DE102014006547A1 - Driver assistance system for a motor vehicle and method for issuing a warning - Google Patents
Driver assistance system for a motor vehicle and method for issuing a warning Download PDFInfo
- Publication number
- DE102014006547A1 DE102014006547A1 DE102014006547.2A DE102014006547A DE102014006547A1 DE 102014006547 A1 DE102014006547 A1 DE 102014006547A1 DE 102014006547 A DE102014006547 A DE 102014006547A DE 102014006547 A1 DE102014006547 A1 DE 102014006547A1
- Authority
- DE
- Germany
- Prior art keywords
- warning
- motor vehicle
- vehicle
- collision
- event
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000003801 milling Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims 1
- 238000011156 evaluation Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 3
- 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
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000002996 emotional effect Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
Verfahren zum Ausgeben einer Warnung an einen Fahrer eines Kraftfahrzeugs zur Vermeidung einer Kollision eines Rads mit einem Objekt, mit den folgenden Schritten: – Erkennen eines Objekts durch Auswerten von Sensordaten; – Durchführen einer Objektverfolgung bei einer Bewegung des Kraftfahrzeugs; – Ausgeben einer Warnung bei einer drohenden Kollision mit dem Objekt; wobei die Warnung bei einer drohenden Kollision der Innenseite eines Rads mit dem Objekt ausgegeben wird.A method for issuing a warning to a driver of a motor vehicle for avoiding a collision of a wheel with an object, comprising the following steps: detecting an object by evaluating sensor data; - Carrying out an object tracking during a movement of the motor vehicle; - issuing a warning in the event of an imminent collision with the object; wherein the warning is issued in the event of an impending collision of the inside of a wheel with the object.
Description
Die Erfindung betrifft ein Verfahren zum Ausgeben einer Warnung an einen Fahrer eines Kraftfahrzeugs zur Vermeidung einer Kollision eines Fahrzeugrads mit einem Objekt.The invention relates to a method for outputting a warning to a driver of a motor vehicle for avoiding a collision of a vehicle wheel with an object.
Es sind bereits unterschiedliche Fahrerassistenzsysteme vorgeschlagen worden, um zu verhindern, dass es zu einer Kollision des Kraftfahrzeugs mit einem Hindernis kommt. Die Kollision kann dabei sowohl zwischen Karosseriekomponenten als auch den Rädern des Kraftfahrzeugs und dem Hindernis stattfinden. Typische Hindernisse sind Bordsteinkanten, Poller, Bäume oder Sträucher sowie Pfähle, Pfosten und dergleichen, die häufig zur Begrenzung von Parkbuchten oder Parkplätzen verwendet werden. Eine mögliche Gefahrenquelle sind Parkvorgänge, bei denen die normalerweise hindernisfreie Fahrbahn verlassen wird und das Fahrzeug auf einer Abstellfläche bewegt wird.Various driver assistance systems have already been proposed in order to prevent a collision of the motor vehicle with an obstacle. The collision can take place both between body components and the wheels of the motor vehicle and the obstacle. Typical obstacles are curbs, bollards, trees or shrubs, as well as piles, posts and the like, which are often used to limit parking bays or parking lots. A possible source of danger is parking, where the normally obstacle-free road is left and the vehicle is moved on a parking area.
Aus der
Ein Fahrerassistenzsystem zum Schutz eines Kraftfahrzeugs vor Beschädigungen wird in der
Ein ähnliches Fahrerassistenzsystem wird in der
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren anzugeben, das eine erhöhte Sicherheit gegenüber unerwünschten Kollisionen eines Rads des Kraftfahrzeugs mit einem Hindernis bietet.The invention has for its object to provide a method that provides increased security against unwanted collisions of a wheel of the motor vehicle with an obstacle.
Zur Lösung dieser Aufgabe ist bei einem Verfahren der eingangs genannten Art erfindungsgemäß vorgesehen, dass die Warnung bei einer drohenden Kollision der Innenseite eines Rads mit dem Objekt ausgegeben wird.To solve this problem, it is provided according to the invention in a method of the type mentioned that the warning is issued in an imminent collision of the inside of a wheel with the object.
