DE3844340A1 - Parking aid - Google Patents

Parking aid

Info

Publication number
DE3844340A1
DE3844340A1 DE3844340A DE3844340A DE3844340A1 DE 3844340 A1 DE3844340 A1 DE 3844340A1 DE 3844340 A DE3844340 A DE 3844340A DE 3844340 A DE3844340 A DE 3844340A DE 3844340 A1 DE3844340 A1 DE 3844340A1
Authority
DE
Germany
Prior art keywords
moving object
control device
electronic measuring
sensors
space
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.)
Withdrawn
Application number
DE3844340A
Other languages
German (de)
Inventor
Erich Dr Kasper
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KASPER, ERICH, DR.RER.NAT., 7914 PFAFFENHOFEN, DE
Original Assignee
Licentia Patent Verwaltungs GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Licentia Patent Verwaltungs GmbH filed Critical Licentia Patent Verwaltungs GmbH
Priority to DE3844340A priority Critical patent/DE3844340A1/en
Publication of DE3844340A1 publication Critical patent/DE3844340A1/en
Withdrawn legal-status Critical Current

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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/10—Automatic or semi-automatic parking aid systems
    • 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
    • G01S2013/9318—Controlling the steering
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • 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
    • G01S2013/93275—Sensor installation details in the bumper area
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Abstract

By means of the electronic measurement and control device according to the invention, a motor vehicle can be manoeuvred in an optimum fashion into a parking space. A sensor system detects and measures the geometric position of the parking space. A control unit calculates optimum manoeuvring parameters and an output unit gives the optimum path via optical and acoustic data to the vehicle driver and/or automatically accesses the guidance systems of the motor vehicle.

Description

Die Erfindung betrifft eine elektronische Meß- und Steu­ ervorrichtung nach dem Oberbegriff des Patentanspruchs 1.The invention relates to an electronic measurement and control Ervorrichtung according to the preamble of claim 1.

Eine derartige Meß- und Steuervorrichtung eignet sich ins­ besondere als Einparkhilfe für Kraftfahrzeuge.Such a measuring and control device is suitable especially as a parking aid for motor vehicles.

Aus der DE-OS 35 03 352 ist eine Einpark-Meßanzeige be­ kannt, die aus einer kastenförmigen Bewehrung besteht, in der eine Ultraschall- Sendeeinrichtung und/oder Licht­ strahlvorrichtung eingebaut ist, die im Bereich des Armaturenbrettes mit einer digitalen Anzeige in Verbindung steht.From DE-OS 35 03 352 a parking meter is knows, which consists of a box-shaped reinforcement, in an ultrasound transmitter and / or light blasting device is installed in the area of  Dashboards connected to a digital display stands.

Der Erfindung liegt die Aufgabe zugrunde, eine Meß- und Steuervorrichtung anzugeben, die die Abmessungen eines Raumes bestimmt und die optimalen Manövrierparameter be­ rechnet, um ein bewegtes Objekt in den Raum einzuführen.The invention has for its object a measurement and Specify control device, the dimensions of a Space determined and the optimal maneuvering parameters be calculates to introduce a moving object into the room.

Diese Aufgabe wird durch die im kennzeichnenden Teil des Patentanspruch 1 angegebenen Merkmale gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen sind den Unteransprü­ chen zu entnehmen.This task is carried out in the characterizing part of the Features specified claim 1 solved. Beneficial Refinements and developments are the subordinate claims Chen to take.

Durch die Erfindung ergibt sich eine Kosteneinsparung durch Zeitgewinn beim Einparken von LKW mit Anhänger oder großräumigen Spezialfahrzeugen, außerdem wird die Schadenshäufigkeit beim Einparken eines Kraftfahrzeuges verringert.The invention results in a cost saving by saving time when parking a truck with a trailer or large-scale special vehicles, in addition, the Damage frequency when parking a motor vehicle decreased.

Die Erfindung wird anhand eines Ausführungsbeispiels näher erläutert unter Bezugnahme auf schematische Zeichnungen.The invention is illustrated by an embodiment explained with reference to schematic drawings.

