EP2234857A1 - Method and device for adapting the guidance of a vehicle - Google Patents

Method and device for adapting the guidance of a vehicle

Info

Publication number
EP2234857A1
EP2234857A1 EP08805262A EP08805262A EP2234857A1 EP 2234857 A1 EP2234857 A1 EP 2234857A1 EP 08805262 A EP08805262 A EP 08805262A EP 08805262 A EP08805262 A EP 08805262A EP 2234857 A1 EP2234857 A1 EP 2234857A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
parking
guidance
height profile
obstacle
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Withdrawn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
EP08805262A
Other languages
German (de)
French (fr)
Inventor
Markus Koehler
Michael Scherl
Matthias Haug
Uwe Zimmermann
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2234857A1 publication Critical patent/EP2234857A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • 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
    • G01S2013/93185—Controlling the brakes
    • 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
    • G01S2013/9319—Controlling the accelerator
    • 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
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • 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
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • the invention relates to a method and a device for adjusting the guidance of a vehicle in an area having at least one obstacle, with the features mentioned in the preambles of claims 1 and 7.
  • various parking functions based on semi-autonomous functions, self-steering functions or automatic parking systems are known.
  • the semiautonomous functions provide a driver of a vehicle with hints on how the vehicle can be maneuvered into a parking space.
  • the self-steering functions automatically perform the lateral guidance or the steering of the vehicle and leave the driver only the longitudinal guidance of the vehicle.
  • DE 10261001 A1 describes a method for steering a motor vehicle with a power steering, in which a torque applied to the wheels is limited when three conditions occur.
  • the conditions are that a moment applied to a wheel or steering column exceeds a threshold, or that the driver tries to turn the steering wheel while the rate of change of the steering angle is zero. In these cases, it is assumed that there is an obstacle, and the moment is limited.
  • EP 1035001 A2 describes an electric power steering system in which the power supplied to an electric motor of the system is reduced when a condition of stalling, when e.g. B. a wheel crashes against a curb, is determined.
  • the stall is determined based on a sensed temperature of a power circuit through which the electric motor is powered.
  • a disadvantage of the known Einparkfunktionen is that they are relatively expensive, such. B. to additional sensors must be realized.
  • the object of the present invention is to provide a method and a device for adjusting the guidance of a vehicle in an area having at least one obstacle, which can be realized with little effort.
  • An advantage of the method and the device according to the invention is that they can be realized with little effort.
  • the adaptation of a guidance of the vehicle is performed predictively.
  • An advantage of this preferred embodiment is that, for. B. in automatic parking systems, the longitudinal guide is adapted predictively after the measurement of a parking space by a suitable sensor.
  • the longitudinal guidance of the vehicle to the height profile in Trajektorienverlauf, z. B. in passable obstacles in a parking space be made more pleasant for the driver.
  • adjusting the guidance comprises adjusting the speed and / or the acceleration of the vehicle.
  • adjusting the speed and / or acceleration comprises controlling an engine and / or at least one brake of the vehicle.
  • An advantage of these preferred embodiments is that the existing brake / accelerator devices can be used and therefore no additional hardware is needed.
  • Another advantage of these preferred embodiments is that the increase in driver acceptance for the longitudinal guidance, for example, of an autonomous parking system can be achieved without much effort.
  • the determination of the height profile comprises the detection of overrun or non-drivable obstacles.
  • An advantage of this preferred embodiment is that, in particular in paragraphs and curbs of parking spaces, the duration and frequency of driver intervention in the longitudinal guide can be significantly reduced.
  • Figure 1 is a side view of an application example of the method according to the invention.
  • FIG. 2 is a plan view of the application example of FIG. 1.
  • Figure 1 shows a side view of an application example of the method according to the invention.
  • a vehicle 1 which is located on a roadway 2, is positioned in its longitudinal direction substantially parallel to a flat parking strip 3 for vehicles.
