EP3180637A1 - Procédé et dispositif de détection d'emplacements de stationnement qui s'étendent entre des objets disposés latéralement en bordure d'une voie de circulation - Google Patents

Procédé et dispositif de détection d'emplacements de stationnement qui s'étendent entre des objets disposés latéralement en bordure d'une voie de circulation

Info

Publication number
EP3180637A1
EP3180637A1 EP15744573.5A EP15744573A EP3180637A1 EP 3180637 A1 EP3180637 A1 EP 3180637A1 EP 15744573 A EP15744573 A EP 15744573A EP 3180637 A1 EP3180637 A1 EP 3180637A1
Authority
EP
European Patent Office
Prior art keywords
objects
received signals
vehicle
pulses
ultrasonic sensor
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Withdrawn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
EP15744573.5A
Other languages
German (de)
English (en)
Inventor
Marcus Schneider
Michael Schumann
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 EP3180637A1 publication Critical patent/EP3180637A1/fr
Withdrawn legal-status Critical Current

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
    • 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
    • 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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/524—Transmitters
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • G01S7/527—Extracting wanted echo signals
    • 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
    • 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
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details

Definitions

  • the present invention relates to a method and a device for
  • the invention relates to a vehicle with a device according to the invention.
  • FIG. 1 shows a vehicle 10 having a laterally mounted ultrasonic sensor 20 with a large opening angle.
  • the large detection field 21 of the ultrasonic sensor 20 is located as a result of the large opening angle of the ultrasonic sensor.
  • FIG. 1 shows a parking space search during a passing of the vehicle 10 at a parking space which extends between two objects or vehicles 30, 40 which are arranged on a roadway edge.
  • the sensor 20, which is attached laterally to the vehicle 10 is guided along the vehicles 30, 40 forming the parking space at a speed v.
  • the ultrasonic sensor 20 By means of the ultrasonic sensor 20, the distance D is continuously detected by the ultrasonic sensor 20.
  • FIG. 1 shows a vehicle 10 having a laterally mounted ultrasonic sensor 20 with a large opening angle.
  • the large detection field 21 of the ultrasonic sensor 20 is located as a result of the large opening angle of the ultrasonic sensor.
  • FIG. 1 shows a parking space search during a passing of the vehicle 10 at a parking space which extends between
  • FIG. 2 illustrates a curve D1 of the detected distance D between the ultrasonic sensor 20 and the vehicle 30 and a course D 2 of the detected distance D between the ultrasonic sensor 20 and the vehicle 40 as a function of the travel distance w of the vehicle 10.
  • each course shown D1, D2 each comprise a range D1 1, D12, in which the corresponding distance D is constant, and in each case a further range D12, D22, in which the corresponding distance D with the traveled distance w changes.
  • the areas D12, D22 referred to as hyperbolas, reduce the quality of each measurement made by the ultrasound sensor 20, since these hyperbolas D12, D22 ambiguity at each
  • the echo pulses received by the ultrasonic sensor 20 and taken into account in these measurements can originate either from the actual corners of the parking space bounding objects or vehicles 30, 40 or also, for example, from the tailgate handle troughs of the vehicles 30, 40 or also from objects directly in front of the vehicle
  • Vehicle 30 or directly behind the vehicle 40 are arranged.
  • the errors occurring in the aforementioned detection are preferably greater the greater the speed v of a vehicle 10 passing the objects or vehicles 30, 40.
  • the reason for this is that a sampling rate which can be used for parking space search is limited by the speed of sound and by the detection range which is necessary for the ultrasonic sensor 20, which is approximately 5 m, to approximately 30 measurements per second. At higher speeds v one
  • the cause of the occurrence of hyperbolas D12, D22 is the usually very large opening angle 21 of each ultrasonic sensor 20 mounted on a vehicle 10, the amount of which is significantly more than 30 °. This opening angle 21 is a consequence of the actual use of such
  • Ultrasonic sensors 20 which are also commonly used for the regular parking aid (park pilot). It usually covers every one used
  • Ultrasonic sensor 20 from a large detection field and has for a large opening angle, which is usually between - 60 ° and + - 60 °.
  • the ultrasonic pulses transmitted by the ultrasonic sensor 20 depend on the relative velocity v of the
  • Ultrasonic sensor 20 to the reflective objects 30, 40 after reflection on the objects 30, 40 easier or more frequency-shifted arrive again at the ultrasonic sensor 20.
  • This frequency shift is a consequence of the Doppler effect and can be several kilohertz.