Herkömmliche Fahrerassistenzsysteme und Warnverfahren berücksichtigen die Außenkontur des Kraftfahrzeugs. Allerdings kann beim Parken auf einem Bordstein auch der Fall eintreten, dass die Innenseite eines Rads mit dem Objekt, insbesondere einem Bordstein, kollidiert, wodurch der Reifen und/oder die Felge beschädigt wird. Bei derartigen Beschädigungen besteht die Gefahr, dass sie übersehen werden, da sie sich an einer schlecht zugänglichen Stelle befinden und somit häufig nicht sichtbar sind. Andererseits sind diese Schäden als kritisch einzustufen, da sie Ausgangspunkt für eine schwerwiegende Beschädigung sein können. Es besteht daher die Gefahr, dass der Fahrer derartige Beschädigungen nicht erkennt, so dass er nicht durch einen Radwechsel oder eine Reparatur reagieren kann.Conventional driver assistance systems and warning methods take into account the outer contour of the motor vehicle. However, when parking on a curb, it may also happen that the inside of a wheel collides with the object, especially a curb, damaging the tire and / or the rim. With such damage there is a risk that they are overlooked, as they are located in a difficult to reach place and thus are often not visible. On the other hand, these damages are to be classified as critical, since they can be the starting point for a serious damage. There is therefore the danger that the driver does not recognize such damage, so that he can not react by changing the wheel or a repair.
Erfindungsgemäß werden gefährliche, nicht erkannte Beschädigungen verhindert, da der Fahrer gewarnt wird, wenn eine Beschädigung der Radinnenseite droht. Durch die ausgegebene Warnung kann der Fahrer reagieren, beispielsweise durch ein Brems- und/oder Lenkmanöver, bevor die Kollision stattfindet.According to the invention, dangerous, unrecognized damage is prevented because the driver is warned if damage to the inside of the wheel threatens. The issued warning allows the driver to react, for example, by a braking and / or steering maneuver, before the collision takes place.
Bei dem erfindungsgemäßen Verfahren wird es bevorzugt, dass ein Bordstein oder eine Fräskante einer Fahrbahn als Objekt erkannt wird. Derartige Hindernisse sind häufig für Beschädigungen der Räder verantwortlich, so dass erfindungsgemäß das Risiko einer Beschädigung der Innenseite eines Rads beträchtlich verringert werden kann.In the method according to the invention, it is preferred that a curb or a milling edge of a roadway is recognized as an object. Such obstacles are often responsible for damage to the wheels, so that according to the invention the risk of damaging the inside of a wheel can be considerably reduced.
Bei dem erfindungsgemäßen Verfahren kann es vorgesehen sein, dass die Sensordaten Bilddaten umfassen, die mittels einer Kameraanordnung erfasst werden, die zumindest eine Frontkamera, eine Heckkamera und optional an Außenspiegeln angebrachte Kameras aufweist. Mittels der Kameraanordnung wird ein Bild des Fahrzeugumfelds erfasst, das einer Bildauswertung unterzogen wird, um ein Objekt oder ein Hindernis zu erkennen. Alternativ oder zusätzlich kann es bei dem erfindungsgemäßen Verfahren auch vorgesehen sein, dass die Sensordaten Laserscannerdaten umfassen, die mittels wenigstens eines Laserscanners erfasst werden, wobei ein Laserscanner an der Fahrzeugfront oder an dem Fahrzeugheck angeordnet ist. Bei dem erfindungsgemäßen Verfahren kann entweder eine Kameraanordnung oder wenigstens ein Laserscanner eingesetzt werden, selbstverständlich können auch sowohl die Kameraanordnung als auch der wenigstens eine Laserscanner zum Erfassen von Sensordaten genutzt werden. Eine Weiterbildung des erfindungsgemäßen Verfahrens kann vorsehen, dass mittels der Kameraanordnung erfasste Bilddaten und mittels des wenigstens einen Laserscanners erfasste Laserscannerdaten fusioniert werden, um durch eine Auswertung der fusionierten Bilddaten Objekte und Hindernisse zu erkennen.In the method according to the invention, it can be provided that the sensor data comprise image data which are acquired by means of a camera arrangement which has at least one front camera, a rear camera and optionally cameras mounted on exterior mirrors. By means of the camera arrangement, an image of the vehicle surroundings is detected, which is subjected to an image evaluation in order to detect an object or an obstacle. Alternatively or additionally, it can also be provided in the method according to the invention that the sensor data comprise laser scanner data which are detected by means of at least one laser scanner, wherein a laser scanner is arranged on the vehicle front or on the rear of the vehicle. In the method according to the invention, either a camera arrangement or at least one laser scanner can be used, of course, both the camera arrangement and the at least one laser scanner can be used to acquire sensor data. A development of the invention The method may provide that image data captured by the camera arrangement and laser scanner data acquired by means of the at least one laser scanner are fused in order to detect objects and obstacles by evaluating the fused image data.
