WO2008003533A1 - Method for determining the immobile position of a vehicle - Google Patents
Method for determining the immobile position of a vehicle Download PDFInfo
- Publication number
- WO2008003533A1 WO2008003533A1 PCT/EP2007/054042 EP2007054042W WO2008003533A1 WO 2008003533 A1 WO2008003533 A1 WO 2008003533A1 EP 2007054042 W EP2007054042 W EP 2007054042W WO 2008003533 A1 WO2008003533 A1 WO 2008003533A1
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- Prior art keywords
- state
- sensors
- rest
- vehicle
- condition
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
Definitions
- the present invention relates to a method for operala ⁇ genbetician a vehicle.
- the wheel speeds of a vehicle are used to determine the standstill.
- these details are useless when the vehicle is moving below a minimum speed, or is subjected to ex ⁇ ternal movement. This may for example be the case on a ferry or a lift.
- a rest position of a chassis of the vehicle is not the same as the rest ⁇ position of the vehicle body.
- a vehicle body can be excited by swaying occupants and thus be outside a rest position, without resulting ⁇ measurable wheel speeds. All of these contributions significantly degrade wheel speed based standstill detection and the resulting offset determination of certain sensors.
- a method for determining an absolute rest position of a vehicle is distinguished by the fact that an evaluation of the actual rotational speeds Vi, V 2 , V 3 , V 4 or a respective maximum value queried by sensors below the available rotational speeds by comparison with a still safely detectable minimum speed c a first fast and rough approximation to the state of absolute rest ⁇ position forms a basic step.
- This base ⁇ step by known methods to an absolute position of rest closed, then at least one of the currently applied acceleration sensor signals which are combined into a vector a and / or at least ei ⁇ nes are of the currently applied Drehratensensor- Signals, which are combined to a vector,, determined or queried by the respective sensors.
- a check is made as to whether the condition
- FIG. 1 shows a flow chart of an embodiment of a method according to the invention for Oxfordbe ⁇ mood of a vehicle with the respective evaluation steps in a discrete-time method at a time and the variables involved therein.
- a base step 1 comprises a query and ⁇ subsequent evaluation of wheel speeds Vi, V 2 , V 3 , V 4 of the respective sensors.
- This basic step 1 provides a first quick and relatively coarse approximation to the state of rest of the chassis relative to the ground of the vehicle.
- the condition to be checked is that a maximum value from the available values must be smaller than a limit value c: max (I Vi I, IV 2 1, IV 3 1, IV 4 1 , IV ref
- V 2, V 3, V is other than the wheel speeds Vi, 4 nor otherwise obtained reference speed V re f herangezo ⁇ gene.
- V re f represents in the present example, from the wheel speeds V 1, V 2, V 3, V 4 calculated as components total speed of the considered vehicle.
- a vehicle is not true in from ⁇ soluter calm, however, these movements do not show in principle borrowed measurable responses to the wheel speed sensors.
- such movements may be detected when analyzing vehicle acceleration and yaw rates. Since these quantities are subject to offsets, which are here assumed to be very low-frequency and thus quasi-equal, the time derivatives of the filtered
- Offsets in this sense can be normal zero point drift of the sensors, gravity contributions or external movements.
- the derivative can be understood in this sense as a frequency analyzer, which looks for vibrations of the vehicle body. For this, the vectors a and ⁇ are formed, subjected to low-pass filtering and derived according to time.
- a second and significantly tightened condition for the recognition of the absolute rest of the vehicle is that the relations are respected for a specific, very short, period of time.
- a method according to the invention thus comes the simultaneous evaluation of at least one of the wheel speeds Vi, V 2 , V 3 , V 4 , at least one of the acceleration sensor signals, which are combined to form a vector a and / or min ⁇ least one of the rotation rate sensor signals, which are combined to form a vector horrin.
- the state of absolute quiet is detected in successive three steps, each of which is only run through when a respective previous step has detected a vehicle standstill.
- the invention also allows to carry out with the aid of wheel ⁇ speeds, acceleration and angular rate sensors, a highly accurate offset determination of the rotation rate sensors and a subsequent compensation.
