WO2006045327A1

WO2006045327A1 - Device and method for determining the position or contour of a defining section of an obstacle

Info

Publication number: WO2006045327A1
Application number: PCT/EP2004/012008
Authority: WO
Inventors: Nicolas Jecker; Oliver Eckstein
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2004-10-23
Filing date: 2004-10-23
Publication date: 2006-05-04
Also published as: EP1802997A1

Abstract

The invention relates to a device (30), in particular for a motor vehicle (200), which is used to determine the position and/or the contour of a defining section (101a, 102a), in particular a flank, of at least one obstacle (101, 102). The inventive device comprises at least one emitting device (32) which is arranged, preferably, in a lateral area of the motor vehicle (20) and which is used to emit an emitting signal, at least one capturing device (34) which is arranged, preferably, in a lateral area of the motor vehicle (20) and which is used to capture a reflection signal. Said reflection signal represents the emitting signal after reflection thereof onto an obstacle (101, 102). The inventive device further comprises an evaluation device (38) which is used to evaluate the reflection signal in relation to the position and/or the contour of the defining section (101a, 102a) of the obstacle (101, 102). The invention is characterised in that the direction of the main emittance of the emitting device (32) can be modified, in particular on a flat plane in an approximately parallel manner in relation to the surface of the carriageway.

Description

Apparatus and method for determining the position or contour of a boundary portion of an obstacle

description

The invention relates to a device, in particular for a motor vehicle, for determining the position or the contour of a limiting section, in particular a flank, of at least one obstacle. Furthermore, the invention relates to a corresponding method and a computer program for carrying out this method.

Such a device is known in the art, for example, from French Patent Application FR 2 728 972. There, a ^'device is disclosed a parking space for measuring length which are spaced parked of two vehicles to one another is limited. In order to detect the exact position or contour of the parking space limitation formed by the parked vehicles, it is proposed that a vehicle which is equipped with the described measuring device pass by the parking space and the parked vehicles. The measuring device comprises in the vehicle an ultrasonic sensor which is arranged in a side region of the vehicle such that its main transmission direction is oriented away from the vehicle towards the parked vehicles. The main transmitter direction of this ultrasonic sensor is fixed and thus not variable. If a transmission signal emitted by the ultrasound sensor thus formed is in particular a round contour of a

Limiting portion of the parking vehicle 3 falls, this transmission signal is reflected from the circular contour depending on the position of the passing vehicle and thus the ultrasonic sensor with respect to the parked vehicle in different directions. For receiving the resulting reflection signals, the measuring device has a plurality of receiving devices positioned at different locations in the side region of the vehicle passing by. Depending on which of these Receiving devices in response to a current position of the passing vehicle with respect to the parked vehicle currently receiving reflection signals can be infer the exact contour of the boundary portion of the parked vehicle, which was passed by.

However, the cited prior art has the disadvantage that for the realization of the measuring device described a plurality of receiving devices is required. This not only means an increased cost in the form of increased acquisition costs and increased installation costs, but also has an aesthetic disadvantage. This is that the receiving devices are arranged distributed at different positions in the side region of the vehicle visible and can disturb the overall aesthetics of the side region of the vehicle in this way.

Based on the cited prior art, it is therefore the object of the invention to provide a device for determining the position and / or the contour of a boundary section of an obstacle as well as a corresponding method and computer program which precisely determines the position and / or contour of the limiting section realize at a lower disturbance of the overall aesthetic impression of the side area of a motor vehicle.

This object is solved by the subject matter of patent claim 1.

Accordingly, the device according to the invention, in particular for a motor vehicle for determining the position and / or the contour of a delimiting section, in particular an edge, of at least one obstacle, has at least one transmitting device preferably arranged in a side region of the motor vehicle for emitting a transmission signal and at least one receiving device, preferably in a side region of the motor vehicle, for receiving a reflection signal, wherein the reflection signal represents the transmission signal after the reflection at an obstacle. The device according to the invention further has an evaluation device for evaluating the reflection signal with regard to the position and / or the contour of the boundary section of the obstacle and is characterized in that a main transmitter direction of the transmitter can be changed, in particular in a plane lying approximately parallel to the upper surface of the vehicle ,

The change of the main transmission direction according to the invention allows a pre zi seres detecting the contour of an obstacle, as it is possible in the prior art with a fixed, extending transversely to the direction main transmission direction.