  • the parking strip 3 is bounded by a first obstacle 4 between the roadway 2 and the parking strip 3 and a second obstacle 5 between the parking strip 3 and a sidewalk 6.
  • the first obstacle 4 has, in a transverse direction perpendicular to the longitudinal direction of the vehicle 1, a first distance d1 from the right side of the vehicle 1.
  • the second obstacle 5 has a second distance d2 from the right side of the vehicle 1 in the transverse direction and is higher than the first obstacle 2.
  • the first obstacle 4 is preferably a step between the lane 2 and the parking strip 3, and the second obstacle 5 is preferably a curb between the parking strip 3 and the pavement 6.
  • a detection device 7 is mounted, which is suitably arranged and designed to detect the obstacles 4 and 5.
  • the detection device 7 has a suitably selected, with respect to the roadway 2 vertical detection area 8 and a suitably selected resolution.
  • the detection device 7 preferably comprises a microwave radar, an ultrasonic sensor, a laser scanner and / or a camera with image evaluation.
  • FIG. 2 shows a plan view of the application example of FIG. 1.
  • the vehicle 1 stands on the parking strip 3 in the longitudinal direction next to a parking space 9.
  • the parking space 9 is formed in the longitudinal direction between two other vehicles 10 and 11, which are located on the parking strip 3.
  • a horizontal detection area 12 of the detection device 7, which is horizontal with respect to the roadway 2 is likewise suitably selected and is scanned with a suitable resolution.
  • the height profile of a trajectory of the travel movement of the vehicle 1 into the parking space 9 is determined by the detection device 7.
  • obstacles are detected on the trajectory and preferably in obstacles, which are traversable by the vehicle 1, such as the first obstacle 4, and obstacles that are not traversable by the vehicle 1, such as for example, the second obstacle 5, classified.
  • This classification is preferably based on the strength and the extent of reflection of a radiation used for detection at the obstacles 4 and 5.
  • the driving behavior of the vehicle 1, as with respect to the trajectory location-dependent speed and / or acceleration of the vehicle 1, in the parking space 9 is predicted or predicted adapted.
  • the suitable motion sequence of the vehicle is calculated in a processing device and then stored in a memory device. While driving into the parking space 9, this movement pattern is retrieved from the storage device and, for example, the rotational speed and the moment of an engine of the vehicle 1 and an actuation of brakes of the vehicle 1 are controlled accordingly.
  • the height profile and a corresponding movement behavior of the vehicle along the trajectory during the driving of the vehicle 1 in the parking space 9 are determined and / or updated.
  • the height profile in Trajektorienverlauf can be determined.
  • traversable obstacles such. B. a paragraph on which the parking space 9 is located, are recognized by location.
  • the longitudinal guidance can be adapted predictively during automatic parking.
  • the engine and brake control can be adapted automatically at the required location even before a major change in the altitude profile and a concomitant deceleration / acceleration of the vehicle 1.
  • the engine torque can be increased to avoid lowering the speed.
  • the recognized but traversable obstacle can be passed at the required parking speed.
  • the invention is in various methods and apparatus for adjusting and controlling a guidance of a vehicle, such as a passenger car, a truck or other movable device, in an area such.
  • a vehicle such as a passenger car, a truck or other movable device
  • a parking strip, a parking space, etc. applicable, regardless of which direction, d. H. in a longitudinal direction or a transverse direction of the area, the vehicle is parked or held and regardless of whether other vehicles or other non-movable objects and where vehicles or other non-moving objects in the area are present or not.
  • the invention is particularly suitable for use in parking systems and E in parking method for vehicles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method and a device for adapting the guidance of a vehicle (1) in a region (9) that comprises at least one obstacle (4, 5, 10, 11). The method comprises the steps of determining the height profile of a trajectory that the vehicle (1) is supposed to follow when parking in the region (9), and adapting the speed of the vehicle (1) to the determined height profile by controlling the engine and/or the brake of the vehicle.

