EP2212715A1 - Method and device for preventing a collision when planning a path for parking a vehicle - Google Patents
Method and device for preventing a collision when planning a path for parking a vehicleInfo
- Publication number
- EP2212715A1 EP2212715A1 EP08851940A EP08851940A EP2212715A1 EP 2212715 A1 EP2212715 A1 EP 2212715A1 EP 08851940 A EP08851940 A EP 08851940A EP 08851940 A EP08851940 A EP 08851940A EP 2212715 A1 EP2212715 A1 EP 2212715A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- parking
- envelope
- boundary line
- parking space
- vehicle
- 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- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- 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
- G01S2013/9317—Driving backwards
-
- 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
Definitions
- the invention relates to a method and a device for collision prevention in the planning of a path for parking a vehicle according to the preamble of claim 1, a driver assistance device and a computer program for performing the method.
- parking systems calculate at the beginning or before the start of a parking process a path for parking the vehicle, or a Einparkbahn. This trajectory is calculated based on the geometry of a parking space and a vehicle position relative to this parking space.
- WO 2005/118339 A1 a method for path planning when parking a vehicle in a side parking space is known in which a monitoring of the parking space opposite side during the measurement of the parking space and during the parking process is provided.
- the invention is based on a method for collision prevention in the planning of a train according to the type mentioned when parking a vehicle, in which such a method for collision prevention in terms of increased safety should be further developed.
- a collision prevention method when planning a path for parking a vehicle in a lateral parking space, in which planning the path is calculated, that in a first method step by at least an envelope detected by measurement, defining the parking space, an envelope is placed at a predeterminable distance, then determined in a second method step for a calculated path, which boundary line would describe an object facing side of the vehicle at a trajectory of the web, then in a third process step, a comparison takes place as to whether the boundary line touches or intersects the envelope, and finally, when the boundary line touches or intersects the envelope, in a fourth process step the path is changed such that the boundary line no longer touches the envelope or s chneidet.
- the approach known from the prior art is not suitable for preventing a collision or a collision course with an object delimiting the parking space when selecting a very large first arc in the path planning.
- the invention ensures that a calculated for a parking operation in a side parking space track is calculated so that when a departure of the train by a vehicle during the parking process at any time there is a risk that the 3 SDE0879
- Vehicle with a previously detected by surveying the parking space bounding object collides.
- An advantageous embodiment of the method according to the invention provides that the web comprises a first and a second path sheet, wherein in a detected collision or a detected collision course of the first path sheet is reduced.
- the planning of the path preferably takes place on the basis of the geometry of the parking space and on the basis of a vehicle position relative to this parking space.
- the invention is advantageously applicable in particular in connection with a driving assistance device for assisting a driver of a vehicle when parking in a parking space.
- a driving assistance device preferably comprises means for measuring and detecting objects bounding a parking space, as well as a microprocessor connected to the means with associated storage means for calculation:
- An advantageous application of the method according to the invention results in conjunction with a driver assistance device which allows guided parking or semi-automatic parking, or fully automatic parking.
- a particularly advantageous embodiment of the invention relates to a computer program product stored on a computer-usable medium, comprising computer-readable program means which, when the computer program product is executed on a microprocessor with associated storage means or on a computer, cause it to carry out a method according to the invention described above.
- Figure 1 is a schematic representation of the path planning devisschigen one
- FIG. 2 shows a schematic representation of the path planning of a one-time parking process in a lateral parking space according to a method according to the invention.
- a method according to the invention for preventing collision during the planning of a web 08 shown in FIG. 2 for parking a vehicle 09 in a lateral parking space 10 in a first method step the objects 11, which detect the parking space 10, are detected by measurement 5 SDE0879 to lay an envelope 12 at a predefinable distance.
- a second method step it is determined for a calculated web 08 which boundary line 13 would describe a side 14 of the vehicle 09 facing the object 11 when the web 08 travels.
- a comparison takes place whether the boundary line 13 touches or cuts the envelope 12. In order to prevent a collision 15, the boundary line 13 may not touch or intersect the envelope 12 at any point.
