DE102011005153A1 - Method for assisting parking of vehicle, involves determining risk of collision with respect to parking trajectory by considering lateral distance to obstacles - Google Patents
Method for assisting parking of vehicle, involves determining risk of collision with respect to parking trajectory by considering lateral distance to obstacles Download PDFInfo
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- DE102011005153A1 DE102011005153A1 DE102011005153A DE102011005153A DE102011005153A1 DE 102011005153 A1 DE102011005153 A1 DE 102011005153A1 DE 102011005153 A DE102011005153 A DE 102011005153A DE 102011005153 A DE102011005153 A DE 102011005153A DE 102011005153 A1 DE102011005153 A1 DE 102011005153A1
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- parking
- lateral distance
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- trajectory
- parking trajectory
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- 238000000034 method Methods 0.000 title claims abstract description 22
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0072—Controller asks driver to take over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Die Erfindung bezieht sich auf ein Verfahren zur Unterstützung eines Einparkvorganges in einem Fahrzeug.The invention relates to a method for supporting a parking operation in a vehicle.
Aktuell sind bereits verschiedenste Vorrichtungen und Verfahren zur Unterstützung des Fahrers während eines Einparkvorgangs bekannt. Die einfachste Form stellen dabei am Fahrzeug angebrachte Abstandssensoren dar, die ein Warnsignal erzeugen, wenn sich das Fahrzeug einem Hindernis nähert. Solche sogenannte „PDC”-Systeme sollen dem Fahrer lediglich einen Hinweise geben, dass er abbremsen muss, um eine Kollision mit einem detektierten Hindernis zu vermeiden. Hierbei erfolgt bisher kein automatischer Eingriff in die Fahrzeugsteuerung.Currently, a variety of devices and methods for assisting the driver during a parking operation are already known. The simplest form represent distance sensors mounted on the vehicle, which generate a warning signal when the vehicle approaches an obstacle. Such so-called "PDC" systems are merely intended to give the driver an indication that he must brake in order to avoid a collision with a detected obstacle. This is done so far no automatic intervention in the vehicle control.
Neben diesen Systemen sind auch sogenannte Parkassistenten bekannt, die bereits durch einen automatisch erzeugten Eingriff in die Fahrzeugsteuerung – insbesondere in die Lenkung – dem Fahrer das Einparken erleichtern. Solche Parkassistenten sind beispielsweise derart ausgestaltet, dass anfangs mittels geeigneter Sensoren eine Parklücke vermessen, und anschließend aus den vorliegenden Daten eine Einparktrajektorie ermittelt wird. Diese Einparktrajektorie kann dann dadurch abgefahren werden, dass der Fahrer nur noch für das Beschleunigen und Bremsen verantwortlich ist, die Lenkung aber automatisch erfolgt. Der Fahrer muss beim sogenannten semiautonomen Einparken (semiautonom, da nur die Lenkung automatisch erfolgt) hierfür das Lenkrad loslassen und nur das Gas- oder Bremspedal betätigen. Alternativ sind auch vollautonome Parkassistenten bekannt, bei denen das Fahrzeug vollkommen selbständig in die Parklücke einfährt.In addition to these systems, so-called parking assistants are also known, which already facilitate the parking of the driver by an automatically generated intervention in the vehicle control system - in particular in the steering system. Such parking assistants are designed, for example, in such a way that initially a parking space is measured by means of suitable sensors, and then a parking trajectory is determined from the available data. This parking trajectory can then be traversed by the fact that the driver is only responsible for accelerating and braking, but the steering takes place automatically. The driver must in the so-called semi-autonomous parking (semi-autonomous, since only the steering is automatic) to release the steering wheel and only press the accelerator or brake pedal. Alternatively, fully autonomous parking assistants are known in which the vehicle enters the parking space completely independently.
Aus der
Aufgabe der Erfindung ist es, ein Verfahren zur Einparkunterstützung anzugeben, welches dem Fahrer Anweisungen zur Umsetzung bei Berücksichtigung des seitlichen Abstandes an die Hand gibt.The object of the invention is to provide a method for parking assistance, which gives the driver instructions for implementation in consideration of the lateral distance to the hand.
Diese Aufgabe wird erfindungsgemäß durch den Gegenstand des unabhängigen Patentanspruchs gelöst. Vorteilhafte Weiterbildungen sind die Gegenstände der abhängigen Patentansprüche.This object is achieved by the subject of the independent claim. Advantageous developments are the subject matters of the dependent claims.
