DE102011113719A1 - Method for measuring parking space in parking lot using radar system, involves evaluating the radar signals received by the long distant radar system provided at front of to be parked vehicle - Google Patents

Method for measuring parking space in parking lot using radar system, involves evaluating the radar signals received by the long distant radar system provided at front of to be parked vehicle Download PDF

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Publication number
DE102011113719A1
DE102011113719A1 DE102011113719A DE102011113719A DE102011113719A1 DE 102011113719 A1 DE102011113719 A1 DE 102011113719A1 DE 102011113719 A DE102011113719 A DE 102011113719A DE 102011113719 A DE102011113719 A DE 102011113719A DE 102011113719 A1 DE102011113719 A1 DE 102011113719A1
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Germany
Prior art keywords
radar system
parking space
vehicle
radar
parking
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DE102011113719A
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German (de)
Inventor
Andreas Haefner
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Mercedes Benz Group AG
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Daimler AG
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Priority to DE102011113719A priority Critical patent/DE102011113719A1/en
Publication of DE102011113719A1 publication Critical patent/DE102011113719A1/en
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • 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
    • 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
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

A long distant radar system (1.1) is provided in front of to be parked vehicle (1) so as to determine the parking spaces (5,6) between two parked vehicles (2) in the parking lot in preset measuring range (3). The parking space between two parked vehicles is determined by evaluating the radar signals received by the long distant radar system. An independent claim is included for device for measuring parking space using radar system.

Description

Die Erfindung betrifft ein Verfahren zur Parklückenvermessung mit einem Radarsystem.The invention relates to a method for parking space measurement with a radar system.

DE 10 2006 043 953 A1 beschreibt ein Verfahren zur Parklückenvermessung mit einem Kraftfahrzeug-Radarsystem, das einen Multi-Beam-Radarsensor aufweist, dessen Radarkeule sequentiell in verschiedene Hauptstrahlrichtungen gerichtet wird. Das Verfahren zeichnet sich dadurch aus, dass wenigstens eine der Hauptstrahlrichtungen schräg nach vorn und wenigstens eine der Hauptstrahlrichtungen schräg nach hinten gerichtet ist, so dass ein Erfassungsbereich abgedeckt wird, der sich neben einer Längsseite des Kraftfahrzeugs erstreckt, und dass eine Ausdehnung einer Parklücke in Längsrichtung des Kraftfahrzeugs beim Vorbeifahren an der Parklücke aus Radarechos verschiedener Radarkeulen bestimmt wird. Ferner wird ein Radarsystem vorgestellt, das zur Durchführung des Verfahrens eingerichtet ist. DE 10 2006 043 953 A1 describes a method for parking space measurement with a motor vehicle radar system having a multi-beam radar sensor whose radar lobe is directed sequentially in different main beam directions. The method is characterized in that at least one of the main beam directions obliquely forward and at least one of the main beam directions is directed obliquely backwards, so that a detection area is covered, which extends adjacent to a longitudinal side of the motor vehicle, and that an extension of a parking space in the longitudinal direction of the motor vehicle when driving past the parking space is determined from radar echoes of different radar lobes. Furthermore, a radar system is presented which is set up to carry out the method.

Der Erfindung liegt die Aufgabe zugrunde, Parklücken mit einem Radarsystem zu vermessen.The invention has for its object to measure parking spaces with a radar system.

Die Aufgabe wird erfindungsgemäß durch die Merkmale des Anspruchs 1 gelöst.The object is achieved by the features of claim 1.

Des Weiteren wird die Aufgabe erfindungsgemäß durch die Merkmale des Anspruchs 4 gelöst.Furthermore, the object is achieved by the features of claim 4.

Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.

Beim erfindungsgemäßen Verfahren zur Parklückenvermessung mit einem Radarsystem wird die Ausdehnung einer vor einem Fahrzeug befindlichen Parklücke in Längsrichtung des Fahrzeugs durch Auswertung von wenigstens einmal an der Fahrbahn reflektierten Radarsignalen bestimmt.In the method according to the invention for parking space measurement with a radar system, the extent of a parking space in front of a vehicle in the longitudinal direction of the vehicle is determined by evaluating radar signals reflected at least once on the roadway.

Bekannte Verfahren zur Vermessung von Parklücken erfordern das Vorbeifahren des suchenden Fahrzeugs an einer Parklücke, die durch parkende Fahrzeuge und/oder andere Hindernisse begrenzt ist. Der Fahrer des suchenden Fahrzeugs muss die Geschwindigkeit beim Vorbeifahren verringern und/oder unvermittelt bremsen, wenn er eine geeignete Parklücke erkennt. Dies führt zu Störungen im Verkehrsfluss und erhöht die Gefahr von Auffahrunfällen.Known methods for measuring parking spaces require passing the searching vehicle on a parking space, which is limited by parked vehicles and / or other obstacles. The driver of the searching vehicle must reduce the speed when driving by and / or brake abruptly when he detects a suitable parking space. This leads to disturbances in the traffic flow and increases the risk of rear-end collisions.

