DE102016212629A1 - Method and device for automated or semi-automated parking of a motor vehicle - Google Patents
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- DE102016212629A1 DE102016212629A1 DE102016212629.6A DE102016212629A DE102016212629A1 DE 102016212629 A1 DE102016212629 A1 DE 102016212629A1 DE 102016212629 A DE102016212629 A DE 102016212629A DE 102016212629 A1 DE102016212629 A1 DE 102016212629A1
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000011156 evaluation Methods 0.000 claims abstract description 16
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- 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
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W50/0097—Predicting future conditions
-
- 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
- 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
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Die Erfindung betrifft ein Verfahren und eine Vorrichtung (1) zum automatisierten oder teilautomatisierten Parken eines Kraftfahrzeugs (100), umfassend eine Auswerte- und Steuereinheit (2), eine Aktorik (3) und mindestens eine Parkraum-Sensorik (4), wobei die Parkraum-Sensorik (4) derart ausgebildet ist, um Parklücken (PL) zu erfassen, wobei die Auswerte- und Steuereinheit (2) derart ausgebildet ist, die Aktorik (3) in Abhängigkeit einer erfassten Parklücke (PL) derart anzusteuern, dass das Kraftfahrzeug (100) automatisiert oder teilautomatisiert in die Parklücke (PL) rangiert wird, wobei die Auswerte- und Steuereinheit (2) derart ausgebildet ist, das diese eine Trajektorie (23) als Such-Pfad einlesen kann, wobei dann die Aktorik (3) derart angesteuert wird, dass das Kraftfahrzeug (100) automatisiert die Trajektorie (23) abfährt, solange nicht mindestens eine Abbruchbedingung erfüllt ist, wobei die Parkraum-Sensorik (4) derart ausgebildet ist, während des Abfahrens des Such-Pfades Parklücken (PL) zu erfassen, wobei die Auswerte- und Steuereinheit (2) weiter derart ausgebildet ist, dass eine erfasste Parklücke (PL) einem Nutzer angeboten wird, wobei nach Auswahl der Parklücke (PL) das Kraftfahrzeug (100) automatisiert oder teilautomatisiert in die Parklücke (PL) rangiert wird oder das Kraftfahrzeug (100) automatisiert in eine erfasste Parklücke (PL) rangiert wird, wobei das automatisierte oder teilautomatisierte Rangieren in eine Parklücke (PL) eine Abbruchbedingung darstellt.The invention relates to a method and a device (1) for automated or semi-automated parking of a motor vehicle (100), comprising an evaluation and control unit (2), an actuator system (3) and at least one parking space sensor system (4), wherein the parking space Sensor (4) is designed to detect parking spaces (PL), wherein the evaluation and control unit (2) is designed such that the actuators (3) in response to a detected parking space (PL) to control such that the motor vehicle ( 100) is automatically or partially automated in the parking space (PL) is ranged, wherein the evaluation and control unit (2) is designed such that it can read a trajectory (23) as a search path, in which case the actuators (3) so controlled is that the motor vehicle (100) automatically travels the trajectory (23), as long as at least one termination condition is met, the parking space sensor system (4) is designed such, during the run of the search path to detect parking spaces (PL), wherein the evaluation and control unit (2) is further designed such that a detected parking space (PL) is offered to a user, wherein after selecting the parking space (PL) the motor vehicle (100) automated or semi-automated in the parking space (PL) is ranked or the motor vehicle (100) is automatically ranked in a detected parking space (PL), wherein the automated or semi-automated maneuvering in a parking space (PL) represents a termination condition.
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum automatisierten oder teilautomatisierten Parken eines Kraftfahrzeugs. The invention relates to a method and a device for automated or semi-automated parking of a motor vehicle.