The inventive increase in precision in the detection of an obstacle contour based on the fact that in another than the conventional, extending transversely to the direction, main transmission direction z. B. when driving past an obstacle such. B. a parked vehicle, a sharper transition of the reflection signal from a first state indicating, for example, an obstacle, to a second state indicating: a non-obstacle-filled clearance, is possible.

In a particularly advantageous embodiment of the device according to the invention, a control device for selecting and / or adjusting the main transmission direction is provided. The control device may, for example, have a microcontroller and, for example, when the device according to the invention is installed in a motor vehicle. B. via a bus system with other control devices such. B. be connected to a control device for a brake system of the motor vehicle. In a further very advantageous variant of the device according to the invention, the transmitting device has at least one transmitting element, and the control device is designed to set the main transmitting direction of this transmitting element, in particular independently of the main transmitting direction (s) of further transmitting elements.

The transmitting element can be designed, for example, as a radar transmitting element or as an ultrasonic transmitter. A combination of radar transmission elements and ultrasound transmitters is also conceivable.

In the case of several transmitting elements, it is possible, for example, to operate different transmitting elements at different frequencies, so that the different transmitting elements do not influence one another - it is also possible to operate the plurality of transmitting elements in the time division multiplex.

The inventive individual adjustment of the main transmitter direction of a transmitting element regardless of, if necessary. existing further transmitting elements has the advantage that only the respective transmitting element is specially adapted to a special detection situation with regard to its main transmitting direction, while the further transmitting elements do not have to be changed.

In a further embodiment of the invention, it is very particularly advantageous to have at least one actuator for adjusting the main transmitter direction of the transmitter device. a transmitting element provided. With the actuator, for example, a reciprocating movement of the transmitting device or a single transmitting element can be carried out, whereby various main transmission directions z. B. be realized based on the direction of travel of a motor vehicle.

To ensure repeatability of the adjustment of certain main transmission directions, according to the invention, several Transmission positions for the transmitting device or the SendelemeπLt be provided, the achievement of which is mechanically simple and safe repeatable. For example, a total of only two different transmission positions can be provided, which are each limited by a stop. The stop ^¬ prevents further movement, for example, the transmitting device beyond the desired level. The change between the two transmission positions and thus between the corresponding main transmission directions can be done, for example, by means of an electromagnet.

According to a further variant of the invention, the actuator is designed as an electric motor, in particular as a stepping motor.

In another very advantageous embodiment of the present invention, the control device for this purpose is designed to control different transmitting elements for setting the main transmitter direction of the transmitting device with signals of different phase position and / or different amplitude.

By means of the respective phase relationship of the signals with one another and via a ratio of the amplitudes of the signals relative to one another, a specific directional characteristic, for example with a lobe shape, that is, for the transmitting device, can be obtained. e.g. concentrated, adjusted and changed to a certain solid angle, so that no mechanical drive of the transmitter or individual transmitting elements is required to change the main transmitter direction.

Another very advantageous embodiment of the present invention is characterized in that a plurality of transmitting elements are provided with different mounting position in the transmitting device, and that the control device is adapted to set the main transmitting device of the transmitting device in each case at least Turn one of the multiple transmit elements on or off. In this variant dex invention results in a particularly simple control or adjustment of the main transmitter direction. In addition, the transmitting elements can also be operated simultaneously, wherein the respective transmission signals are emitted simultaneously in different directions due to the different mounting position.

A further variant of the device according to the invention is characterized in that the main transmission direction is variable as a function of an operating state and / or a speed and / or a direction of travel of a motor vehicle having the device.

A particularly advantageous embodiment of the device according to the invention is characterized in that the evaluation device evaluates the reflection signals of two different obstacles, in particular parked vehicles, with regard to their respective limiting sections and with additional consideration of the motor vehicle between the reception of the different reflection signals of the two obstacles traveled distance calculates the distance between the two obstacles, in particular as the length of a parking space.

For precise detection of the parking space, the main transmission direction is advantageously set such that it occupies an angle of <90 ° or> 90 ° with the direction of travel of the motor vehicle. The possible more precise determination of the limitation of the obstacles due to the invention can also be used according to the embodiment described to determine the length of a parking space more precisely than is possible with previous methods of the prior art.

