Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D15/00—Steering not otherwise provided for
• • 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
• • 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
• • 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
  • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically

Definitions

• the portable computing device It is also advantageous to equip the portable computing device with a navigation device for calculating a route to an input destination. As a result, in particular, a route to a parking space can be calculated. The portable computing device can then not only provide the route to the parking lot, but also assist in a parking operation.
• a display mark with a limitation of a parking space in overlap it is advantageous to first bring a display mark with a limitation of a parking space in overlap and then enter an actuation of the input means a beginning of a parking space.
• a length of the parking space can be determined in a simple manner by entering the beginning and end of the parking space.
• a relationship between the beginning of the parking space and the current vehicle position can also be established directly.
• FIG. 1 shows a schematic view of a vehicle with a control device according to the invention
• FIG. 2 shows a vehicle in carrying out the method according to the invention
• FIG. 3 shows an exemplary embodiment of a display of a portable computing device according to the invention
• FIG. 4 shows a flowchart of a method sequence according to the invention.
• a motor vehicle 1 is shown schematically in a plan view.
• a portable computing device 2 is arranged, which is delimited by a dashed line.
• the portable computing device 2 has a control device 3.
• the control device 3 in turn, has a computing unit 4 which serves to calculate a parking space length and to calculate a travel path into a parking space.
• a computing unit 4 which serves to calculate a parking space length and to calculate a travel path into a parking space.
• ne operating unit 5 is connected, which has, for example, push buttons 6.
• a memory unit 7 in particular vehicle dimensions are stored, which are used for a path planning in a parking position in a detected parking space. Remote stored vehicle data also serve to determine whether a parking space is suitable for a parking operation.
• a measurement of a vehicle movement can be done in any way.
• the control device 3 has an initial sensor 8, in which an acceleration sensor measures an acceleration of the portable computing device 2 and thus of the vehicle 1. From the acceleration signal, a movement of the vehicle in a respective spatial direction can be determined by integration.
• a radio location device 9 for example a GPS location unit, to determine a respective current vehicle position and to determine a vehicle movement from the difference between certain vehicle positions.
• Driving instructions for example, acoustically and / or visually to a
• a loudspeaker 15 or a display 16 are provided in the vehicle.
• a driver can be instructed to turn left, turn right, drive forward, or reverse.
• an interface 17 is provided, are also caused by the driving actions automatically.
• a steering device 18 of the vehicle can be controlled via the interface 17 in order to influence a vehicle steering system and thus to enable automatic guidance along a calculated route to a parking position in the parking space.
• a camera device 19 can also be provided which detects a vehicle environment. If desired, a display image can be forwarded directly from the camera 19 to the display 16. In a further embodiment, it is also possible that of the arithmetic unit 4 of the control device 3 display marks in the of the camera 19 recorded image for display in the display 16 are displayed.
• the portable computing device 2 may further be configured such that the computing unit 4, by accessing information in the memory 7 in the form of a digital map and using the locating unit 9, determines a route from a current position of the vehicle to a destination, for example, to a parking lot.
• FIG. 2 shows a vehicle 21 in an initial position. A travel path from the home position of the vehicle 21 to a parking position 23 in a parking space 24 is shown with respect to a center of a rear axle of the vehicle. In FIG. 1, a corresponding position 25 is highlighted on a rear axle 26 of the vehicle 1.
• the driver of the vehicle 21 has detected a potential parking space 24 that extends in front of the vehicle 21 along the course of the road 20 between a first obstacle 27 and another obstacle 28 lying ahead along the course of the road.
• the driver now places his vehicle in an estimated distance 31 between the vehicle 21 and the first obstacle 27 and drives approximately straight ahead, approximately keeping the distance to the first obstacle.
• the first distance 31 is estimated by the driver and is for example about 1 meter.
• the driver now drives his vehicle starting from the starting position 30 ahead until he is at a
• the driver now operates the operating unit 5, for example by pressing a predetermined pushbutton 6.
• the arithmetic unit 4 now detects the actuation of the input means as a detection of a beginning of the parking space 24. Since the driver was given an approximate distance 31 to be maintained, the arithmetic unit 4 From this approximate distance and the input of the limit of the parking space by the match of the exterior mirror with the front edge of the first obstacle 27 determine a relation between the current position 32 of the vehicle 21 and the beginning of the parking space 24 indicated by the dashed line 34 , The driver now drives the vehicle straight ahead, along the shown distance 22, until he reaches the second coincidence position 35.
• the exterior mirror 33 of the vehicle is in correspondence with a beginning of the further obstacle 28 and thus with the opposite beginning or starting from the first obstacle 27 with the end of the parking space 24.
• the driver now actuates the actuating means 5 again.
• the computing unit 4 determines, by means of a query of the means for determining a traveled distance, how large the distance between the first coincidence position 32 and the second coincidence position 35 is. This can be done, for example, by polling the wheel sensor 11, the initial sensor 8 or the GPS locating unit 9. In a further embodiment, by inclusion of the steering angle sensor 13 or by a check of the course of the
• Driving curve via a query of the GPS locating unit 9 and the initial sensor 8 are also determined a deviation from a straight line, so possibly mathematically for determining a length of the parking space 24 and a cornering of the vehicle 21 between the first match position 32 and the second match position 35 can be considered.
• the distance between the matching positions 32, 35 is now compared with the dimensions of the vehicle stored in the memory 7, in particular with a length of the vehicle.
• Represents the arithmetic unit 4 determines that the length of the parking space 24 is sufficient for a parking operation, it calculates a route to a parking position 23 in the parking space 24 from the second transmission position or, if the driver has already advanced a bit, from the current position of the vehicle Consideration of the front and rear limits of the parking space.