Description

Beschreibung description
Verfahren und Vorrichtung zum Anpassen der Führung eines FahrzeugesMethod and device for adjusting the guidance of a vehicle
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Anpassen der Führung eines Fahrzeuges in einen Bereich, der mindestens ein Hindernis aufweist, mit den in den Oberbegriffen der Ansprüche 1 und 7 genannten Merkmalen.The invention relates to a method and a device for adjusting the guidance of a vehicle in an area having at least one obstacle, with the features mentioned in the preambles of claims 1 and 7.
Stand der TechnikState of the art
Bei Fahrzeugen sind verschiedene Einparkfunktionen, die auf semiautonomen Funktionen, selbstlenkenden Funktionen oder automatischen Einparksystemen basieren, bekannt. Die semiautonomen Funktionen geben einem Fahrer eines Fahrzeugs Hinweise, wie das Fahrzeug in eine Parklücke manövriert werden kann. Die selbstlenkenden Funktionen führen die Querführung bzw. das Lenken des Fahrzeugs automatisch durch und überlassen dem Fahrer nur die Längsführung des Fahrzeugs.In vehicles, various parking functions based on semi-autonomous functions, self-steering functions or automatic parking systems are known. The semiautonomous functions provide a driver of a vehicle with hints on how the vehicle can be maneuvered into a parking space. The self-steering functions automatically perform the lateral guidance or the steering of the vehicle and leave the driver only the longitudinal guidance of the vehicle.
Die DE 10261001 A1 beschreibt ein Verfahren zum Lenken eines Motorfahrzeugs mit einer Servolenkung, bei dem ein Moment, das an die Räder angelegt wird, bei einem Auftreten von drei Bedingungen begrenzt wird. Die Bedingungen sind, dass ein Moment, das an ein Rad oder die Lenksäule angelegt wird, einen Schwellenwert überschreitet, oder dass der Fahrer versucht, das Lenkrad zu drehen, während die Änderungsrate des Lenkwinkels Null ist. In diesen Fällen wird davon ausgegangen, dass ein Hindernis vorliegt, und das Moment wird begrenzt.DE 10261001 A1 describes a method for steering a motor vehicle with a power steering, in which a torque applied to the wheels is limited when three conditions occur. The conditions are that a moment applied to a wheel or steering column exceeds a threshold, or that the driver tries to turn the steering wheel while the rate of change of the steering angle is zero. In these cases, it is assumed that there is an obstacle, and the moment is limited.
Die EP 1035001 A2 beschreibt ein elektrisches Servolenkungssystem, bei dem die Leistung, die einem Elektromotor des Systems zugeführt wird, reduziert wird, wenn eine Bedingung eines Abwürgens, wenn z. B. ein Rad gegen einen Bordstein stößt, bestimmt wird. Das Abwürgen wird basierend auf einer erfassten Temperatur eines Leistungsschaltkreises, durch den der Elektromotor gespeist wird, bestimmt. Ein Nachteil der bekannten Einparkfunktionen besteht darin, dass diese mit einem relativ hohen Aufwand, z. B. an zusätzlicher Sensorik, realisiert werden müssen.EP 1035001 A2 describes an electric power steering system in which the power supplied to an electric motor of the system is reduced when a condition of stalling, when e.g. B. a wheel crashes against a curb, is determined. The stall is determined based on a sensed temperature of a power circuit through which the electric motor is powered. A disadvantage of the known Einparkfunktionen is that they are relatively expensive, such. B. to additional sensors must be realized.
Offenbarung der ErfindungDisclosure of the invention
Die Aufgabe der vorliegenden Erfindung besteht darin, ein Verfahren und eine Vorrichtung zum Anpassen der Führung eines Fahrzeugs in einen Bereich, der mindestens ein Hindernis aufweist, zu schaffen, die mit einem geringen Aufwand realisiert werden können.The object of the present invention is to provide a method and a device for adjusting the guidance of a vehicle in an area having at least one obstacle, which can be realized with little effort.