- the offset determination of the rotation rate sensors is designed as a simple readout of deviation of the respective sensors from the currently determined zero value, which characterizes the state of absolute rest of the vehicle.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a method for determining the immobile position of a vehicle. According to the invention, an economical and reliable method, with improved precision on recognition of a state of absolute immobility with extensive avoidance of the disadvantages given for the state of the art, can be achieved, by means of a base step of analysis of current rotational speeds (V1, V2, V3, V4), sampled from sensors or a maximum value from the provided rotational speeds by comparison with a reliably detectable minimum speed (c) to give a first rapid and coarse approximation of the state of absolute immobility and only when an absolute state of immobility can be determined from the base step, is at least one of the current acceleration sensor signals combined to give a vector (a) and/or at least one of the current turn rate sensor signals, combined to give a vector (?) determined or sampled from the sensors and the condition (I), checked with relation to the measured filtered first temporal derivations.
Description
Verfahren zur Ruhelagenbestimmung eines Fahrzeugs Method for rest position determination of a vehicle
Die vorliegende Erfindung betrifft ein Verfahren zur Ruhela¬ genbestimmung eines Fahrzeugs.The present invention relates to a method for Ruhela ¬ genbestimmung a vehicle.
In bekannten Verfahren werden die Raddrehzahlen eines Fahrzeuges herangezogen um den Stillstand festzustellen. Diese Angaben sind jedoch dann nutzlos, wenn sich das Fahrzeug unterhalb einer Mindestgeschwindigkeit bewegt, oder einer ex¬ ternen Bewegung unterworfen ist. Das kann beispielsweise auf einer Fähre oder einer Hebebühne der Fall sein. Weiterhin ist eine Ruhelage eines Chassis des Fahrzeugs nicht mit der Ruhe¬ lage des Fahrzeugaufbaus gleichzusetzen. Ein Fahrzeugaufbau kann durch schaukelnde Insassen angeregt werden und damit sich außerhalb einer Ruhelage befinden, ohne dass sich da¬ durch messbare Raddrehzahlen ergeben. All diese Beiträge verschlechtern eine auf Raddrehzahlen basierte Stillstandserkennung und eine darauf aufbauende Offsetbestimmung von bestimmten Sensoren erheblich.In known methods, the wheel speeds of a vehicle are used to determine the standstill. However, these details are useless when the vehicle is moving below a minimum speed, or is subjected to ex ¬ ternal movement. This may for example be the case on a ferry or a lift. Further, a rest position of a chassis of the vehicle is not the same as the rest ¬ position of the vehicle body. A vehicle body can be excited by swaying occupants and thus be outside a rest position, without resulting ¬ measurable wheel speeds. All of these contributions significantly degrade wheel speed based standstill detection and the resulting offset determination of certain sensors.
Es ist daher Aufgabe der vorliegenden Erfindung, ein preiswertes sowie zuverlässig arbeitendes Verfahren mit verbesser¬ ter Genauigkeit bei der Erkennung eines Zustandes absoluter Ruhelage unter weitgehender Beseitigung der zum Stand der Technik genannten Nachteile zu schaffen.It is therefore an object of the present invention to provide an inexpensive and reliably operating method Improvement ¬ ter accuracy in the detection of a state of absolute rest position to provide with substantial elimination of the above prior art drawbacks.
Diese Aufgabe wird durch die Merkmale der unabhängigen An¬ sprüche gelöst. Vorteilhafte Weiterbildungen sind Gegenstand der jeweiligen Unteransprüche.This problem is solved by the features of the independent claims to ¬. Advantageous developments are the subject of the respective subclaims.