Another very advantageous embodiment of the present invention provides an information device in particular for the driver of the motor vehicle, to indicate whether due to the calculated distance in comparison with the length of the motor vehicle parking of the motor vehicle between the two obstacles is even possible and if so, preferably whether the parking for the driver difficult or easy will be. By means of the information device, the driver is offered an essential decision aid to decide whether he wants to park in a specific parking space or not.

According to another embodiment of the device according to the invention, the information device is designed as an optical display device to emit light in different colors, each color representing a different degree of difficulty for a parking situation. The display device may in particular have light-emitting diodes or LC displays or be integrated into an existing on-board electronics with optical signal means or also a screen display. Alternatively or additionally, the

Information device be designed as an acoustic display device.

As a further solution of the object of the present invention, a method is provided for determining the position and / or the contour of a limiting section, in particular an edge, of at least one obstacle, comprising the following steps: emitting a transmission signal, preferably to the limiting section of the obstacle Receiving a reflection signal representing the transmission signal after being reflected at the boundary portion; and evaluating the reflection signal with respect to the position and / or contour of the boundary portion of the obstacle; characterized in that a main transmitter direction of a transmitting device and / or one or more transmitting elements is changed.

An advantageous embodiment of the method according to the invention is characterized in that the main transmitter direction is changed as a function of already received or evaluated reflection signals and / or as a function of an operating state and / or a speed and / or a direction of travel of a motor vehicle.

In particular, when looking for a parking space, the main transmission direction when driving forward can be set so that it includes an angle <90 ° with the direction of travel, so that obstacles located to the right in front of the vehicle or a parking space can be better detected. This main send direction is also checked after the detection of an obstacle-free area, i. a possible parking space, maintained while the motor vehicle, for example, passes de.x detected parking space continues straight ahead to measure the • length of the parking space.

Only when re-occurring in the main transmitter direction reflection signals occur, i. When the motor vehicle approaches a vehicle standing in front of the parking space to be measured in the direction of travel, the main transmission direction is changed so that it encloses an angle of> 90 ° with the direction of travel. In this way, a more accurate detection of the contour of the standing in front of the parking space to be measured vehicle is possible.

According to another very advantageous method variant, the main transmitter direction is changed by controlling different transmitter elements with signals of different phase position and / or different amplitude. Alternatively or in addition to this, the transmitting device and / or the transmitting element is moved back and forth between a plurality of transmitting positions and / or a plurality of transmitting elements with a different mounting position in the Transmitter are turned on or off.

According to a further embodiment, the main transmission direction is changed alternately between two settings, whereby - in relation to the direction of travel of the motor vehicle - e.g. At the same time a right lying in front of the vehicle area and a side lying right of the motor vehicle area can be detected simultaneously.

Also particularly advantageous is an embodiment of the method according to the invention, in which the main transmitter direction is set as a function of a directional characteristic of the transmitter, in particular as a function of a lobe width of the directional characteristic, and / or one or more transmitter elements. To consider a vehicle geometry, the main transmitter direction can also be set irx depending on the vehicle dimensions.

In a further very advantageous embodiment of the invention, the main transmission direction, in particular for finding a parking space, is set so that it includes an angle with a travel direction which is smaller than 90 °.

In a further very advantageous embodiment of the invention, the main transmission direction is then adjusted so that it includes an angle with a direction of travel, which is greater than 90 °, if previously a obstacle-free space, in particular a parking space, has been recognized, and if after Detecting the obstacle-free space again an obstacle is detected.

As still another solution to the object of the present invention, there is provided a computer program with program code for a control device for setting the main transmitter direction of a transmitter, characterized in that the program code is formed, the main transmitter direction to adjust according to the method of any one of claims 13 to 19.

In a further very advantageous embodiment: the program code is stored on a computer-readable medium, e.g. on a flash memory or on a CD-ROM.

In order to obtain even more information about a boundary section of an obstacle, it is also possible according to the invention to use the main transmission direction, e.g. Continuously track when driving past a parking space, so that several signals emitted by the transmitting element or the transmitting device are received as reflection signals after their reflection at the limiting section. As a result of the continuous tracking, a plurality of reflection signals are thus obtained by the same limiting section, wherein the reflection signals always strike the receiving device at almost the same angle due to the tracking. This tracking can be carried out as an alternative or in addition to the abovementioned method variants.

