung nach dem Oberbegriff des Anspruchs 1. Weiterhin betrifft die Erfindung eine Einrichtung für die Fahrzeugführung nach dem Oberbegriff des Anspruchs 8.The invention relates to a method for the vehicle guidance according to the preamble of
Bekannt sind Parkleitsysteme in Parkhäusern oder dergleichen, die die Führung eines Fahrzeugs unter Verwendung von Infrastruktursensorik (zum Beispiel RFID, C2X, Ultraschallsensoren, Videokameras) unterstützen.Parking guidance systems in parking garages or the like are known, which support the guidance of a vehicle using infrastructure sensors (for example RFID, C2X, ultrasound sensors, video cameras).
Offenbarung der ErfindungDisclosure of the invention
Die Erfindung offenbart ein Verfahren für die Führung eines Fahrzeugs von einer Start- zu einer Zielposition, bei dem dem Fahrzeug an der Startposition Informationen über die Lage der Zielposition und ggf. über die die Zielposition mit der Startposition verbindende Trajektorie übermittelt werden und bei dem das Fahrzeug mit Hilfe einer Markierung von der Startposition zu der Zielposition geführt wird. Dadurch ist eine sichere und risikoarme Führung des Fahrzeugs auch innerhalb von Bauwerken, wie insbesondere Parkhäusern oder dergleichen liegenden Verkehrsflächen möglich, bei denen der Empfang von Navigationsdaten über Satteliten stark erschwert oder sogar unmöglich ist. Besonders vorteilhaft werden die Daten über eine Kommunikationsschnittstelle übermittelt, die den Datenaustausch zwischen einer ortsfesten Einrichtung an der Startposition und dem Fahrzeug ermöglicht. Besonders vorteilhaft können die Daten über eine Funkverbindung, wie insbesondere RFID oder dergleichen übertragen werden. In einer einfacheren Ausführungsvariante sind die Daten auf dem Parkticket gespeichert und werden im Fahrzeug über eine Leseeinrichtung ausgelesen. Um die vorgeschlagene Trajektorie einhalten zu können, sind auf der Fahrbahn Markierungen angeordnet, die das Fahrzeug mit einem geeigneten Umfeldsensor erfasst. Odometriedaten des Fahrzeugs können vorteilhaft mit Landmarken auf der Fahrbahn abgeglichen werden.The invention discloses a method for guiding a vehicle from a start to a destination position in which information about the position of the target position and optionally about the trajectory connecting the target position to the start position is transmitted to the vehicle at the start position and to the vehicle is guided from the starting position to the target position by means of a marking. As a result, a safe and low-risk guidance of the vehicle is also possible within buildings, such as in particular parking garages or the like lying traffic areas in which the reception of navigation data over satellites is much more difficult or even impossible. Particularly advantageously, the data is transmitted via a communication interface, which enables the data exchange between a stationary device at the start position and the vehicle. Particularly advantageously, the data can be transmitted via a radio link, in particular RFID or the like. In a simpler embodiment, the data are stored on the parking ticket and are read in the vehicle via a reading device. In order to comply with the proposed trajectory, markings are arranged on the roadway, which detects the vehicle with a suitable environment sensor. Odometry data of the vehicle can be advantageously aligned with landmarks on the road.
Weiterhin offenbart die Erfindung eine Einrichtung für die Führung des Fahrzeugs. Weitere Vorteile ergeben sich aus den Unteransprüchen, der Beschreibung und der Zeichnung.Furthermore, the invention discloses a device for the guidance of the vehicle. Further advantages emerge from the subclaims, the description and the drawing.
Ausführungsbeispiele der Erfindung werden im Folgenden unter Bezug auf die Zeichnung näher erläutert. Dabei zeigt:Embodiments of the invention are explained in more detail below with reference to the drawing. Showing:
Im Folgenden wird, unter Bezug auf die Zeichnung, ein Ausführungsbeispiel der Erfindung erläutert.