Erfindungsgemäß zeichnet sich ein Verfahren zur Bestimmung einer absoluten Ruhelage eines Fahrzeugs dadurch aus, dass eine Auswertung der von Sensoren abgefragten aktuellen Drehzahlen Vi, V2, V3, V4 oder eines jeweils maximalen Wertes un¬ ter den vorhandenen Drehzahlen durch Vergleich mit einer noch sicher detektierbaren Minimalgeschwindigkeit c eine erste
schnelle und grobe Annäherung an den Zustand absoluter Ruhe¬ lage einen Basisschritt bildet. Nur wenn in diesem Basis¬ schritt nach bekannten Verfahren auf eine absolute Ruhelage geschlossen werden kann, dann werden mindestens eines der ak- tuell anliegenden Beschleunigungssensor-Signale, welche zu einem Vektor a zusammengefasst sind und/oder mindestens ei¬ nes der aktuell anliegenden Drehratensensor-Signale, welche zu einem Vektor ώ zusammengefasst sind, bestimmt bzw. von den jeweiligen Sensoren abgefragt. Es folgt in einem weiteren Schritt eine Überprüfung darauf, ob die BedingungAccording to the invention, a method for determining an absolute rest position of a vehicle is distinguished by the fact that an evaluation of the actual rotational speeds Vi, V 2 , V 3 , V 4 or a respective maximum value queried by sensors below the available rotational speeds by comparison with a still safely detectable minimum speed c a first fast and rough approximation to the state of absolute rest ¬ position forms a basic step. Can be used only when this base ¬ step by known methods to an absolute position of rest closed, then at least one of the currently applied acceleration sensor signals which are combined into a vector a and / or at least ei ¬ nes are of the currently applied Drehratensensor- Signals, which are combined to a vector,, determined or queried by the respective sensors. In a further step, a check is made as to whether the condition
±mε> —FiIt(S) =0± mε> -FiIt (S) = 0
in Bezug auf die angemessen gefilterte erste zeitliche Ablei¬ tung der Vektoren a und ώ erfüllt ist, d.h. näherungsweise Null sind.is in reference to the appropriate filtered first time Ablei ¬ processing of the vectors a and ώ satisfied, that is approximately zero.
In einer besonders bevorzugten Ausführungsform der Erfindung schließt sich in dem Fall, dass beide vorstehenden Bedingungen mit positivem Ergebnis ausgewertet worden sind, eine Ü- berprüfung auf das Vorliegen eines Zustandes einer extrem konstanten Beschleunigung oder Drehung an. Dieser Fall extrem konstanter translatorischer Beschleunigung kann bei Vorhandensein von drei linear unabhängig angeordneten Beschleunigungssensoren durch Projektion auf rechtwinklige Koordinaten durch Verletzung der Bedingung (ax)2+(ay)2+(az)2≥g2 erkannt werden, wobei mit g die Erdbeschleunigung und mit a1Λ i=x,y,z, die Beschleunigungen in den drei Raumachsen bezeichnet sind.In a particularly preferred embodiment of the invention, in the case where both the above conditions have been evaluated with a positive result, a check for the presence of a state of extremely constant acceleration or rotation is concluded. In the presence of three linearly independent acceleration sensors, this case of extremely constant translational acceleration can be detected by projection onto rectangular coordinates by violating the condition (a x ) 2 + (a y ) 2 + (a z ) 2≥g 2 , where g the gravitational acceleration and with a 1Λ i = x, y, z, the accelerations in the three spatial axes are designated.
Im Falle extrem konstanter rotatorischer Beschleunigung kann auf Verletzen der Bedingung
erkannt werden.In case of extremely constant rotational acceleration may be on violation of the condition be recognized.
Weitere Merkmale und Vorteile der Erfindung werden nachfol¬ gend unter Beschreibung eines Ausführungsbeispiels mit Bezug-
nähme auf die Abbildung der Zeichnung angegeben. Die Figur der Zeichnung zeigt ein Ablaufdiagramm eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens zur Ruhelagenbe¬ stimmung eines Fahrzeugs mit den jeweiligen Auswerteschritten in einem zeitdiskreten Verfahren zu einem Zeitpunkt und den darin beteiligten Größen.Other features and advantages of the invention will nachfol ¬ quietly under description of an embodiment with Bezug- Please refer to the illustration of the drawing. The figure of the drawing shows a flow chart of an embodiment of a method according to the invention for Ruhelagenbe ¬ mood of a vehicle with the respective evaluation steps in a discrete-time method at a time and the variables involved therein.
