JP4486891B2 - 駐車隙間内に後退駐車すべき車両を操舵するための方法 - Google Patents
駐車隙間内に後退駐車すべき車両を操舵するための方法 Download PDFInfo
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- JP4486891B2 JP4486891B2 JP2004556184A JP2004556184A JP4486891B2 JP 4486891 B2 JP4486891 B2 JP 4486891B2 JP 2004556184 A JP2004556184 A JP 2004556184A JP 2004556184 A JP2004556184 A JP 2004556184A JP 4486891 B2 JP4486891 B2 JP 4486891B2
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- 238000000034 method Methods 0.000 title claims description 60
- 230000008569 process Effects 0.000 claims description 39
- 230000008859 change Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 230000009191 jumping Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
Description
− 第1クロソイド部分
− 第1円弧部分
− 第2クロソイド部分
− 第2円弧部分
− 第2カーブ部分はクロソイド部分に係るもので、
− 第3カーブ部分は円弧部分に係るもので、
− 第4カーブ部分は他のクロソイド部分に係るもので、
− 第5カーブ部分は他の円弧部分に係るものである。
2 第2カーブ部分(クロソイド部分)
3 第3カーブ部分(円弧部分)
4 第4カーブ部分(クロソイド部分)
5 第5カーブ部分(円弧部分)
Claims (11)
- 駐車隙間内に後退駐車すべき車両を操舵するための方法であって、
駐車隙間外のスタート位置から出発して駐車隙間内の駐車位置の到達に至るまで相前後して各々屈曲なく互いに移行する5つのカーブ部分が後退走行される、前記方法において、
車両が先ずスタート位置を形成する駐車隙間の斜め前方の位置にもたらされ、この位置では車両が駐車隙間の縦方向に対して斜めに位置すること、
走行方向で見て最後の4つのカーブ部分が次のカーブ種類に係るものである:
− 第2カーブ部分はクロソイド部分に係るもので、
− 第3カーブ部分は円弧部分に係るもので、
− 第4カーブ部分は他のクロソイド部分に係るもので、
− 第5カーブ部分であってこの第5カーブ部分上で車両が駐車隙間の縦方向と平行の駐車位置へともたらされる第5カーブ部分は他の円弧部分に係るものであること、
車両のスタート位置から出発し、駐車位置の到達に至るまで後退走行すべき全軌跡が検出され、操舵装置が車両の後退走行時に制御電子装置によりその軌跡に対応して制御されること、及び、
スタート位置と第2カーブ部分の開始との間にあり後退走行される第1カーブ部分が、第2カーブ部分とは別の幾何学形状関数により描かれていること
を特徴とする方法。 - スタート位置と駐車位置との間の軌跡上で調節される操舵角度変更が飛躍なく連続的な操舵角度変更だけに係るもので、それにより車両がスタート位置と駐車位置との間の全軌跡を停止せずに走行し得ることを特徴とする、請求項1に記載の方法。
- 駐車制御が、運転者により、車両が停止している場合にだけ活動化可能であり、現在の車両ポジションと、駐車隙間に対する相対的な現在の車両位置とがスタート位置として定義されることを特徴とする、請求項1又は2に記載の方法。
- 車両が駐車のために運転者により動き出される必要があり且つ全駐車過程中の車両速度が運転者により規定されることを特徴とする、請求項1〜3のいずれか一項に記載の方法。
- 運転者により規定された速度が規定の最大速度に対して制限されることを特徴とする、請求項1〜4のいずれか一項に記載の方法。
- 制御電子装置により検出される操舵角度が、後退走行される経路に関し、速度には依存せずに検出されることを特徴とする、請求項1〜5のいずれか一項に記載の方法。
- 車両が駐車過程中及び駐車過程の終わりで運転者により制動されることを特徴とする、請求項1〜6のいずれか一項に記載の方法。
- 第1カーブ部分が直線であることを特徴とする、請求項1〜7のいずれか一項に記載の方法。
- 第1カーブ部分がクロソイドであることを特徴とする、請求項1〜7のいずれか一項に記載の方法。
- 後退走行のためのスタート位置に到達するに際し、車両が先ず前方へ駐車隙間の側方を通り過ぎ、この通過時に駐車隙間形状が間隔センサを用いてスキャンされ、制御電子装置内に記憶されることを特徴とする、請求項1〜9のいずれか一項に記載の方法。
- 駐車時の後退走行過程中、後方の車両領域が間隔センサを用いて監視され、障害物が後方の車両領域内に現われた場合には車両が自動的に制動されることを特徴とする、請求項1〜10のいずれか一項に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10256770A DE10256770A1 (de) | 2002-12-05 | 2002-12-05 | Verfahren zum Lenken eines rückwärts in eine Parklücke einzuparkenden Fahrzeugs |
PCT/EP2003/013234 WO2004050458A1 (de) | 2002-12-05 | 2003-11-21 | Verfahren zum lenken eines rückwärts in eine parklücke einzuparkenden fahrzeugs |
Publications (2)
Publication Number | Publication Date |
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JP2006508850A JP2006508850A (ja) | 2006-03-16 |
JP4486891B2 true JP4486891B2 (ja) | 2010-06-23 |
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Application Number | Title | Priority Date | Filing Date |
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JP2004556184A Expired - Lifetime JP4486891B2 (ja) | 2002-12-05 | 2003-11-21 | 駐車隙間内に後退駐車すべき車両を操舵するための方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7469765B2 (ja) |
EP (1) | EP1567404B1 (ja) |
JP (1) | JP4486891B2 (ja) |
DE (2) | DE10256770A1 (ja) |
WO (1) | WO2004050458A1 (ja) |
Cited By (1)
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- 2003-11-21 JP JP2004556184A patent/JP4486891B2/ja not_active Expired - Lifetime
- 2003-11-21 WO PCT/EP2003/013234 patent/WO2004050458A1/de active Application Filing
- 2003-11-21 DE DE50310625T patent/DE50310625D1/de not_active Expired - Lifetime
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EP1567404A1 (de) | 2005-08-31 |
WO2004050458A1 (de) | 2004-06-17 |
US7469765B2 (en) | 2008-12-30 |
JP2006508850A (ja) | 2006-03-16 |
DE50310625D1 (de) | 2008-11-20 |
EP1567404B1 (de) | 2008-10-08 |
DE10256770A1 (de) | 2004-06-17 |
US20050236201A1 (en) | 2005-10-27 |
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