CN101903229A - Method and device for adapting the guidance of a vehicle - Google Patents
Method and device for adapting the guidance of a vehicle Download PDFInfo
- Publication number
- CN101903229A CN101903229A CN2008801215249A CN200880121524A CN101903229A CN 101903229 A CN101903229 A CN 101903229A CN 2008801215249 A CN2008801215249 A CN 2008801215249A CN 200880121524 A CN200880121524 A CN 200880121524A CN 101903229 A CN101903229 A CN 101903229A
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- vehicle
- obstacle
- guiding
- parking
- coupling
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000000295 complement effect Effects 0.000 claims 2
- 230000006870 function Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000013011 mating Effects 0.000 description 2
- 230000005055 memory storage Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9321—Velocity regulation, e.g. cruise control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a method and a device for adapting the guidance of a vehicle (1) in a region (9) that comprises at least one obstacle (4, 5, 10, 11). The method comprises the steps of determining the height profile of a trajectory that the vehicle (1) is supposed to follow when parking in the region (9), and adapting the speed of the vehicle (1) to the determined height profile by controlling the engine and/or the brake of the vehicle.
Description
Technical field
The present invention relates to be used for mating the method and apparatus of vehicle to the guiding in the zone with at least one obstacle, it has in the feature described in the preamble of claim 1 and 7.
Background technology
In vehicle, based on the S. A. function, to turn to the various differences of function or the automated parking system function of parking certainly be known.The S. A. function gives the vehicle driver following indication: how vehicle is controlled in the parking position neatly.From turning to function automatically to implement the laterally steering of vehicle or turning to and only allow chaufeur to carry out longitudinally guiding.
DE 10261001 A1 have described a kind of method of power actuated vehicle being turned to by servo-steering mechanism of being used for, and wherein, restriction is applied to the moment on the wheel under the situation that three conditions occur.These conditions are: the moment that is applied on wheel or the Steering gear surpasses a threshold value, and perhaps chaufeur is attempted steering wheel rotation, and the rate of change of deflection angle is zero.In described situation, consider: have obstacle and want restraining moment.
EP 1035001 A2 have described a kind of electric servo steering system, and wherein, when determining the condition of stall, for example when wheel is run into kerb, reduction offers the power of electric motor of system.Temperature based on detected power circuit (by described power circuit to the electrical motor feed) is determined stall.
The shortcoming of the known function of parking is, its must green phase to higher expending, for example realize expending aspect the additional sensing mechanism.
Summary of the invention
Task of the present invention is, is provided for mating the method and apparatus of the guiding of vehicle to the zone with at least one obstacle, and it can be realized by low cost.
Described task is by according to the method for claim 1 or according to the device solves of claim 7.
The advantage of the method according to this invention and device is that it can be realized by low cost.
In a preferred configuration of method of the present invention, predictably implement the coupling of vehicle guidance.
The advantage of described preferred configuration is that for example the size according to parking position is predictably mated longitudinally guiding by suitable sensing mechanism in automated parking system.Altitude feature in thus can be under the suitable coupling of the command speed of parking of early engine control and control of braking and vehicle changing according to track, for example when having the obstacle that can cross in the parking position for chaufeur the longitudinally guiding of design vehicle more cosily.
In another preferred configuration of method of the present invention, the coupling of guiding comprises the speed of vehicle and/or the coupling of acceleration/accel.
In another preferred configuration of method of the present invention, the coupling of speed and/or acceleration/accel comprises control driving engine and/or at least one brake equipment of vehicle.
The advantage of these preferred configuration is, the hardware that can use existing braking/acceleration device and therefore not need to add.
Another advantage of these preferred configuration is, can improve for example chaufeur acceptability of the longitudinally guiding of autonomous parking system under the situation that does not have height to expend.
In another preferred configuration of method of the present invention, altitude feature determine to have detection to obstacle that can cross or the obstacle that can not cross.