Aus der
Der Erfindung liegt das technische Problem zugrunde, ein Verfahren zum automatisierten oder teilautomatisierten Parken eines Kraftfahrzeugs zur Verfügung zu stellen, das den Kraftfahrzeugführer weiter entlastet. Ein weiteres technisches Problem ist die Schaffung einer geeigneten Vorrichtung. The invention is based on the technical problem of providing a method for the automated or semi-automated parking of a motor vehicle, which further relieves the motor vehicle driver. Another technical problem is the creation of a suitable device.
Das technische Problem wird gelöst durch ein Verfahren mit den Merkmalen des Anspruchs 1 sowie eine Vorrichtung mit den Merkmalen des Anspruchs 6. Weitere vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen. The technical problem is solved by a method having the features of claim 1 and a device having the features of
Das Verfahren zum automatisierten oder teilautomatisierten Parken eines Kraftfahrzeugs umfasst die folgenden Verfahrensschritte:
- a) Bereitstellen einer Trajektorie als Such-Pfad für das Kraftfahrzeug, wobei das Kraftfahrzeug automatisiert oder teilautomatisiert die Trajektorie abfährt, solange nicht mindestens eine Abbruchbedingung erfüllt ist,
- b) Erfassen von Parklücken mittels einer Parkraum-Sensorik während des Abfahrens der Trajektorie,
- c) Anbieten einer erfassten Parklücke für den Nutzer, wobei nach Auswahl der Parklücke das Kraftfahrzeug automatisiert oder teilautomatisiert in die Parklücke rangiert wird oder automatisiertes Rangieren des Kraftfahrzeugs in eine erfasste Parklücke, wobei das automatisierte oder teilautomatisierte Rangieren in eine Parklücke eine Abbruchbedingung für den Verfahrensschritt a) darstellt.
- a) providing a trajectory as a search path for the motor vehicle, wherein the motor vehicle automatically or partially automatically trajectory departs, as long as at least one termination condition is met,
- b) detecting parking spaces by means of a parking space sensor system during the trajectory,
- c) offering a detected parking space for the user, wherein after selecting the parking space, the motor vehicle is automatically or partially automated maneuvering in the parking space or automated maneuvering of the motor vehicle in a detected parking space, the automated or semi-automated maneuvering in a parking space a termination condition for the process step a ).
Durch die bereitgestellte Trajektorie als Such-Pfad wird dabei der Kraftfahrzeugführer von der Fahraufgabe entlastet, das Kraftfahrzeug an den potentiellen Parklücken vorbeizusteuern. Der gesamte Einparkvorgang wird daher bereits frühzeitig automatisiert durchgeführt. The trajectory provided as a search path thereby relieves the motor vehicle driver of the driving task of driving the motor vehicle past the potential parking spaces. The entire parking process is therefore carried out automatically at an early stage.
Die bereitgestellte Trajektorie als Such-Pfad kann dabei grundsätzlich durch zwei Alternativen zur Verfügung gestellt werden. The provided trajectory as a search path can basically be provided by two alternatives.
In einer ersten Alternative ist die bereitgestellte Trajektorie eine trainierte Trajektorie. Fährt beispielsweise der Kraftfahrzeugführer häufig in seine Garage oder auf einen bestimmen Parkplatz vor seinem Haus, so wird dies und die dazugehörige Trajektorie abgespeichert, sodass dann das Kraftfahrzeug in der Lage ist, ab einem bestimmten Punkt vor der Garage oder dem Parkplatz eine automatisierte Fahrt anzubieten. Eine weitere Möglichkeit besteht darin, dass, wenn ein Kraftfahrzeugführer mehrmals in das gleiche Parkhaus fährt, sich die Vorrichtung die abgefahrenen Trajektorien merkt und eine Trajektorie zum Durchfahren des Parkhauses daraus als trainierte Trajektorie abspeichert. In a first alternative, the trajectory provided is a trained trajectory. If, for example, the motor vehicle driver frequently drives into his garage or to a certain parking space in front of his house, this and the associated trajectory are stored so that the motor vehicle is then able to offer an automated journey from a certain point in front of the garage or the parking space. Another possibility is that when a motor vehicle driver drives several times in the same parking garage, the device remembers the trajectories trailed and stores a trajectory for driving through the parking garage from it as a trained trajectory.