Diese Aufgabe wird durch ein Verfahren nach Anspruch 1 oder eine Vorrichtung nach Anspruch 7 gelöst.This object is achieved by a method according to claim 1 or a device according to claim 7.
Ein Vorteil des Verfahrens und der Vorrichtung gemäß der Erfindung besteht darin, dass dieselben mit einem geringen Aufwand realisiert werden können.An advantage of the method and the device according to the invention is that they can be realized with little effort.
Bei einer bevorzugten Ausgestaltung des Verfahrens der Erfindung wird das Anpassen einer Führung des Fahrzeugs prädiktiv durchgeführt.In a preferred embodiment of the method of the invention, the adaptation of a guidance of the vehicle is performed predictively.
Ein Vorteil dieser bevorzugten Ausgestaltung besteht darin, dass, z. B. bei automatischen Einparksystemen, die Längsführung nach der Vermessung einer Parklücke durch eine geeignete Sensorik prädiktiv angepasst wird. Dadurch kann bei frühzeitiger Motor- und Bremsenansteuerung und geeigneter Anpassung der Einparksollgeschwindigkeit eines Fahrzeugs, die Längsführung des Fahrzeugs an das Höhenprofil im Trajektorienverlauf, z. B. bei überfahrbaren Hindernissen in einer Parklücke, für den Fahrer angenehmer gestaltet werden.An advantage of this preferred embodiment is that, for. B. in automatic parking systems, the longitudinal guide is adapted predictively after the measurement of a parking space by a suitable sensor. As a result, with early engine and brake control and suitable adaptation of the parking target speed of a vehicle, the longitudinal guidance of the vehicle to the height profile in Trajektorienverlauf, z. B. in passable obstacles in a parking space, be made more pleasant for the driver.
Bei einer weiteren bevorzugten Ausgestaltung des Verfahrens der Erfindung weist das Anpassen der Führung das Anpassen der Geschwindigkeit und/oder der Beschleunigung des Fahrzeugs auf. Bei einer weiteren bevorzugten Ausgestaltung des Verfahrens der Erfindung weist das Anpassen der Geschwindigkeit und/oder der Beschleunigung das Steuern eines Motors und/oder mindestens einer Bremse des Fahrzeugs auf.In a further preferred embodiment of the method of the invention, adjusting the guidance comprises adjusting the speed and / or the acceleration of the vehicle. In a further preferred embodiment of the method of the invention, adjusting the speed and / or acceleration comprises controlling an engine and / or at least one brake of the vehicle.
Ein Vorteil dieser bevorzugten Ausgestaltungen besteht darin, dass die bestehenden Bremsen-/Beschleunigungseinrichtungen verwendet werden können und daher keine zusätzliche Hardware benötigt wird.An advantage of these preferred embodiments is that the existing brake / accelerator devices can be used and therefore no additional hardware is needed.
Ein weiterer Vorteil dieser bevorzugten Ausgestaltungen besteht darin, dass die Steigerung der Fahrerakzeptanz für die Längsführung beispielsweise eines autonomen Einparksystems ohne großen Aufwand erreicht werden kann.Another advantage of these preferred embodiments is that the increase in driver acceptance for the longitudinal guidance, for example, of an autonomous parking system can be achieved without much effort.
Bei einer weiteren bevorzugten Ausgestaltung des Verfahrens der Erfindung weist das Bestimmen des Höhenprofils das Erfassen von überfahrbaren oder nicht überfahrbaren Hindernissen auf.In a further preferred embodiment of the method of the invention, the determination of the height profile comprises the detection of overrun or non-drivable obstacles.