  • very broadband ultrasonic sensors 20 are used to allow a
  • Ultrasonic sensors 20 usually have a bandwidth of, for example, 10 to 20 kHz.
  • the communication signals are reflected in a signal propagation zone at least one object at least partially as reflection signals and the
  • Transceiver receives the reflection signals. It will be appreciated
  • the transceiver for the at least one object in the Signal propagation zone each determine a Doppler frequency, which is filtered by means of a low-pass filter.
  • a method for detecting parking spaces extending between objects arranged laterally on a roadway edge.
  • ultrasonic pulses are transmitted during a vehicle passing past the objects by means of an ultrasonic sensor mounted laterally on the vehicle.
  • transmitted by the ultrasonic sensor and reflected at the objects referred to as echo pulses received ultrasonic pulses and generates electrical received signals from the received echo pulses.
  • the electrical received signals are also evaluated for the detection of parking spaces extending between the objects.
  • those received signals of the first received signals are transmitted which originate from echo pulses which are not Doppler-shifted with respect to the transmitted ultrasound pulses.
  • the received signals transmitted in the first bandpass filtering are detected by one of the
  • Lane-facing side of the objects located object edges and / or object corners of the objects evaluated.
  • a device for detecting objects arranged laterally on a roadway edge
  • This device comprises an ultrasonic sensor which can be attached or attached to the side of a vehicle.
  • the ultrasound sensor is configured to transmit ultrasound signals during a passage of the vehicle past the objects, to transmit transmitted ultrasound pulses reflected on the objects and called echo pulses, and to generate electrical reception signals from the received echo pulses.
  • the device is designed to evaluate the received signals for detecting parking spaces extending between the objects.
  • the device comprises at least one
  • Bandpass filter intended to pass through received signals and transmit received signals which originate from echo pulses which are not Doppler shifted with respect to the transmitted ultrasound pulses.
  • the device is also designed to evaluate the received signals of the first received signals transmitted by the at least one first bandpass filter for detecting object flanks and / or object corners of the objects located on a side of the objects facing the roadway.
  • Reception signals are used, which are generated from echo pulses that are not Doppler shifted with respect to the transmitted ultrasound pulses, in the invention, the object edges and / or object corners by means of the vehicle side mounted ultrasonic sensor can be clearly detected, without causing errors by such as aforementioned hyperbola occur. Due to the fact that the object flanks and / or object corners can be clearly detected, it is ensured that the accuracy of an inventive parking space detection or
  • Parking space measurement is increased even at higher speeds of the vehicle passing by the objects, which are greater than, for example, 15 km / h.
  • Ultrasonic pulses a predefined frequency and a pulse duration exceeding pulse width, preferably a frequency of 48 kHz and a pulse duration of 2 ms, on.
  • the first bandpass filtering has a center frequency equal to the predefined frequency and a bandwidth limit undershielding bandwidth, preferably a center frequency of 48 kHz and a bandwidth of 500 Hz.
  • the ultrasound pulses transmitted by means of the ultrasound sensor are each of narrow band. More preferably, the at least one first
  • those received signals of the second received signals are transmitted, which originate from echo pulses that are Doppler-shifted with respect to the transmitted ultrasound pulses.
  • the received signals transmitted in the second band pass filtering are not used for detecting the object edges.
  • Lane edge arranged and detected opposite the ultrasonic sensor at an equal distance objects detected. It is further recognized that an object of the two objects has a connection line to the ultrasonic sensor, which extends perpendicular to a longitudinal movement direction of the vehicle. It is further recognized that another object of the two objects has a connection line to the ultrasonic sensor that does not extend perpendicular to a longitudinal movement direction of the vehicle.
  • the invention provides a differentiated detection of add-on parts of the parking space-limiting objects and of other objects that were previously of occurring Hyperbelaten have been hidden, that is, which were previously not individually recognizable by an evaluation of the Hyperbelaten occurred allows.
  • Another aspect of the invention relates to a vehicle having a
  • Figure 1 shows a driving situation in which a vehicle to two at one
  • FIG. 3 shows the driving situation from FIG. 1, in which the parking space is detected by means of an ultrasound sensor attached laterally to the passing vehicle with an opening angle reduced according to the invention
