WO2011060759A1 - Verfahren zum unterstützen eines fahrers beim einparken eines fahrzeugs - Google Patents
Verfahren zum unterstützen eines fahrers beim einparken eines fahrzeugs Download PDFInfo
- Publication number
- WO2011060759A1 WO2011060759A1 PCT/DE2010/001331 DE2010001331W WO2011060759A1 WO 2011060759 A1 WO2011060759 A1 WO 2011060759A1 DE 2010001331 W DE2010001331 W DE 2010001331W WO 2011060759 A1 WO2011060759 A1 WO 2011060759A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- driver
- parking
- vehicle
- obstacles
- sensor
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
- B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
- B60Q9/005—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a video camera
-
- 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
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
Definitions
- the invention relates to a parking system that supports the driver when parking in a parking space.
- DE 102004039179 A1 shows a parking aid for a motor vehicle, in which the instructions to the driver are made clearer and simpler.
- a disadvantage of this solution is that the driver has extra selection means (eg.
- Navigation system is displayed. This image is usually rectified for improved representation and provided with an overlay of color lines that point the driver into the possible parking space. For parking, the driver can now orient himself to the auxiliary lines.
- the driver typically has difficulty in getting the correct orientation via the steering wheel, especially in the beginning, in order to maneuver the vehicle quickly into the parking space - especially in tight situations.
- the disadvantages of the supported or automatic parking according to the prior art thus consist in that the parking operation must be initiated by an additional and usually not intuitive operation or that only by the presentation of guide lines does not automatically guide the vehicle in the right direction.
- An essential feature of the method described here is that in the area of the lane lines or auxiliary lines predetermined by the steering angle and / or between these, i. in the range given by the steering angle
- Trajectory is searched for possible obstacles. This search is performed using common image processing algorithms, such as optical flow (once the vehicle is in motion) in combination with a grid-based approach.
- the second essential feature of this method is that when an obstacle such as a curb or a vehicle is detected, the driver is guided away from that obstacle by assistive steering torque. As a result, the driver is immediately steered in the right direction, making parking much easier.
- Another major simplification is that to activate the function no extra control switches are required, but only the reverse gear must be engaged. The driver does not have to perform any additional operations, but parks as usual, but is already guided by the anticipatory obstacle detection timely in the right direction.
- the method is designed to assist the driver when parking in rear (head parking spaces) and side parking spaces.
- the proposed assistive steering torque can be overridden by the driver at any time, e.g. to approach another parking space. He remains at all times - in contrast to the automatic parking - in control of
- Steering torque guides the driver in the right direction. Multiple forwards and backwards is thus avoided.
- the system can be operated intuitively, as no change is made to the usual parking procedure and the parking process does not have to be initiated by an extra switch or push button.
- the method even offers assistance in reversing in general, since it also supports avoidance of potential obstacles.
- An algorithm for parking could consist of the following function blocks:
- Potential obstacles e.g. detect with optical flow or grid-based approach in an area beyond the guides.
- the system can be extended in the direction that once the
- the camera scans for possible parking spaces, e.g. as mentioned above, two flanking vehicles.
- the system can then do the
- the obstacle detection based on the optical flow takes place, brought in the subsequent images in a grid to coincide become.
- the calculation of radial distances to the camera and the comparison with subsequent spatially and temporally offset images provides a 3D height profile in which curbs can be well recognized (see Fig. 1). - For obstacle detection or to improve the above
- Obstacle detection relies on a grid-based approach in which
- a grid-based approach is initially sensor-independent. It could also be used for this purpose a laser scanner, a radar sensor or a camera or stereo camera. Similarly, one from the fusion of e.g. Radar sensor and
- Fig. 1 a shows a vehicle with a rear-mounted environment sensor (1), in this embodiment, a camera.
- the vehicle is standing lengthways on the lane next to a curb (2).
- Fig. 1b shows a calculated from the optical flow height profile of the lateral and rear vehicle environment. For easier orientation, the vehicle is shown with the rear-side environment sensor. The white marks represent overrun areas (3) found here.
- the relevant area of FIG. 1 b is again sketched in FIG. 1 c: a first drive-over area (3) is limited by the curb (2), slight elevation, and in the background of a non-drivable area (4) in which other vehicles are located.
- the curb (2) is adjoined by another level (drive-over) area (3) on the left side, which is finally bounded by a non-traversable area (5) of unidentifiable height, in which, for example, a house wall is located.
- Fig. 1b shows a calculated from the optical flow height profile of the lateral and rear vehicle environment. For easier orientation, the vehicle is shown with the rear-side environment sensor. The white marks represent overrun areas (3) found here.