Ein Vorteil dieser bevorzugten Ausgestaltung besteht darin, dass insbesondere bei Absätzen und Bordsteinen von Parklücken die Dauer und Häufigkeit der Fahrereingriffe in die Längsführung deutlich reduziert werden.An advantage of this preferred embodiment is that, in particular in paragraphs and curbs of parking spaces, the duration and frequency of driver intervention in the longitudinal guide can be significantly reduced.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Bevorzugte Ausführungsbeispiele der vorliegenden Erfindung werden nachfolgend unter Bezugnahme auf die beigefügten Zeichnungen näher erläutert. Es zeigen:Preferred embodiments of the present invention will be explained below with reference to the accompanying drawings. Show it:
Figur 1 eine Seitenansicht eines Anwendungsbeispiels des Verfahrens gemäß der Erfindung; undFigure 1 is a side view of an application example of the method according to the invention; and
Figur 2 eine Draufsicht des Anwendungsbeispiels von Figur 1.FIG. 2 is a plan view of the application example of FIG. 1.
Ausführungsbeispiele der ErfindungEmbodiments of the invention
Figur 1 zeigt eine Seitenansicht eines Anwendungsbeispiels des Verfahrens gemäß der Erfindung. Ein Fahrzeug 1 , das sich auf einer Fahrbahn 2 befindet, ist in seiner Längsrichtung im Wesentlichen parallel zu einem ebenen Parkstreifen 3 für Fahrzeuge positioniert. Der Parkstreifen 3 ist durch ein erstes Hindernis 4 zwischen der Fahrbahn 2 und dem Parkstreifen 3 und ein zweites Hindernis 5 zwischen dem Parkstreifen 3 und einem Gehsteig 6 begrenzt. Das erste Hindernis 4 hat in einer Querrichtung, die senkrecht zu der Längsrichtung des Fahrzeugs 1 ist, einen ersten Abstand d1 von der rechten Seite des Fahrzeugs 1. Das zweite Hindernis 5 hat in der Querrichtung einen zweiten Abstand d2 von der rechten Seite des Fahrzeugs 1 und ist höher als das erste Hindernis 2. Das erste Hindernis 4 ist vorzugsweise ein Absatz zwischen der Fahrbahn 2 und dem Parkstreifen 3, und das zweite Hindernis 5 ist vorzugsweise ein Bordstein zwischen dem Parkstreifen 3 und dem Gehsteig 6.Figure 1 shows a side view of an application example of the method according to the invention. A vehicle 1, which is located on a roadway 2, is positioned in its longitudinal direction substantially parallel to a flat parking strip 3 for vehicles. The parking strip 3 is bounded by a first obstacle 4 between the roadway 2 and the parking strip 3 and a second obstacle 5 between the parking strip 3 and a sidewalk 6. The first obstacle 4 has, in a transverse direction perpendicular to the longitudinal direction of the vehicle 1, a first distance d1 from the right side of the vehicle 1. The second obstacle 5 has a second distance d2 from the right side of the vehicle 1 in the transverse direction and is higher than the first obstacle 2. The first obstacle 4 is preferably a step between the lane 2 and the parking strip 3, and the second obstacle 5 is preferably a curb between the parking strip 3 and the pavement 6.
An der rechten Seite des Fahrzeugs 1 ist eine Erfassungsvorrichtung 7 angebracht, die geeignet angeordnet und gestaltet ist, um die Hindernisse 4 und 5 zu erfassen. Dazu hat die Erfassungsvorrichtung 7 einen geeignet gewählten, bezüglich der Fahrbahn 2 vertikalen Erfassungsbereich 8 und eine geeignet gewählte Auflösung. Die Erfassungsvorrichtung 7 umfasst vorzugsweise ein Mikrowellenradar, einen Ultraschallsensor, einen Laserscanner und/oder eine Kamera mit Bildauswertung.On the right side of the vehicle 1, a detection device 7 is mounted, which is suitably arranged and designed to detect the obstacles 4 and 5. For this purpose, the detection device 7 has a suitably selected, with respect to the roadway 2 vertical detection area 8 and a suitably selected resolution. The detection device 7 preferably comprises a microwave radar, an ultrasonic sensor, a laser scanner and / or a camera with image evaluation.