The advantage of described preferred configuration is that especially step and the kerb for parking position reduces time length and the frequency of chaufeur to the intervention of longitudinally guiding significantly.
Description of drawings
Followingly at length explain the preferred embodiments of the present invention with reference to accompanying drawing.Accompanying drawing illustrates:
Fig. 1: the lateral plan of the application example of the method according to this invention; And
The birds-eye view of the application example of Fig. 2: Fig. 1.
The specific embodiment
Fig. 1 illustrates the lateral plan of the application example of the method according to this invention.Be positioned at vehicle 1 on the track 2 on its longitudinal direction basically be used for vehicle, smooth parking be with 3 location abreast.Park with 3 by track 2 and park with first obstacle 4 between 3 and park with 3 and footway 6 between second obstacle 5 limit.First obstacle 4 perpendicular to the longitudinal direction of vehicle 1 in a lateral direction with the right side of vehicle 1 at a distance of first apart from d1.Second obstacle 5 in a lateral direction with the right side of vehicle 1 at a distance of second distance d2 and be higher than first obstacle 4.First obstacle 4 is track 2 and parking with the step between 3 preferably, and second obstacle 5 preferably park with 3 and footway 6 between kerb.
A detecting device 7 is installed on the right side of vehicle 1, and described detecting device 7 suitably is provided with and is designed for detection obstacle 4 and 5.For this reason, detecting device 7 have suitable selection, about vertical surveyed area 8 in track 2 and the resolution of suitably selecting.Detecting device 7 preferably includes microwave radar, ultrasonic transduter, a laser scanner and/or has the pick up camera of image analysis apparatus.
Fig. 2 illustrates the birds-eye view of the application example of Fig. 1.Shown in it: vehicle 1 is positioned at parking position 9 next doors of parking with on 3 in a longitudinal direction.This parking position 9 is in a longitudinal direction between other vehicles 10 and 11 of two on parking with 3.In order to detect obstacle 4 and 5, equally suitably select and with appropriate resolution scanning detection apparatus 7, about the surveyed area 2 of track 2 levels.
In the embodiment of method of the present invention, before sailing vehicle 1 into parking position 9, that is to say before VEHICLES MUST PARK WITHIN THE MARKED BAY, determine the altitude feature of the track of the travel motion of vehicles 1 to the parking position 9 by detecting device 7.At this, the obstacle (for example second obstacle 5) that detects the obstacle on the track and preferably it is categorized as the obstacle (for example first obstacle 4) that can cross by vehicle 1 and can not crosses by vehicle 1.Preferably carry out described classification according to the intensity and the scope of the reflection of beam on obstacle 4 and 5 that is used to detect.
After definite trajectory height feature, predictably or in advance mate the ride characteristic of vehicle 1 to the parking position 9, for example vehicle 1 about track and speed and/or acceleration/accel the ground spot correlation.For this reason, in a processing equipment, calculate the suitable motion process of vehicle and subsequently described motion process being stored in the memory storage.During sailing parking position 9 into, from memory storage, transfer described operational process and the correspondingly manipulation of the brake equipment of the rotating speed of the driving engine of control example such as vehicle 1 and moment and vehicle 1.
In an alternate embodiment, during sailing vehicle 1 into parking position 9, determine and/or upgrade altitude feature and the corresponding motion characteristics of vehicle along track.
By measuring parking position 9, can determine the altitude feature in the track change curve by means of suitable sensing mechanism.Especially, also can discern obstacle, for example parking position 9 residing steps that can cross exactly in the place.Can predictably mate longitudinally guiding when the automatic parking by the altitude feature of trying to achieve by measurement.
On the one hand, the deceleration/acceleration that can before the altitude feature marked change, automatically mate control of driving engine and brake equipment and the vehicle 1 that meanwhile occurs in necessary position.Can for example before crossing low kerb, improve engine moment like this, so that avoid the reduction of speed.Can with desired park speed by discerned but the obstacle that can cross.