Zur Vermessung temporärer Hindernisse, wie zum Beispiel passierender Fußgänger und/oder stationärer Hindernisse, wie beispielsweise der in
Kurz vor Erreichen der Zielposition, hier beispielsweise des freien Parkplatzes
Im Folgenden wird, auch unter Bezug auf das in
In Schritt
Im Vorstehenden wurde ein Ausführungsbeispiel im Zusammenhang mit Kraftfahrzeugen beschrieben. Die Erfindung ist jedoch vorteilhaft auch für die Fahrzeugführung bei anderen Fahrzeugkategorien, wie beispielsweise Luftfahrzeugen und Seefahrzeugen anwendbar und kann auch dort zu einer höheren Sicherheit und Effektivität, beispielsweise bei der Zuweisung und Anfahrt von Parkbereichen, Liegeplätzen oder dergleichen beitragen. Selbstverständlich sind dann bei diesen Verkehrssystemen die dort üblichen Einrichtungen und/oder Verfahren für die Übergabe von Daten hinsichtlich einer Zielposition und der dahin führenden Trajektorie zu beachten. Im Luftverkehr erfolgt die Übermittlung von Daten zu einem ankommenden Flugzeug bereits bei dessen Landeanflug oder spätestens beim Verlassen der Landebahn. Bei Schiffen kann die Datenübergabe beispielsweise an der Hafeneinfahrt erfolgen.In the foregoing, an embodiment has been described in the context of motor vehicles. However, the invention is also advantageous for the vehicle control in other vehicle categories, such as aircraft and marine vehicles applicable and may also contribute to higher safety and effectiveness, for example, in the allocation and access of parking areas, moorings or the like. Of course, then the usual facilities and / or procedures for the transfer of data regarding a target position and the trajectory leading there to be observed in these traffic systems. In air traffic, the transmission of data to an arriving aircraft takes place already during its landing approach or at the latest when leaving the runway. For ships, the data transfer can take place, for example, at the harbor entrance.
Claims (10)
Priority Applications (1)
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DE102009046912A DE102009046912A1 (en) | 2009-11-20 | 2009-11-20 | Method for guiding vehicle from start position to target position, involves providing information of location of target position to vehicle at start position |
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DE102009046912A DE102009046912A1 (en) | 2009-11-20 | 2009-11-20 | Method for guiding vehicle from start position to target position, involves providing information of location of target position to vehicle at start position |
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DE102009046912A1 true DE102009046912A1 (en) | 2011-05-26 |
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DE102009046912A Pending DE102009046912A1 (en) | 2009-11-20 | 2009-11-20 | Method for guiding vehicle from start position to target position, involves providing information of location of target position to vehicle at start position |
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Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012108922A1 (en) * | 2012-09-21 | 2014-03-27 | Continental Teves Ag & Co. Ohg | Driver assistance system for supporting driver while parking vehicle, has unit for detecting target parking area based on specific parking area marks, where unit is provided as camera and image processing devices |
DE102014209496A1 (en) | 2014-05-20 | 2015-11-26 | Robert Bosch Gmbh | Method for driving assistance on a large parking lot and driving maneuver system |
DE102014211557A1 (en) | 2014-06-17 | 2015-12-31 | Robert Bosch Gmbh | Valet parking procedure and system |
EP2975593A1 (en) * | 2014-07-18 | 2016-01-20 | Valeo Schalter und Sensoren GmbH | Method for supporting a driver when parking of a motor vehicle, driver assistance system and motor vehicle |
DE102014011697A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking operation of a vehicle in a parking garage |
DE102014218456A1 (en) * | 2014-09-15 | 2016-03-17 | Continental Teves Ag & Co. Ohg | Guidance system for parking a vehicle in a parking facility and method of using the guidance system. |