Figur 2 zeigt eine Draufsicht des Anwendungsbeispiels von Figur 1. Hierin ist gezeigt, dass das Fahrzeug 1 in der Längsrichtung neben einer Parklücke 9 auf dem Parkstreifen 3 steht. Die Parklücke 9 ist in der Längsrichtung zwischen zwei weiteren Fahrzeugen 10 und 11 , die sich auf dem Parkstreifen 3 befinden, gebildet. Zur Erfassung der Hindernisse 4 und 5 ist ein bezüglich der Fahrbahn 2 horizontaler Erfassungsbereich 12 der Erfassungsvorrichtung 7 ebenfalls geeignet gewählt und wird mit einer geeigneten Auflösung abgetastet.FIG. 2 shows a plan view of the application example of FIG. 1. Herein it is shown that the vehicle 1 stands on the parking strip 3 in the longitudinal direction next to a parking space 9. The parking space 9 is formed in the longitudinal direction between two other vehicles 10 and 11, which are located on the parking strip 3. In order to detect the obstacles 4 and 5, a horizontal detection area 12 of the detection device 7, which is horizontal with respect to the roadway 2, is likewise suitably selected and is scanned with a suitable resolution.
Bei einem Ausführungsbeispiel des Verfahrens der vorliegenden Erfindung wird vor dem Fahren des Fahrzeugs 1 in die Parklücke 9, d. h. vor dem Einparken, das Höhenprofil einer Trajektohe der Fahrbewegung des Fahrzeugs 1 in die Parklücke 9 durch die Erfassungsvorrichtung 7 bestimmt. Dabei werden Hindernisse auf der Trajektorie erfasst und vorzugsweise in Hindernisse, die durch das Fahrzeug 1 überfahrbar sind, wie beispielsweise das erste Hindernis 4, und Hindernisse, die durch das Fahrzeug 1 nicht überfahrbar sind, wie beispielsweise das zweite Hindernis 5, klassifiziert. Diese Klassifizierung erfolgt vorzugsweise anhand der Stärke und der Ausdehnung einer Reflexion einer zu Erfassung eingesetzten Strahlung an den Hindernissen 4 und 5.In one embodiment of the method of the present invention, prior to driving the vehicle 1 into the parking space 9, ie before parking, the height profile of a trajectory of the travel movement of the vehicle 1 into the parking space 9 is determined by the detection device 7. In this case, obstacles are detected on the trajectory and preferably in obstacles, which are traversable by the vehicle 1, such as the first obstacle 4, and obstacles that are not traversable by the vehicle 1, such as for example, the second obstacle 5, classified. This classification is preferably based on the strength and the extent of reflection of a radiation used for detection at the obstacles 4 and 5.
Nach der Bestimmung des Höhenprofils der Trajektorie wird das Fahrverhalten des Fahrzeugs 1 , wie die bezüglich der Trajektorie ortsabhängige Geschwindigkeit und/oder Beschleunigung des Fahrzeugs 1 , in die Parklücke 9 prädiktiv bzw. vorhersagend angepasst. Dazu wird der geeignete Bewegungsablauf des Fahrzeugs in einer Verarbeitungseinrichtung berechnet und dann in einer Speichereinrichtung gespeichert. Während des Fahrens in die Parklücke 9 wird dieser Bewegungsverlauf aus der Speichereinrichtung abgerufen und es werden beispielsweise die Drehzahl und das Moment eines Motors des Fahrzeugs 1 und eine Betätigung von Bremsen des Fahrzeugs 1 entsprechend gesteuert.After the determination of the height profile of the trajectory, the driving behavior of the vehicle 1, as with respect to the trajectory location-dependent speed and / or acceleration of the vehicle 1, in the parking space 9 is predicted or predicted adapted. For this purpose, the suitable motion sequence of the vehicle is calculated in a processing device and then stored in a memory device. While driving into the parking space 9, this movement pattern is retrieved from the storage device and, for example, the rotational speed and the moment of an engine of the vehicle 1 and an actuation of brakes of the vehicle 1 are controlled accordingly.