- the relevant area of FIG. 1 b is again sketched in FIG. 1 c: a
- FIG. 2a shows a grid or grid of width B and length L with corresponding B x L cells in front of an environment sensor (1), which determines the coordinates (x, y) of obstacles in the vicinity of a vehicle.
- FIG. 2b now shows a representation of a vehicle environment that is entered in such a grid. Black cells mean a level, traversable area (3). Way cells
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112010002833T DE112010002833A5 (de) | 2009-11-18 | 2010-11-16 | Verfahren zum unterstützen eines fahrers beim einparken eines fahrzeugs |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009053807.0 | 2009-11-18 | ||
DE102009053807A DE102009053807A1 (de) | 2009-11-18 | 2009-11-18 | Verfahren zum Unterstützen eines Fahrers beim Einparken eines Fahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011060759A1 true WO2011060759A1 (de) | 2011-05-26 |
Family
ID=43733292
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2010/001331 WO2011060759A1 (de) | 2009-11-18 | 2010-11-16 | Verfahren zum unterstützen eines fahrers beim einparken eines fahrzeugs |
Country Status (2)
Country | Link |
---|---|
DE (2) | DE102009053807A1 (de) |
WO (1) | WO2011060759A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202012003996U1 (de) | 2012-04-23 | 2012-05-15 | Jan Luis | Rückfahrkamerasystem für personengesteuerte Fahrzeuge und Fahrzeug mit einem solchen System |
DE102012007886A1 (de) | 2012-04-23 | 2013-10-24 | Jan Luis | Rückfahrkamerasystem für personengesteuerte Fahrzeuge und Fahrzeug mit einem solchen System |
DE102013220005A1 (de) * | 2013-10-02 | 2015-04-02 | Continental Automotive Gmbh | Verfahren und Vorrichtung zur Anzeige der Umgebung eines Fahrzeugs und Fahrerassistenzsystem |
CN112908016A (zh) * | 2020-12-24 | 2021-06-04 | 南京酷朗电子有限公司 | 基于停车位监控摄像的引导车辆驾驶的方法 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012000630B4 (de) | 2012-01-14 | 2020-08-13 | Volkswagen Aktiengesellschaft | System zur Erfassung eines Hindernisses für ein Fahrzeug sowie Fahrzeug mit einem System zur Erfassung eines Hindernisses |
DE102013205882A1 (de) * | 2013-04-03 | 2014-10-09 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Führen eines Fahrzeugs im Umfeld eines Objekts |
DE102014009591A1 (de) * | 2014-06-27 | 2015-12-31 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs und Kraftfahrzeug |
DE102016208368A1 (de) * | 2016-05-17 | 2017-11-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren, Vorrichtung und ein mobiles Anwendergerät zum Erzeugen einer Fahrerinformation im Zusammenhang mit zumindest einem Geländeartefakt |
DE102017219119A1 (de) * | 2017-10-25 | 2019-04-25 | Volkswagen Aktiengesellschaft | Verfahren zur Formerkennung eines Objekts in einem Außenbereich eines Kraftfahrzeugs sowie Kraftfahrzeug |
CN112590775B (zh) * | 2020-12-22 | 2022-02-22 | 中国第一汽车股份有限公司 | 一种自动泊车方法、装置、车辆及存储介质 |
Citations (5)
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---|---|---|---|---|
EP1160146A2 (de) | 2000-05-30 | 2001-12-05 | Aisin Seiki Kabushiki Kaisha | Parkhilfe |
DE102004039179A1 (de) | 2004-08-12 | 2006-02-23 | Robert Bosch Gmbh | Einparkhilfe für ein Kraftfahrzeug und Verfahren zum Unterstützen eines Kraftfahrzeugbenutzers beim Einparken eines Kraftfahrzeuges |
DE102007002264A1 (de) | 2007-01-16 | 2008-08-21 | GM Global Technology Operations, Inc., Detroit | Verfahren zum automatisierten Einparken eines Kraftfahrzeugs sowie Längsbewegungssteuerungseinrichtung für ein Kraftfahrzeug |
FR2922029A1 (fr) * | 2007-10-08 | 2009-04-10 | Imra Europ Sas Soc Par Actions | Dispositif et methode de detection d'objet |