• One possible guideway is shown in FIG. 2 and includes first an advance to a transfer point 36, a first turn to the right in a first circle or clothoid section 37 up to a turning point 38 and an opposite turning in a second circle or clothoid - Section 39.
• the arithmetic unit 4 now causes an output of driving instructions to the driver, for example, to first prefer his vehicle up to the transfer point 36 and then to carry out the corresponding steering and return movements until the vehicle is parked on a vehicle
• End position 40 is positioned in the parking position 23 within the parking space 24.
• An output of driving instructions can be carried out acoustically via the loudspeaker 15 or by visual warning signals in the display 16.
• control device 3 controls via the interface 17, the steering device 18 of the vehicle to automatically guide the steering, starting from the transfer point 36 to the final position 40.
• a beginning or an end of a parking space may also be performed with the assistance of the camera 19 and the display 16 of the vehicle.
• An example of a corresponding representation of a display image 50 in the display 16 is shown in FIG.
• the camera 19 is hereby directed to an area in front of the vehicle 21 in front of the vehicle, wherein the first obstacle 27 and the second obstacle 28 are shown in the display image 50.
• the camera 19 is aligned so that in particular a bottom surface 51 of the road course 20 is visible.
• a display mark 52 is shown in the display image 50.
• the indicator mark 52 is designed, for example, as a crosshair.
• the indicator mark 52 moves along the first obstacle 27 until the indicator mark 52 comes to a front boundary of the first obstacle 27 in the display image 50 to cover.
• a center mark 55 of the indicator mark 52 arrives at the dashed mark 54 on a
• a user may indicate that the indication mark 52 coincides with the beginning of the parking space between the first obstacle 27 and the second obstacle 28.
• the indicator mark is aligned with the foot point at which the front left edge of an obstacle reaches the bottom of the road. If a position of the vehicle is reached where a fixed camera is directed to this point and if the indicator mark visible to a viewer is in agreement with this point, with known dimensions of the vehicle and a known positioning of the camera on the camera Vehicle clearly determines a position of this point with respect to the camera and thus with respect to the vehicle.
• the arithmetic unit 4 is now, after being input by the user, able to set that point in relation to a current position of the vehicle. For example, it is possible to create an environment map where this first point represents an origin of a coordinate system.
• both a length and a location of the parking space can be computationally calculated to a current position of the vehicle.
• a kind of area map is drawn by calculation, in which the position of the beginning of the parking space and the position of the end of the parking space and the current position of the vehicle is recorded.
• computationally display a correspondingly computed environment map for example in accordance with the illustration of the vehicle 21 and the obstacles 27 and 28, in a plan view.
• the driver can still advantageously be given the opportunity to correct the position of his vehicle 21 in his opinion, if necessary, by means of a corresponding input.
• Obstacle 27 match, so a user can also enter a match of this reticle with the base of the obstacle accordingly. From the positioning of the indicator mark or from the selection of one of the crosshairs, it is then also possible to deduce a distance of the vehicle 21 to the obstacles and thus to a roadside boundary of the parking space.
• the camera 19 may, in one embodiment, be oriented at a 90 ° angle to a straight ahead direction of travel of the vehicle. In the embodiment according to FIG. 3, however, the camera is oriented in such a way that it virtually looks ahead of the vehicle. This makes it possible to already enter a beginning and an end of the parking space when the vehicle has not reached the parking space or has not yet completely passed.
• a user When using a portable computing device, a user must first use in his vehicle the computing device for the calculation of a parking trajectory in a desired parking position and for the
• Calculating a suitability of the parking space provide necessary information. For example, the vehicle length, the vehicle width, the wheelbase and a maximum turning circle must be entered. If the control device is already installed in a vehicle, this information is generally already available to the manufacturer.
• An implementation of a method according to the invention is initiated with an initialization step 60, in which a driver generally notifies a parking request via the operating unit 5.
• the initialization step 60 it is also possible to query whether a user wishes to park in a direction of travel parallel to a direction of travel of the vehicle or in a direction of travel transverse to a direction of travel of the vehicle.
• the driver's request is used in a later calculation of the Einparkverlaufs and in the consideration of the parking space length. Only if the parking space is deep enough for parking, then a driver has to decide for themselves.
• a subsequent first test step it is checked whether the operating element, that is, for example, a pushbutton 6, has been pressed in order to start a
• a first fixing step 62 a beginning of a parking space is determined. Furthermore, a calculation of a traveled distance based on the current position of the vehicle is initialized, so that a distance traveled is detected starting from the set position of the start of the parking space. Subsequently, a branch is made to a second test step 63. In the second test step 63, it is checked whether the operating unit 5 has been actuated again in order to indicate an end of the parking space, for example by a renewed actuation of a pushbutton 6. If this is not the case, then branching back to the second checking step 63 takes place.
• the parking space is not suitable for parking and the process is terminated in a next final step 66.
• a corresponding note to a user is output.
• a driver can be alerted acoustically and / or visually.
• Automatic or to a driver input is further branched from the third test step 65 to a calculation step 67.
• a travel path to a suitable parking position within the parking space is calculated from the current position of the vehicle.
• driving instructions for steering the vehicle in the parking space are then issued or there is an at least partially automatic support of the parking process.

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• Engineering & Computer Science (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Traffic Control Systems (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

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ID=41308092

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• 2008
  • 2008-11-14 DE DE200810043738 patent/DE102008043738A1/de not_active Ceased
• 2009
  • 2009-09-16 CN CN2009801457153A patent/CN102216732A/zh active Pending
  • 2009-09-16 RU RU2011123376/11A patent/RU2529078C2/ru not_active IP Right Cessation
  • 2009-09-16 WO PCT/EP2009/062020 patent/WO2010054880A1/de active Application Filing

Patent Citations (2)

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