Gemäß Fig. 1 soll ein Kraftfahrzeug F in eine Parklücke L manövriert werden. Die Abmessungen der Parklücke L sind in den meisten Fällen durch die Gehsteigkante GK und die ru­ henden Kraftfahrzeuge A 1, A 2 vorgegeben.Referring to FIG. 1, a motor vehicle into a parking space F L is to be maneuvered. The dimensions of the parking space L are in most cases given by the edge of the sidewalk GK and the motor vehicles A 1 , A 2 at rest.

Die erfindungsgemäße Lösung sieht vor, daß am Kraftfahr­ zeug F angebrachte Sensoren S i die geometrische Lage der Parklücke L in Bezug auf das Kraftfahrzeug F vermessen. Eine Steuereinheit berechnet die optimalen Manövrierpara­ meter unter Berücksichtigung, daß die ruhenden Kraftfahr­ zeuge A 1, A 2 und die Gehsteigkante GK nicht berührt werden und die Lenkeigenschaften und die Dimensionen des Kraft­ fahrzeuges F bekannt sind. Eine Ausgabeeinheit informiert den Fahrzeuglenker über das optimale Einparkmanöver und kann Warn- und automatische Führungsfunktionen übernehmen. Als Sensoren S i werden z.B. Infrarot- oder Ultraschall- oder Mikrowellen-Sender und -Empfänger verwendet. Die Abmessungen der Parklücke L werden durch trigonometri­ sche Berechnungsverfahren oder durch Laufzeitunterschiede ( Echolot) der optischen oder akustischen Signale be­ stimmt.The solution of the invention provides that the driving force F imaging sensors mounted S i, the geometric position of the parking space L with respect to the motor vehicle F measured. A control unit calculates the optimal maneuvering parameters, taking into account that the stationary motor vehicles A 1 , A 2 and the sidewalk edge GK are not touched and the steering characteristics and the dimensions of the motor vehicle F are known. An output unit informs the driver about the optimal parking maneuver and can take over warning and automatic guidance functions. For example, infrared or ultrasonic or microwave transmitters and receivers are used as sensors S i . The dimensions of the parking space L are determined by trigonometric calculation methods or by transit time differences (depth sounder) of the optical or acoustic signals.

Ein Computer, in dessen Speicher die Abmessungen des Kraftfahrzeuges F, die Lenkeigenschaften ( 2-Rad-, 4-Rad­ lenkung, maximaler Einschlagswinkel, minimaler Kurvenra­ dius, etc.) und die tolerierten Abstände zu den anderen Kraftfahrzeugen A 1, A 2 und zur Gehsteigkante u. ä. einge­ speichert wird, berechnetA computer, in the memory of the dimensions of the motor vehicle F , the steering properties (2-wheel, 4-wheel steering, maximum turning angle, minimum curve radius, etc.) and the tolerated distances to the other motor vehicles A 1 , A 2 and Sidewalk edge u. Ä. is saved, calculated

  • a) die Endstellung des Fahrzeuges F in der Parklücke L,a) the end position of the vehicle F in the parking space L ,
  • b) die möglichen Manövrierwege zur Erreichung der Endstel­ lung des Fahrzeuges F in der Parklücke L, undb) the possible maneuvering paths to achieve the end position of the vehicle F in the parking space L , and
  • c) den optimalen Weg für das Kraftfahrzeug L in die Park­ lücke L, z.B. über die Optimierungsbedingung: Minimierung der Richtungswechsel.c) the optimal path for the motor vehicle L into the parking space L , for example via the optimization condition: minimizing the change of direction.