On the other hand, the command speed of parking of longitudinally guiding can mate with altitude feature.For example may be meaningfully, higher but underspeed before the step that can cross, so that can cosily cross described step.Reduce the interruption of the intervention of chaufeur and the process of parking significantly by the present invention.
Though abovely described the present invention according to preferred embodiment, the present invention is not limited to these embodiment, but can revise in many ways.
Be used for coupling and control vehicle (for example manned vehicle, load-carrying vehicle or other movable devices) to the whole bag of tricks and device of the guiding of a zone (for example park band, parking position etc.), the present invention is available, and with vehicle on which direction, promptly the zone vertically on still transversely stop or stop to have nothing to do, and with in described zone, whether have the not movable object of other vehicles or other and on which position, have other vehicles or other not movable objects irrelevant.The present invention is particluarly suitable for using in the parking system of vehicle and the method for parking.
Claims (8)
1. be used to mate the method for the guiding of vehicle (1) to the zone (9), said method comprising the steps of with at least one obstacle (4,5,10,11):
Determine the altitude feature of the track that described vehicle (1) should be followed in its guiding process to the described zone (9),
The guiding and the determined altitude feature of described vehicle (1) are complementary.
2. method according to claim 1 is characterized in that, predictably implements the coupling of described guiding.
3. method according to claim 1 and 2 is characterized in that, the coupling of described guiding comprises the speed of described vehicle (1) and/or the coupling of acceleration/accel.
4. method according to claim 3 is characterized in that, the coupling of described speed and/or acceleration/accel comprises the driving engine of described vehicle (1) and/or the control of at least one brake equipment.
5. according to each described method in the above claim, it is characterized in that the detection of determining to comprise the obstacle (5,10,11) that maybe can not cross of described altitude feature to the obstacle (4) that can cross.
6. according to each described method in the above claim, it is characterized in that described method is used in the method for parking of vehicle.
7. be used to mate the device of the guiding of vehicle (1) to the zone (9) with at least one obstacle (4,5,10,11), described device comprises:
Be used for determining the device of described vehicle (1) at the altitude feature of its track that should follow to the process of the guiding in described zone (9); And
Be used to make the guiding of described vehicle (1) and the device that determined altitude feature is complementary.
8. according to the device of claim 7, it is characterized in that described device is used in the parking system of vehicle.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102007061234.8 | 2007-12-19 | ||
| DE102007061234A DE102007061234A1 (en) | 2007-12-19 | 2007-12-19 | Method and device for adjusting the guidance of a vehicle |
| PCT/EP2008/063750 WO2009077220A1 (en) | 2007-12-19 | 2008-10-14 | Method and device for adapting the guidance of a vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101903229A true CN101903229A (en) | 2010-12-01 |
Family
ID=40185051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008801215249A Pending CN101903229A (en) | 2007-12-19 | 2008-10-14 | Method and device for adapting the guidance of a vehicle |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2234857A1 (en) |
| CN (1) | CN101903229A (en) |
| DE (1) | DE102007061234A1 (en) |
| WO (1) | WO2009077220A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104541284A (en) * | 2012-06-06 | 2015-04-22 | 谷歌公司 | Obstacle evaluation technique |