- the path 08 is iteratively changed by repeating from the second method step such that the boundary line 13 no longer touches or cuts the envelope 12. This can either be done iteratively as mentioned above or by means of a suitable algorithm.
- the web 08 for the parking of the vehicle 09 in the lateral parking space 10 is composed in a Einwigen Einparkvorgang shown, for example, a first web sheet 16, a second web sheet 17 and possibly an intermediate, also referred to as a straight slant phase straight section together.
- the lateral parking space 10 is limited, for example, parked by the roadside, not shown, vehicles 11. If the boundary line 13 of the envelope 12 comes too close in the first phase of the parking process marked by the departure of the first path sheet 16, this can be eliminated, for example, by reducing the first path sheet 16, or by displacing the web 08 all the way backward in the longitudinal direction 18 ,
Abstract
Disclosed are a method and a device for preventing a collision when planning a path (08) for parking a vehicle (09) in a lateral parking space (10). In a first step of said method, an envelope curve (12) is laid at a predefined distance around at least one object (11) that delimits the parking space (10) and is detected using a surveying process. In a second step, it is then determined for a calculated path (08) which boundary line (13) a side (14) of the vehicle (09) that faces the object (11) would describe if the path (08) was followed. In a third step, a comparison is then made whether the boundary line (13) touches or intersects the envelope curve (12). In a fourth step, the path (08) is modified such that the boundary line (13) no longer touches or intersects the envelope curve (12). Also disclosed are a driving assistance device for carrying out said method as well as a computer program product which incites a microprocessor comprising associated storage means to carry out the method.
Description
1 SDE0879 1 SDE0879
Beschreibungdescription
Verfahren und Vorrichtung zur Kollisionsverhinderung bei der Planung einer Bahn zum Einparken eines FahrzeugsMethod and apparatus for collision prevention when planning a path for parking a vehicle
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Kollisionsverhinderung bei der Planung einer Bahn zum Einparken eines Fahrzeugs gemäß dem Oberbegriff des Anspruchs 1 , eine Fahrerassistenzvorrichtung und ein Computer- programm zur Durchführung des Verfahrens.The invention relates to a method and a device for collision prevention in the planning of a path for parking a vehicle according to the preamble of claim 1, a driver assistance device and a computer program for performing the method.
Bekannte Fahrassistenzvorrichtungen zur Unterstützung eines Fahrers eines Fahrzeugs beim Einparken, im Folgenden kurz als Einparksysteme bezeichnet, berechnen zu Beginn bzw. vor Beginn eines Einparkvorgangs eine Bahn für das Einparken des Fahrzeugs, bzw. eine Einparkbahn. Diese Bahn wird anhand der Geometrie einer Parklücke und einer Fahrzeugposition relativ zu dieser Parklücke berechnet.Known driving assistance devices for assisting a driver of a vehicle when parking, hereinafter referred to briefly as parking systems, calculate at the beginning or before the start of a parking process a path for parking the vehicle, or a Einparkbahn. This trajectory is calculated based on the geometry of a parking space and a vehicle position relative to this parking space.
Aus der WO 2005/118339 A1 ist ein Verfahren zur Bahnplanung beim Einparken eines Fahrzeugs in eine seitliche Parklücke bekannt, bei dem eine Überwachung der der Parklücke gegenüber liegenden Seite während der Vermessung der Park- lücke und während des Einparkvorgangs vorgesehen ist.From WO 2005/118339 A1 a method for path planning when parking a vehicle in a side parking space is known in which a monitoring of the parking space opposite side during the measurement of the parking space and during the parking process is provided.
Außerdem ist bekannt, bei der Berechnung einer in Figur 1 der Zeichnung dargestellten Bahn 01 zu berücksichtigen, dass das parkende Fahrzeug 02 beim Einschwenken in die Parklücke 03 in Längsrichtung einen Mindestabstand 04 zu benachbarten Objekten 05 einhält und dass das parkende Fahrzeug beim gerade- aus Zurückfahren bis zum aus in Vorwärts-Fahrtrichtung des Fahrzeugs 02 hinteren Ende 06 der Parklücke 03, also bis zum Ende eines die Parklücke begrenzenden Objekts 05, einen seitlichen Mindestabstand 07 zu diesem Objekt 05 einhält.