The resulting different reflection signals from one and the same limiting section allow a very accurate inference to its position, for example, with respect to a road surface and / or with respect to its contour. In contrast to the prior art, it is advantageously not necessary for the device according to the invention to receive these different reflection signals from different receiving devices distributed over the side area of the passing motor vehicle. Rather, depending on the contour of the boundary surface, it is possible to receive the reflection signals with the aid of only one receiving device arranged in the side region of the motor vehicle. This is especially true when the limiting section has a round contour and the transmission signal impinges substantially perpendicular to a tangential plane of the limiting section, so that the reflection signal is reflected back substantially parallel to the transmission signal. This is ensured by the inventive permanent correction of the main transmission direction in the direction of the boundary surface to be observed. Increased costs for the provision of a plurality of receiving devices and their installation are then unnecessary. In addition, a single receiving device disturbs the overall aesthetic impression of the side portion of the motor vehicle to a much lesser extent than a plurality of receiving devices would do so.

According to an advantageous embodiment of the invention, the control device is designed to set the main transmitter unit of the transmitting device variable at least in a lying approximately parallel to a road surface level. Such a design of the control device is sufficient to detect the contour of the obstacle in a horizontal plane above the road surface.

However, changing the main transmission direction according to the invention is not restricted to a plane parallel to the road surface. It is also conceivable to change the main transmission direction in a plane lying approximately vertically to the road surface, for example to detect a shaft in the region of a roadway edge or a curb.

A combination of a horizontal and a vertical movement of the main transmitter direction can also be realized with the device according to the invention, for example for monitoring a larger angular range.

Further advantageous embodiments of the device, the method and the computer program are the subject of Unteranspriiche.

In the drawing show:

FIG. 1 shows a situation as is typical of the application of the invention;

Figure 2 shows the device according to the present invention;

Figure 3a shows the alignment of a transmitting element according to the invention transversely to the direction of travel;

Figure 3b shows the orientation of Sencäeelements invention of Figure 3a, so that the main transmitter direction with the direction of travel occupies an angle <90 °;

Figure 3c d ± e alignment of Sencäeelements invention of Figure 3a, 3b so that the main transmitter direction with the direction of travel occupies an angle> 90 °;

Figure 4a shows a first phase in finding a parking space according to the prior art;

Figure 4b shows a second phase in finding a parking space according to the prior art;

Figure 4c shows a third phase in finding a parking space according to the prior art;

Figure 4d shows a fourth phase in finding a parking space according to the prior art;

Figure 5a shows a first phase in finding a parking space by means of the invention;

Figure 5b shows a second phase in finding a parking space by means of the invention; Figure 5c shows a third phase in finding a parking space by means of the invention;

Figure 5d shows a fourth phase in finding a parking space by means of the invention;

Figure 6 finding a parking space and determining its length according to the invention;

FIG. 7a shows a first inventively determined

Obstacle profile in the situation of Figure 6;

FIG. 7b shows a second inventively determined

Hinderrαisprofil in the situation of Figure 6; and

FIG. 8 shows an obstacle profile determined by means of a device from the prior art in the situation from FIG. 6.

Figure 1 shows a typical situation for the application of the present invention. Two parking vehicles 101 and 102 are shown between which a parking space of length L exists. The two parking vehicles 101 and 102 limit the parking space and in each case constitute an obstacle in the sense of the present invention. For the driver of a motor vehicle 200, when driving past the parking space, the question arises as to whether his vehicle 200 fits into the parking space or not. In order to answer this question, the length of the parking space L must first be determined as accurately as possible and then compared with the actual length of the motor vehicle 200.

The invention aims to determine the length L of the parking space as accurately as possible with the aid of a built-in motor vehicle 200 device.

Such a device 30 is detailed in FIG described. It comprises a transmitting device 32, which is arranged in the side region of the motor vehicle 200 (cf., FIG. 1) and from there emits a transmission signal in response to a limiting section 101a of the obstacle whose position or contour is to be determined. The transmitting device 32 can be, for example, radar or ultrasound systems, as used, for example, in known parking aid systems.

For receiving dex signals which are reflected by an obstacle as reflection signals, a receiving device 34 is provided. The evaluation of the reflection signal takes place in the evaluation device 38.

In the starting situation shown in FIG. 1, in which the vehicle 200 has not yet arrived completely at the level of the parked vehicle 101, it is advantageous if the transmission device 32 transmits the transmission signal under the main transmission direction shown in FIG. in particular not transverse to the direction D emits.