Die Ausgabeeinheit informiert den Lenker des Kraftfahrzeu­ ges F beispielsweise über eine Anzeigetafel über den opti­ mal berechneten Weg des Fahrzeuges F in die Parklücke L und gibt akustische Anweisungen für das momentane Steuer­ manöver oder optische Anweisungen über z.B. Pfeile auf der Anzeigetafel. Des weiteren warnt die Ausgabeeinheit auf Wunsch vor Kollisionen mit den ruhenden Kraftfahrzeugen A 1, A 2 und der Gehsteigkante GK oder es wird über mechani­ sche Systeme in den Steuerungsablauf, z. B. Bremsen vor Kollision oder Lenken, des Einparkvorganges eingegriffen.The output unit informs the driver of the motor vehicle F, for example via a display panel, about the optimally calculated path of the vehicle F into the parking space L and gives acoustic instructions for the current control maneuver or visual instructions via, for example, arrows on the display panel. Furthermore, the output unit warns, if desired, of collisions with the stationary motor vehicles A 1 , A 2 and the edge of the sidewalk GK or it is mechanical systems in the control process, for. B. Brakes before collision or steering, the parking process intervened.

Gemäß Fig. 2 sind in einem Ausführungsbeispiel je zwei Sensoren S 1, S 2, S 3, S 4 in die vordere und hintere Stoß­ stange eines Kraftfahrzeugs integriert.According to FIG. 2, two sensors S 1, S 2, S 3, S 4 are in one embodiment in the front and rear bumper of a motor vehicle integrated.

Ein Sensor besteht aus je einem Mikrowellen (100GHz)-Sen­ der- und -Empfänger und einer monolithisch integrierten phasengesteuerten Gruppenantenne. Die Sensorgröße beträgt etwa 1-5cm2. Der Sender gibt 80ns Pulse mit einer Wieder­ holfrequenz von 10kHz auf die Antenne, die ihre Strahl­ keule K in der Ebene von OL nach UL periodisch schwenkt (die Keule durchläuft in 1/100s den Winkel OL-UL). Das von einem Hindernis (A 1, S 2, GK) reflektierte Signal wird wie­ der von der Antenne aufgefangen und dem Empfänger zugelei­ tet. Aus Keulenrichtung und Zeitverzögerung des reflek­ tierten Signals wird die im Winkelbereich OL-UL liegende Geometrie der Parklücke L bestimmt (Fig. 2). Die In­ formation der anderen Sensoren liefert das Gesamtbild der Parklücke L. Nach jedem 100sten Durchlauf schwenkt die An­ tenne nach oben, um zu überprüfen, ob der Vertikalraum der Parklücke L auch frei ist (z.B. überstehendes Dachgepäck).A sensor consists of a microwave (100GHz) transmitter and receiver and a monolithically integrated phase-controlled group antenna. The sensor size is about 1-5cm 2 . The transmitter sends 80ns pulses with a repetition frequency of 10kHz to the antenna, which periodically swings its beam lobe K in the plane from OL to UL (the lobe passes through the angle OL-UL in 1 / 100s). The signal reflected by an obstacle ( A 1 , S 2 , GK ) is collected by the antenna and sent to the receiver. From the direction of the lobe and the time delay of the reflected signal, the geometry of the parking space L lying in the OL-UL angular range is determined ( FIG. 2). The information from the other sensors provides the overall picture of the parking space L. After every 100th pass, the antenna swings up to check whether the vertical space of parking space L is also free (e.g. excess roof luggage).

Die grundsätzliche Geometrie der Parklücke L wird bestimmt im ersten Durchlauf in etwa einer 1/100s. Es bleiben je­ doch einige tote Winkel, die nicht von den Strahlenkeulen überstrichen werden. Diese toten Winkel ändern sich beim Manövrieren, so daß der Rechner bald ein vollständiges Bild der Lücke hat, und lediglich die Lage des Fahrzeugs F und eventuelle Änderungen der Lücke (z.B. Wegfahren des Kraftfahrzeuges A 1) zu überwachen hat. Ein Manövrierweg und die zugehörige Lenkradstellung wird berechnet aus der dem Fahrzeughersteller bekannten Lenkgeometrie und mit der gewünschten Optimierungsstrategie.The basic geometry of the parking space L is determined in the first pass in about 1 / 100s. However, there are some blind spots that are not covered by the beams. These blind spots change during maneuvering, so that the computer soon has a complete picture of the gap, and only has to monitor the position of the vehicle F and any changes in the gap (for example, the motor vehicle A 1 moving away). A maneuvering path and the associated steering wheel position is calculated from the steering geometry known to the vehicle manufacturer and with the desired optimization strategy.