DE102014221777A1 (en) * | 2014-10-27 | 2016-04-28 | Robert Bosch Gmbh | Method and device for operating a vehicle |
DE102014223897A1 (en) | 2014-11-24 | 2016-05-25 | Robert Bosch Gmbh | Method for guiding a vehicle from a start to a destination position and device for carrying out the method |
DE102014224077A1 (en) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Method and device for assisted driving of a vehicle |
WO2016142099A1 (en) * | 2015-03-11 | 2016-09-15 | Robert Bosch Gmbh | Guiding of a motor vehicle in a parking lot |
WO2017001101A1 (en) * | 2015-07-01 | 2017-01-05 | Robert Bosch Gmbh | Scheme for transferring a vehicle from a starting position to a target position |
FR3039122A1 (en) * | 2015-07-20 | 2017-01-27 | Peugeot Citroen Automobiles Sa | METHOD AND DEVICE FOR ASSISTING THE DRIVING OF VEHICLES IN A PARKING |
DE102015217036A1 (en) * | 2015-09-04 | 2017-03-09 | Robert Bosch Gmbh | Method for planning a supported parking operation |
DE102016100730A1 (en) * | 2016-01-18 | 2017-07-20 | Valeo Schalter Und Sensoren Gmbh | A method of supporting autonomous driving of a motor vehicle. Control device, parking assistance system and motor vehicle |
WO2018041532A1 (en) * | 2016-08-29 | 2018-03-08 | Audi Ag | Method for operating a motor vehicle |
EP3333048A1 (en) * | 2016-12-12 | 2018-06-13 | Valeo Schalter und Sensoren GmbH | Method for autonomous manoeuvring of a motor vehicle on a parking lot using marking elements, driver assistance system, motor vehicle, infrastructure facility and communication system |
DE102016124065A1 (en) | 2016-12-12 | 2018-06-14 | Valeo Schalter Und Sensoren Gmbh | Method for the autonomous maneuvering of a motor vehicle on a parking area with determination of a driving tube on the basis of a digital map, infrastructure device, driver assistance systems, motor vehicle and communication system |
CN110023178A (en) * | 2016-12-12 | 2019-07-16 | 苹果公司 | The autonomous vehicle near destination is instructed using signal of intent |
EP3715190A1 (en) | 2019-03-27 | 2020-09-30 | Volkswagen Ag | Method for parking a motor vehicle in a parking zone with an autonomous parking process starting from a temporary parking position, parking assist system and motor vehicle |
DE102021126943A1 (en) | 2021-10-18 | 2023-04-20 | Bayerische Motoren Werke Aktiengesellschaft | System for driving an automated vehicle on a mobile means of transport |
-
2009
- 2009-11-20 DE DE102009046912A patent/DE102009046912A1/en active Pending
Cited By (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012108922A1 (en) * | 2012-09-21 | 2014-03-27 | Continental Teves Ag & Co. Ohg | Driver assistance system for supporting driver while parking vehicle, has unit for detecting target parking area based on specific parking area marks, where unit is provided as camera and image processing devices |
DE102014209496A1 (en) | 2014-05-20 | 2015-11-26 | Robert Bosch Gmbh | Method for driving assistance on a large parking lot and driving maneuver system |
EP2952412A1 (en) | 2014-05-20 | 2015-12-09 | Robert Bosch Gmbh | Method for driver assistance in a large car park area and driving maneuver system |
DE102014211557A1 (en) | 2014-06-17 | 2015-12-31 | Robert Bosch Gmbh | Valet parking procedure and system |
EP2975593A1 (en) * | 2014-07-18 | 2016-01-20 | Valeo Schalter und Sensoren GmbH | Method for supporting a driver when parking of a motor vehicle, driver assistance system and motor vehicle |
DE102014011697A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking operation of a vehicle in a parking garage |
DE102014218456A1 (en) * | 2014-09-15 | 2016-03-17 | Continental Teves Ag & Co. Ohg | Guidance system for parking a vehicle in a parking facility and method of using the guidance system. |
WO2016066353A1 (en) * | 2014-10-27 | 2016-05-06 | Robert Bosch Gmbh | Method and device for operating a vehicle |
CN107074282A (en) * | 2014-10-27 | 2017-08-18 | 罗伯特·博世有限公司 | Method and apparatus for running vehicle |
US10829154B2 (en) | 2014-10-27 | 2020-11-10 | Robert Bosch Gmbh | Method and device for operating a vehicle |
