DE102010047161A1 - Method and device for supporting a parking operation of a vehicle - Google Patents

Method and device for supporting a parking operation of a vehicle

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Publication number
DE102010047161A1
DE102010047161A1 DE102010047161A DE102010047161A DE102010047161A1 DE 102010047161 A1 DE102010047161 A1 DE 102010047161A1 DE 102010047161 A DE102010047161 A DE 102010047161A DE 102010047161 A DE102010047161 A DE 102010047161A DE 102010047161 A1 DE102010047161 A1 DE 102010047161A1
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DE
Germany
Prior art keywords
parking
vehicle
parking space
position
8th
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
Application number
DE102010047161A
Other languages
German (de)
Inventor
Oliver Grimm
Nicolas Jecker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Priority to DE102010047161A priority Critical patent/DE102010047161A1/en
Publication of DE102010047161A1 publication Critical patent/DE102010047161A1/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/0285Parking performed automatically
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/028Guided parking by providing commands to the driver, e.g. acoustically or optically
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • G01S15/93Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004Means for monitoring or calibrating
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • G01S15/93Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933Sonar 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • G01S15/93Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933Sonar 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
    • G01S2015/934Sonar 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 for measuring the depth, i.e. width, not length, of the parking space

Abstract

The invention relates to a method and a device for supporting a parking process of a vehicle (6) in a parking space (4) according to the preamble of claim 1 or 13. To further improve reliability and ease of use, it is provided that the evaluation device 22, 23) determines the position of the parking space boundary (2, 3), compares it with the position detected by the parking space measuring device (21) and corrects the parking path (8) when exceeding a predetermined tolerance deviation or stops the parking process.

