WO2001014941A1 - Procede et dispositif d'assistance au garage d'un vehicule automobile - Google Patents

Procede et dispositif d'assistance au garage d'un vehicule automobile Download PDF

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Publication number
WO2001014941A1
WO2001014941A1 PCT/DE2000/002818 DE0002818W WO0114941A1 WO 2001014941 A1 WO2001014941 A1 WO 2001014941A1 DE 0002818 W DE0002818 W DE 0002818W WO 0114941 A1 WO0114941 A1 WO 0114941A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
vehicle
parking
signals
sensors
Prior art date
Application number
PCT/DE2000/002818
Other languages
German (de)
English (en)
Inventor
Gabriel Wetzel
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
Priority to JP2001519240A priority Critical patent/JP2003507263A/ja
Priority to EP00969185A priority patent/EP1218808A1/fr
Publication of WO2001014941A1 publication Critical patent/WO2001014941A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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

Definitions

  • the invention relates to a method for supporting the parking of a motor vehicle, which is equipped with a steering actuator and sensors for detecting the vehicle position, the driving state and changing environmental conditions, with a command of a driver to provide regulated support for the parking process by means of the steering actuator and based on predetermined vehicle data and is executed on signals from the sensors, and a device set up to carry out the method.
  • an electronically controlled steering splitter attached to the steering gear of the front wheels, based on a driver's steering request detected by a steering wheel sensor, taking into account driving dynamics variables, the modification of the steering angle corresponding to the driver's steering request improved, ie that the vehicle is stabilized in dynamic driving situations.
  • the system has a steering servomotor, which corrects the steering angle set by the driver added.
  • DE 29 01 504 describes a method and a device for parking motor vehicles, which works with a pure control of the parking process. No feedback signals that change the course of the parking trajectory are taken into account, but instead fixed trajectories are specified.
  • the method that solves the above task is characterized by the following steps:
  • the path signal recorded in step B is advantageously recorded by a path encoder, preferably by a wheel speed sensor located on each vehicle wheel.
  • the yaw angle signal which is also recorded in step, can either be measured by a suitable sensor or can be reconstructed from suitable signals, for example from the yaw rate of a yaw rate sensor and / or from the wheel speeds.
  • the ambient conditions are preferably recorded in step C by means of an ultrasonic sensor.
  • radar sensors or optical sensors e.g. B. cameras to use.
  • the environmental conditions recorded in step C can indicate the shape or dimensions of a parking space.
  • the or each target trajectory specified in step D is preferably composed of one or more clothoid arcs and / or one or more circular arcs.
  • Radius of curvature s: arc length; a: parameter
  • the manipulated variable calculated in step E is subjected to filtering, which smoothes abrupt transitions on the flanks of the manipulated variable.
  • a device set up to carry out the method has a control /
  • Control unit that receives signals generated by the sensors as a function of the vehicle position, the driving state and the changing environmental conditions and the vehicle data, means for calculating an actual trajectory from the sensor signals and the vehicle data, means for comparing the respectively calculated actual trajectory with one predetermined target trajectory and means for calculating a manipulated variable for a steering actuator from the comparison result.
  • the regulating / control unit performing the method can have filter means or can be connected to the steering servomotor via filter means, so that the calculated manipulated variable can be filtered in the manner described above.
  • the steering actuator used in the driving dynamics steering system being developed is sufficient because it enables automatic, precise and very fine steering interventions.
  • the regulation carried out by the regulating / control unit enables precise maneuvers and temporary deviations from the target trajectory in order to increase driving comfort.
  • the filtering increases driving comfort because it can smooth jerky movements of the steering wheel.
  • FIG. 1 shows schematically functional blocks of the device according to the invention
  • Fig. 2 shows graphically the geometric basis for determining a trajectory over the relationship between the radius of curvature R, the angle ⁇ and the path s;
  • Fig. 3 graphically shows a clothoid as a curve, the curvature c (s) of which changes linearly with the path s;
  • FIG. 4 illustrates, in a flat representation of a motor vehicle, variables which are used to determine the clothoid arches
  • Ultrasonic sensors for recording the ambient conditions
  • active wheel speed sensors that provide wheel speed signals until the vehicle stops
  • a lateral acceleration sensor (optional) a lateral acceleration sensor.
  • Fig. 1 shows functional blocks of the parking assistant.
  • Vehicle data are available from block 1.
  • block 1 is a memory in which the vehicle data are stored.
  • An alternative possibility is a rule / control mechanism, which the
  • Block 2 is the sensor block that includes the sensors mentioned above.
  • Function block 3 calculates the target trajectory in the manner described below and for this purpose receives the vehicle data from block 1 and the sensor signals from block 2.
  • a function block 4 provided for determining the actual trajectory likewise receives the vehicle data from block 1 and the sensor signals from block 2 as input signals.
  • the rotation rate sensor is particularly important for the reconstruction of the yaw angle.
  • the yaw angle can also be measured by a corresponding yaw angle sensor.
  • the target trajectory specified in block 3 and the actual trajectory determined in block 4 are combined in one
  • Comparator 8 compared.
  • Function block 5 calculates the manipulated variable from the comparison result and from signals from blocks 1 and 2.