Alternativ kann die Trajektorie als Such-Pfad auch von einem Dritten zur Verfügung gestellt werden. Beispielsweise kann der Betreiber eines Parkhauses beim Einfahren in das Parkhaus die Trajektorie an das Kraftfahrzeug senden, sodass dann das Kraftfahrzeug die Trajektorie automatisiert abfahren kann. Alternatively, the trajectory as a search path can also be provided by a third party. For example, the operator of a parking garage when entering the parking garage to send the trajectory to the motor vehicle, so then the motor vehicle can traverse the trajectory automatically.
In einer weiteren Ausführungsform werden neben der Trajektorie Informationen übermittelt, anhand derer eine zulässige Parklücke von einer unzulässigen Parklücke unterschieden werden kann. Beispielsweise sind dies Kartendaten von Parkmöglichkeiten. In a further embodiment, information is transmitted in addition to the trajectory, by means of which an admissible parking space can be distinguished from an impermissible parking space. For example, these are map data of parking facilities.
In einer weiteren Ausführungsform werden beim Abfahren der Trajektorie geparkte Fahrzeuge erfasst und als Information über die Zulässigkeit einer Parklücke abgespeichert. Alternativ oder ergänzend werden Parkplatzlinien, Zeichen und/oder Schilder erfasst und abgespeichert. In a further embodiment, vehicles parked when the trajectory is being traveled are recorded and stored as information about the admissibility of a parking space. Alternatively or additionally parking lot lines, signs and / or signs are recorded and stored.
Die Vorrichtung zum automatisierten oder teilautomatisierten Parken eines Kraftfahrzeugs umfasst eine Auswerte- und Steuereinheit, eine Aktorik und mindestens eine Parkraum-Sensorik, wobei die Parkraum-Sensorik derart ausgebildet ist, um Parklücken zu erfassen, wobei die Auswerte- und Steuereinheit derart ausgebildet ist, die Aktorik in Abhängigkeit einer erfassten Parklücke derart anzusteuern, dass das Kraftfahrzeug automatisiert oder teilautomatisiert in die Parklücke rangiert wird. Die Auswerte- und Steuereinheit ist derart ausgebildet, dass diese eine Trajektorie als Such-Pfad einlesen kann, wobei dann die Aktorik derart angesteuert wird, dass das Kraftfahrzeug automatisiert die Trajektorie abfährt, solange nicht mindestens eine Abbruchbedingung erfüllt ist. Die Parkraum-Sensorik ist derart ausgebildet, während des Abfahrens des Such-Pfades Parklücken zu erfassen. Die Auswerte- und Steuereinheit ist weiter derart ausgebildet, dass eine erfasste Parklücke einem Nutzer angeboten wird, wobei nach Auswahl der Parklücke das Kraftfahrzeug automatisiert oder teilautomatisiert in die Parklücke rangiert. Beim teilautomatisierten Rangieren muss der Kraftfahrzeugführer beispielsweise noch das Gaspedal drücken, wohingegen die Lenkbewegungen durch die Aktorik automatisiert eingestellt werden. Alternativ rangiert das Kraftfahrzeug automatisiert in eine erfasste Parklücke, ohne dass diese dem Nutzer zuvor angeboten wurde. The device for automated or semi-automatic parking of a motor vehicle comprises an evaluation and control unit, an actuator and at least one parking space sensor, wherein the parking space sensor is designed to detect parking spaces, wherein the evaluation and control unit is designed such Actuators in response to a detected parking space to control such that the motor vehicle is automated or partially automated in the parking space is ranked. The evaluation and control unit is designed such that it can read in a trajectory as a search path, in which case the actuators are controlled in such a way that the motor vehicle automatically leaves the trajectory, as long as at least one termination condition is not met. The parking space sensor system is designed to detect parking spaces during the travel of the search path. The evaluation and control unit is further designed such that a detected parking space is offered to a user, wherein after selecting the parking space, the motor vehicle automatically or partially automated ranks in the parking space. In semi-automated maneuvering, for example, the motor vehicle driver still has to press the gas pedal, whereas the steering movements are automatically adjusted by the actuators. Alternatively, the motor vehicle automatically ranks in a detected parking space without it being offered to the user before.