Description

  • The invention relates to a method and a device for supporting a parking operation of a vehicle referred to in the preamble of claim 1 or 13 kind.
  • Such a method and an associated device are already known from DE 10 2008 064 041 A1 known. In the known method, the front and rear boundary of a parking space are detected when driving past the vehicle via a parking space measuring device with a distance sensor arranged laterally on the vehicle and using the detected positions by means of an evaluation device determines a parking path of the vehicle in a parking position. During the parking process, the evaluation device of the vehicle then issues corresponding steering commands in order to transfer the vehicle along the ascertained parking path into the parking position.
  • In order to improve the ride comfort for the driver even further, an automatic control of the driving speed during parking is also provided. The control of the driving speed is carried out based on the distance between the vehicle and the nearest parking space boundary. Therefore, this distance is first determined on the basis of the position of the boundary detected during the passage past the parking space measuring device and the distance traveled by the vehicle along the parking path since then. In addition, an associated sensor arrangement is provided at the front and rear of the vehicle in each case can be determined by the distance of the vehicle to the parking space boundaries additionally by direct distance measurement after entering the vehicle in the parking space. By this approach, measurement errors of the parking space measuring device can be compensated to some extent.
  • In particular, collision of the vehicle with one of the parking space boundary can be avoided if a too small length of the parking space was determined by means of the parking space measuring device. In such a case, the approach to the parking space boundary is detected by the distance measurement with the arranged at the front and rear of the vehicle sensor arrangement and brakes the vehicle in time before the obstacle. However, it is disadvantageous that the vehicle comes to a stop in a position on the parking path, which deviates from the originally defined parking position and usually does not have the optimal distance and the optimal orientation relative to the parking space boundaries.
  • The object of the invention is to further develop a method and a device for supporting a parking operation of a vehicle referred to in the preamble of claim 1 or 13 to the effect that reliability and ease of use are further improved.
  • This object is achieved by the features of claim 1 and 13. More embodying the invention in an advantageous manner features include the dependent claims.
  • The advantage achieved with the invention is that during the parking process the evaluation device checks the position of the parking space boundary by means of the measured values of the sensor arrangement arranged at the front and / or rear area and corrects the parking process, provided that a significant deviation has been detected. For this purpose, the evaluation device determines the position of the parking space boundary from the distance measured by means of the sensor arrangement and compares it with the position detected by the parking space measuring device in order to correct the parking path or abort the parking process when a predetermined tolerance deviation is exceeded.
  • According to the invention, the position of the parking space boundary is thus determined redundantly via two different sensor arrangements: on the one hand based on the measured values of the parking space measuring device, via which the position of the parking space was detected when passing the parking space, and on the other hand - after the vehicle retracted during parking in the parking space is - by means arranged at the front and / or rear of the vehicle sensor arrangement. The positions determined in this way are transmitted by the evaluation device into the same reference coordinate system and compared with one another. If a deviation of the absolute obstacle positions is detected by the evaluation device, which exceeds a predetermined, tolerable tolerance deviation, the parking path is then corrected or the parking process is terminated.
  • The parking position and the course of the trajectory are preferably corrected by the evaluation device during the correction of the parking track, parking position and parking track being preferably determined by the position of the parking space boundary detected by means of the sensor arrangement arranged at the front and / or rear of the vehicle. The measurement by the front and / or rear of the vehicle arranged sensor arrangement is made directly and is therefore less prone to error as a rule. Furthermore, this measurement also has a greater temporal relevance.
  • The parking path is preferably corrected by the evaluation device such that the vehicle is arranged in the corrected parking position substantially parallel to a lateral boundary of the parking space and / or has a predetermined distance from this. This allows the vehicle to be optimally aligned in the parking space.
  • In order to be able to compensate for larger deviations of the two measured positions, at least one additional parking train can be added to the parking track when correcting the parking track.
  • The parking process is preferably terminated when the evaluation determines that based on the detected by means of the front and / or rear of the vehicle sensor arrangement position of the parking space limit no assisted parking in the parking space is no longer possible.
  • In particular, when finding a very large deviation of the two measured obstacle positions - the z. B. indicates a malfunction of the system or a moving obstacle in the parking space - the parking can be canceled to increase the reliability by an automatic emergency braking of the vehicle. As an emergency braking is to be understood a braking in which the vehicle is braked with the highest and at least very high braking force to achieve the shortest possible braking distance.
  • In order to achieve the greatest possible ease of use, the evaluation device can preferably determine a trajectory for the parking operation of the vehicle and output corresponding steering commands for driving the vehicle along the trajectory, wherein the steering of the vehicle is preferably moved by means of an actuator according to the steering commands of the evaluation.
  • In addition, to increase the ease of use during the parking process, the driving speed of the vehicle can be controlled by the evaluation device based on the distance of the vehicle to the parking space boundary.