Zum Start umfasst ein Basisschritt 1 eine Abfrage und nach¬ folgende Auswertung von Raddrehzahlen Vi, V2, V3, V4 der je- weiligen Sensoren. Dieser Basisschritt 1 bietet eine erste schnelle und dafür relativ grobe Annäherung an den Zustand einer Ruhe des Chassis relativ zum Untergrund des Fahrzeuges. Wie schon bei aus dem Stand der Technik bekannten Stillstandserkennern lautet die zu überprüfende Bedingung, dass ein Maximalwert aus den zur Verfügung stehenden Werten kleiner als ein Grenzwert c sein muss: max ( I Vi I , I V21 , I V31 , I V41 , I Vref | ) <c .To start a base step 1 comprises a query and ¬ subsequent evaluation of wheel speeds Vi, V 2 , V 3 , V 4 of the respective sensors. This basic step 1 provides a first quick and relatively coarse approximation to the state of rest of the chassis relative to the ground of the vehicle. As with standstill recognizers known from the prior art, the condition to be checked is that a maximum value from the available values must be smaller than a limit value c: max (I Vi I, IV 2 1, IV 3 1, IV 4 1 , IV ref |) <c.
Hier wurde außer den Raddrehzahlen Vi, V2, V3, V4 noch eine anderweitig erhaltene Referenzgeschwindigkeit Vref herangezo¬ gen. Dabei stellt Vref im vorliegenden Beispiel eine aus den Raddrehzahlen V1, V2, V3, V4 als Komponenten errechneten Gesamtgeschwindigkeit des betrachteten Fahrzeugs dar.Here, V 2, V 3, V is other than the wheel speeds Vi, 4 nor otherwise obtained reference speed V re f herangezo ¬ gene. In this case V re f represents in the present example, from the wheel speeds V 1, V 2, V 3, V 4 calculated as components total speed of the considered vehicle.
Eine Bewegung des Fahrzeugaufbaus, die durch Chassisbewegun¬ gen, externe Bewegungen und/oder interne Anregungen verursacht wird, kann in Schritt 1 nicht erkannt werden. Durch diese Bewegungen befindet sich ein Fahrzeug zwar nicht in ab¬ soluter Ruhe, diese Bewegungen zeigen jedoch nicht grundsätz- lieh messbare Reaktionen an den Raddrehzahl-Sensoren. Derartige Bewegungen können jedoch erfasst werden, wenn die Fahrzeugbeschleunigung und die Drehraten analysiert werden. Da diese Größen mit Offsets behaftet sind, welche hier als sehr niederfrequent und damit quasi als Gleichanteile angenommen werden, werden die zeitlichen Ableitungen der gefiltertenA movement that is caused by Chassisbewegun ¬ gen, external movements and / or internal excitations of the vehicle body, can not be detected in step 1. Through these movements, a vehicle is not true in from ¬ soluter calm, however, these movements do not show in principle borrowed measurable responses to the wheel speed sensors. However, such movements may be detected when analyzing vehicle acceleration and yaw rates. Since these quantities are subject to offsets, which are here assumed to be very low-frequency and thus quasi-equal, the time derivatives of the filtered
Sensorsignale analysiert. Damit fallen die Offsets heraus. Zu erwarten sind also Signale mit möglichst konstantem Wert, bei
denen eine weitgehende Unterdrückung des Einflusses von Rau¬ schen durch Anwendung eines Filters, insbesondere eines digi¬ talen Tiefpassfilters, erreicht wird.Sensor signals analyzed. That's how the offsets fall out. Thus, signals with as constant a value as possible are to be expected where a substantial suppression of the influence of Rau ¬ rule by applying a filter, in particular a digi tal ¬ low pass filter is achieved.