2 SDE0879In addition, it is known to take into account in the calculation of a shown in Figure 1 of the drawing sheet 01 that the parked vehicle 02 when swinging into the parking space 03 in the longitudinal direction a minimum distance 04 to adjacent objects 05 complies and that the parked vehicle when straight back driving up to the rear end 06 of the parking space 03 in the forward direction of travel of the vehicle 02, that is to say to the end of an object 05 delimiting the parking space, a lateral minimum distance 07 to this object 05 is maintained. 2 SDE0879
Nachteilig hieran ist, dass bei der Bahnplanung keine Betrachtung durchgeführt wird, ob es bei einem Abfahren der Bahn zu einer Kollision kommt bzw. kommen kann.The disadvantage of this is that no consideration is made in the path planning, whether it comes in a departure of the train to a collision or can come.
Offenbarung der ErfindungDisclosure of the invention
Die Erfindung geht von einem Verfahren zur Kollisionsverhinderung bei der Planung einer Bahn nach der eingangs genannten Art beim Einparken eines Fahrzeugs aus, bei dem ein solches Verfahren zur Kollisionsverhinderung hinsichtlich einer erhöhten Sicherheit weiter entwickelt werden soll.The invention is based on a method for collision prevention in the planning of a train according to the type mentioned when parking a vehicle, in which such a method for collision prevention in terms of increased safety should be further developed.
Die Nachteile des Standes der Technik werden bei einem erfindungsgemäßen Verfahren zur Kollisionsverhinderung bei der Planung einer Bahn zum Einparken eines Fahrzeugs in eine seitliche Parklücke, bei welcher Planung die Bahn berechnet wird, in vorteilhafter Weise dadurch vermieden, dass in einem ersten Ver- fahrensschritt um mindestens ein durch Vermessung erfasstes, die Parklücke be- grenzendes Objekt eine Hüllkurve in einem vorgebbaren Abstand gelegt wird, anschließend in einem zweiten Verfahrensschritt für eine berechnete Bahn ermittelt wird, welche Grenzlinie eine dem Objekt zugewandte Seite des Fahrzeugs bei einem Abfahren der Bahn beschreiben würde, dann in einem dritten Verfahrensschritt ein Vergleich stattfindet, ob die Grenzlinie die Hüllkurve berührt oder schneidet, und schließlich, wenn die Grenzlinie die Hüllkurve berührt oder schneidet, in einem vierten Verfahrensschritt die Bahn so verändert wird, dass die Grenzlinie die Hüllkurve nicht mehr berührt oder schneidet.The disadvantages of the prior art are advantageously avoided in a collision prevention method according to the invention when planning a path for parking a vehicle in a lateral parking space, in which planning the path is calculated, that in a first method step by at least an envelope detected by measurement, defining the parking space, an envelope is placed at a predeterminable distance, then determined in a second method step for a calculated path, which boundary line would describe an object facing side of the vehicle at a trajectory of the web, then in a third process step, a comparison takes place as to whether the boundary line touches or intersects the envelope, and finally, when the boundary line touches or intersects the envelope, in a fourth process step the path is changed such that the boundary line no longer touches the envelope or s chneidet.
Die aus dem Stand der Technik bekannte Vorgehensweise ist nicht dazu geeignet zu verhindern, dass es bei einer Auswahl eines sehr großen ersten Bogens bei der Bahnplanung zu einer Kollision bzw. zu einem Kollisionskurs mit einem die Parklücke begrenzenden Objekt kommt. Demgegenüber stellt die Erfindung sicher, dass eine für einen Einparkvorgang in eine seitliche Parklücke berechnete Bahn so berechnet wird, dass bei einem Abfahren der Bahn durch ein Fahrzeug während des Einparkvorgangs zu keinem Zeitpunkt eine Gefahr besteht, dass das
3 SDE0879The approach known from the prior art is not suitable for preventing a collision or a collision course with an object delimiting the parking space when selecting a very large first arc in the path planning. In contrast, the invention ensures that a calculated for a parking operation in a side parking space track is calculated so that when a departure of the train by a vehicle during the parking process at any time there is a risk that the 3 SDE0879
Fahrzeug mit einem davor durch Vermessung erfassten, die Parklücke begrenzenden Objekt kollidiert.Vehicle with a previously detected by surveying, the parking space bounding object collides.