Die Geometrie der Parklücke, die Fahrzeugposition und der Manövrierweg werden auf einem Bildschirm angezeigt. Die notwendige Lenkradstellung wird durch Sprachausgabe ange­ geben (links-rechts, Halt, Vorwärts-, Rückwärtsgang). Ein Warnsignal ertönt, wenn das Fahrzeug näher als 5 cm zum Lückenrand steht.The geometry of the parking space, the vehicle position and the Maneuvering distance are displayed on a screen. The necessary steering wheel position is indicated by voice output give (left-right, stop, forward, reverse). A Warning signal sounds when the vehicle is closer than 5 cm to the Gap margin stands.

Auf dem Bildschirm kann die Parklücke L eingeengt werden zu einer reduzierten Lücke L′, z.B. wenn ein Lastwagen auf einem unbekannten Gelände nach Fig. 3 einparken will.On the screen the parking space L can be concentrated in a reduced gap L ', such as when a truck on a new area of FIG wants to park. 3.

Die Lücke L ist definiert durch den Gehsteig G, die Rampe RA und das parkende Auto A 1. Der Fahrer gibt die Werte für die reduzierte Lücke L′ über die Steuereinheit ein zur Berechnung der optimalen Manövrierparameter. Die Ausgabeeinheit gibt dann die entsprechenden Einparkinfor­ mationen an den Fahrer.The gap L is defined by the sidewalk G , the ramp RA and the parked car A 1 . The driver enters the values for the reduced gap L 'via the control unit to calculate the optimal maneuvering parameters. The output unit then gives the corresponding parking information to the driver.

Die Erfindung ist nicht auf das angegebene Ausführungsbei­ spiel beschränkt, sondern ist für viele Manövrieraufgaben, z.B. durch Wahl geeigneter Optimierungen auf andere be­ wegte Objekte übertragbar. The invention is not based on the stated embodiment game limited, but is for many maneuvering tasks, e.g. by choosing suitable optimizations for others moved objects transferable.  

Bei einer Flugzeuglandung können z.B. mm-Wellen-Sensoren in Nase und Flügel des Flugzeugs die Höhe über dem Boden, den Geschwindigkeitsvektor und die Neigung auch bei Nebel messen. Das Steuerungssystem überprüft, ob die berechneten Parameter im für den Flugzeugtyps zulässigen Phasenraum liegen und entscheidet über die folgenden Reaktionen des Flugzeugs.During an airplane landing e.g. mm shaft sensors in the nose and wing of the aircraft the height above the ground, the speed vector and the inclination even in fog measure up. The control system checks whether the calculated Parameters in the phase space permitted for the aircraft type and decides on the following reactions of the Aircraft.

Claims (7)