Offsets in diesem Sinne können normale Nullpunktdrifts der Sensoren, Schwerkraftbeiträge oder externe Bewegungen sein. Die Ableitung kann in diesem Sinne als Frequenzanalysator verstanden werden, der nach Schwingungen des Fahrzeug-Aufbaus sucht. Dazu werden die Vektoren a und ώ gebildet, einer Tiefpassfilterung unterzogen und nach der Zeit abgeleitet.Offsets in this sense can be normal zero point drift of the sensors, gravity contributions or external movements. The derivative can be understood in this sense as a frequency analyzer, which looks for vibrations of the vehicle body. For this, the vectors a and ώ are formed, subjected to low-pass filtering and derived according to time.
Dann ist die innerhalb des Kerns des Analyseschrittes 2 eine zweite und deutlich verschärfte Bedingung für die Erkennung der absoluten Ruhe des Fahrzeuges, dass die Relationen
für eine bestimmten, sehr kurzen, Zeitraum eingehalten sind.Then, within the core of the analysis step 2, a second and significantly tightened condition for the recognition of the absolute rest of the vehicle is that the relations are respected for a specific, very short, period of time.
Wenn die vorstehend dargestellte Bedingungen der Schritte 1 und 2 gleichzeitig erfüllt sind, befindet sich der Fahrzeug¬ aufbau in absoluter Ruhe, oder aber in einem Zustand einer auch über mehrere Abtastzeitpunkte hinweg betrachtet extrem gleichbleibenden Beschleunigung oder Drehung. Dieser letzte noch mögliche Zustand wird durch einen separaten Prüfschritt 3 erfasst: Der Fall konstanter Beschleunigung kann, bei Vorhandensein von drei linear unabhängig angeordneten Beschleu- nigungssensoren, durch Projektion auf rechtwinklige Koordinaten durch Verletzung der BedingungIf the above-described conditions of steps 1 and 2 are met simultaneously, the vehicle ¬ construction is in absolute rest, or in a state of an even over several sampling times considered extremely constant acceleration or rotation. This last still possible state is detected by a separate test step 3: The case of constant acceleration can, in the presence of three linearly independent acceleration sensors, by projection onto rectangular coordinates by violation of the condition
(ax)2+(ay)2+(az)2-g2 erkannt werden, wobei g die Erdbeschleunigung ist. Der Fall konstanter Drehung kann dadurch erkannt werden, dass der Messwert des Drehratensignals in diesem Falle den Offset ad¬ diert zur externen Drehung widerspiegelt ( c5 = 0 ) . Es können alle externen konstanten Drehungen erkannt und eliminiert werden, die von üblichen Sensorspezifikationen abweichen.(a x ) 2+ (a y ) 2+ (a z ) 2 -g 2 , where g is the gravitational acceleration. The case of constant rotation can be recognized by the fact that the measured value of the yaw rate signal in this case reflects the offset ad ¬ diert to the external rotation (c5 = 0). It can detect and eliminate all external constant rotations that deviate from common sensor specifications.
In einem erfindungsgemäßen Verfahren kommt damit die gleichzeitige Auswertung mindestens einer der Raddrehzahlen Vi, V2,
V3, V4, mindestens eines der Beschleunigungssensor-Signale, welche zu einem Vektor a zusammengefasst sind und/oder min¬ destens eines der Drehratensensor Signale, welche zu einem Vektor ώ zusammengefasst sind, zum Einsatz. Der Zustand der absoluten Ruhe wird in aufeinander aufbauenden drei Schritten erkannt, die jeweils nur dann durchlaufen werden, wenn ein jeweils vorangehender Schritt auf einen Fahrzeug-Stillstand erkannt hat. Ein mit ansteigender Genauigkeit der Untersu¬ chung ebenfalls ansteigender Aufwand macht ein erfindungsge- mäßes Verfahren insgesamt bei extremer Genauigkeit auch aus¬ reichend schnell und wirtschaftlich.In a method according to the invention thus comes the simultaneous evaluation of at least one of the wheel speeds Vi, V 2 , V 3 , V 4 , at least one of the acceleration sensor signals, which are combined to form a vector a and / or min ¬ least one of the rotation rate sensor signals, which are combined to form a vector zum used. The state of absolute quiet is detected in successive three steps, each of which is only run through when a respective previous step has detected a vehicle standstill. One also increasing with increasing accuracy of the investi ¬ monitoring effort makes a erfindungsge- mäßes method total with extreme accuracy even from ¬ sufficiently quickly and economically.
