WO2014019875A1 - Dispositif de stationnement et procédé d'aide au stationnement pour un conducteur de véhicule - Google Patents

Dispositif de stationnement et procédé d'aide au stationnement pour un conducteur de véhicule Download PDF

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Publication number
WO2014019875A1
WO2014019875A1 PCT/EP2013/065373 EP2013065373W WO2014019875A1 WO 2014019875 A1 WO2014019875 A1 WO 2014019875A1 EP 2013065373 W EP2013065373 W EP 2013065373W WO 2014019875 A1 WO2014019875 A1 WO 2014019875A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
parking
obstacle
travel
driver
Prior art date
Application number
PCT/EP2013/065373
Other languages
German (de)
English (en)
Inventor
Volker Niemz
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2014019875A1 publication Critical patent/WO2014019875A1/fr

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects

Definitions

  • the present invention relates to an apparatus and a method for assisting a driver of a vehicle in parking operations.
  • Such systems are increasingly popular and therefore installed in increasing numbers in vehicles.
  • an environment sensor system of the vehicle scans the environment and searches for parking spaces that are suitable for the vehicle for parking. Should such a gap be found, the system informs the driver and at the same time calculates a parking trajectory that can be optimally parked in the parking space.
  • the parking device can now support the driver by the vehicle is fully automatically parked in the parking space, or at least the steering task is removed from the driver. In the latter case, however, the driver must continue to accelerate and brake the vehicle.
  • Modern parking systems are also capable of multi-generous
  • a vehicle with parking aid which is intended to facilitate a rear parking on slopes.
  • the vehicle has distance sensors at the rear, which determine the distance of the
  • Vehicle to an obstacle can determine.
  • the driver of the vehicle is acoustically warned of these obstacles, which happens not only when the driver of the vehicle has engaged the reverse gear, but also when sensors on the wheels detect a backward movement of the vehicle. Thus, the driver is warned of unintentional rolling back of the vehicle in front of the obstacle.
  • Motor vehicle in which a divided into different subareas parking trajectory is determined.
  • the individual sections include a specific steering angle, which is set manually by the driver.
  • an automatic braking can be carried out when a collision with an obstacle is imminent.
  • Obstacle sensor that can detect obstacles around the vehicle.
  • the control device is thus able to scan the surroundings of the vehicle for obstacles and at the same time to detect parking spaces into which the vehicle can be parked. Furthermore, with the control unit a
  • the control unit is possible to adapt the parking process to the inclination of the ground.
  • the adaptation to the inclination of the ground preferably includes the consideration of unintentional rolling back of the vehicle, which, for example, due to too timid start of the
  • the invention further relates to a method for assisting a driver of a vehicle during parking operations.
  • first parking spaces are found in the vicinity of the vehicle. Simultaneously or subsequently, the
  • the inventive method also allows an individual adaptation of the parking trajectory to the current environment. The possibility of collision with the parking space limiting obstacles is therefore reduced.
  • control unit is set up to carry out a multi-level parking operation.
  • control device is preferably configured to determine a breakpoint at which a direction of travel of the vehicle is changed in such a way that a distance between the breakpoint and an obstacle bounding the parking space depends on the inclination of the ground. Therefore, the allowed
  • Parking device prefers customization of each Parking on the prevailing ground.
  • Parking device help to avoid collisions with the parking space limiting obstacles.
  • the control unit is set up, the distance between a the
  • Direction of travel of the vehicle preferably by the driver, is changed from uphill to downhill to choose such that it corresponds to the same value that the control device chooses even on a level surface.
  • the parking process is not adjusted here with respect to the inclination of the ground, whereby the workload of the control unit is reduced. Nevertheless, there is no risk of collision with the parking space
  • control unit is set up to change the distance of a breakpoint at which the direction of travel, preferably by the driver, in the uphill, the original direction of travel was preferably downhill to choose a greater obstacle to the parking gap, as a value chosen on flat plot.
  • the distance is chosen to be greater, the greater the inclination of the ground.
  • Obstacle can be intercepted.