Um die Genauigkeit des erfindungsgemäßen Verfahrens zu erhöhen, kann es vorgesehen sein, dass die Größe der Räder des Fahrzeugs, insbesondere deren Außendurchmesser berücksichtigt wird. Alternativ oder zusätzlich kann auch eine verschleißbedingte Änderung des Außendurchmessers berücksichtigt werden, so dass stets der tatsächliche Außendurchmesser bei der Berechnung einer Kollisionswahrscheinlichkeit berücksichtigt wird. Der Außendurchmesser kann beispielsweise mittels eines Laserscanners erfasst werden, der den vertikalen Abstand zum Untergrund erfassen kann. Alternativ oder zusätzlich kann auch die Breite der Räder berücksichtigt werden.In order to increase the accuracy of the method according to the invention, it may be provided that the size of the wheels of the vehicle, in particular its outer diameter, is taken into account. Alternatively or additionally, a wear-related change in the outer diameter can also be taken into account so that the actual outer diameter is always taken into account in the calculation of a collision probability. The outer diameter can be detected for example by means of a laser scanner, which can detect the vertical distance to the ground. Alternatively or additionally, the width of the wheels can also be taken into account.
Eine Weiterbildung des erfindungsgemäßen Verfahrens kann vorsehen, dass die Warnung für den Fahrer optisch und/oder akustisch ausgegeben wird. Eine optische Warnung kann mittels einer Leuchte ausgegeben werden, die sich in einem Kombiinstrument oder an einer Instrumententafel befindet. Alternativ oder zusätzlich kann die Warnung auch auf einem Display angezeigt werden, das beispielsweise für ein Navigationsgerät und andere Anwendungen benutzt wird. Eine noch bessere Wahrnehmbarkeit ergibt sich, wenn das Warnsignal akustisch ausgegeben wird, beispielsweise als Signalton. Ein derartiges akustisches Signal wird vom Fahrer ohne Verzögerung wahrgenommen, so dass er eingreifen kann, um eine Kollision mit dem Objekt, insbesondere mit einem Bordstein, zu verhindern.A further development of the method according to the invention can provide that the warning for the driver is output optically and / or acoustically. An optical warning can be output by means of a light located in a combination instrument or on an instrument panel. Alternatively or additionally, the warning can also be displayed on a display, which is used for example for a navigation device and other applications. An even better perceptibility results when the warning signal is emitted acoustically, for example as a signal tone. Such an acoustic signal is perceived by the driver without delay, so that he can intervene to prevent a collision with the object, especially with a curb.