  • the comparison between the target and actual trajectories enables precise control of the steering angle by means of the manipulated variable calculated in block 5. This regulation is possible because the steering interventions are carried out by a regulating / control unit.
  • the manipulated variable calculated in function block 5 is filtered in function block 6. This filtering smoothes the flank of the manipulated variable and thus ensures that the steering acceleration and the jerk on the steering wheel do not become too high.
  • the function block 6 is also supplied with vehicle data from the block 1 and filtered there or included in the filtering of the manipulated variable.
  • driving state signals for example the orientation of the motor vehicle
  • driving state signals for example the orientation of the motor vehicle
  • Function block 7 represents an actuator which is designed as a steering actuator.
  • the sensors and the steering actuator can Be part of a vehicle dynamics steering system. The additional costs for a device according to the invention in a motor vehicle can thus be reduced to a minimum.
  • a control unit e.g. a vehicle computer that is present in the vehicle anyway.
  • FIG. 2 shows how the angle ⁇ behaves with the change in the path s as a function of the radius of curvature R.
  • the curvature c (s) is given by equation 1.1:
  • the angle ⁇ is calculated from the path s using the following equation:
  • Equation (1.11) can be transformed as follows:
  • Equation 1.13 is used to quickly calculate important points of the trajectory.
  • the following section uses the procedure to calculate a parking trajectory.
  • the parking trajectory is calculated using an algorithm which is based on equation 1.13 explained above. Intuitive steering
  • the vehicle to be parked is parallel to the parking space.
  • the trajectory in the longitudinal direction is assumed to match the existing parking space.
  • the parking trajectory should intuitively include the following phases:
  • phases 2, 4 and 7 are assumed to be clothoid trajectories.
  • phases 2 and 6, 3 and 5 are symmetrical.
  • phase 2 is derived from FIG. 4.
  • the clothoids are determined by a parameter k, which is based on the limitation of the steering angle and the driving and steering speeds.
  • phase 3 is calculated so that the vehicle drives deep enough into the parking space.
  • the influence of this Length on the trajectory is shown using FIGS. 6 and 7.
  • FIG. 6 shows the trajectory of the vehicle when phase 4 does not exist.
  • Coordinate system illustrates an exemplary parking trajectory and the underlying target steering angle.
  • the route traveled is required to program the control system in the vehicle. In the vehicle, this path is measured with active wheel speed sensors or in a simplified form with the help of a position sensor.
  • the wheel speed sensors can precisely measure the wheel speed down to zero speed.
  • the driver is allowed to perform steering interventions during the parking process. However, these steering interventions have no influence on the maneuver. If there is an obstacle in the way of parking, the driver should brake and stop the parking process. Since the
  • the yaw angle is calculated on the basis of the signals supplied by the yaw rate sensor. In highly dynamic driving maneuvers, this calculation can U. be time problematic. On the other hand, there are usually no steps when parking
  • the parking assistant enables the steering angle to be properly controlled by calculating the yaw angle so that the vehicle orientation corresponds to the expected behavior.
  • errors that can lead to a deviation between the driven and the calculated trajectory such as errors in the steering system or different friction, can be corrected.
  • the manipulated variable is shown in the 1 shown function block 6 filtered by smoothing the abrupt jumps in the manipulated variable.
  • the manipulated variable can be filtered so that the steering acceleration is limited. Since the target trajectory remains unchanged, deviations from the target trajectory can occur. Temporary deviations from the target trajectory are thus tolerated in order to enable a uniform driving maneuver and thereby increase driving comfort.
  • the deviations between the target trajectory and the actual trajectory are corrected in the course of the parking process by the regulating / control unit using the method according to the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un procédé et un dispositif d'assistance au garage d'un véhicule automobile, ce dispositif étant un dispositif d'aide au garage. A partir de signaux d'états de roulement fournis par des capteurs (2), une trajectoire théorique est calculée dans un bloc fonctionnel (3). Cette trajectoire est constituée d'arcs de clothoïde et/ou d'arcs de cercle. En outre, sur la base des signaux fournis par les capteurs (2), en particulier d'un signal d'angle d'embardée et d'un signal de course, une trajectoire réelle est calculée dans un bloc fonctionnel (4). Ensuite la trajectoire théorique et la trajectoire réelle sont comparées et le résultat de cette comparaison permet un calcul, en liaison directe avec les phases du processus de garage, de l'angle de braquage pour lequel une grandeur de commande est déterminée dans un bloc fonctionnel (5). Les signaux de retour fournis par les capteurs (2) permettent une régulation précise des angles de braquage pendant le processus de garage. Des interventions effectuées par le conducteur au niveau du volant sont tolérées mais n'ont aucun effet sur l'angle de braquage. Le conducteur n'a qu'à actionner la pédale d'accélérateur et la pédale de frein pour influer sur la vitesse de roulement du véhicule.
PCT/DE2000/002818 1999-08-24 2000-08-18 Procede et dispositif d'assistance au garage d'un vehicule automobile WO2001014941A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2001519240A JP2003507263A (ja) 1999-08-24 2000-08-18 自動車の駐車を支援する方法および装置
EP00969185A EP1218808A1 (fr) 1999-08-24 2000-08-18 Procede et dispositif d'assistance au garage d'un vehicule automobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1999140007 DE19940007A1 (de) 1999-08-24 1999-08-24 Verfahren und Vorrichtung zur Unterstützung des Einparkens eines Kraftfahrzeugs
DE19940007.5 1999-08-24