The main transmitter direction shown in FIG. 1 can be achieved, for example, by the alignment of the transmitter element 32 - 1 (see FIG. In contrast to the main transmission direction, which is transverse to the direction of travel D according to FIG. 3a, the main transmission direction according to FIG. 3b assumes an angle alpha_2 with respect to the direction of travel D, for which alpha_2 <90 °.

For the purpose of illustration, in FIGS. 3a to 3c, a directional characteristic 33 of the transmitting element 32-1 is shown next to the transmitting element 32-1 and extends essentially symmetrically with respect to the axis A. Therefore, the axis A is also substantially parallel to the main end Rich ^~ tung the transmitter element 32-1.

With the orientation of the main transmission direction according to Figure 3b in In the situation of Figure 1, a more reliable and precise detection of the limiting portion 101a of the vehicle 101 is possible, as described below with reference to Figures 4a to 4d and 5a to 5d.

FIGS. 4a to 4d show an exact cguer, i. in the right-hand angle to the direction of travel pointing to the left in the direction of the main transmission, as used in systems of the prior art and represent Mom.entaufnahnahmen that the passing of the motor vehicle at an obstacle for measuring a parking space analogous to the situation aiαs figure 1 indicate. The arrow pointing to the left in FIGS. 4a to 4d symbolizes in each case not only the direction of travel but also a path axis with four marked positions which, when the motor vehicle passes in succession; be taken from right to left by the transmitting device 32.

It can be seen from FIGS. 4 a to 4 d that the limiting section 101 a is no longer in the detection zone of the transmitting element 32 - 1 symbolized by a directional characteristic 33 until the fourth position of the transmitting device 32 (see FIG lies. For this reason, the beginning of the parking space is detected relatively late.

In contrast, in the same situation as in FIGS. 4a to 4d according to FIGS. 5a to 5d, a parking space is detected earlier and more precisely by means of the present invention. Due to the inclination of the main transmission direction according to FIG. 3b, i. alpha_2 <90 °, the transition from detection of the obstacle to detection of an obstacle-free area takes place much faster.

Already in the third position, ie in the situation according to FIG. 5 c, the obstacle is almost no longer in the detection range of the transmitting element 32 - 1, while a Device according to the prior art according to Figure 4c at the same position still recognizes the obstacle, because the main transmitter direction in conventional systems does not have the inventive inclination in the direction of travel.

Overall, using the invention for the contour of the limiting section 101a of FIGS. 1, 6, the measured profile 101b according to FIG. 7a results. For the left end of the parking space shown in Figure 6 forming

Limiting section 102a yields the measured curve 102b after. FIG. 7b, wherein a main transmission direction, as shown in FIGS. 6 and 3c, is inclined towards the direction of travel.

For comparison, FIG. 8 shows a measured trajectory of a limitation of a parking space, as obtained with a conventional device and a conventional method. It can be clearly seen that the course obtained by conventional methods has significantly less steep flanks, in particular in the areas 103 according to FIG. 8, compared to the courses 101b, 102b of FIGS. 7a and 7b determined according to the invention.

Due to this, the determination of the length L (FIG. 6) of the parking space with conventional systems is only possible with very inaccurate terms.

However, the invention enables a precise detection even of rectangular contours 101a, 101b, on whose basis an accurate determination of the length L of the parking space is possible.

In order to determine the length L of the parking space, the motor vehicle 200 moves in the direction of travel D (Figure 6) past the vehicles 101, 102 and the parking space.

Here, at the beginning, ie still during the sixth of the parking space, for example at the position s 1, the main transmitter direction as shown in Figure 6 adjusted so that it includes an angle of alpha_2 <90 ° together with the direction of travel to accurately recognize the contour of the limiting portion 101a. When the position s_2 is reached, the beginning of the parking space is detected due to the missing or too weak reflection signal.

Maintaining as described above. set main transmission direction, the motor vehicle 200 passes the parking space until a reflection signal is again received at a position I short before s_3, which is produced by reflection of the transmission signal to the vehicle 102.

Subsequently, the main transmission direction is changed according to Figure 3c so that it with the direction of travel D an angle of alpha 3> 90 °, whereby a more precise detection of the contour of the limiting section 102a is possible according to the principle already described. At the positon s_4 the end of the parking space is reliably detected.