Eine weitere Verbesserung des erfindungsgemäßen Verfahrens kann dadurch erzielt werden, dass bei einer drohenden Kollision ein Bremsmanöver und/oder ein Eingriff in ein Lenksystem ausgelöst wird. Dementsprechend kann bei einer festgestellten hohen Kollisionswahrscheinlichkeit automatisch, beispielsweise durch eine Steuerungseinrichtung, ein Eingriff in die Bremsanlage des Kraftfahrzeugs vorgenommen werden, wodurch das Fahrzeug abgebremst wird, vorzugsweise bis zum Stillstand, bevor das Kraftfahrzeug, insbesondere ein Rad des Kraftfahrzeugs, mit dem Objekt, insbesondere mit einem Bordstein, kollidiert. In ähnlicher Weise kann bei dem erfindungsgemäßen Verfahren ein Eingriff in das Lenksystem des Kraftfahrzeugs erfolgen, beispielsweise um die Trajektorie des Kraftfahrzeugs so zu beeinflussen, dass eine Kollision mit dem Hindernis vermieden wird.A further improvement of the method according to the invention can be achieved by triggering a braking maneuver and / or an intervention in a steering system in the event of an impending collision. Accordingly, in the event of a high probability of collision being detected, an intervention in the brake system of the motor vehicle can be carried out automatically, for example by a control device, whereby the vehicle is braked, preferably to a standstill, before the motor vehicle, in particular a wheel of the motor vehicle, with the object, in particular with a curb, collided. Similarly, in the method according to the invention, an intervention in the steering system of the motor vehicle, for example, to influence the trajectory of the motor vehicle so that a collision with the obstacle is avoided.
Daneben betrifft die Erfindung ein Fahrerassistenzsystem für ein Kraftfahrzeug, mit mehreren Sensoren zum Erfassen des Fahrzeugumfelds und einer Warneinrichtung, die dazu ausgebildet ist, ein Objekt durch Auswerten von Sensordaten zu erkennen und eine Objektverfolgung bei einer Bewegung des Kraftfahrzeugs durchzuführen und bei einer drohenden Kollision mit dem Objekt eine Warnung auszugeben.In addition, the invention relates to a driver assistance system for a motor vehicle, with a plurality of sensors for detecting the vehicle environment and a warning device, which is adapted to detect an object by evaluating sensor data and perform an object tracking during a movement of the motor vehicle and an imminent collision with the Object to issue a warning.
Das erfindungsgemäße Fahrerassistenzsystem zeichnet sich dadurch aus, dass die Warneinrichtung dazu ausgebildet ist, die Warnung bei einer drohenden Kollision der Radinnenseite mit dem Objekt auszugeben.The driver assistance system according to the invention is characterized in that the warning device is designed to output the warning in the event of an impending collision of the inner side of the wheel with the object.
Weitere Vorteile und Einzelheiten der Erfindung werden nachfolgend anhand eines Ausführungsbeispiels unter Bezugnahme auf die Zeichnungen erläutert. Die Zeichnungen sind schematische Darstellungen und zeigen:Further advantages and details of the invention will be explained below with reference to an embodiment with reference to the drawings. The drawings are schematic representations and show:
Das in
In der Auswerteeinheit
Eine Variante des Verfahrens sieht vor, dass das von der Kameraanordnung
Die
Durch das Fahrerassistenzsystem des Kraftfahrzeugs
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 102008028222 A1 [0003] DE 102008028222 A1 [0003]
- DE 102011014699 A1 [0004] DE 102011014699 A1 [0004]
- DE 102011087894 A1 [0005] DE 102011087894 A1 [0005]
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014006547.2A DE102014006547A1 (en) | 2014-05-06 | 2014-05-06 | Driver assistance system for a motor vehicle and method for issuing a warning |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014006547.2A DE102014006547A1 (en) | 2014-05-06 | 2014-05-06 | Driver assistance system for a motor vehicle and method for issuing a warning |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102014006547A1 true DE102014006547A1 (en) | 2015-11-12 |
Family
ID=54336208
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102014006547.2A Pending DE102014006547A1 (en) | 2014-05-06 | 2014-05-06 | Driver assistance system for a motor vehicle and method for issuing a warning |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102014006547A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016208373A1 (en) * | 2016-05-17 | 2017-11-23 | Bayerische Motoren Werke Aktiengesellschaft | A method, apparatus and a mobile user device for generating a driver information comprising at least one graphical element in connection with at least one wheel of the vehicle |