Eine vorteilhafte Ausgestaltung des erfindungsgemäßen Verfahrens sieht vor, dass die Bahn einen ersten und einen zweiten Bahnbogen umfasst, wobei bei einer festgestellten Kollision bzw. einem festgestellten Kollisionskurs der erste Bahnbogen verkleinert wird.An advantageous embodiment of the method according to the invention provides that the web comprises a first and a second path sheet, wherein in a detected collision or a detected collision course of the first path sheet is reduced.
Ebenfalls ist denkbar, dass bei einer festgestellten Kollision bzw. einem festgestellten Kollisionskurs die Bahn insgesamt in Längsrichtung nach rückwärts verschoben wird.It is also conceivable that in the event of a detected collision or a collision course that has been detected, the entire length of the web is shifted backwards in the longitudinal direction.
Vorzugsweise erfolgt die Planung der Bahn anhand der Geometrie der Parklücke und anhand einer Fahrzeugposition relativ zu dieser Parklücke.The planning of the path preferably takes place on the basis of the geometry of the parking space and on the basis of a vehicle position relative to this parking space.
Die Erfindung ist insbesondere in Verbindung mit einer Fahrassistenzvorrichtung zur Unterstützung eines Fahrers eines Fahrzeuges beim Einparken in eine Parklücke vorteilhaft anwendbar. Eine solche Fahrassistenzvorrichtung umfasst vor- zugsweise Mittel zur Vermessung und Erfassung von eine Parklücke begrenzenden Objekten, sowie einen mit den Mitteln verbundenen Mikroprozessor mit zugehörigen Speichermitteln zur Berechnung:The invention is advantageously applicable in particular in connection with a driving assistance device for assisting a driver of a vehicle when parking in a parking space. Such a driving assistance device preferably comprises means for measuring and detecting objects bounding a parking space, as well as a microprocessor connected to the means with associated storage means for calculation:
- einer Bahn zum Einparken eines Fahrzeugs in eine seitliche Parklücke,a track for parking a vehicle in a lateral parking space,
- einer Hüllkurve in einem vorgebbaren Abstand um mindestens ein durch Vermessung erfasstes, die Parklücke begrenzendes Objekt,an envelope at a predeterminable distance around at least one object detected by measurement and bounding the parking space,
- einer Grenzlinie, die eine dem Objekt zugewandte Seite des Fahrzeugs bei einem Abfahren der Bahn beschreiben würde,a boundary line which would describe an object-facing side of the vehicle when the vehicle is traveling downhill,
- eines Vergleichs, ob die Grenzlinie die Hüllkurve berührt oder schneidet,a comparison of whether the boundary line touches or intersects the envelope,
sowie, wenn die letzte Berechnung dazu führt, dass die Grenzlinie die Hüllkurve berührt oder schneidet:and if the last calculation causes the boundary to touch or cut the envelope:
- einer Veränderung der Bahn, so dass die Grenzlinie die Hüllkurve nicht mehr berührt oder schneidet.
4 SDE0879a change in the path so that the boundary no longer touches or cuts the envelope. 4 SDE0879
Eine vorteilhafte Anwendung des erfindungsgemäßen Verfahrens ergibt sich in Verbindung mit einer Fahrassistenzvorrichtung, welche ein geführtes Einparken oder ein halbautomatisches Einparken, oder ein vollautomatisches Einparken er- möglicht.An advantageous application of the method according to the invention results in conjunction with a driver assistance device which allows guided parking or semi-automatic parking, or fully automatic parking.