  • Preferably, the evaluation device is designed to correct the parking path when a predetermined first maximum deviation is exceeded and to break off the parking procedure when a predetermined second, larger maximum deviation is exceeded.
  • In order to improve safety and ease of use even further, when the parking path is corrected and / or when the parking procedure is canceled, a corresponding information for the driver can be output via a user interface.
  • The parking space measuring device may comprise an ultrasonic sensor, which is arranged on a side wall of the vehicle and has a laterally outwardly directed detection area for particularly simple and reliable detection of the parking space boundary.
  • The sensor arrangement preferably comprises ultrasonic sensors of an already existing parking aid, which are arranged on a front and / or rear end wall of the vehicle and have a substantially directed in the vehicle longitudinal direction detection area.
  • Hereinafter, an embodiment of the invention will be explained in more detail with reference to a drawing.
  • In the illustration show:
  • 1 - 3 Parking operations of a vehicle in longitudinal parking spaces each in a schematic plan view.
  • In 1 a parking situation is shown. At a side boundary 1 , such as B. a curb park two vehicles the one rear 2 and front boundary 3 the parking space 4 form. To measure the parking space drives a vehicle 6 along the roadway 5 at the parking space 4 past. The vehicle 6 has a device for assisting a parking operation, which is a parking space measuring device 21 and includes an evaluation device, not shown. The parking space measuring device 21 includes two lateral distance sensors, each near the Fahrzeugbug on the driver or passenger side of the vehicle 6 are arranged. The distance sensors are designed as ultrasonic distance sensors known per se and in each case on a lateral edge of a front bumper of the vehicle 6 arranged. Alternatively, the distance sensors could also near the rear of the vehicle, z. B be arranged on a rear bumper.
  • The distance sensors are connected to a control unit, not shown, and trained, laterally next to the vehicle 6 To recognize objects arranged and their lateral distance to the vehicle 6 to determine. About the control unit, the distance sensors are controlled so that when passing the vehicle 6 at the parking space 4 along the roadway 5 at least the longitudinal extent of the parking space 4 as well as the positions of the rear 2 and front boundary 3 the parking space 4 is determined. In addition, but still can additional geometric data, such as the depth of the parking space 4 or position and course of the lateral boundary 1 be determined by measurement. The longitudinal extent and possibly additionally determined geometric data can be transmitted to an evaluation unit, which is preferably formed integrally with the control unit and comprises storage means for storing this data.
  • The vehicle 6 also has a sensor arrangement on each of its front and rear bumpers 22 respectively. 23 comprising a plurality of ultrasonic distance sensors. The ultrasonic distance sensors are distributed in each case over the width of the vehicle and designed to be in a parking operation of the vehicle 6 continuously the distance to a front or behind the vehicle 6 to determine arranged obstacle. The distance signal is then sent to an evaluation unit such. As a display or sounder forwarded and output to the driver.
  • The vehicle 6 further comprises a guideway measuring device with at least one distance sensor, not shown, for determining a travel path of the motor vehicle 6 , wherein the displacement sensor is designed as a known per se wheel sensor which measures the revolutions of a vehicle wheel. On the basis of the wheel circumference the guideway measuring device is then capable of that of the vehicle 6 to determine the length of road traveled in the longitudinal direction. In order to determine the track transversely to the longitudinal direction, the measuring device further comprises a steering angle sensor, not shown, via which the adjusted steering angle is continuously measured during the parking process. The time profile of the steering angle is transmitted from the guideway measuring device to the evaluation unit, which continuously uses the data from the steering angle sensor and the travel path sensor to determine the position of the vehicle 6 certainly.
  • In addition to the memory means, the evaluation unit comprises a processor with a program code in order to determine a parking position of the vehicle on the basis of the data transmitted by the parking space measuring device 6 inside the parking space 4 set and subsequently starting from a starting position of the vehicle 6 a parking lift 8th to determine along which the vehicle 6 in his parking position 7 is driven. The parking track 8th may include one or more parking trains, between which the direction of travel of the vehicle is changed in each case.
  • The evaluation unit issues appropriate steering commands to achieve the specified parking path 8th , These steering commands are from the evaluation via a bus system of the vehicle 6 transmitted to an actuator, which then steers the steering accordingly. Alternatively, the steering commands could be issued to the driver by means of an output device, the z. B. a arranged in the car interior display and / or a sound generator comprises. In this case, the driver would receive instructions for manual adjustment of certain steering angles, so that the parking operation can be performed manually by the driver. On a control of the steering by the evaluation can be dispensed with.
  • Furthermore, an automatic regulation of the driving speed of the vehicle 6 be provided during the parking operation by a control device, via the bus system with the engine control and / or the brake system of the vehicle 6 connected is. The control device is in this case with the evaluation device and with the front 22 and rear sensor assembly 23 connected and regulates the driving speed of the vehicle 6 when parking on the basis of the evaluation and the front 22 and rear sensor assembly 23 certain distances of the vehicle 6 to neighboring obstacles. The driver can still influence the driving speed during the parking process by pressing the accelerator or brake pedal.
  • The parking process of the motor vehicle 1 into the longitudinal parking space P is as follows:
    First, the vehicle 6 from the driver along the roadway 5 at the parking space 4 passed by, the parking space 4 by means of the lateral distance sensor of the parking space measuring device 21 measure and the positions of the rear 2 and front boundary 3 be determined. The data is then from the parking space measuring device 21 transmitted to the evaluation, which starting from the start position 9 a parking lift 8th in the parking position determines.
