DE10340014A1 - Automatic parking method for a motor vehicle in which the actual vehicle position is determined using an under-vehicle movement sensor and then used to make corrections to the vehicle position relative to its theoretical path - Google Patents
Automatic parking method for a motor vehicle in which the actual vehicle position is determined using an under-vehicle movement sensor and then used to make corrections to the vehicle position relative to its theoretical path Download PDFInfo
- Publication number
- DE10340014A1 DE10340014A1 DE10340014A DE10340014A DE10340014A1 DE 10340014 A1 DE10340014 A1 DE 10340014A1 DE 10340014 A DE10340014 A DE 10340014A DE 10340014 A DE10340014 A DE 10340014A DE 10340014 A1 DE10340014 A1 DE 10340014A1
- Authority
- DE
- Germany
- Prior art keywords
- motor vehicle
- vehicle
- motion sensor
- deviation
- parking
- 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.)
- Ceased
Links
Classifications
-
- 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
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
-
- 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
Abstract
Description
Stand der TechnikState of technology
Die Erfindung betrifft ein Verfahren und eine Anordnung zur Lenkung eines Kraftfahrzeugs beim Einparken, wobei die Größe einer Parklücke mit geeigneten Sensoren gemessen und ein Sollweg des Kraftfahrzeugs von einem Anfangspunkt zu einem Haltepunkt berechnet wird und während der Bewegung des Kraftfahrzeugs die Abweichung einer jeweils ermittelten Istposition vom Sollweg berechnet wird.The The invention relates to a method and an arrangement for steering a motor vehicle when parking, the size of a parking lot measured with suitable sensors and a desired path of the motor vehicle is calculated from a starting point to a breakpoint and during the Movement of the motor vehicle, the deviation of each determined Actual position is calculated from the desired path.
Ein
derartiges Verfahren ist aus
Vorteile der ErfindungAdvantages of the invention
Aufgabe der vorliegenden Erfindung ist es, ein zuverlässig arbeitendes Verfahren zum Lenken eines Kraftfahrzeugs anzugeben, das die vorerwähnten Nachteile nicht aufweist.task The present invention is a reliable method to indicate for steering a motor vehicle, the above-mentioned disadvantages does not have.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass die jeweilige Istposition mit Hilfe eines an der Unterseite des Kraftfahrzeugs angeordneten auf die Fahrbahn gerichteten optischen Bewegungssensors ermittelt wird.These Task is inventively characterized solved, that the respective actual position with the help of one at the bottom of the motor vehicle arranged on the roadway optical Motion sensor is determined.
Das erfindungsgemäße Verfahren kann derart ausgebildet sein, dass die Abweichung als Lenkanweisung angezeigt wird. Dann hat letztendlich der Fahrer des Kraftfahrzeugs die Möglichkeit eines Eingriffs, beispielsweise die Lenkbewegungen schwächer oder stärker auszuführen als es ihm beispielsweise durch Pfeile angezeigt wird.The inventive method can be designed such that the deviation as a steering instruction is shown. Then ultimately the driver of the motor vehicle the possibility an intervention, for example, the steering movements weaker or stronger perform as it is indicated by arrows, for example.
Eine andere Ausführungsform besteht darin, dass die Lenkung während des Einparkens automatisch nach der Abweichung gesteuert wird.A other embodiment is that the steering automatically during parking is controlled according to the deviation.
Im übrigen wird bei dem erfindungsgemäßen Verfahren davon ausgegangen, dass die übrigen Sensoren, beispielsweise Abstandssensoren, auch während der Durchführung des Verfahrens aktiv sind, so dass beispielsweise bei Beenden des Rückwärtsfahrens das Kraftfahrzeug auf jeden Fall rechtzeitig angehalten wird.Otherwise, will in the method according to the invention assumed that the remaining sensors, For example, distance sensors, even during the implementation of the Procedure are active, so that, for example, when stopping the reverse drive the motor vehicle is stopped in any case on time.
Eine erfindungsgemäße Anordnung besteht darin, dass an der Unterseite des Kraftfahrzeugs ein auf die Fahrbahn gerichteter optischer Bewegungssensor angeordnet ist und dass Mittel zur Berechnung der Abweichung zwischen dem Sollweg und der jeweils mit Hilfe des Bewegungssensors ermittelten Istposition vorgesehen sind. Geeignete Bewegungssensoren sind an sich bekannt, beispielsweise aus Eingabegeräten für Computer. Eine besonders genaue Erfassung der Bewegung ist dadurch möglich, dass der Bewegungssensor aus mindestens einer Videokamera und einer Bildverarbeitungseinrichtung besteht, die im wesentlichen aufeinanderfolgende Bilder vergleicht.A inventive arrangement is that at the bottom of the motor vehicle on the roadway directed optical motion sensor is arranged and that means for calculating the deviation between the desired path and the actual position determined by means of the motion sensor are provided. Suitable motion sensors are known per se for example, from input devices for computers. A particularly accurate detection of the movement is possible in that the motion sensor consists of at least one video camera and an image processing device, which compares substantially successive images.