Eine besonders vorteilhaften Ausgestaltung der Erfindung betrifft ein Computerprogrammprodukt gespeichert auf einem computerverwendbaren Medium, umfassend computerlesbare Programmittel, welche bei Ausführung des Computerprogrammprodukts auf einem Mikroprozessor mit zugehörigen Speichermitteln oder auf einem Computer diesen zur Durchführung eines oben beschriebenen, erfindungsgemäßen Verfahrens veranlassen.A particularly advantageous embodiment of the invention relates to a computer program product stored on a computer-usable medium, comprising computer-readable program means which, when the computer program product is executed on a microprocessor with associated storage means or on a computer, cause it to carry out a method according to the invention described above.
Kurze Beschreibung der ZeichnungShort description of the drawing
Die Erfindung wird nachfolgend anhand der Figuren der Zeichnungen erläutert. Dabei zeigen:The invention will be explained below with reference to the figures of the drawings. Showing:
Figur 1 eine schematische Darstellung der Bahnplanung eines einzügigenFigure 1 is a schematic representation of the path planning einzuschigen one
Einparkvorgangs in eine seitliche Parklücke nach dem Stand der Technik undEinparkvorgangs in a side parking space according to the prior art and
Figur 2 eine schematische Darstellung der Bahnplanung eines einzügigen Einparkvorgangs in eine seitliche Parklücke nach einem erfindungsgemäßen Verfahren.FIG. 2 shows a schematic representation of the path planning of a one-time parking process in a lateral parking space according to a method according to the invention.
Wege zur Ausführung der ErfindungWays to carry out the invention
Bei einem erfindungsgemäßen Verfahren zur Kollisionsverhinderung bei der PIa- nung einer in Figur 2 dargestellten Bahn 08 zum Einparken eines Fahrzeugs 09 in eine seitliche Parklücke 10 ist vorgesehen, in einem ersten Verfahrensschritt um die durch Vermessung erfassten, die Parklücke 10 begrenzenden Objekte 11 in
5 SDE0879 einem vorgebbaren Abstand eine Hüllkurve 12 zu legen. In einem zweiten Verfahrensschritt wird für eine berechnete Bahn 08 ermittelt, welche Grenzlinie 13 eine dem Objekt 11 zugewandte Seite 14 des Fahrzeugs 09 bei einem Abfahren der Bahn 08 beschreiben würde. In einem dritten Verfahrensschritt findet ein Ver- gleich statt, ob die Grenzlinie 13 die Hüllkurve 12 berührt oder schneidet. Um eine Kollision 15 zu verhindern, darf die Grenzlinie 13 an keiner Stelle die Hüllkurve 12 berühren oder schneiden. Wenn die Grenzlinie 13 die Hüllkurve 12 berührt oder schneidet, wird in einem vierten Verfahrensschritt die Bahn 08 beispielsweise iterativ durch Wiederholung ab dem zweiten Verfahrensschritt so verändert, dass die Grenzlinie 13 die Hüllkurve 12 nicht mehr berührt oder schneidet. Dies kann entweder wie bereits erwähnt iterativ oder mittels eines geeigneten Algorithmus erfolgen.In a method according to the invention for preventing collision during the planning of a web 08 shown in FIG. 2 for parking a vehicle 09 in a lateral parking space 10, in a first method step the objects 11, which detect the parking space 10, are detected by measurement 5 SDE0879 to lay an envelope 12 at a predefinable distance. In a second method step, it is determined for a calculated web 08 which boundary line 13 would describe a side 14 of the vehicle 09 facing the object 11 when the web 08 travels. In a third method step, a comparison takes place whether the boundary line 13 touches or cuts the envelope 12. In order to prevent a collision 15, the boundary line 13 may not touch or intersect the envelope 12 at any point. If the boundary line 13 touches or intersects the envelope 12, in a fourth method step, for example, the path 08 is iteratively changed by repeating from the second method step such that the boundary line 13 no longer touches or cuts the envelope 12. This can either be done iteratively as mentioned above or by means of a suitable algorithm.