Die Erfindung erlaubt somit auch, unter Zuhilfenahme von Rad¬ drehzahlen, Beschleunigungs- und Drehraten-Sensoren, eine hochpräzise Offset-Bestimmung der Drehraten-Sensoren und eine nachfolgende Kompensation durchzuführen. Die Offset- Bestimmung der Drehraten-Sensoren gestaltet sich als einfaches Auslesen von Abweichung der jeweiligen Sensoren vom aktuell festge- stellten Null-Wert, der den Zustand der absoluten Ruhe des Fahrzeugs kennzeichnet.
Thus, the invention also allows to carry out with the aid of wheel ¬ speeds, acceleration and angular rate sensors, a highly accurate offset determination of the rotation rate sensors and a subsequent compensation. The offset determination of the rotation rate sensors is designed as a simple readout of deviation of the respective sensors from the currently determined zero value, which characterizes the state of absolute rest of the vehicle.
Claims
1. Verfahren zur Ruhelagenbestimmung eines Fahrzeugs, d a du r c h g e k e n n z e i c h n e t , dass eine Auswertung der von Sensoren abgefragten aktuellen Drehzahlen (Vi, V2, V3, V4) oder eines jeweils maximalen Wertes unten den vorhandenen Drehzahlen durch Vergleich mit einer noch sicher detektierbaren Minimalgeschwindigkeit c eine erste schnelle und grobe Annäherung an den Zustand absoluter Ruhelage nach der Bedingung max ( I Vi I , | V2 | , I V31 , I V41 , I Vref I ) <c einen Basisschritt bilden, und nur in dem Fall, dass im Basisschritt auf eine absolute Ruhelage geschlossen werden kann, mindestens eines der aktuell anliegenden Beschleunigungssensor-Signale, wel¬ che zu einem Vektor (a) zusammengefasst sind und/oder mindestens eines der aktuell anliegenden Drehratensensor-Signale, welche zu einem Vektor (ώ) zusammengefasst sind, bestimmt bzw. von den jeweiligen Sensoren abge- fragt werden und die Bedingung 
in Bezug auf die angemessen gefilterten ersten zeitlichen Ableitungen überprüft wird.1. A method for determining the rest position of a vehicle, since you rchgekennzeichnet that an evaluation of queried by sensors current speeds (Vi, V 2 , V 3 , V 4 ) or a maximum value below the existing speeds by comparing with a still reliably detectable minimum speed c is a first quick and rough approximation to the state of absolute rest position after the condition max (I Vi I, | V 2 |, IV 3 1, IV 4 1, IV ref I) <c form a base step, and only in the case that can be closed on an absolute position of rest in the base step, at least one of the currently applied acceleration sensor signals wel ¬ che to a vector (a) are combined and / or at least one of the currently applied angular rate sensor signals to a vector (ώ) are summarized, determined or queried by the respective sensors and the condition with respect to the appropriately filtered first time derivatives.
2. Verfahren nach Anspruch 1, d a du r c h g e k e n n z e i c h n e t , dass sich in dem Fall, dass beide vorstehenden Bedingungen mit positivem Ergebnis ausgewertet worden sind, eine Überprü- fung auf eine Verletzung der Bedingung2. Method according to claim 1, wherein, in the event that both of the above conditions have been evaluated with a positive result, a check for a violation of the condition
(ax)2+(ay)2+(az)2-g2 anschließt . (a x ) 2+ (a y ) 2+ (a z ) 2 -g 2 followed .
3. Verfahren nach Anspruch 2, d a du r c h g e k e n n z e i c h n e t , dass bei Feststellung einer absoluten Ruhelage eine hochpräzise Offset-Bestimmung der Drehraten-Sensoren durchgeführt wird, indem bei Feststellung eines Zustandes der abso¬ luten Ruhe des Fahrzeugs Abweichung der jeweiligen Sensoren vom aktuell festgestellten Null-Wert ausgelesen werden .3. The method of claim 2, since you rchgekennzeichnet that upon detection of an absolute position of rest a highly precise offset determination of the rotation rate sensors is carried out by, upon detection of a state of the abso ¬ Luten rest of the vehicle deviation of the respective sensors of the currently detected zero Value to be read out.