Bei einem alternativen Ausführungsbeispiel werden das Höhenprofil und ein entsprechendes Bewegungsverhalten des Fahrzeugs entlang der Trajektorie während des Fahrens des Fahrzeugs 1 in die Parklücke 9 bestimmt und/oder aktualisiert.In an alternative embodiment, the height profile and a corresponding movement behavior of the vehicle along the trajectory during the driving of the vehicle 1 in the parking space 9 are determined and / or updated.
Durch die Vermessung der Parklücke 9 mittels einer geeigneten Sensorik kann das Höhenprofil im Trajektorienverlauf bestimmt werden. Insbesondere können auch überfahrbare Hindernisse, wie z. B. ein Absatz, auf dem sich die Parklücke 9 befindet, ortsgenau erkannt werden. Mit dem aus der Vermessung ermittelten Höhenprofil kann die Längsführung beim automatischen Einparken prädiktiv angepasst werden.By measuring the parking space 9 by means of a suitable sensor, the height profile in Trajektorienverlauf can be determined. In particular, traversable obstacles such. B. a paragraph on which the parking space 9 is located, are recognized by location. With the height profile determined from the survey, the longitudinal guidance can be adapted predictively during automatic parking.
Zum einen kann die Motor- und Bremsenansteuerung an der notwendigen Stelle schon vor einer starken Änderung im Höhenprofil und einer damit einhergehenden Verlangsamung/Beschleunigung des Fahrzeugs 1 automatisch angepasst werden. So kann beispielsweise vor dem Überfahren eines niedrigen Bordsteins das Motormoment erhöht werden, um eine Absenkung der Geschwindigkeit zu vermeiden. Das erkannte, aber überfahrbare Hindernis kann mit der geforderten Einparkgeschwindigkeit passiert werden. Zum anderen ist es möglich, die Einparksollgeschwindigkeit der Längsführung an das Höhenprofil anzupassen. Beispielsweise kann es sinnvoll sein, vor einem höheren aber überfahrbaren Absatz die Geschwindigkeit zu reduzieren, um den Absatz komfortabel überfahren zu können. Fahrereingriffe und Abbruche des Parkvorgangs werden durch die Erfindung deutlich reduziert.On the one hand, the engine and brake control can be adapted automatically at the required location even before a major change in the altitude profile and a concomitant deceleration / acceleration of the vehicle 1. For example, before crossing a low curb, the engine torque can be increased to avoid lowering the speed. The recognized but traversable obstacle can be passed at the required parking speed. On the other hand, it is possible to adapt the parking target speed of the longitudinal guide to the height profile. For example, it may be useful to reduce the speed in order to be able to comfortably drive over the heel before a higher but traversable heel. Driver interventions and crashes of the parking process are significantly reduced by the invention.
Obwohl die vorliegende Erfindung vorstehend anhand bevorzugter Ausführungsbeispiele beschrieben ist, ist dieselbe darauf nicht beschränkt, sondern auf vielfältige Art und Weise modifizierbar.Although the present invention has been described above with reference to preferred embodiments, the same is not limited thereto, but modifiable in a variety of ways.
Die Erfindung ist bei verschiedenen Verfahren und Vorrichtungen zum Anpassen und Steuern einer Führung eines Fahrzeugs, wie eines Personenkraftwagens, eines Lastkraftwagens oder einer anderen bewegbaren Vorrichtung, in einen Bereich, wie z. B. einen Parkstreifen, eine Parklücke etc., anwendbar, unabhängig davon in welcher Richtung, d. h. in einer Längsrichtung oder einer Querrichtung des Bereichs, das Fahrzeug abgestellt oder gehalten wird und unabhängig davon, ob weitere Fahrzeuge oder andere nicht bewegbare Gegenstände und an welchen Stellen Fahrzeuge oder andere nicht bewegbare Gegenstände in dem Bereich anwesend sind oder nicht. Die Erfindung ist insbesondere für den Einsatz bei Einparksystemen und E in parkverfahren für Fahrzeuge geeignet. The invention is in various methods and apparatus for adjusting and controlling a guidance of a vehicle, such as a passenger car, a truck or other movable device, in an area such. As a parking strip, a parking space, etc., applicable, regardless of which direction, d. H. in a longitudinal direction or a transverse direction of the area, the vehicle is parked or held and regardless of whether other vehicles or other non-movable objects and where vehicles or other non-moving objects in the area are present or not. The invention is particularly suitable for use in parking systems and E in parking method for vehicles.