Die Bahn 08 für das Einparken des Fahrzeugs 09 in die seitliche Parklücke 10 setzt sich bei einem dargestellten einzügigen Einparkvorgang beispielsweise aus einem ersten Bahnbogen 16, einem zweiten Bahnbogen 17 und gegebenenfalls einem dazwischen liegenden, auch als gerade Schrägphase bezeichneten geraden Abschnitt zusammen. Die seitliche Parklücke 10 wird beispielsweise durch am Straßenrand geparkte, nicht näher dargestellte, Fahrzeuge 11 begrenzt. Kommt die Grenzlinie 13 der Hüllkurve 12 in der durch das Abfahren des ersten Bahnbogens 16 gekennzeichneten ersten Phase des Einparkvorgangs zu nah, kann dies beseitigt werden, indem beispielsweise der erste Bahnbogen 16 verkleinert wird, oder die Bahn 08 gesamt in Längsrichtung 18 nach rückwärts verschoben wird.
The web 08 for the parking of the vehicle 09 in the lateral parking space 10 is composed in a Einwigen Einparkvorgang shown, for example, a first web sheet 16, a second web sheet 17 and possibly an intermediate, also referred to as a straight slant phase straight section together. The lateral parking space 10 is limited, for example, parked by the roadside, not shown, vehicles 11. If the boundary line 13 of the envelope 12 comes too close in the first phase of the parking process marked by the departure of the first path sheet 16, this can be eliminated, for example, by reducing the first path sheet 16, or by displacing the web 08 all the way backward in the longitudinal direction 18 ,
Claims
1. Verfahren zur Kollisionsverhinderung bei der Planung einer Bahn (08) zum1. A method for collision prevention in the planning of a train (08) for
Einparken eines Fahrzeugs (09) in eine seitliche Parklücke (10), dadurch gekennzeichnet, dass in einem ersten Verfahrensschritt um mindestens ein durch Vermessung erfasstes, die Parklücke (10) begrenzendes Objekt (1 1) eine Hüllkurve (12) in einem vorgebbaren Abstand gelegt wird, anschlie- ßend in einem zweiten Verfahrensschritt für eine berechnete Bahn (08) ermittelt wird, welche Grenzlinie (13) eine dem Objekt (11 ) zugewandte Seite (14) des Fahrzeugs (09) bei einem Abfahren der Bahn (08) beschreiben würde, dann in einem dritten Verfahrensschritt ein Vergleich stattfindet, ob die Grenzlinie (13) die Hüllkurve (12) berührt oder schneidet, und schließlich, wenn die Grenzlinie (13) die Hüllkurve (12) berührt oder schneidet, in einem vierten Verfahrensschritt die Bahn (08) so verändert wird, dass die Grenzlinie (13) die Hüllkurve (12) nicht mehr berührt oder schneidet.Parking a vehicle (09) in a lateral parking space (10), characterized in that in an initial process step by at least one detected by measurement, the parking space (10) limiting object (1 1) an envelope (12) placed at a predetermined distance Then, in a second method step for a calculated path (08), it is determined which boundary line (13) would describe a side (14) of the vehicle (09) facing the object (11) when the path (08) travels , then in a third method step a comparison takes place as to whether the boundary line (13) touches or intersects the envelope (12), and finally, when the boundary line (13) touches or intersects the envelope (12), in a fourth method step the web (FIG. 08) is changed so that the boundary line (13) no longer touches or cuts the envelope (12).
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die Bahn (08) einen ersten und einen zweiten Bahnbogen (16; 17) umfasst, wobei bei einer festgestellten Kollision (15) bzw. einem festgestellten Kollisionskurs der erste Bahnbogen (16) verkleinert wird.2. The method according to claim 1, characterized in that the web (08) comprises a first and a second path sheet (16; 17), wherein in a detected collision (15) or a determined collision course of the first web sheet (16) is reduced ,
3. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass bei einer festgestellten Kollision (15) bzw. einem festgestellten Kollisionskurs die Bahn (08) gesamt in Längsrichtung (18) nach rückwärts verschoben wird.3. The method according to claim 1, characterized in that at a detected collision (15) or a detected collision course, the web (08) is displaced completely in the longitudinal direction (18) to the rear.