  • The evaluation device then indicates to the driver via an output device that a guided parking is possible. To park, the driver stops the vehicle 6 after passing the parking space 4 temporarily in the starting position 9 and initiates the parking process by engaging a reverse gear. The subsequent parking process can be completely autonomous, ie without further action by the driver. This is the steering of the vehicle 6 automatically steered by the evaluation, while the driving speed is controlled by the control device.
  • When entering the vehicle 6 in the parking space 4 are the front ones 22 and rear sensor assembly 23 activated to measure the distance to obstacles. In doing so, the rear boundary gets 2 at a certain time in the detection range of the rear sensor assembly 23 , At this time, the sensor assembly measures 23 the distance 11 between the rear of the vehicle 6 and the opposite end wall of the rear boundary 2 , The distance 11 This is done by direct distance measurement with one or more ultrasonic sensors of the sensor array 23 determined, wherein in measurements with multiple measurements, the shortest measured distance is used. Alternatively, however, could also be the position of the vehicle 2 in a conventional manner by measurements with multiple sensors of the sensor array 23 be determined according to the principle of triangulation.
  • The evaluation device subsequently determines from the determined distance or from the determined relative position of the rear boundary 2 and the position of the vehicle determined by the travel path sensor 6 at the time of measurement, the absolute position of the rear boundary 2 , This absolute position of the limit 2 is then compared by the evaluation with the absolute position, which previously when passing by means of the sensor 21 the parking space measuring device 21 was determined. This results in a corrected longitudinal extent 4 ' the parking space. If these two positions are not or only slightly different from each other, that a predetermined maximum deviation is not exceeded, the parking operation along the originally determined Einparkbahn 8th to the parking position 7 to be continued. This case is in 1 shown.
  • However, if the evaluation device determines in the comparison that the two positions deviate from each other by more than the predetermined maximum deviation, the evaluation device determines a corrected parking position 10 and a corrected parking track 8th' , This case is in 2 shown. The corrected parking track 8th' is different from the original parking track 8th in a rear section of length 80 , In other words, the corrected parking track continues 8th So from the vehicle 6 already traversed length of the original Einparkbahn 8th as well as a corrected length section attached thereto 80 together. This corrected length section 80 transfers the vehicle 6 starting from its current position when detecting the rear boundary 2 in the corrected parking position 10 ,
  • In certain cases, it may be sufficient for the corrected length section 80 only the last section of a total einzugigen Einparkbahn 8th forms, ie the curve of the Einparkbahn 8th deviates in the corrected length section 80 from the originally planned Einparkbahn 8th from and runs at a lateral distance to this. Unless the position of the rear boundary 2 however, deviates significantly from the originally detected position, it may be necessary to have a corrected length section 80 with several trains 81 and 82 provided. This case is in 2 shown. In this case, the corrected length section comprises 80 a forward move 81 and a subsequent reverse train 82 which the vehicle 6 finally in the corrected parking position 10 transferred.
  • The corrected parking position 10 is determined by the evaluation so that the vehicle 6 in a given lateral distance to the lateral boundary 1 and essentially parallel to this in the parking space 4 is arranged. Alternatively, it would also be possible to park the car 10 so that the vehicle 6 a predetermined lateral distance and in a predetermined orientation relative to the rear 2 and / or front boundary 3 having.
  • The rear sensor assembly is in the reverse drive of the vehicle 6 in the parking space 4 constantly activated to the distance to the rear boundary 2 to investigate. This allows the position of the rear boundary 2 and the parking track determined from this 8th' be updated again and again. Unless the parking of the vehicle 6 In addition, at least one forward move may also include the front sensor arrangement 22 of the vehicle 6 be activated to the distance of the vehicle during the parking process 6 to the front boundary 3 capture. Based on the means of the front sensor assembly 22 measured distance and the position of the vehicle 6 is then determined the absolute position of the front boundary, with the parking space measurement by means of the lateral sensor arrangement 21 compared determined position and when exceeding a predetermined permissible tolerance deviation, the parking track 8th Corrected accordingly.
  • In 3 is a parking operation of the vehicle 6 shown in the area of the parking space 4 unexpectedly an obstacle 14 emerges, which in the measurement of the parking space 4 not from the side sensor 21 was detected. Thus, the obstacle forms 14 and no longer the parked vehicle the rear boundary of the parking space 4 , When parking the obstacle 14 from the rear sensor assembly 23 recorded and based on the measured distance and the vehicle position, the absolute position of the obstacle 14 determined. In this case, the evaluation determines that the location of the now forming the rear boundary obstacle 14 outside a permissible tolerance range 12 is thus significantly different from the originally determined position of the rear boundary that parking in the parking space 4 is no longer possible. The evaluation device therefore gives a command to cancel the parking process.
  • The parking process is preferably by a warning to the driver and / or an automatic braking of the vehicle 6 canceled. The braking is carried out in particular as emergency braking, ie as braking with maximum braking force. If it is the obstacle 14 around a moving obstacle, such. B. is a pedestrian, the parking can along the original Einparkbahn 8th continue as soon as the obstacle 14 from the parking area 8th has moved. Alternatively, the parking operation but also immediately after an emergency braking or detection of an obstacle 14 completely canceled.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 102008064041 A1 [0002]