Eine vorteilhafte Ausgestaltung der Erfindung besteht darin, dass eine Beleuchtungseinrichtung zur Beleuchtung der von dem Bewegungssensor erfassten Fläche der Fahrbahn vorgesehen ist. Damit kann unabhängig von den jeweiligen Lichtverhältnissen die erfindungsgemäße Anordnung gebraucht werden.A advantageous embodiment of the invention is that a Illuminating device for illuminating the movement sensor covered area the roadway is provided. This can be independent of the respective lighting conditions the inventive arrangement to be used.
Zur Anpassung an wechselnde Abstände zwischen dem Bewegungssensor und der Fahrbahn ist bei einer anderen Ausgestaltung der Erfindung vorgesehen, dass der Bewegungssensor mit einer automatischen Fokussiereinrichtung versehen ist.to Adaptation to changing distances between the motion sensor and the road is in another embodiment the invention provides that the motion sensor with an automatic Focusing device is provided.
Eine besonders günstige Aufnahme der Fahrzeugbewegung ist dadurch möglich, dass der Bewegungssensor in einem Bereich des Kraftfahrzeugs zwischen den Achsen angeordnet ist.A especially cheap Recording the vehicle movement is possible because the motion sensor arranged in an area of the motor vehicle between the axles is.
Im Rahmen der Erfindung können auch andere optische Bewegungssensoren angewendet werden oder mehrere, beispielsweise jeweils eine für die beiden Richtungskomponenten der Bewegung oder an verschiedenen Fahrstellen des Fahrzeugs.in the Within the scope of the invention also other optical motion sensors are used or more, for example, one for each both directional components of the movement or at different driving points of the vehicle.
Zeichnungdrawing
Ausführungsbeispiele der Erfindung sind in der Zeichnung anhand mehrerer Figuren dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigt:embodiments The invention are illustrated in the drawing with reference to several figures and explained in more detail in the following description. It shows:
Beschreibung des Ausführungsbeispielsdescription of the embodiment
Bei
der Anordnung nach
Der
Mikrocomputer
Im
folgenden wird das erfindungsgemäße Verfahren
anhand der
Ist
die Parklücke
jedoch groß genug,
wird bei
Ist
die Abweichung nicht größer als
die zulässige
Abweichung A, folgt der Fahrer den Anweisungen bei
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10340014A DE10340014A1 (en) | 2003-09-01 | 2003-09-01 | Automatic parking method for a motor vehicle in which the actual vehicle position is determined using an under-vehicle movement sensor and then used to make corrections to the vehicle position relative to its theoretical path |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10340014A DE10340014A1 (en) | 2003-09-01 | 2003-09-01 | Automatic parking method for a motor vehicle in which the actual vehicle position is determined using an under-vehicle movement sensor and then used to make corrections to the vehicle position relative to its theoretical path |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10340014A1 true DE10340014A1 (en) | 2005-03-24 |
Family
ID=34202247
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE10340014A Ceased DE10340014A1 (en) | 2003-09-01 | 2003-09-01 | Automatic parking method for a motor vehicle in which the actual vehicle position is determined using an under-vehicle movement sensor and then used to make corrections to the vehicle position relative to its theoretical path |
Country Status (1)
Country | Link |
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DE (1) | DE10340014A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006006377A1 (en) * | 2006-02-11 | 2007-08-16 | Continental Teves Ag & Co. Ohg | Guiding device for vehicle while parking, has image recognizing device which is camera system, arranged with infrared illuminating device and size of parking spot is determined with image recognizing device |
DE102007013682A1 (en) | 2007-03-22 | 2008-09-25 | Robert Bosch Gmbh | Method for determining relative motion of object moving relative to covering surface, involves projecting figure on stationary covering surface by lighting unit, and forming current position of figure |
DE102007054397A1 (en) | 2007-11-14 | 2009-05-20 | Robert Bosch Gmbh | control device |
CN105620473A (en) * | 2014-10-27 | 2016-06-01 | 同致电子科技(厦门)有限公司 | Parking track correcting method |
-
2003
- 2003-09-01 DE DE10340014A patent/DE10340014A1/en not_active Ceased
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006006377A1 (en) * | 2006-02-11 | 2007-08-16 | Continental Teves Ag & Co. Ohg | Guiding device for vehicle while parking, has image recognizing device which is camera system, arranged with infrared illuminating device and size of parking spot is determined with image recognizing device |
DE102007013682A1 (en) | 2007-03-22 | 2008-09-25 | Robert Bosch Gmbh | Method for determining relative motion of object moving relative to covering surface, involves projecting figure on stationary covering surface by lighting unit, and forming current position of figure |
DE102007054397A1 (en) | 2007-11-14 | 2009-05-20 | Robert Bosch Gmbh | control device |
CN105620473A (en) * | 2014-10-27 | 2016-06-01 | 同致电子科技(厦门)有限公司 | Parking track correcting method |
CN105620473B (en) * | 2014-10-27 | 2019-05-21 | 同致电子科技(厦门)有限公司 | One kind is parked track correcting method |
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Legal Events
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8110 | Request for examination paragraph 44 | ||
R016 | Response to examination communication | ||
R016 | Response to examination communication | ||
R016 | Response to examination communication | ||
R002 | Refusal decision in examination/registration proceedings | ||
R003 | Refusal decision now final | ||
R003 | Refusal decision now final |
Effective date: 20150123 |