In addition to the detection and processing of the reflection signals, the control device 36 (FIG. 2) also records and evaluates path pulses which the control device 36 receives, for example, from another control device (not shown) of the motor vehicle 200, with which the control device 36 receives e.g. connected via a common bus system (not shown).

The path pulses allow a calculation of a path traveled by the motor vehicle 200 and, together with the information about the course 101b, 102b of the contours of the limiting sections 101a, 101k>, allow the calculation of the length L of the parking space.

If this calculated length L of the parking space is compared with the length of the motor vehicle 200, a statement is possible whether a parking of the motor vehicle 200 in the Parking space is possible or not. Depending on the difference between these two lengths, it is further possible for the evaluation device 38 (FIG. 2) to estimate whether parking for the driver of the motor vehicle 200 will be difficult or easy.

This information about the possibilities of parking is preferably transmitted to the driver with the aid of an information device 39, cf. FIG. 2. The information device 39 is designed, for example, as an optical display device. As such, it can preferably emit light in different colors, each color representing a different degree of difficulty for a particular parking situation. In analogy to the meaning of the traffic light colors red, yellow and green, it is advantageous that a red emitted light is assigned the meaning that parking in the just measured parking space is not possible. Yellow light means accordingly that parking is possible, but only with certain difficulties and green light means preferably that the parking space is sufficiently large and parking is possible without any problem. The display device can be designed, for example, in the form of a digital display or in the form of light-emitting diodes. Additionally or alternatively, the information device 39 may also be designed as an acoustic display device.

Overall, in the present invention, the most tunable main transmitter direction is a very precise measurement of parking spaces and accurate detection of obstacles and their contours possible.

In a particularly advantageous embodiment of the invention, the main transmitter direction between two settings can be selected, which are, for example, the two settings shown in Figures 3b and 3c can act. To change between the two settings for the main transmitter direction, for example, a non-imaged electromagnet or a servomotor or. Stepper motor may be provided, which if necessary. spring loaded in a z. B. 3b corresponding output position held transmitting element 32-1 back into the position Fągur 3c back and forth from this position back to the Ausgangspo s it ion.

The angle alpha_2 can be selected, for example 8 to 0 °, and the angle can alpha_3 beispielswei se chosen to 100 ° ^■ we re.

According to a particularly advantageous embodiment of the present invention, the main transmitter direction is determined as a function of a directional characteristic of the transmitter 32 or, in the case of a single transmitter t 32-1 as in FIGS. 3a to 3c, as a function of a directional characteristic of the transmitter element 32-. 1 itself: The angles alpha_2, alpha_3 are advantageous here: in particular as a function of a club width of the direction characteristic qewählt, wherein for realizing the Er f indungsgedankens qenerell an angle between the main transmission direction and z. B. the direction of travel D is to be selected such that when moving the transmitting element 32-1 on an obstacle as quickly as possible in or out of the obstacle in the or. is given from the dependent of the directional detection range.

In addition to a mechanical adjustment of the main transmitter direction by moving the transmitting device 32 or individual transmitting elements, a phase-controlled: rte and / or amplitude-controlled Beauf suppression of multiple transmitting elements simultaneously possible to form the directivity of the transmitting device almost instantaneously.

Like the mechanical adjustment, the phase / amplitude control described above is common to both radar and Transmitting elements as well as ultrasonic transducers used.

In addition to setting the main transmitter direction for the most accurate detection of obstacles as described above, it is also possible to perform tracking, e.g. a transmitting element to be realized in such a way that when passing the motor vehicle 200 of Figure 1 on the vehicle 101, the main transmitting device of the transmitting device 32 is preferably continuously changed such as e.g. over a longer period of time during the passage of the vehicle 101 always to detect the same location of the limiting portion 101 a of the vehicle 101.

The relative movement of the passing motor vehicle 200 to the parked vehicle 101 must in this case by a corresponding tracking, i. be compensated by a continuous adjustment of the angle between the Haiαptsenderichtung and the direction of travel. In this way, a particularly large amount of measurement data can be detected from a specific location of an obstacle, e.g. can be processed particularly advantageous by way of correlation.