1. Elektronische Meß- und Steuervorrichtung, insbesondere eine Parkhilfe für Kraftfahrzeuge, dadurch gekennzeichnet,
  • - daß Sensoren (S i ) die an einen bewegten Objekt (F) an­ gebracht sind, die geometrische Lage eines Raumes (R) er­ kennen und vermessen,
  • - daß eine Steuereinheit die optimalen Manövrierparameter bestimmt, um das bewegte Objekt (F) in den Raum (L) einzu­ führen, und
  • - daß eine Ausgabeeinheit diese optimalen Manövrierparame­ ter ausgibt und geeignete manuelle und/oder automatische Führungsfunktionen des bewegten Objektes (F) ausführbar sind.
1. Electronic measuring and control device, in particular a parking aid for motor vehicles, characterized in that
  • - That sensors ( S i ) are brought to a moving object ( F ), he knows and measures the geometric position of a room ( R ),
  • - That a control unit determines the optimal maneuvering parameters to introduce the moving object ( F ) into the room ( L ), and
  • - That an output unit outputs these optimal Manövrierparame ter and suitable manual and / or automatic management functions of the moving object ( F ) can be carried out.
2. Elektronische Meß- und Steuervorrichtung nach Anspruch 1, dadurch gekennzeichnet,
  • - daß die Sensoren (S i ) im Außenbereich des bewegten Ob­ jektes (F) angebracht sind, und
  • - daß die Sensoren (S i ) als optische oder akustische oder Mikrowellen-Sender und -Empfänger ausgebildet sind.
2. Electronic measuring and control device according to claim 1, characterized in that
  • - That the sensors ( S i ) in the outer region of the moving object ( F ) are attached, and
  • - That the sensors ( S i ) are designed as optical or acoustic or microwave transmitters and receivers.
3. Elektronische Meß- und Steuervorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Abmessungen des Raumes (L) durch trigonometrische Verfah­ ren und/oder Laufzeitmessungen der elektromagnetischen und/oder akustischen Signale bestimmbar sind.3. Electronic measuring and control device according to one of the preceding claims, characterized in that the dimensions of the space ( L ) ren by trigonometric process and / or transit time measurements of the electromagnetic and / or acoustic signals can be determined. 4. Elektronische Meß- und Steuervorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Steuer- und Ausgabeeinheit computergesteuert sind, derart, daß aus den Abmessungen und den Lenkeigenschaften des be­ wegten Objektes (F), sowie aus den Abmessungen des Raumes (L) die Endstellung des bewegten Objektes (F) im Raum (L), sowie mögliche Manövrierbewegungungen zur Erreichung der Endstellung des bewegten Objektes (F) im Raum (L) berech­ net werden und die optimalen Manövrierparameter bestimmbar sind und die Ausgabeeinheit den vom Computer berechneten optimalen Weg optisch und/oder akustisch angibt.4. Electronic measuring and control device according to one of the preceding claims, characterized in that the control and output unit are computer-controlled, such that from the dimensions and the steering properties of the moving object ( F ), as well as from the dimensions of the room ( L ) the end position of the moving object ( F ) in space ( L ), as well as possible maneuvering movements to reach the end position of the moving object ( F ) in space ( L ) are calculated and the optimal maneuvering parameters can be determined and the output unit the optimal one calculated by the computer Path optically and / or acoustically indicates. 5. Elektronische Meß- und Steuervorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Ausgabeeinheit über mechanische und elektronische Systeme in den Steuerungsablauf des bewegten Objektes (F) ein­ greift.5. Electronic measuring and control device according to one of the preceding claims, characterized in that the output unit engages via mechanical and electronic systems in the control sequence of the moving object ( F ). 6. Elektronische Meß- und Steuervorrichtung nach einen der vorhergehenden Ansprüche, dadurch gekennzeichnet,
  • - daß das bewegte Objekt (F) ein Kraftfahrzeug und der Raum (L) eine Parklücke darstellt, und daß Sensoren (S 1, S 2, S 3, S 4) an den jeweiligen Enden der vorderen und hin­ teren Stoßstange des Kraftfahrzeuges angebracht sind.
6. Electronic measuring and control device according to one of the preceding claims, characterized in
  • - That the moving object ( F ) is a motor vehicle and the space ( L ) represents a parking space, and that sensors ( S 1 , S 2 , S 3 , S 4 ) are attached to the respective ends of the front and rear bumper of the motor vehicle .
7. Elektronische Meß- und Steuervorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Sensoren (S 1, S 2, S 3, S 4) aus einen Mikrowellen-Sender und -Empfänger aufgebaut sind, die mit einer phasengesteuerten Gruppenantenne verbunden sind.7. Electronic measuring and control device according to one of the preceding claims, characterized in that the sensors ( S 1 , S 2 , S 3 , S 4 ) are constructed from a microwave transmitter and receiver, which are connected to a phase-controlled group antenna .
DE3844340A 1988-12-30 1988-12-30 Parking aid Withdrawn DE3844340A1 (en)

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FR2728859A1 (en) * 1994-12-30 1996-07-05 Renault Driver's guidance display for parking in kerb=side gaps
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