DE102016208369A1 (en) * | 2016-05-17 | 2017-12-07 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining data representing part of the environment below the vehicle |
DE102016208372A1 (en) * | 2016-05-17 | 2017-12-07 | Bayerische Motoren Werke Aktiengesellschaft | Method, device and a mobile user device for generating driver information in connection with a terrain area covered by a vehicle at least one time |
DE102017203737A1 (en) | 2017-03-07 | 2018-09-13 | Bayerische Motoren Werke Aktiengesellschaft | Monitoring the distance of a wheel to an obstacle |
CN109849913A (en) * | 2017-11-29 | 2019-06-07 | 奥迪股份公司 | Assist system and method for the vehicle parking in curb |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009016562A1 (en) * | 2009-04-06 | 2009-11-19 | Daimler Ag | Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle |
DE102008028222A1 (en) | 2008-06-13 | 2009-12-17 | Volkswagen Ag | Method for determining distance of vehicle from barrier and height of barrier, involves emitting signal waves by vehicle in laterally downward manner, where distance and height are determined depending on reflections of signal waves |
DE102011014699A1 (en) | 2011-03-22 | 2012-09-27 | Audi Ag | Method for operating driver assistance system for protection of motor car, involves determining recording locations of object from different positions of motor car based on three-dimensional positional data and endangerment value |
DE102011118685A1 (en) * | 2011-11-16 | 2013-05-16 | Audi Ag | Motor car, has wheels arranged at axle and comprising distance determining unit that is designed for contactless determination of distance information, where information refers to distance of wheels to object |
DE102011087894A1 (en) | 2011-12-07 | 2013-06-13 | Robert Bosch Gmbh | Method and vehicle assistance system for active warning and / or navigation aid for avoiding a collision of a vehicle body part and / or a vehicle wheel with an object |
DE102012014809A1 (en) * | 2012-07-26 | 2014-01-30 | Volkswagen Ag | Method and device for detecting a curb crossing |
-
2014
- 2014-05-06 DE DE102014006547.2A patent/DE102014006547A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008028222A1 (en) | 2008-06-13 | 2009-12-17 | Volkswagen Ag | Method for determining distance of vehicle from barrier and height of barrier, involves emitting signal waves by vehicle in laterally downward manner, where distance and height are determined depending on reflections of signal waves |
DE102009016562A1 (en) * | 2009-04-06 | 2009-11-19 | Daimler Ag | Method for identifying objects in periphery of vehicle, involves recording image of periphery of vehicle at vehicle position, and another image of periphery of vehicle at another vehicle position by camera arranged on vehicle |
DE102011014699A1 (en) | 2011-03-22 | 2012-09-27 | Audi Ag | Method for operating driver assistance system for protection of motor car, involves determining recording locations of object from different positions of motor car based on three-dimensional positional data and endangerment value |
DE102011118685A1 (en) * | 2011-11-16 | 2013-05-16 | Audi Ag | Motor car, has wheels arranged at axle and comprising distance determining unit that is designed for contactless determination of distance information, where information refers to distance of wheels to object |
DE102011087894A1 (en) | 2011-12-07 | 2013-06-13 | Robert Bosch Gmbh | Method and vehicle assistance system for active warning and / or navigation aid for avoiding a collision of a vehicle body part and / or a vehicle wheel with an object |
DE102012014809A1 (en) * | 2012-07-26 | 2014-01-30 | Volkswagen Ag | Method and device for detecting a curb crossing |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016208373A1 (en) * | 2016-05-17 | 2017-11-23 | Bayerische Motoren Werke Aktiengesellschaft | A method, apparatus and a mobile user device for generating a driver information comprising at least one graphical element in connection with at least one wheel of the vehicle |
DE102016208369A1 (en) * | 2016-05-17 | 2017-12-07 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining data representing part of the environment below the vehicle |