Mit dem erfindungsgemäßen Verfahren ist eine Identifizierung von Parklücken möglich, die sich mehrere Meter vor dem Fahrzeug befinden. Dadurch kann der Fahrer des suchenden Fahrzeugs rechtzeitig abbremsen, das Einparkmanöver vorbereiten und dem nachfolgenden Verkehr das geplante Einparkmanöver signalisieren. Dies beschleunigt und erleichtert den Einparkvorgang und verringert die Gefahr von Auffahrunfällen.With the method according to the invention an identification of parking spaces is possible, which are several meters in front of the vehicle. As a result, the driver of the searching vehicle can brake in good time, prepare the parking maneuver and signal the planned parking maneuver to the subsequent traffic. This speeds up and facilitates the parking process and reduces the risk of rear-end collisions.

Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention will be explained in more detail below with reference to a drawing.

Dabei zeigt:Showing:

1 die Identifizierung einer vor einem Fahrzeug liegenden Parklücke. 1 the identification of a parking space in front of a vehicle.

1 zeigt ein eine Parklücke° 5, 6 suchendes Fahrzeug 1 (im Folgenden: suchendes Fahrzeug 1). Am rechten Rand der Fahrbahn 4 befinden sich parkende Fahrzeuge 2, welche durch Parklücken 5, 6 begrenzt werden. Dabei hat die Parklücke 6 eine zum Einparken des suchenden Fahrzeugs 1 ausreichende Ausdehnung L.6 in Fahrtrichtung. Die Ausdehnung L.5 in Fahrtrichtung der Parklücke 5 reicht dagegen zum Einparken des suchenden Fahrzeugs 1 nicht aus. 1 shows a parking space ° 5 . 6 searching vehicle 1 (hereinafter: searching vehicle 1 ). At the right edge of the road 4 are parked vehicles 2 which through parking spaces 5 . 6 be limited. It has the parking space 6 one for parking the searching vehicle 1 sufficient extension L.6 in the direction of travel. The extension L.5 in the direction of travel of the parking space 5 On the other hand, it is enough to park the searching vehicle 1 not from.

Ein an der Fahrzeugfront des suchenden Fahrzeugs 1 befindliches Radarsystem 1.1, beispielsweise ein Fernbereichs-Radarsystem, erfasst einen vor dem suchenden Fahrzeug 1 liegenden Messbereich 3. Wenigstens ein Teil der durch dieses Radarsystem 1.1 gesendeten bzw. empfangenen Radarsignale werden in bzw. aus Richtung zur Fahrbahn 4 abgestrahlt bzw. empfangen. Durch Auswertung von Radarsignalen mit einem Ausbreitungsweg mit wenigstens einmaliger Reflexion an der Fahrbahn 4 untertunnelt das Radarsystem 1.1 parkende Fahrzeuge° 2. Der Messbereich 3 des Radarsystems 1.1 umfasst daher auch Abschnitte der Fahrbahn 4 ahne direkte Sichtverbindung zum suchenden Fahrzeug 1, beispielsweise die Parklücke 6.A at the vehicle front of the searching vehicle 1 located radar system 1.1 For example, a far-range radar system detects one ahead of the searching vehicle 1 lying measuring range 3 , At least part of this radar system 1.1 transmitted or received radar signals are in or out of the direction of the road 4 emitted or received. By evaluation of radar signals with a propagation path with at least one reflection on the roadway 4 Under tunnels the radar system 1.1 parking vehicles ° 2 , The measuring range 3 of the radar system 1.1 therefore also includes sections of the roadway 4 without direct line of sight to the searching vehicle 1 , for example, the parking space 6 ,

Durch Auswertung von Radarsignalen, die am Unterboden und/oder am Heck und/oder an der Fahrzeugfront parkender Fahrzeuge 2 reflektiert werden, wird die Ausdehnung L.5, L.6 von vor dem suchenden Fahrzeug 1 liegenden Parklücken 5, 6 ermittelt. Dem Fahrer des suchenden Fahrzeugs 1 wird signalisiert, dass die Parklücke 6 eine zum Einparken geeignete Länge L.6 aufweist, wenn sich die Parklücke 6 noch mehrere Meter vor dem suchenden Fahrzeug 1 befindet.By evaluation of radar signals, on the underbody and / or at the rear and / or on the front of the vehicle parked vehicles 2 the extent L.5, L.6 of ahead of the searching vehicle becomes reflected 1 lying parking spaces 5 . 6 determined. The driver of the searching vehicle 1 is signaled that the parking space 6 has a suitable parking length L.6 when the parking space 6 still several meters in front of the searching vehicle 1 located.

In einer besonders vorteilhaften Ausführungsform der Erfindung wird dem nachfolgenden Verkehr mittels akustischer und/oder visueller Signale, beispielsweise durch automatische Betätigung der Blinkanlage 1.2 des suchenden Fahrzeugs 1, angezeigt, dass eine für das suchende Fahrzeug 1 geeignete Parklücke 6 identifiziert wurde.In a particularly advantageous embodiment of the invention is the subsequent traffic by means of acoustic and / or visual signals, for example by automatic actuation of the flashing 1.2 of the searching vehicle 1 , indicating that one for the searching vehicle 1 suitable parking space 6 was identified.