Hinsichtlich der weiteren Ausgestaltungen kann auf die vorangegangenen Ausführungen Bezug genommen werden. With regard to the further embodiments, reference may be made to the preceding statements.
Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels näher erläutert. Die Figuren zeigen: The invention will be explained in more detail below with reference to a preferred embodiment. The figures show:
In der
Dabei liest die Auswerte- und Steuereinheit
Während das Kraftfahrzeug die Trajektorie als Such-Pfad abfährt, sucht die Parkraum-Sensorik
In einer zweiten Variante wird die Parklücke dem Nutzer zunächst angeboten, beispielsweise auf der Ein- und Ausgabeeinheit
Vorzugsweise zeichnet dabei die Vorrichtung auch geparkte Fahrzeuge auf, um daraus für künftige Fahrten Informationen über zulässige Parklücken zu gewinnen. Preferably, the device records also parked vehicles in order to gain information about permissible parking spaces for future journeys.
In der
In einem Bereich
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 102010043742 A1 [0002] DE 102010043742 A1 [0002]
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DE102016212629.6A DE102016212629A1 (en) | 2016-07-12 | 2016-07-12 | Method and device for automated or semi-automated parking of a motor vehicle |
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DE102016212629.6A DE102016212629A1 (en) | 2016-07-12 | 2016-07-12 | Method and device for automated or semi-automated parking of a motor vehicle |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3739511A1 (en) * | 2019-05-14 | 2020-11-18 | Volkswagen Ag | Method for embedding local sensor data in a map |
DE102022112331A1 (en) | 2022-05-17 | 2023-11-23 | Valeo Schalter Und Sensoren Gmbh | METHOD FOR OPERATING A PARKING ASSISTANCE SYSTEM, COMPUTER PROGRAM PRODUCT, PARKING ASSISTANCE SYSTEM AND A VEHICLE |
Citations (3)
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DE102010043742A1 (en) | 2010-11-11 | 2012-06-06 | Robert Bosch Gmbh | Method for selecting a parking space in the case of several parking spaces suitable for parking |
DE102013015348A1 (en) * | 2013-09-17 | 2014-04-10 | Daimler Ag | Method for operating vehicle, particularly for approaching parking space in parking zone that is non-visible or distant from road by vehicle, involves determining and storing multiple trajectories for home-parking space of home parking zone |
DE102014212843A1 (en) * | 2014-07-02 | 2016-01-07 | Robert Bosch Gmbh | Procedure for parking and free parking assistance system |
-
2016
- 2016-07-12 DE DE102016212629.6A patent/DE102016212629A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010043742A1 (en) | 2010-11-11 | 2012-06-06 | Robert Bosch Gmbh | Method for selecting a parking space in the case of several parking spaces suitable for parking |
DE102013015348A1 (en) * | 2013-09-17 | 2014-04-10 | Daimler Ag | Method for operating vehicle, particularly for approaching parking space in parking zone that is non-visible or distant from road by vehicle, involves determining and storing multiple trajectories for home-parking space of home parking zone |
DE102014212843A1 (en) * | 2014-07-02 | 2016-01-07 | Robert Bosch Gmbh | Procedure for parking and free parking assistance system |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3739511A1 (en) * | 2019-05-14 | 2020-11-18 | Volkswagen Ag | Method for embedding local sensor data in a map |
DE102022112331A1 (en) | 2022-05-17 | 2023-11-23 | Valeo Schalter Und Sensoren Gmbh | METHOD FOR OPERATING A PARKING ASSISTANCE SYSTEM, COMPUTER PROGRAM PRODUCT, PARKING ASSISTANCE SYSTEM AND A VEHICLE |
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