Publications (1)

Publication Number Publication Date
WO2001014941A1 true WO2001014941A1 (fr) 2001-03-01

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PCT/DE2000/002818 WO2001014941A1 (fr) 1999-08-24 2000-08-18 Procede et dispositif d'assistance au garage d'un vehicule automobile

Country Status (4)

Country Link
EP (1) EP1218808A1 (fr)
JP (1) JP2003507263A (fr)
DE (1) DE19940007A1 (fr)
WO (1) WO2001014941A1 (fr)

Cited By (6)

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US6701226B2 (en) 2001-06-25 2004-03-02 Kabushiki Kaisha Toyota Jidoshokki Parking assisting device
US6711473B2 (en) * 2001-06-22 2004-03-23 Kabushiki Kaisha Toyota Jidoshokki Parking assisting device
JP2006508850A (ja) * 2002-12-05 2006-03-16 バイエリッシェ　モートーレン　ウエルケ　アクチエンゲゼルシャフト 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
EP1160146B2 (fr) † 2000-05-30 2013-07-24 Aisin Seiki Kabushiki Kaisha Assistance au parking
CN104765373A (zh) * 2015-01-30 2015-07-08 北京控制工程研究所 一种星上相对运动状态获取方法
US10906533B2 (en) 2016-05-30 2021-02-02 Valeo Schalter Und Sensoren Gmbh Method for manoeuvring a motor vehicle into a parking space with determination of a parking trajectory, driver assistance system and motor vehicle