  • Figure 4 each one depending on a means of the
  • Ultrasonic sensor from the figure 3 detected distance between the ultrasonic sensor and a respective on the
  • FIG. 6 shows a function of a distance between the sensor detected by means of the ultrasonic sensor from FIG.
  • Passed bandpass filter has compared to a waveform of a signal strength of a signal generated from a Doppler-shifted echo pulse second signal after it has undergone a inventively used second bandpass filter.
  • FIG. 3 like FIG. 1, shows a parking space search during a passage of a vehicle 10 past a parking space, which extends between two vehicles 30, 40 which are arranged on a roadway edge.
  • the ultrasonic sensor 20 attached laterally to the vehicle 10 has a reduced effective opening angle.
  • the detection field 22 of the ultrasound sensor 20, which is also reduced as a consequence of the reduced opening angle of the ultrasound sensor 20, is shown.
  • dO is the distance value of an actual one
  • FIG. 3 further shows the detection field 21, which the ultrasonic sensor 20 has at a large opening angle, for example between -60 ° and + -60 °, compared to the aforementioned detection field 22, the ultrasonic sensor 20 at a reduced effective opening angle which is, for example, between -15 ° and + -15 °. According to the invention, a reduction of the effective is preferred
  • Opening angle of the ultrasonic sensor 20 achieved in that the bandwidth of the ultrasonic sensor 20 is reduced. This reduction is achieved by the emission of a narrowband ultrasonic pulse by means of the
  • an ultrasonic pulse having a fixed frequency of 48 kHz and a pulse duration of 2 ms is transmitted by means of the ultrasonic sensor 20.
  • the first filter or bandpass filter has a
  • the ultrasonic sensor 20 emits a narrow-band ultrasonic pulse having a fixed frequency of, for example, 48 kHz and a pulse duration of, for example, 2 ms.
  • the sent is a narrow-band ultrasonic pulse having a fixed frequency of, for example, 48 kHz and a pulse duration of, for example, 2 ms.
  • the ultrasonic pulse is reflected at a vehicle edge or corner 41 of the vehicle 40 located at a distance from the distance dO relative to the ultrasonic sensor 20 and received by the ultrasound sensor 20 as a Doppler-shifted echo pulse.
  • the ultrasonic sensor 20 then generates a first received signal p1 from the received echo pulse a corresponding amplitude A1 1.
  • FIG. 3 also shows a vehicle corner 31 of the vehicle 30.
  • FIG. 4 shows, in a diagram marked 100, the course p1 1 of a signal strength S of a first reception signal p1 generated from a Doppler-shifted echo pulse received by the ultrasound sensor 20 as a function of the distance d from the ultrasound sensor 20.
  • This first received signal p1 reaches at a distance value d0 of the
  • Signal strength curve is filtered in the invention by the first narrow-band bandpass filter.
  • FIG. 4 a plot F1 of a filter function of the first bandpass filter as a function of the frequency f is shown in a diagram labeled 1 10.
  • a diagram labeled 1 10 In the same diagram 1 10 is also a course p12 a
  • Frequency band of the first bandpass filter is located.
  • a curve p13 of a signal strength S of a first output signal of the first bandpass filter, which corresponds to the first received signal p1, after which it was filtered by the first bandpass filter, is represented as a function of the distance d. It can be seen from the diagram 120 that the first output signal at the distance value dO of the distance d reaches an amplitude A12 which is significantly lower than the amplitude A1 1 of the first filter not filtered by the first bandpass filter
  • Receive signal p1 is.
  • the first output signal is even suppressed by applying a predetermined threshold SW. Consequently, ultrasonic signals reflected on the vehicles 30, 40 which are Doppler shifted do not carry the detection of the course of the distance d between them
  • Ultrasonic sensor 20 detected in this manner according to the invention distance d between the ultrasonic sensor 20 and each of the vehicles 30, 40 no hyperbola.
  • Vehicles 30, 40 is to be considered here that on the vehicles 30, 40 reflected ultrasonic pulses, along a perpendicular to the
  • FIG. 5 shows a curve d1 of the distance d between the ultrasound sensor 20 and the vehicle 30 detected by means of the ultrasound sensor 20 with the reduced opening angle and a profile d2 of the distance d between the ultrasound sensor 20 detected by the ultrasound sensor 20 and the reduced opening angle and the vehicle 40 as a function of the travel distance w of the vehicle 10.
  • each course d1, d2 illustrated in each case comprises a region d1 1, d12, in which the corresponding distance d is constant. From the figure 5 it can be seen that the course d1, d2 of the means of the ultrasonic sensor 20 with the
  • Hyperbelabel has.
  • a length L of the parking spaces extending between the vehicles 30, 40 is measured by the aforementioned inventive detection of the vehicle corners 31, 41 with a smaller error.