CN107074282B (en) * | 2014-10-27 | 2019-11-19 | 罗伯特·博世有限公司 | Method and apparatus for running vehicle |
EP3212486B1 (en) | 2014-10-27 | 2019-04-24 | Robert Bosch GmbH | Method and device for operating a vehicle |
DE102014221777A1 (en) * | 2014-10-27 | 2016-04-28 | Robert Bosch Gmbh | Method and device for operating a vehicle |
DE102014223897A1 (en) | 2014-11-24 | 2016-05-25 | Robert Bosch Gmbh | Method for guiding a vehicle from a start to a destination position and device for carrying out the method |
DE102014223897B4 (en) * | 2014-11-24 | 2017-02-02 | Robert Bosch Gmbh | Method for guiding a vehicle from a start to a destination position and device for carrying out the method |
DE102014224077A1 (en) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Method and device for assisted driving of a vehicle |
US10048698B2 (en) | 2015-03-11 | 2018-08-14 | Robert Bosch Gmbh | Guiding of a motor vehicle in a parking lot |
CN107407934A (en) * | 2015-03-11 | 2017-11-28 | 罗伯特·博世有限公司 | Guiding of the motor vehicle on parking lot |
EP4002052A1 (en) * | 2015-03-11 | 2022-05-25 | Robert Bosch GmbH | Guidance of a motor vehicle in a car park |
EP3998518A1 (en) * | 2015-03-11 | 2022-05-18 | Robert Bosch GmbH | Guidance of a motor vehicle in a car park |
WO2016142099A1 (en) * | 2015-03-11 | 2016-09-15 | Robert Bosch Gmbh | Guiding of a motor vehicle in a parking lot |
WO2017001101A1 (en) * | 2015-07-01 | 2017-01-05 | Robert Bosch Gmbh | Scheme for transferring a vehicle from a starting position to a target position |
CN107710095A (en) * | 2015-07-01 | 2018-02-16 | 罗伯特·博世有限公司 | For vehicle to be transferred to the scheme of target location from original position |
US10392825B2 (en) | 2015-07-01 | 2019-08-27 | Robert Bosch Gmbh | Concept for transferring a vehicle from a start position to a target position |
FR3039122A1 (en) * | 2015-07-20 | 2017-01-27 | Peugeot Citroen Automobiles Sa | METHOD AND DEVICE FOR ASSISTING THE DRIVING OF VEHICLES IN A PARKING |
DE102015217036A1 (en) * | 2015-09-04 | 2017-03-09 | Robert Bosch Gmbh | Method for planning a supported parking operation |
DE102016100730A1 (en) * | 2016-01-18 | 2017-07-20 | Valeo Schalter Und Sensoren Gmbh | A method of supporting autonomous driving of a motor vehicle. Control device, parking assistance system and motor vehicle |
WO2018041532A1 (en) * | 2016-08-29 | 2018-03-08 | Audi Ag | Method for operating a motor vehicle |
EP3333048A1 (en) * | 2016-12-12 | 2018-06-13 | Valeo Schalter und Sensoren GmbH | Method for autonomous manoeuvring of a motor vehicle on a parking lot using marking elements, driver assistance system, motor vehicle, infrastructure facility and communication system |
CN110023178A (en) * | 2016-12-12 | 2019-07-16 | 苹果公司 | The autonomous vehicle near destination is instructed using signal of intent |
DE102016124062A1 (en) | 2016-12-12 | 2018-06-14 | Valeo Schalter Und Sensoren Gmbh | Method for the autonomous maneuvering of a motor vehicle on a parking area using marking elements, driver assistance system, motor vehicle, infrastructure device and communication system |
DE102016124065A1 (en) | 2016-12-12 | 2018-06-14 | Valeo Schalter Und Sensoren Gmbh | Method for the autonomous maneuvering of a motor vehicle on a parking area with determination of a driving tube on the basis of a digital map, infrastructure device, driver assistance systems, motor vehicle and communication system |
EP3715190A1 (en) | 2019-03-27 | 2020-09-30 | Volkswagen Ag | Method for parking a motor vehicle in a parking zone with an autonomous parking process starting from a temporary parking position, parking assist system and motor vehicle |
DE102019204203A1 (en) * | 2019-03-27 | 2020-10-01 | Volkswagen Aktiengesellschaft | Method for parking a motor vehicle in a parking zone with an autonomous parking process based on a temporary parking position, parking assistance system and motor vehicle |
DE102021126943A1 (en) | 2021-10-18 | 2023-04-20 | Bayerische Motoren Werke Aktiengesellschaft | System for driving an automated vehicle on a mobile means of transport |
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