DE102016208372A1 (en) * | 2016-05-17 | 2017-12-07 | Bayerische Motoren Werke Aktiengesellschaft | Method, device and a mobile user device for generating driver information in connection with a terrain area covered by a vehicle at least one time |
DE102017203737A1 (en) | 2017-03-07 | 2018-09-13 | Bayerische Motoren Werke Aktiengesellschaft | Monitoring the distance of a wheel to an obstacle |
CN109849913A (en) * | 2017-11-29 | 2019-06-07 | 奥迪股份公司 | Assist system and method for the vehicle parking in curb |
CN109849913B (en) * | 2017-11-29 | 2022-07-22 | 奥迪股份公司 | System and method for assisting parking of vehicle on curb |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2920028B1 (en) | Method and device for warning against cross traffic when leaving a parking space | |
DE102011014699B4 (en) | Method for operating a driver assistance system for protecting a motor vehicle against damage and motor vehicle | |
EP2626268B1 (en) | Device for protecting the outside mirror of a motor vehicle from collision with obstacles on the side | |
DE102015205142B4 (en) | Driver assistance method and driver assistance system | |
EP1671298B1 (en) | Device used in a vehicle for detecting the vehicle's approach of a crosswalk | |
DE102012203235A1 (en) | Method for automatically performing a driving maneuver | |
DE19947766A1 (en) | Device for monitoring the surroundings of a parking vehicle | |
WO2003001471A2 (en) | Collision prevention system for vehicles | |
DE102010031038A1 (en) | Method for assisting a driver of a motor vehicle | |
DE102010045162A1 (en) | Method for transverse guidance of motor car, involves determining voidance trajectory, where wheel contact with determined pothole is avoided when predicted trajectory of motor car leads to wheel contact with pothole | |
EP1447271B1 (en) | Apparatus and method for monitoring of the proximity of a vehicle to avoid collisions with obstacles, in particular for parking | |
DE102014006547A1 (en) | Driver assistance system for a motor vehicle and method for issuing a warning | |
DE102011116822A1 (en) | Monitoring system e.g. parking assistance system, for monitoring lateral environment of e.g. motor vehicle, has sensors for detecting detection area, where lateral width of zone is adjusted during right-side turning process | |
DE102012108563A1 (en) | Method and devices for collision warning during lane changes | |
DE102011080928A1 (en) | Method for assisting driver of motor vehicle e.g. car for planned lane change adjacent to vehicle track, involves determining whether object is driven in adjacent track and issuing warning to driver, when object is on adjacent track | |
DE102009039085A1 (en) | Method for maneuvering vehicle, involves detecting low-floor barricade in circumference of vehicle by remote sensor of vehicle, where distance of barricade to vehicle is determined | |
DE102015226217A1 (en) | Method and system for assisted emergency braking | |
DE102014202385A1 (en) | Method for detecting a driver avoidance request in a driver assistance system for motor vehicles | |
DE102013021827A1 (en) | A method for warning a driver of a motor vehicle of a risk of collision by outputting a non-optical warning signal, collision warning system and motor vehicle | |
DE102016005227A1 (en) | Method for controlling a driver assistance system | |
EP2873577A2 (en) | Method for operating a driver assistance system for protecting a motor vehicle against damage during a manoeuvre and motor vehicle | |
DE102005022421A1 (en) | Collision avoidance system for use on commercial road vehicles uses inputs from distance sensors to provide guidance information | |
DE102011013486A1 (en) | Driver assistance system for vehicle e.g. motor car, initiates braking process when calculated probability of collision with respect to object crosses threshold value | |
DE102017006078A1 (en) | Method for carrying out a parking operation with a motor vehicle | |
DE102011080720A1 (en) | Method for predictive monitoring of track in driving assistance system of vehicle, involves detecting environmental data concerning to track section by environment sensor system of vehicle before detecting gradient change |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R012 | Request for examination validly filed | ||
R016 | Response to examination communication | ||
R016 | Response to examination communication | ||
R016 | Response to examination communication |