  • the gradient sensor may be provided by a plurality of
  • the gradient sensor part of an existing in the vehicle antilock braking system, a GPS system in Connection with a stored map and / or a vehicle dynamics control.
  • the gradient sensor can also be realized by a video sensor, a tilt sensor and / or a longitudinal acceleration sensor.
  • the environmental sensor is an ultrasonic sensor or a radar sensor.
  • These sensor types which are already established in the vehicle sector, are simple and inexpensive to manufacture. Particularly preferably, recourse is made to existing sensors in the vehicle for the environmental sensor.
  • the method according to the invention is carried out such that a distance between a breakpoint at which the
  • the inventive method is carried out by a distance between a breakpoint at which the driver changes a direction of travel of the vehicle in the downhill, the direction of travel of the vehicle was previously preferred uphill, and an obstacle of the same value is selected is chosen on a level surface.
  • Vehicle is provided more space to perform the direction change. Should a driver start too timid, that is
  • the position of the holding point is preferably selected such that with increasing inclination of the ground, an increasingly larger distance between the breakpoint and obstacle is present. Overall, therefore, the risk of collision with the obstacle can be significantly reduced.
  • FIG. 1 is a schematic overview of the parking device
  • FIG. 2 shows a first example of a multi-level parking process
  • FIG. 3 shows a second example of a multi-level parking procedure
  • Figure 4 shows a Medicare parking operation of a vehicle on a
  • Figure 5 shows a Medicare parking operation of a vehicle at one
  • FIG. 1 shows schematically a parking device 1 according to a preferred embodiment of the invention.
  • the parking device 1 comprises a
  • Control unit 2 which is connected to two other components.
  • the control unit is connected to an environmental sensor 3, which is, for example, an ultrasonic sensor.
  • the control unit 2 with a
  • Tilt sensor 4 connected, for example, in one
  • control unit 2 is designed to be connectable to a component of the vehicle, preferably to a control unit of the vehicle.
  • FIG. 2 shows a first example of a parking operation of a vehicle 5 in a parking space 6.
  • the vehicle 5 follows a multi-lane
  • a parking trajectory 9, which in the first example comprises two trajectories, a first trajectory 91 and a second trajectory 92.
  • the vehicle 5 is currently at a position where it changes from the first trajectory 91 to the second trajectory 92.
  • the vehicle 5 is therefore located at a breakpoint 7, wherein the breakpoint 7 is a point on the parking trajectory 9, which is achieved, for example, when it coincides with a front edge axis 50 of rear wheels 51 of the vehicle 5.
  • the position of the breakpoint 7 is defined by the sum of the distance 10 between the vehicle rear 52 and the parking space 6 limiting obstacle 8 and the distance 1 1 between the leading edge axis 50 and the vehicle rear 52.
  • the vehicle 5 is with a
  • the distance 10 is detected by the environmental sensor 3 and by the
  • Control unit 2 calculated. If the distance 10 reaches or falls below a set distance for a current slope of the ground, then the
  • Control unit 2 determines that the vehicle 5 is located at the breakpoint 7, so that the driver of the vehicle 5 now has to change the direction of travel of the vehicle 5 to move from the first Trajektorienteil 91 in the second Trajektorienteil 92.
  • Figure 3 shows a parking operation according to a second example, wherein the vehicle 5 comes to an angle in this example obliquely to the parking space limiting obstacle 8. The distance 10 is therefore defined as the shortest distance between obstacle 8 and breakpoint 7, wherein the breakpoint 7 is here to be regarded as Lot on the direction of travel.
  • the driver of the vehicle 5 in order to get from the first Trajektorienteil 91 to the second Trajektorienteil 92, in addition to the direction of travel and the
  • FIG. 4 shows a detail of a parking process in which a vehicle
  • a first step S1 the vehicle 5 reaches a stopping point 7 at which it has a predetermined position
  • Vehicle 5 therefore on the vehicle 5 and collides with this. Only in a third step S3, the vehicle 5 has taken a direction of travel 200, which is directed uphill. However, the vehicle 5 has already collided with the obstacle 8.
  • Figure 5 shows the same steps S1, S2 and S3 as Figure 4, but with a vehicle 5, which is equipped with a parking device according to the invention, or for that the inventive method is performed.
  • the vehicle 5 In the first step S1, the vehicle 5 in turn reaches the breakpoint 7 on the order of the
  • the distance 1 1 is a value greater than zero.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