Das erfindungsgemäße Verfahren zur Unterstützung eines Einparkvorganges in einem Fahrzeug (Ego-Fahrzeug) umfasst folgende Schritte:
In einem ersten Schritt nach einem Startbefehl (z. B. automatisch nach Unterschreiten einer vorgegebenen Fahrzeuggeschwindigkeitsschwelle oder durch manuelle Betätigung eines entsprechenden Bedienelements) wird kontinuierlich oder zumindest quasikontinuierlich eine geeignete Parklücke auf einer Längsseite des Fahrzeuges sowie gleichzeitig der seitliche Abstand zu Hindernissen auf der jeweils gegenüberliegenden Längsseite vermessen.The method according to the invention for supporting a parking process in a vehicle (ego vehicle) comprises the following steps:
In a first step after a start command (eg, automatically after falling below a predetermined vehicle speed threshold or by manual operation of a corresponding control element) is continuously or at least quasi-continuously a suitable parking space on one longitudinal side of the vehicle and at the same time the lateral distance to obstacles on the opposite side Measure longitudinal side.
In einem zweiten Schritt wird nach Stillstand des Ego-Fahrzeuges in einer Ausgangsposition für den Einparkvorgang eine wegminimierende Einparktrajektorie zum Einparken in die Parklücke ohne Berücksichtigung des seitlichen Abstandes ermittelt. Hierfür sind beispielweise bereits Standardtrajektorien bekannt, die eine möglichst geringe Rechenkapazität benötigen.In a second step, after immobilization of the ego vehicle in a starting position for the parking process, a path-minimizing parking trajectory for parking in the parking space is determined without consideration of the lateral distance. For example, standard trajectories are already known for this, which require the lowest possible computing capacity.
In einem dritten Schritt wird eine Kollisionsgefahr bezüglich der wegminimierenden Einparktrajektorie unter Berücksichtigung des seitlichen Abstandes überprüft.In a third step, a risk of collision with respect to the path-minimizing parking trajectory is checked taking into account the lateral distance.
In einem vierten Schritt wird bei Feststellung einer Kollisionsgefahr anstelle der wegminimierenden Einparktrajektorie eine an den seitlichen Abstand angepasste Einparktrajektorie bestimmt.In a fourth step, if a collision risk is determined instead of the path-minimizing parking trajectory, a parking trajectory adapted to the lateral distance is determined.
Diese Abfolge von Verfahrensschritten ist erfindungsgemäß vorgesehen, um möglichst wenig Rechenleistung vom zuständigen Steuergerät, in dem das Programm zur Durchführung des Verfahrens abläuft, abzuverlangen. Würde das Steuergerät stets individuelle auch an die jeweilige seitliche Abstandssituation angepasste Einparktrajektorien ermitteln, stünde die Unterstützung für den Fahrer möglicherweise zu langsam zur Verfügung. Somit wird der Komfort durch eine reaktionsschnelle Unterstützung für den Fahrer erhöht, ohne die Kosten für die Rechenleistung eines elektronischen Steuergerätes zu erhöhen.This sequence of method steps is provided according to the invention in order to demand as little computing power as possible from the responsible control unit in which the program for carrying out the method runs. If the control unit would always determine individual parking trajectories adapted to the respective lateral distance situation, the support for the driver would possibly be too slow. Thus, the comfort is increased by a responsive support for the driver, without increasing the cost of the computing power of an electronic control unit.
In vorteilhafter Weiterbildung der Erfindung wird nach Bestimmung der an den seitlichen Abstand angepassten Einparktrajektorie überprüft, ob die Parklückenlänge für einen Einparkvorgang noch ausreicht. Dabei kann eine einzügige oder auch eine mehrzügige Einparktrajektorie berücksichtigt werden.In an advantageous embodiment of the invention, it is checked after determining the adapted to the lateral distance parking trajectory, if the parking space length is still sufficient for a parking operation. In this case, a single or a multi-level parking trajectory can be taken into account.
Vorzugsweise wird eine Aufforderung an den Fahrer zur Korrektur der Ausgangsposition und/oder eine Abbruchaufforderung (z. B. optisch oder akustisch) an den Fahrer ausgegeben, wenn weder die wegminimierende Einparktrajektorie noch die an den seitlichen Abstand angepasste Einparktrajektorie für einen erfolgreichen Einparkvorgang ausreichen.Preferably, a request to the driver to correct the starting position and / or a cancellation request (eg visually or acoustically) to the driver is issued if neither the wegminimierende parking trajectory nor the to the Adapted laterally spaced parking trajectory sufficient for a successful parking.