The inventive device 30 according to FIG. 2 comprises the already mentioned evaluation device 38 for evaluating the received reflection signals in reference to the position and / or the contour of the limiting section 101a, 102a of the obstacle. In the case of the parked vehicle 101, this means that the evaluation device 38 is able to accurately detect, for example, the contour of the bumper and / or the front region of the front fender, the left front lamp and possibly also the radiator grille. In contrast to known methods, therefore, the described device 30 enables a particularly accurate determination of the position of the limiting section 101a, that is, the left front front of the vehicle 101, because a plurality of reflection signals .information about exactly this limiting section 101a of FIG represent different viewing directions and are available for evaluation. That this plurality of reflection signals is received at all, is ensured by the e rfindungsgemäße tracking the main transmitter direction and the preferably narrow beam field. In this way it is achieved that the reflection signals are read back substantially parallel to the main transmitter direction.

A further possibility for changing the main transmitter direction according to the invention is that the transmitter 32 (FIG. 2) has a plurality of transmitter elements 32-1. , , 32-n, which are permanently installed in the transmitting device 32 in each case with another main transmitting direction, and the control device 36 must then be designed such that it switches the individual transmitting elements on or off according to the demand of a desired main transmitting direction.

In general, a frequency or time multiplex operation of various transmitting elements denkbaα:.

According to a further advantageous embodiment of the present invention, the main transmission direction is adjusted to an angle alpha_2 <90 °, i. H . at least partially oriented in the direction of travel D, as soon as a tracking of the main transmitter direction to a previously detected obj ect due to z. B. a mechanical limitation is no longer possible.

The described method according to the invention for more precise determination of the position or contours of a limiting section of an obstacle is preferably realized in the form of a computer program with program code for the control device 36. In the case of such a software implementation, it is possible that the computer program, if appropriate together with other computer programs on a computer-readable medium is stored. In this. Data carrier may be a floppy disk, a compact disc, a so-called flash memory or the like. The computer program stored on the data carrier can then be sold as a product to a customer.

Furthermore, in the case of a software implementation, it is possible to transfer the computer program, in turn possibly together with other computer programs, without the aid of a data carrier, as a product to a customer via an electronic communication network, in particular the Internet, and sell it in this way.

The method for finding a parking space described above with reference in particular to FIG. 6 is not limited to the adjustment of the main transmission direction described therein. For example, depending on the transmitting device used or depending on the transmitting elements used, it may also be expedient to first select the main transmitter direction according to FIG. 3c to find a parking space, ie such that the main transmitter direction together with a direction of travel D occupies an angle α_3> 90 ° , Likewise, depending on the transmitting device or transmitting elements used, it is possible to select the main transmitting direction according to FIG. 3b to detect a left limiting section 102a shown in FIG. 6, so that the angle between the main transmitting direction and the driving direction D is less than 90 °. In general, a selection or adjustment of the main transmission direction is expedient in which a particularly precisely measured curve 101b, 102b of the contours of the limiting sections 101a, 101b results, cf. Figure 7a, 7b.

Claims

claims

1. Device (30) in particular for a motor vehicle

(200) for determining the position and / or the contour of a limiting section (101a, 102a), in particular an edge, of at least one obstacle (101, 102), with at least one transmitting device (32) arranged preferably in a side region of the motor vehicle (20) ) for emitting a transmission signal, at least one preferably in a side region of the motor vehicle (20) arranged receiving means (34) for receiving a ReflexionssignaIs, wherein the reflection signal represents the transmission signal after its reflection at an obstacle (101, 102), and with an evaluation device ( 38) for evaluating the reflection signal with regard to the position and / or the contour of the limiting section (101a, 102a) of the obstacle (101, 102), characterized in that a main transmitter direction of the transmitting device (32) is variable, in particular in an approximately parallel to the road surface lying plane.

2. Device (30) according to claim 1, characterized in that a control device (36) is provided for selecting and / or adjusting the main transmission direction.

3. Device (30) according to claim 2, characterized in that «the transmitting device (32) has at least one transmitting element (32-1), and that the control device (36) is formed, the main transmitter direction of this transmitting element (32-1), in particular independently of the main transmitter (s) of further transmitter elements.

4. Device (30) according to any one of the preceding claims, characterized in that at least one actuator for setting the direction of the main transmission device Sendereinricntung (32) or a transmitting element (32-1) is provided i_st.

5. Device (30) according to claim 4, characterized in that the actuator is designed as an electromotor, in particular as a stepping motor, and / or as an electromagnet.