La présente invention concerne un dispositif d'aide au stationnement pour le conducteur d'un véhicule (5), comprenant une unité de commande agencée pour garer le véhicule (5) en créneau, au moins un détecteur d'environnement relié à l'unité de commande et servant à détecter des obstacles (8) dans l'environnement, et au moins un détecteur d'inclinaison pour déterminer l'inclinaison (α) du sol, l'unité de commande étant agencée pour adapter la réalisation du créneau à l'inclinaison (α) du sol.
PCT/EP2013/065373 2012-08-01 2013-07-22 Dispositif de stationnement et procédé d'aide au stationnement pour un conducteur de véhicule WO2014019875A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012213587.1 2012-08-01
DE102012213587.1A DE102012213587A1 (de) 2012-08-01 2012-08-01 Einparkvorrichtung und Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs

Publications (1)

Publication Number Publication Date
WO2014019875A1 true WO2014019875A1 (fr) 2014-02-06

Family

ID=48856619

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/065373 WO2014019875A1 (fr) 2012-08-01 2013-07-22 Dispositif de stationnement et procédé d'aide au stationnement pour un conducteur de véhicule

Country Status (2)

Country Link
DE (1) DE102012213587A1 (fr)
WO (1) WO2014019875A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102638561B1 (ko) * 2016-11-02 2024-02-20 주식회사 에이치엘클레무브 주차지원시스템 및 주차지원방법
DE102017204221A1 (de) * 2017-03-14 2018-09-20 Ford Global Technologies, Llc Vorrichtung zur Unterstützung eines Manövriervorganges eines Fahrzeugs

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007002267A1 (de) 2007-01-16 2008-08-21 GM Global Technology Operations, Inc., Detroit Verfahren zum Einparken eines Kraftfahrzeugs sowie Längsbewegungssteuerungseinrichtung für ein Kraftfahrzeug
DE102008062342A1 (de) 2008-12-15 2010-06-17 GM Global Technology Operations, Inc., Detroit Fahrzeug mit Parkpilotvorrichtung und Verfahren zum Einparken an Steigungen
DE102009053939A1 (de) * 2009-11-19 2010-06-17 Daimler Ag Verfahren zur Steuerung eines Fahrzeugs während eines Parkvorgangs
US20100318255A1 (en) * 2009-06-16 2010-12-16 Robert Bosch Gmbh Determining low-speed driving direction in a vehicle
US20110276225A1 (en) * 2010-05-07 2011-11-10 Ford Global Technologies, Llc Method and system for automatic wheel positioning
WO2012136721A1 (fr) * 2011-04-08 2012-10-11 Robert Bosch Gmbh Système d'assistance au stationnement, basé sur la direction de déplacement du véhicule

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007027358A1 (de) * 2006-06-14 2007-12-27 Continental Teves Ag & Co. Ohg Verfahren und Einrichtung zum Sichern eines Stillstands eines Kraftfahrzeugs
DE102008046367A1 (de) * 2008-09-09 2010-03-11 Valeo Schalter Und Sensoren Gmbh Verfahren und Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007002267A1 (de) 2007-01-16 2008-08-21 GM Global Technology Operations, Inc., Detroit Verfahren zum Einparken eines Kraftfahrzeugs sowie Längsbewegungssteuerungseinrichtung für ein Kraftfahrzeug
DE102008062342A1 (de) 2008-12-15 2010-06-17 GM Global Technology Operations, Inc., Detroit Fahrzeug mit Parkpilotvorrichtung und Verfahren zum Einparken an Steigungen
US20100318255A1 (en) * 2009-06-16 2010-12-16 Robert Bosch Gmbh Determining low-speed driving direction in a vehicle
DE102009053939A1 (de) * 2009-11-19 2010-06-17 Daimler Ag Verfahren zur Steuerung eines Fahrzeugs während eines Parkvorgangs
US20110276225A1 (en) * 2010-05-07 2011-11-10 Ford Global Technologies, Llc Method and system for automatic wheel positioning
WO2012136721A1 (fr) * 2011-04-08 2012-10-11 Robert Bosch Gmbh Système d'assistance au stationnement, basé sur la direction de déplacement du véhicule

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Publication number Publication date
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