  • At least two bandpass filters that is to say at least one first bandpass filter and at least one second bandpass filter, are preferably used.
  • the bandpass filters used in this case have passbands which are frequency-shifted from each other.
  • the illustration of FIG. 6 relates to the simultaneous use of a first bandpass filter and a second bandpass filter for a case in which no detection of echo pulses takes place in the first bandpass filter, but a detection of echo pulses in the second bandpass filter takes place.
  • the at least one first bandpass filter transmits particularly first received signals, which originate from echo pulses, which are opposite to those by means of the
  • Ultrasonic sensor 20 transmitted ultrasonic pulses are not Doppler shifted. Furthermore, the at least one second bandpass filter transmits particularly second received signals which originate from echo pulses which are opposite to the ultrasound pulses transmitted by means of the ultrasound sensor 20
  • the diagram 1 1 1 shown in FIG. 6 shows the filter function F1 of the first bandpass filter as a function of the frequency f and a profile p14 of a signal strength S of a further first received signal p1 generated from a echo pulse received by the ultrasound sensor 20 and doppler-shifted from the frequency f.
  • the diagram 121 shows a curve p15 of a signal strength S of a further first output signal of the first bandpass filter, which corresponds to the further first received signal p1, after which it was filtered by the first bandpass filter, as a function of the distance d from the ultrasonic sensor 20.
  • the first bandpass filter serves to suppress hyperbubbles as described above by using the
  • Bandpass filter unfiltered further first received signal p1 and the predetermined threshold SW is significantly below.
  • Ultrasonic sensor 20 received echo pulse generated second
  • Received signal p2 as a function of the frequency f shown. It can be seen from the diagram 130 that a frequency spectrum of the second Receive signal p2 in the allowable frequency band of the second
  • Bandpass filter is located.
  • the first and second received signals p1, p2 generated from the echo pulses received by the ultrasonic sensor 20 are not used for detecting the vehicle corners 31, 41.
  • both the first received signals p1, which pass through the first bandpass filter, and the second received signals p2, which pass through the second bandpass filter originate in particular from echo pulses which are Doppler-shifted.
  • Main beam direction of the ultrasonic sensor 20 sensor is and thus is relevant, and another object of the two objects with respect to said
  • Main beam direction is at an oblique angle. Consequently, it is possible to detect objects which hitherto could not be identified by means of an evaluation of hyperbolas, that is to say that it is possible to detect objects which were hitherto obscured by hyperbolas.
  • the first received signals p1 originate the first bandpass filter pass, especially from echo pulses that are not Doppler shifted, and the second receive signals p2 that pass through the second band pass filter, especially echo pulses that are Doppler shifted.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un procédé de détection d'emplacements de stationnement qui s'étendent entre des objets disposés latéralement en bordure d'une voie de circulation, selon lequel, lors du passage d'un véhicule (10) effectué le long des objets (30, 40), des impulsions ultrasonores sont émises au moyen d'un capteur à ultrasons (20) monté latéralement sur le véhicule (10), les impulsions ultrasonores émises et envoyées et réfléchies sur les objets (30, 40), appelées impulsions d'écho, sont reçues et des signaux électriques reçus sont générés à partir des impulsions d'écho reçues. Les signaux électriques reçus sont interprétés ici en vue de la détection des espaces de stationnement qui s'étendent entre les objets (30, 40). De plus, un filtrage passe-bande des premiers signaux reçus laisse passer les signaux reçus qui sont issus des impulsions d'écho n'ayant pas subi de décalage par effet Doppler par rapport aux impulsions ultrasonores émises. Les signaux reçus que le premier filtrage passe-bande laisse passer parmi les premiers signaux reçus sont en outre interprétés en vue de la détection des flancs et/ou des coins (31, 41) des objets (30, 40) qui se trouvent sur un côté des objets (30, 40) faisant face à la voie de circulation.
EP15744573.5A 2014-08-11 2015-07-30 Procédé et dispositif de détection d'emplacements de stationnement qui s'étendent entre des objets disposés latéralement en bordure d'une voie de circulation Withdrawn EP3180637A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014215858.3A DE102014215858A1 (de) 2014-08-11 2014-08-11 Verfahren und Vorrichtung zur Detektion von sich zwischen seitlich an einem Fahrbahnrand angeordneten Objekten erstreckenden Parklücken
PCT/EP2015/067549 WO2016023764A1 (fr) 2014-08-11 2015-07-30 Procédé et dispositif de détection d'emplacements de stationnement qui s'étendent entre des objets disposés latéralement en bordure d'une voie de circulation