Claims (15)

  1. Method for supporting a parking operation of a vehicle ( 6 ) in a parking space ( 4 ) comprising the steps of: detecting the position of at least one parking space boundary ( 2 . 3 ) by means of a side of the vehicle ( 6 ) arranged parking space measuring device ( 21 ) when the vehicle passes by ( 6 ) at the parking space ( 4 ), Determination of a parking track ( 8th ) of the vehicle ( 6 ) in a parking position ( 10 ) based on the position of the parking space boundary ( 2 . 3 ) by means of an evaluation device and measuring the distance of the vehicle ( 6 ) for parking space limitation ( 2 . 3 ) during the parking process by means of at least one at a front and / or rear of the vehicle ( 6 ) arranged sensor arrangement ( 22 . 23 ) characterized in that the evaluation device during parking from the means of the sensor arrangement ( 22 . 23 ) measured distance the position of the parking space boundary ( 2 . 3 ), this with the of the parking space measuring device ( 21 ) detected position and when a predetermined tolerance deviation is exceeded, the Einparkbahn ( 8th ) or stops the parking process.
  2. A method according to claim 1, characterized in that the evaluation device in the correction of Einparkbahn ( 8th ) the parking position ( 10 ) and the course of the trajectory ( 8th' ) corrected.
  3. Method according to one of the preceding claims, characterized in that the corrected parking position ( 10 ) and parking track ( 8th' ) based on the position of the parking space boundary ( 2 . 3 ) by means of the front and / or rear of the vehicle ( 6 ) arranged sensor arrangement ( 22 . 23 ) was recorded.
  4. Method according to one of the preceding claims, characterized in that the parking track ( 8th ) is corrected by the evaluation device such that the vehicle ( 6 ) in the corrected parking position ( 10 ) substantially parallel to a lateral boundary ( 1 ) the parking space ( 4 ) is arranged and / or has a predetermined distance to this.
  5. Method according to one of the preceding claims, characterized in that when correcting the parking track ( 8th ) at least one additional parking train ( 81 . 82 ) to the parking track ( 8th ) is added.
  6. Method according to one of the preceding claims, characterized in that by the evaluation device on the basis of the at the front and / or rear of the vehicle ( 6 ) arranged sensor arrangement ( 22 . 23 ) detected position of the parking space boundary ( 2 . 3 ) is checked, whether a parking operation is still possible, and the parking is canceled if no supported parking in the parking space ( 4 ) more is possible.
  7. Method according to one of the preceding claims, characterized in that the evaluation device upon termination of the parking operation emergency braking of the vehicle ( 6 ).
  8. Method according to one of the preceding claims, characterized in that the evaluation device corresponding steering commands for driving the vehicle ( 6 ) along the parking track ( 8th . 8th' ).
  9. Method according to claim 8, characterized in that the steering of the vehicle ( 6 ) is guided by means of an actuator according to the steering commands of the evaluation device.
  10. Method according to one of the preceding claims, characterized in that during the parking process, the driving speed of the vehicle ( 6 ) from the evaluation device on the basis of the distance of the vehicle ( 6 ) for parking space limitation ( 2 . 3 ) is regulated.
  11. Method according to one of the preceding claims, characterized in that the evaluation device when exceeding a predetermined first tolerance deviation, the Einparkbahn ( 8th ) and when exceeding a predetermined second, larger deviation ( 12 ) stops the parking process.
  12. Method according to one of the preceding claims, characterized in that when correcting the parking track ( 8th ) and / or cancellation of the parking process a corresponding warning is issued to the driver.
  13. Device for assisting a parking process of a vehicle ( 6 ) in a parking space ( 4 ) with a side of the vehicle ( 6 ) arranged parking space measuring device ( 21 ) in order to prevent the vehicle from passing ( 6 ) at the parking space ( 4 ) the position of at least one parking space boundary ( 2 . 3 ), with an evaluation device in order to determine, based on the detected position of the parking space boundary ( 2 . 3 ) a parking track ( 8th ) of the vehicle ( 6 ) in a parking position ( 7 ) and with one at a front and / or rear of the vehicle ( 6 ) arranged sensor arrangement ( 22 . 23 ) in order to determine the distance of the vehicle ( 6 ) for parking space limitation ( 2 . 3 ), characterized in that the evaluation device for this purpose is formed during the parking process from the means of the sensor arrangement ( 22 . 23 ) measured distance the position of the parking space boundary ( 2 . 3 ) with the parking space measuring device ( 21 ) detected position and when a predetermined maximum deviation is exceeded, the Einparkbahn ( 8th ) or to cancel the parking process.
  14. Apparatus according to claim 13, characterized in that the parking space measuring device ( 21 ) comprises an ultrasonic sensor mounted on a side wall of the vehicle ( 6 ) and has a laterally outwardly facing detection area.
  15. Apparatus according to claim 13 or 14, characterized in that the front and / or rear of the vehicle ( 6 ) arranged sensor arrangement ( 22 . 23 ) Comprises ultrasonic sensors mounted on a front or rear end wall of the vehicle ( 6 ) are arranged and have a substantially directed in the vehicle longitudinal direction detection area.
DE102010047161A 2010-09-30 2010-09-30 Method and device for supporting a parking operation of a vehicle Pending DE102010047161A1 (en)