Bezugszeichenliste LIST OF REFERENCE NUMBERS

11
Fahrzeugvehicle
1.11.1
Radarsystemradar system
1.21.2
Blinkanlagelights
22
parkendes Fahrzeugparked vehicle
33
Messbereich eines RadarsystemsMeasuring range of a radar system
44
Fahrbahnroadway
5, 65, 6
Parklückeparking lot
L.5, L.6L.5, L.6
Länge einer ParklückeLength of a parking space

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

  • DE 102006043953 A1 [0002] DE 102006043953 A1 [0002]

Claims (4)

Verfahren zur Parklückenvermessung mit einem Radarsystem (1.1), dadurch gekennzeichnet, dass die Ausdehnung (L.5, L.6) einer vor einem Fahrzeug (1) befindlichen Parklücke (5, 6) in Längsrichtung des Fahrzeugs (1) durch Auswertung von wenigstens einmal an der Fahrbahn (4) reflektierten Radarsignalen bestimmt wird.Method for parking space measurement with a radar system ( 1.1 ), characterized in that the extent (L.5, L.6) of a front of a vehicle ( 1 ) parking space ( 5 . 6 ) in the longitudinal direction of the vehicle ( 1 ) by evaluating at least once on the road ( 4 ) reflected radar signals is determined. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass ein optisches und/oder akustisches Signal generiert wird, wenn sich vor dem Fahrzeug (1) eine für das Fahrzeug (1) ausreichend große Parklücke (6) befindet.A method according to claim 1, characterized in that an optical and / or acoustic signal is generated when in front of the vehicle ( 1 ) one for the vehicle ( 1 ) sufficiently large parking space ( 6 ) is located. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein aus einem nachfolgenden Fahrzeug° (1) erkennbares optisches und/oder akustisches Signal generiert wird, wenn sich vor dem Fahrzeug (1) eine für das Fahrzeug (1) ausreichend große Parklücke (6) befindet.Method according to one of the preceding claims, characterized in that one of a following vehicle ° ( 1 ) recognizable optical and / or acoustic signal is generated when in front of the vehicle ( 1 ) one for the vehicle ( 1 ) sufficiently large parking space ( 6 ) is located. Vorrichtung zur Durchführung des Verfahrens nach einem der vorhergehenden Ansprüche mit einem Radarsystem (1.1), dadurch gekennzeichnet, dass das Radarsystem (1.1) derart steuerbar ist, dass wenigstens ein Teil des Radarsignals in bzw. aus Richtung zur Fahrbahn (4) abgestrahlt bzw. empfangen wird.Device for carrying out the method according to one of the preceding claims with a radar system ( 1.1 ), characterized in that the radar system ( 1.1 ) is controllable such that at least a part of the radar signal in or out of the direction of the road ( 4 ) is emitted or received.
DE102011113719A 2011-09-17 2011-09-17 Method for measuring parking space in parking lot using radar system, involves evaluating the radar signals received by the long distant radar system provided at front of to be parked vehicle Withdrawn DE102011113719A1 (en)

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DE102011113719A DE102011113719A1 (en) 2011-09-17 2011-09-17 Method for measuring parking space in parking lot using radar system, involves evaluating the radar signals received by the long distant radar system provided at front of to be parked vehicle

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DE102011113719A DE102011113719A1 (en) 2011-09-17 2011-09-17 Method for measuring parking space in parking lot using radar system, involves evaluating the radar signals received by the long distant radar system provided at front of to be parked vehicle

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014014219A1 (en) 2014-09-20 2015-04-02 Daimler Ag Method for carrying out a parking operation of a vehicle
DE102018104243B3 (en) 2018-02-26 2019-05-16 Autoliv Development Ab Method and system for detecting parking spaces suitable for a vehicle
DE102021003790A1 (en) 2021-07-23 2021-11-04 Daimler Ag Procedure for parking space measurement

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006043953A1 (en) 2006-09-14 2008-03-27 Valeo Schalter Und Sensoren Gmbh Method for operating a motor vehicle radar system and motor vehicle radar system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006043953A1 (en) 2006-09-14 2008-03-27 Valeo Schalter Und Sensoren Gmbh Method for operating a motor vehicle radar system and motor vehicle radar system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014014219A1 (en) 2014-09-20 2015-04-02 Daimler Ag Method for carrying out a parking operation of a vehicle
DE102018104243B3 (en) 2018-02-26 2019-05-16 Autoliv Development Ab Method and system for detecting parking spaces suitable for a vehicle
WO2019162794A1 (en) 2018-02-26 2019-08-29 Veoneer Sweden Ab Method and system for detecting parking spaces which are suitable for a vehicle
US11158192B2 (en) 2018-02-26 2021-10-26 Veoneer Sweden Ab Method and system for detecting parking spaces which are suitable for a vehicle
DE102021003790A1 (en) 2021-07-23 2021-11-04 Daimler Ag Procedure for parking space measurement

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Effective date: 20150401