4. Verfahren nach Anspruch 1, d a du r c h g e k e n n z e i c h n e t , dass sich in dem Fall, dass beide vorstehenden Bedingungen mit positivem Ergebnis ausgewertet worden sind, eine Überprü¬ fung auf eine Verletzung der Bedingung 
anschließt . 4. The method of claim 1, since you rchgekennzeichnet that in the case that both the above conditions have been evaluated with a positive result, a review ¬ tion on a violation of the condition connects.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102006030593.0 | 2006-07-03 | ||
| DE200610030593 DE102006030593B4 (en) | 2006-07-03 | 2006-07-03 | Method for rest position determination of a vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2008003533A1 true WO2008003533A1 (en) | 2008-01-10 |
Family
ID=38234885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2007/054042 WO2008003533A1 (en) | 2006-07-03 | 2007-04-25 | Method for determining the immobile position of a vehicle |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE102006030593B4 (en) |
| WO (1) | WO2008003533A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2947505A1 (en) * | 2009-07-06 | 2011-01-07 | Renault Sa | METHOD AND DEVICE FOR MONITORING GOOD IMMOBILIZATION IN A TRANSPORT SITUATION OF A VEHICLE IN SLEEP MODE, AND VEHICLE EQUIPPED WITH SUCH A DEVICE |
| FR2947506A1 (en) * | 2009-07-06 | 2011-01-07 | Renault Sa | METHOD AND DEVICE FOR DETECTING A TRANSPORT SITUATION OF A VEHICLE IN SLEEP MODE, AND VEHICLE EQUIPPED WITH SUCH A DEVICE |
| US11110210B2 (en) | 2007-12-18 | 2021-09-07 | Intersect Ent, Inc. | Self-expanding devices and methods therefor |
| US11399934B2 (en) | 2011-02-25 | 2022-08-02 | Edwards Lifesciences Corporation | Prosthetic heart valve |
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2006
- 2006-07-03 DE DE200610030593 patent/DE102006030593B4/en not_active Expired - Fee Related
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| US5265468A (en) * | 1991-03-02 | 1993-11-30 | Wabco Standard Gmbh | Error detection and display system |
| EP0862059A1 (en) * | 1997-02-27 | 1998-09-02 | Mannesmann VDO Aktiengesellschaft | Method for evaluating movement data of a vehicle with regard to an accident |
| WO2002048969A2 (en) * | 2000-12-12 | 2002-06-20 | N'oxid S.P.A. | Electronic device to be installed aboard vehicles and/or boats, for obtaining information particularly useful in case of an accident |
| DE10144076A1 (en) * | 2001-09-07 | 2003-03-27 | Daimler Chrysler Ag | Method for early recognition and prediction of unit damage or wear in machine plant, particularly mobile plant, based on vibration analysis with suppression of interference frequencies to improve the reliability of diagnosis |
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| FR2947506A1 (en) * | 2009-07-06 | 2011-01-07 | Renault Sa | METHOD AND DEVICE FOR DETECTING A TRANSPORT SITUATION OF A VEHICLE IN SLEEP MODE, AND VEHICLE EQUIPPED WITH SUCH A DEVICE |
| WO2011004106A1 (en) * | 2009-07-06 | 2011-01-13 | Renault S.A.S. | Method and device for monitoring that a vehicle in standby mode is correctly immobilized for transport, and vehicle equipped with such a device |
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| US8688310B2 (en) | 2009-07-06 | 2014-04-01 | Renault S.A.S. | Method and device for monitoring that a vehicle in standby mode is correctly immobilized for transport, and vehicle equipped with such a device |
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|---|---|
| DE102006030593B4 (en) | 2013-06-13 |
| DE102006030593A1 (en) | 2008-01-31 |
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