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DE10128085C1 (de) * 2001-06-09 2003-01-30 Hans Miller Abziehvorrichtung für den Boden einer Tennisanlage
JP4161573B2 (ja) * 2001-06-29 2008-10-08 株式会社豊田自動織機 駐車支援装置
DE10220426A1 (de) * 2002-05-08 2003-11-20 Valeo Schalter & Sensoren Gmbh Verfahren zum Betreiben eines Parkhilfesystems und Parkhilfesystem
DE10232295A1 (de) 2002-07-16 2004-02-05 Daimlerchrysler Ag Verfahren zur Unterstützung des Fahrers bei Fahrmanövern
JP3896995B2 (ja) * 2003-06-25 2007-03-22 トヨタ自動車株式会社 車両用走行支援装置
JP4058389B2 (ja) 2003-06-26 2008-03-05 トヨタ自動車株式会社 車両用走行支援装置
JP3911492B2 (ja) 2003-06-26 2007-05-09 トヨタ自動車株式会社 車両用走行支援装置
JP3818654B2 (ja) * 2003-06-26 2006-09-06 トヨタ自動車株式会社 車両用走行支援装置
JP3818653B2 (ja) 2003-06-26 2006-09-06 トヨタ自動車株式会社 車両用走行支援装置
JP3897740B2 (ja) 2003-07-23 2007-03-28 トヨタ自動車株式会社 車両の自動誘導装置及び車両位置推定装置
DE10336985A1 (de) * 2003-08-12 2005-03-10 Daimler Chrysler Ag Verfahren zur Unterstützung des Fahrers bei Fahrmanövern
DE10355249B4 (de) * 2003-11-26 2021-09-23 Volkswagen Ag Fahrassistenzsystem für ein Kraftfahrzeug
JP4576844B2 (ja) 2004-01-30 2010-11-10 アイシン・エィ・ダブリュ株式会社 道路形状推測装置
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DE102005008468B4 (de) * 2005-02-24 2017-01-12 Robert Bosch Gmbh Verfahren und Vorrichtung zur Einstellung eines Lenkwinkels eines Kraftfahrzeugs
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JP4433060B2 (ja) * 2008-02-18 2010-03-17 トヨタ自動車株式会社 駐車支援装置
DE102009011990A1 (de) * 2009-03-05 2010-09-09 Valeo Schalter Und Sensoren Gmbh Verfahren und Anordnung zur Assistierung eines Wendevorgangs bei einem Fahrzeug
DE102009027289A1 (de) 2009-05-11 2010-11-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Einparkunterstützung eines Fahrzeugs
DE102009024063A1 (de) * 2009-06-05 2010-12-09 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer Lenkkurve für Lenkeinschläge von lenkbaren Rädern eines Fahrzeugs und Parkassistenzsystem für ein Fahrzeug
JP5468485B2 (ja) * 2009-07-22 2014-04-09 株式会社エクォス・リサーチ 走行支援装置及び走行支援方法
DE102009027941A1 (de) * 2009-07-22 2011-01-27 Robert Bosch Gmbh Vorrichtung zum Rangieren eines Fahrzeugs mittels Rangierzügen mit wenigstens einer Trajektorie
KR101240608B1 (ko) * 2011-04-14 2013-03-06 현대모비스 주식회사 차량의 지능형 주차보조 시스템용 전동식 동력 조향장치의 협조 제어장치
DE102011077417B4 (de) 2011-06-10 2022-02-03 Robert Bosch Gmbh Verfahren zum Bereitstellen einer Einparkunterstützung eines Parkassistenzsystems für ein Fahrzeug sowie Parkassistenzsystem
FR3004407B1 (fr) * 2013-04-10 2016-08-19 Renault Sa Strategie de parking en creneau par une trajectoire en courbure continue
AT514588B1 (de) * 2013-08-29 2015-02-15 Tech Universität Wien Verfahren zur Steuerung eines Fahrzeuges
JP6113333B1 (ja) * 2016-05-26 2017-04-12 三菱電機株式会社 駐車支援装置
CN112172791B (zh) * 2020-09-14 2021-10-22 武汉乐庭软件技术有限公司 基于路径曲率的自动泊车速度规划方法、设备及存储设备
DE102021200370B4 (de) 2021-01-15 2024-03-21 Zf Friedrichshafen Ag Verfahren zum Betreiben sowie Steuereinheit zum Steuern eines Aktuators einer steer-by-wire-Lenkung eines Kraftfahrzeugs sowie steer-by-wire-Lenkung
DE102022207230A1 (de) * 2022-07-15 2024-01-18 Continental Reifen Deutschland Gmbh Verfahren zum Betreiben eines Fahrzeugs

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1160146B2 (fr) † 2000-05-30 2013-07-24 Aisin Seiki Kabushiki Kaisha Assistance au parking
US6711473B2 (en) * 2001-06-22 2004-03-23 Kabushiki Kaisha Toyota Jidoshokki Parking assisting device
US6701226B2 (en) 2001-06-25 2004-03-02 Kabushiki Kaisha Toyota Jidoshokki Parking assisting device
JP2006508850A (ja) * 2002-12-05 2006-03-16 バイエリッシェ　モートーレン　ウエルケ　アクチエンゲゼルシャフト 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
CN104765373A (zh) * 2015-01-30 2015-07-08 北京控制工程研究所 一种星上相对运动状态获取方法
US10906533B2 (en) 2016-05-30 2021-02-02 Valeo Schalter Und Sensoren Gmbh Method for manoeuvring a motor vehicle into a parking space with determination of a parking trajectory, driver assistance system and motor vehicle

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JP2003507263A (ja) 2003-02-25
EP1218808A1 (fr) 2002-07-03
DE19940007A1 (de) 2001-03-08

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