Claims

Ansprüche claims
1. Verfahren zum Anpassen der Führung eines Fahrzeuges (1 ) in einen Bereich (9), der mindestens ein Hindernis (4, 5, 10, 11 ) aufweist, mit folgenden Schritten:Method for adapting the guidance of a vehicle (1) to a region (9) having at least one obstacle (4, 5, 10, 11), comprising the following steps:
- Bestimmen des Höhenprofils einer Trajektohe, der das Fahrzeug (1 ) bei seiner Führung in den Bereich (9) folgen soll; undDetermining the height profile of a trajectory which the vehicle (1) is to follow in its guidance into the region (9); and
- Anpassen der Führung des Fahrzeugs (1 ) an das bestimmte Höhenprofil.- Adjust the leadership of the vehicle (1) to the specific height profile.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das Anpassen der Führung prädiktiv durchgeführt wird.2. The method according to claim 1, characterized in that the adjustment of the guide is performed predictively.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Anpassen der Führung das Anpassen der Geschwindigkeit und/oder der Beschleunigung des Fahrzeugs (1 ) aufweist.3. The method of claim 1 or 2, characterized in that the adjusting of the guide comprises adjusting the speed and / or the acceleration of the vehicle (1).
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass das Anpassen der Geschwindigkeit und/oder der Beschleunigung das Steuern eines Motors und/oder mindestens einer Bremse des Fahrzeugs (1 ) aufweist.4. The method according to claim 3, characterized in that the adjusting of the speed and / or the acceleration comprises controlling an engine and / or at least one brake of the vehicle (1).
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Bestimmen des Höhenprofils das Erfassen von überfahrbaren Hindernissen (4) oder nicht überfahrbaren Hindernissen (5, 10, 11 ) aufweist.5. The method according to any one of the preceding claims, characterized in that the determination of the height profile comprises the detection of traversable obstacles (4) or non-traversable obstacles (5, 10, 11).
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das Verfahren bei einem Einparkverfahren für Fahrzeuge verwendet wird.6. The method according to any one of the preceding claims, characterized in that the method is used in a parking method for vehicles.
7. Vorrichtung zum Anpassen der Führung eines Fahrzeuges (1 ) in einen Bereich (9), der mindestens ein Hindernis (4, 5, 10, 11 ) aufweist, mit:7. A device for adjusting the guidance of a vehicle (1) in a region (9) having at least one obstacle (4, 5, 10, 11), comprising:
- einer Einrichtung (7) zum Bestimmen des Höhenprofils einer Trajektorie, der das Fahrzeug (1 ) bei seiner Führung in den Bereich (9) folgen soll; und - einer Einrichtung zum Anpassen der Führung des Fahrzeugs (1 ) an das bestimmte Höhenprofil.- A device (7) for determining the height profile of a trajectory, which is to follow the vehicle (1) in its leadership in the area (9); and - A device for adjusting the leadership of the vehicle (1) to the specific height profile.
8. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Vorrichtung bei einem Einparksystem für Fahrzeuge verwendet ist. 8. The device according to claim 7, characterized in that the device is used in a parking system for vehicles.
EP08805262A 2007-12-19 2008-10-14 Method and device for adapting the guidance of a vehicle Withdrawn EP2234857A1 (en)

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DE102007061234A DE102007061234A1 (en) 2007-12-19 2007-12-19 Method and device for adjusting the guidance of a vehicle
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