Priority Applications (1)

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DE102010047161A DE102010047161A1 (en) 2010-09-30 2010-09-30 Method and device for supporting a parking operation of a vehicle

Applications Claiming Priority (2)

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DE102010047161A DE102010047161A1 (en) 2010-09-30 2010-09-30 Method and device for supporting a parking operation of a vehicle
PCT/EP2011/065435 WO2012041670A1 (en) 2010-09-30 2011-09-07 Method and device for assisting a parking maneuver of a vehicle

Publications (1)

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WO (1) WO2012041670A1 (en)

Cited By (8)

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DE102012211637A1 (en) * 2012-07-04 2014-01-09 Robert Bosch Gmbh Method for operating driver assistance system of vehicle i.e. motor car, involves generating driving assistance for vehicle driver based on reference side, so that vehicle is approached at reference side to drive
DE102012022336A1 (en) * 2012-11-14 2014-05-15 Valeo Schalter Und Sensoren Gmbh Method for carrying out an at least semi-autonomous parking operation of a motor vehicle in a garage, parking assistance system and motor vehicle
CN104401325A (en) * 2014-11-05 2015-03-11 江苏大学 Dynamic regulation and fault tolerance method and dynamic regulation and fault tolerance system for auxiliary parking path
CN105620473A (en) * 2014-10-27 2016-06-01 同致电子科技(厦门)有限公司 Parking track correcting method
DE102016102065A1 (en) * 2016-02-05 2017-08-10 Valeo Schalter Und Sensoren Gmbh Method for supporting an autonomous drive of a motor vehicle, control device and parking assistance system
WO2018233298A1 (en) * 2017-06-22 2018-12-27 蔚来汽车有限公司 Method and device enabling automatic driving of vehicle into parking space
DE102017116239A1 (en) * 2017-07-19 2019-01-24 Valeo Schalter Und Sensoren Gmbh Method for longitudinal parking of a motor vehicle in a longitudinal parking gap, wherein distance thresholds are reduced, parking assistance system and motor vehicle
DE102018205346A1 (en) * 2018-04-10 2019-10-10 Continental Teves Ag & Co. Ohg Method and device for moving a detected object in a virtual environment map

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Publication number Priority date Publication date Assignee Title
DE102013214805A1 (en) * 2013-07-29 2015-01-29 Bayerische Motoren Werke Aktiengesellschaft Decide on the direction of travel when restarting in an automated parking process with a parking assistance system
JP6547495B2 (en) * 2015-07-31 2019-07-24 アイシン精機株式会社 Parking assistance device
DE102017208383A1 (en) 2017-05-18 2018-11-22 Ford Global Technologies, Llc Dynamic parking by means of a parking assistance system

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