Nach erfolgter Korrektur der Ausgangposition beginnt der Prozess von vorne.After correcting the starting position, the process starts again.
Ist auch in Vorausschau ausgehend von korrigierten Ausgangspositionen weder die wegminimierende Einparktrajektorie noch die an den seitlichen Abstand angepasste Einparktrajektorie für einen erfolgreichen Einparkvorgang ausreichend, wird sofort eine Abbruchaufforderung (z. B. optisch oder akustisch) an den Fahrer ausgegeben.If neither the path-minimizing parking trajectory nor the parking distance adapted to the lateral distance is sufficient for a successful parking operation, even in anticipation of corrected starting positions, an abort request (eg optical or acoustic) is immediately output to the driver.
In der Zeichnung ist ein Ausführungsbeispiel der Erfindung dargestellt. Es zeigtIn the drawing, an embodiment of the invention is shown. It shows
In
In einem ersten Schritt nach dem Startbefehl werden im Ausführungsbeispiel nach
In einem zweiten Schritt wird – wie in
In einem dritten Schritt wird im dargestellten Beispiel gemäß
Daraufhin wird in einem vierten Schritt bei Feststellung der Kollisionsgefahr K anstelle der wegminimierenden Einparktrajektorie TM eine an den seitlichen Abstand a angepasste Einparktrajektorie TA bestimmt, wie in
Durch ein derartiges Verfahren werden der Komfort und die Sicherheit bei der Benutzung eines mit diesem optimierten Parkassistenten ausgestatteten Fahrzeugs für den Benutzer erhöht.Such a method increases the comfort and safety of using a vehicle equipped with this optimized parking assistant for the user.
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES 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 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.
Zitierte PatentliteraturCited patent literature
- EP 1755921 B1 [0004] EP 1755921 B1 [0004]
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102011005153A DE102011005153A1 (en) | 2011-03-04 | 2011-03-04 | Method for assisting parking of vehicle, involves determining risk of collision with respect to parking trajectory by considering lateral distance to obstacles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102011005153A DE102011005153A1 (en) | 2011-03-04 | 2011-03-04 | Method for assisting parking of vehicle, involves determining risk of collision with respect to parking trajectory by considering lateral distance to obstacles |
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DE102011005153A1 true DE102011005153A1 (en) | 2012-09-06 |
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DE102011005153A Pending DE102011005153A1 (en) | 2011-03-04 | 2011-03-04 | Method for assisting parking of vehicle, involves determining risk of collision with respect to parking trajectory by considering lateral distance to obstacles |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018006322A1 (en) | 2018-08-09 | 2019-02-14 | Daimler Ag | Method for avoiding an accident situation during a starting process of a vehicle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10332961A1 (en) * | 2003-07-21 | 2005-02-17 | Robert Bosch Gmbh | Method and device for determining the position and / or the expected position of a vehicle during a parking operation in relation to the opposite lane of a multi-lane road |
DE102005015354A1 (en) * | 2004-06-02 | 2005-12-29 | Robert Bosch Gmbh | Method and device for supporting a parking operation of a vehicle |
DE102008027689A1 (en) * | 2008-06-11 | 2009-12-17 | Valeo Schalter Und Sensoren Gmbh | Path planning method for use during parking of vehicle i.e. passenger car, involves measuring path relative to lateral parking spot, and simultaneously and maximally shifting path against driving direction depending on parking spot length |
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2011
- 2011-03-04 DE DE102011005153A patent/DE102011005153A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10332961A1 (en) * | 2003-07-21 | 2005-02-17 | Robert Bosch Gmbh | Method and device for determining the position and / or the expected position of a vehicle during a parking operation in relation to the opposite lane of a multi-lane road |
DE102005015354A1 (en) * | 2004-06-02 | 2005-12-29 | Robert Bosch Gmbh | Method and device for supporting a parking operation of a vehicle |
EP1755921B1 (en) | 2004-06-02 | 2009-02-18 | Robert Bosch Gmbh | Method and device for assisting the performance of a parking maneuver of a vehicle |
DE102008027689A1 (en) * | 2008-06-11 | 2009-12-17 | Valeo Schalter Und Sensoren Gmbh | Path planning method for use during parking of vehicle i.e. passenger car, involves measuring path relative to lateral parking spot, and simultaneously and maximally shifting path against driving direction depending on parking spot length |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018006322A1 (en) | 2018-08-09 | 2019-02-14 | Daimler Ag | Method for avoiding an accident situation during a starting process of a vehicle |
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