4. Verfahren nach Anspruch 1 , 2 oder 3, dadurch gekennzeichnet, dass die Planung der Bahn (08) anhand der Geometrie der Parklücke (10) und anhand einer Fahrzeugposition relativ zu dieser Parklücke (10) erfolgt. 7 SDE08794. The method of claim 1, 2 or 3, characterized in that the planning of the web (08) based on the geometry of the parking space (10) and based on a vehicle position relative to this parking space (10). 7 SDE0879
5. Fahrassistenzvorrichtung zur Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 4, gekennzeichnet durch Mittel zur Vermessung und Erfassung von eine Parklücke (10) begrenzenden Objekten (11), sowie einen mit den Mitteln verbundenen Mikroprozessor mit zugehörigen Spei- chermitteln zur Berechnung:5. Driving assistance device for carrying out a method according to one of claims 1 to 4, characterized by means for measuring and detecting a parking space (10) delimiting objects (11), as well as a connected to the means microprocessor with associated storage means for calculating:
- einer Bahn (08) zum Einparken eines Fahrzeugs (09) in eine seitliche Parklücke (10),a track (08) for parking a vehicle (09) in a lateral parking space (10),
- einer Hüllkurve (12) in einem vorgebbaren Abstand um mindestens ein durch Vermessung erfasstes, die Parklücke (10) begrenzendes Objekt (1 1 ),- an envelope (12) at a predeterminable distance by at least one detected by measurement, the parking space (10) limiting object (1 1),
- einer Grenzlinie (13), die eine dem Objekt (11 ) zugewandte Seite (14) des Fahrzeugs (09) bei einem Abfahren der Bahn (08) beschreiben würde,a boundary line (13) which would describe a side (14) of the vehicle (09) facing the object (11) when the web (08) traveled down,
- eines Vergleichs, ob die Grenzlinie (13) die Hüllkurve (12) berührt oder schneidet,a comparison of whether the boundary line (13) touches or intersects the envelope (12),
- sowie, wenn die letzte Berechnung dazu führt, dass die Grenzlinie (13) die- and, if the last calculation leads to the borderline (13)
Hüllkurve (12) berührt oder schneidet:Envelope (12) touches or cuts:
- einer Veränderung der Bahn (08), so dass die Grenzlinie (13) die Hüllkurve (12) nicht mehr berührt oder schneidet.- A change of the web (08), so that the boundary line (13) no longer touches or cuts the envelope (12).
6. Fahrassistenzvorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass die Fahrassistenzvorrichtung ein geführtes Einparken oder ein halbautomatisches Einparken, oder ein vollautomatisches Einparken ermöglicht.6. Driving assistance device according to claim 5, characterized in that the driving assistance device allows a guided parking or a semi-automatic parking, or a fully automatic parking.