6. Device (30) according to any one of the preceding claims, characterized in that the transmitting device (32) and / or the transmitting element (32-1) for setting the Hauptsenderi.chtung between several Sendestel_lungen back and are heirbewegbar.

7. Device (30) according to any one of claims 2 to 6, characterized in that the control device (36) is dumped to it, different transmitting elements (32- 1, ...., 32-n) for adjusting the main transmitter direction the transmitter (32) with signals of different phase ιαnd / or different amplitude to control.

8. Device (30) according to one of claims 2 to 7, characterized in that a plurality of transmitting elements (32-1, ...., 32-n) are provided with different mounting position d_n the transmitting device (32), and that the control device (36) is adapted to adjust the main transmitter direction of the transmitting device

(32) in each case at least one of the plurality of transmitting elements (32-1, ...., 32-n) on or off.

9. Device (30) according to one of the preceding claims, characterized in that the main transmission direction in dependence on an operating condition and / or a Speed and / or a direction of travel of the device (30) having motor vehicle (200) is variable.

10. Device (30) according to any one of the preceding claims, characterized in that the evaluation device (38) evaluates the ref lektionssignale of two different obstacles (101, 102), in particular parked vehicles, with regard to their respective limiting sections (101a, 102a) and additionally taking into account the distance traveled by the motor vehicle (200) between the reception of the different reflection signals of the two obstacles, the distance between the two obstacles, in particular as the length (L) of a parking space.

11. Device (30) according to claim 10, characterized by an information device (39), in particular for the

Driver of the motor vehicle (200), to indicate whether due to the calculated distance in comparison with the length of the motor vehicle (200) a parking of the motor vehicle (200) between the two obstacles (101, 102) is even possible and if so, preferably whether parking for the driver will be difficult or easy.

12. Device (30) according to claim 11, characterized in that the information device (39) is designed as an optical display device to emit light in different colors, each color representing a different degree of difficulty for a Einparkituation, and / or as an acoustic display device.

13. Method for determining the position and / or the contour of a limiting section (101a, 102a), in particular a flank, of at least one obstacle (101, 102), having the steps:

Transmitting a transmission signal, preferably to the limiting section (101a, 102s) of the obstacle (101, 102);

Receiving a reflection signal representing the transmission signal after being reflected at the boundary portion (101a, 102a); and evaluating the reflection signal with respect to the position and / or contour of the boundary portion (101a, 102a) of the obstacle; characterized in that a main transmitter direction of a transmitting device (32-) and / or one or more transmitting elements (32-1, ...., 32-n) is changed.

14. The method according to claim 13, characterized in that the main transmitter direction is changed depending on already received or evaluated • reflection signals and / or in dependence on an operating condition and / or a speed and / or a direction of travel of a motor vehicle (200).

15. The method according to claim 13 or 14, characterized in that the main transmitter direction is changed by different transmission elements (32-1, ...., 32-n) are driven with signals of different phase and / or different amplitude and / or by the transmitting device (32) "and / or the transmitting element (32-1) are moved back and forth between a plurality of transmitting positions and / or by a plurality of transmitting elements (32-1, ...., 32-n) having a different mounting position in the transmitting device (32) are turned on or off.

16. The method according to any one of Ansprüchie 13 to 15, characterized in that the main transmitter direction is alternately changed between two settings.

17. The method according to any one of claims 13 to 16, characterized in that the main transmitter direction in response to a directional characteristic of the transmitting device (32), in particular depending on a lobe width of the directional characteristic, and / or one or more transmitting elements (32-1, ... ., 32-n) is set.

18. The method according to any one of claims 13 to 17, characterized in that the main transmission direction, in particular for finding a parking space, is set so that it includes an angle (alpha_2) with a direction of travel (D), which is smaller than 90 °.

19. The method according to claim 18, characterized in that the main transmission direction is only then set so that it includes an angle (alpha_3) with a direction of travel (D), which is greater than 90 °, if previously a obstacle-free space, in particular a parking space , has been detected, and if after detection of the obstacle-free space again an obstacle (102) is detected.

20. Computer program with program code for a control device (36) for setting the

A main transmitter direction transmitter (32), characterized in that the program code is adapted to set the master transmitter direction according to the method of any one of claims 13 to 19.

21. Computer program according to claim 20, characterized in that the program code on a computer-readable data carrier? is stored.