DE102008036009A1 (de) * | 2008-03-28 | 2009-10-01 | Volkswagen Ag | Verfahren zum Kollisionsschutz eines Kraftfahrzeugs und Parkhausassistent |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE112004000090D2 (de) * | 2003-01-22 | 2005-08-11 | Conti Temic Microelectronic | Einparkhilfe für Kraftfahrzeuge |
DE10317044A1 (de) * | 2003-04-11 | 2004-10-21 | Daimlerchrysler Ag | Freiraumüberwachung bei Kraftfahrzeugen |
DE10324810A1 (de) * | 2003-06-02 | 2004-12-23 | Robert Bosch Gmbh | Verfahren zur Unterstützung eines Einparkvorgangs eines Fahrzeugs |
DE10331235A1 (de) * | 2003-07-10 | 2005-02-03 | Robert Bosch Gmbh | Fahrhilfsvorrichtung insbesondere zum Einparken eines Fahrzeugs |
DE102005004394B4 (de) * | 2005-01-31 | 2012-09-06 | Continental Automotive Gmbh | Rückfahrtassistent |
DE102005008875B4 (de) * | 2005-02-24 | 2007-10-04 | Daimlerchrysler Ag | Verfahren zur Unterstützung eines Fahrzeugführers bei der Ansteuerung einer Zielposition |
-
2009
- 2009-11-18 DE DE102009053807A patent/DE102009053807A1/de not_active Withdrawn
-
2010
- 2010-11-16 WO PCT/DE2010/001331 patent/WO2011060759A1/de active Application Filing
- 2010-11-16 DE DE112010002833T patent/DE112010002833A5/de not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1160146A2 (de) | 2000-05-30 | 2001-12-05 | Aisin Seiki Kabushiki Kaisha | Parkhilfe |
DE102004039179A1 (de) | 2004-08-12 | 2006-02-23 | Robert Bosch Gmbh | Einparkhilfe für ein Kraftfahrzeug und Verfahren zum Unterstützen eines Kraftfahrzeugbenutzers beim Einparken eines Kraftfahrzeuges |
DE102007002264A1 (de) | 2007-01-16 | 2008-08-21 | GM Global Technology Operations, Inc., Detroit | Verfahren zum automatisierten Einparken eines Kraftfahrzeugs sowie Längsbewegungssteuerungseinrichtung für ein Kraftfahrzeug |
FR2922029A1 (fr) * | 2007-10-08 | 2009-04-10 | Imra Europ Sas Soc Par Actions | Dispositif et methode de detection d'objet |
DE102008036009A1 (de) * | 2008-03-28 | 2009-10-01 | Volkswagen Ag | Verfahren zum Kollisionsschutz eines Kraftfahrzeugs und Parkhausassistent |
Non-Patent Citations (1)
Title |
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HO GI JUNG, JAE KYU SUHR, KWANGHYUK BAE, JAIHIE KIM: "Free Parking Space Detection Using Optical Flow-based Euclidean 3D Reconstruction", CONFERENCE ON MACHINE VISION APPLICATIONS, no. MVA2007 IAPR, 16 May 2007 (2007-05-16) - 18 May 2007 (2007-05-18), TOKYO JAPAN, pages 563 - 566, XP002629009, Retrieved from the Internet <URL:http://www.mva-org.jp/Proceedings/2007CD/papers/15-01.pdf> [retrieved on 20110317] * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202012003996U1 (de) | 2012-04-23 | 2012-05-15 | Jan Luis | Rückfahrkamerasystem für personengesteuerte Fahrzeuge und Fahrzeug mit einem solchen System |
DE102012007886A1 (de) | 2012-04-23 | 2013-10-24 | Jan Luis | Rückfahrkamerasystem für personengesteuerte Fahrzeuge und Fahrzeug mit einem solchen System |
DE102013220005A1 (de) * | 2013-10-02 | 2015-04-02 | Continental Automotive Gmbh | Verfahren und Vorrichtung zur Anzeige der Umgebung eines Fahrzeugs und Fahrerassistenzsystem |
US10093233B2 (en) | 2013-10-02 | 2018-10-09 | Conti Temic Microelectronic Gmbh | Method and apparatus for displaying the surroundings of a vehicle, and driver assistance system |
CN112908016A (zh) * | 2020-12-24 | 2021-06-04 | 南京酷朗电子有限公司 | 基于停车位监控摄像的引导车辆驾驶的方法 |
CN112908016B (zh) * | 2020-12-24 | 2022-06-03 | 南京酷朗电子有限公司 | 基于停车位监控摄像的引导车辆驾驶的方法 |
Also Published As
Publication number | Publication date |
---|---|
DE112010002833A5 (de) | 2012-07-19 |
DE102009053807A1 (de) | 2011-05-19 |
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