7. Computerprogrammprodukt gespeichert auf einem computerverwendbaren Medium, umfassend computerlesbare Programmittel, welche bei Ausführung des Computerprogrammprodukts auf einem Mikroprozessor mit zuge- hörigen Speichermitteln oder auf einem Computer diesen zur Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 4 veranlassen. 7. A computer program product stored on a computer-usable medium, comprising computer-readable program means which, when the computer program product is executed on a microprocessor with associated memory means or on a computer, cause it to carry out a method according to one of claims 1 to 4.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102007055389A DE102007055389A1 (en) | 2007-11-20 | 2007-11-20 | Method and apparatus for collision prevention when planning a path for parking a vehicle |
| PCT/EP2008/009296 WO2009065492A1 (en) | 2007-11-20 | 2008-11-05 | Method and device for preventing a collision when planning a path for parking a vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP2212715A1 true EP2212715A1 (en) | 2010-08-04 |
Family
ID=40336515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP08851940A Withdrawn EP2212715A1 (en) | 2007-11-20 | 2008-11-05 | Method and device for preventing a collision when planning a path for parking a vehicle |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2212715A1 (en) |
| DE (1) | DE102007055389A1 (en) |
| WO (1) | WO2009065492A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008027779A1 (en) * | 2008-06-11 | 2009-12-17 | Valeo Schalter Und Sensoren Gmbh | Method for assisting a driver of a vehicle when parking in a parking space |
| DE102011080930A1 (en) * | 2011-08-12 | 2013-02-14 | Robert Bosch Gmbh | Method and device for assisting a driver of a motor vehicle in a driving maneuver |
| DE102014111128A1 (en) | 2014-08-05 | 2016-02-11 | Valeo Schalter Und Sensoren Gmbh | Providing driving instructions during a parking maneuver |
| DE102016217330A1 (en) | 2016-09-12 | 2018-03-15 | Volkswagen Aktiengesellschaft | Method for operating a vehicle and control unit for carrying out the method |
| DE102017215519A1 (en) * | 2017-09-05 | 2019-03-07 | Robert Bosch Gmbh | Method and device for collision detection for a vehicle |
| CN110654374B (en) * | 2018-06-29 | 2022-03-18 | 比亚迪股份有限公司 | Automatic parking simulation system and test method thereof |
| CN112061116B (en) * | 2020-08-21 | 2021-10-29 | 浙江大学 | Parking strategy of reinforcement learning method based on potential energy field function approximation |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10331235A1 (en) * | 2003-07-10 | 2005-02-03 | Robert Bosch Gmbh | Driving assistance device, in particular for parking a vehicle |
| DE102005027165A1 (en) * | 2005-06-13 | 2006-12-14 | Robert Bosch Gmbh | Method and device for issuing parking instructions |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4931930A (en) * | 1988-04-19 | 1990-06-05 | Industrial Technology Research Institute | Automatic parking device for automobile |
| JP2952816B2 (en) * | 1996-12-17 | 1999-09-27 | 本田技研工業株式会社 | Automatic vehicle steering system |
| JP3575364B2 (en) * | 1999-12-28 | 2004-10-13 | 株式会社豊田自動織機 | Steering support device |
| DE102004001428A1 (en) * | 2004-01-09 | 2005-08-04 | Robert Bosch Gmbh | Method for driver assistance systems for improving the parking starting position |
| DE102005006965A1 (en) * | 2004-03-05 | 2005-09-29 | Continental Teves Ag & Co. Ohg | Parking aid for a vehicle provides automatic or driver assisted parking with steering stops and sensors for wheel speed and steering angle |
| DE102005015354A1 (en) | 2004-06-02 | 2005-12-29 | Robert Bosch Gmbh | Method and device for supporting a parking operation of a vehicle |
| DE102005046827A1 (en) * | 2004-09-30 | 2006-04-06 | Robert Bosch Gmbh | Garage maneuvering assisting method for parking vehicle in garage, involves determining dimensions of garage and position of vehicle in garage, and defining trajectory of vehicle for terminating maneuvering of garage |
| JP2006189393A (en) * | 2005-01-07 | 2006-07-20 | Toyota Motor Corp | Peripheral object information acquiring device, and parking support device using same |
-
2007
- 2007-11-20 DE DE102007055389A patent/DE102007055389A1/en not_active Withdrawn
-
2008
- 2008-11-05 WO PCT/EP2008/009296 patent/WO2009065492A1/en active Application Filing
- 2008-11-05 EP EP08851940A patent/EP2212715A1/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10331235A1 (en) * | 2003-07-10 | 2005-02-03 | Robert Bosch Gmbh | Driving assistance device, in particular for parking a vehicle |
| DE102005027165A1 (en) * | 2005-06-13 | 2006-12-14 | Robert Bosch Gmbh | Method and device for issuing parking instructions |
Non-Patent Citations (1)
| Title |
|---|
| See also references of WO2009065492A1 * |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102007055389A1 (en) | 2009-05-28 |
| WO2009065492A1 (en) | 2009-05-28 |
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