Publications (1)

Publication Number Publication Date
EP3180637A1 true EP3180637A1 (fr) 2017-06-21

Family

ID=53762187

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15744573.5A Withdrawn EP3180637A1 (fr) 2014-08-11 2015-07-30 Procédé et dispositif de détection d'emplacements de stationnement qui s'étendent entre des objets disposés latéralement en bordure d'une voie de circulation

Country Status (4)

Country Link
EP (1) EP3180637A1 (fr)
CN (1) CN106574972B (fr)
DE (1) DE102014215858A1 (fr)
WO (1) WO2016023764A1 (fr)

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CN105608924A (zh) * 2016-02-18 2016-05-25 广州橙行智动汽车科技有限公司 一种基于超声波雷达的泊车车位检测方法
US9841765B2 (en) * 2016-03-14 2017-12-12 Ford Global Technologies, Llc Curb detection for vehicle parking
DE102016209810A1 (de) 2016-06-03 2017-12-07 Robert Bosch Gmbh Verfahren zur Erkennung wenigstens einer Parklücke für ein Fahrzeug
DE102017219858A1 (de) * 2017-11-08 2019-05-09 Robert Bosch Gmbh Verfahren zum Betreiben eines Magnetfeldsensors und zugehörige Magnetfeldsensoranordnung

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DE102007002738A1 (de) * 2007-01-18 2008-07-24 Robert Bosch Gmbh Verfahren zur Unterstützung eines Einparkvorgangs eines Fahrzeugs
JP2009031078A (ja) * 2007-07-26 2009-02-12 Omron Corp 検出装置および方法
DE102008006586A1 (de) * 2008-01-30 2009-08-06 Valeo Schalter Und Sensoren Gmbh Verfahren und Vorrichtung zur Flankenerkennung von eine Parklücke begrenzenden Objekten
JP5443886B2 (ja) * 2009-07-31 2014-03-19 クラリオン株式会社 駐車空間認識装置
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DE102010062235A1 (de) * 2010-12-01 2012-06-06 Robert Bosch Gmbh Fahrerassistenzsystem zur Detektion eines Objekts in einer Fahrzeugumgebung
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Also Published As

Publication number Publication date
CN106574972B (zh) 2021-04-20
DE102014215858A1 (de) 2016-02-11
CN106574972A (zh) 2017-04-19
WO2016023764A1 (fr) 2016-02-18

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