| CN107831484A (en) * | 2017-09-29 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of ladder data capture method and device based on laser radar |
| CN111422185A (en) * | 2018-12-20 | 2020-07-17 | 大众汽车有限公司 | Method for controlling a motor vehicle, control device and motor vehicle |
| CN111812657A (en) * | 2020-07-10 | 2020-10-23 | 广州小鹏车联网科技有限公司 | Parking space determining method and device based on vehicle |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009046966B4 (en) * | 2009-11-23 | 2019-01-31 | Robert Bosch Gmbh | Method for assisting the driver of a vehicle |
| DE102010001922A1 (en) | 2010-02-15 | 2011-08-18 | Robert Bosch GmbH, 70469 | Method and device for parking a motor vehicle |
| US8287055B2 (en) | 2010-09-28 | 2012-10-16 | Robert Bosch Gmbh | Brake control of a vehicle based on driver behavior |
| DE102012014809A1 (en) | 2012-07-26 | 2014-01-30 | Volkswagen Ag | Method and device for detecting a curb crossing |
| JP5831415B2 (en) | 2012-09-18 | 2015-12-09 | アイシン精機株式会社 | Parking assistance device |
| WO2014068769A1 (en) * | 2012-11-02 | 2014-05-08 | トヨタ自動車 株式会社 | Parking assist device |
| DE102013210672B4 (en) * | 2013-06-07 | 2020-10-29 | Bayerische Motoren Werke Aktiengesellschaft | Parking assistance system comprising a speed controller with an I component for overcoming a ground obstacle |
| DE102013212708B4 (en) | 2013-06-28 | 2022-01-13 | Volkswagen Aktiengesellschaft | Method and device for carrying out autonomous driving maneuvers of a vehicle |
| US20160368336A1 (en) | 2015-06-19 | 2016-12-22 | Paccar Inc | Use of laser scanner for autonomous truck operation |
| JP6483264B2 (en) * | 2015-07-31 | 2019-03-13 | 日立オートモティブシステムズ株式会社 | Parking assistance device for vehicles |
| DE102015220467A1 (en) | 2015-10-21 | 2017-04-27 | Robert Bosch Gmbh | A method of assisting a driver in parking a vehicle and a parking assistance system |
| US10185319B2 (en) | 2015-11-16 | 2019-01-22 | Ford Global Technologies, Llc | Method and device for assisting a parking maneuver |
| DE102016104574A1 (en) * | 2016-03-14 | 2017-09-14 | Valeo Schalter Und Sensoren Gmbh | Method for at least semi-autonomous parking of a motor vehicle, driver assistance system and motor vehicle |
| DE102016215840A1 (en) | 2016-08-23 | 2018-03-01 | Volkswagen Aktiengesellschaft | Method for detecting curbs in the vehicle environment |
| DE102016117705A1 (en) | 2016-09-20 | 2018-03-22 | Valeo Schalter Und Sensoren Gmbh | Method for operating a driver assistance system for the at least semi-autonomous maneuvering of a motor vehicle, computing device, driver assistance system and motor vehicle |
| DE102016221276A1 (en) * | 2016-10-28 | 2018-05-03 | Ford Global Technologies, Llc | Maneuvering method for a motor vehicle, motor vehicle |
| DE102017100979A1 (en) * | 2017-01-19 | 2018-07-19 | Valeo Schalter Und Sensoren Gmbh | A method for determining a property of a parking space, parking management system, method for assisting a driver when parking a vehicle and vehicle |
| DE102017111874A1 (en) | 2017-05-31 | 2018-12-06 | Valeo Schalter Und Sensoren Gmbh | Torque or acceleration at the end of a trajectory |
| JP6981196B2 (en) | 2017-11-17 | 2021-12-15 | 株式会社アドヴィックス | Vehicle driving support device |
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| EP1643271A1 (en) * | 2004-09-30 | 2006-04-05 | Robert Bosch Gmbh | Method and device for classifying side boundaries of a parking space for a parking assistance system of a motor vehicle |
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| EP1764630A1 (en) * | 2005-09-15 | 2007-03-21 | Hella KG Hueck & Co. | Method of determining the size of a parking place |
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| US6338016B1 (en) | 1999-03-08 | 2002-01-08 | Trw Inc. | Method and apparatus for detecting a motor stall condition in an electric assist steering system |
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| DE10261001B4 (en) | 2002-12-24 | 2012-05-31 | Robert Bosch Gmbh | Method and power steering apparatus for steering a motor vehicle |
| DE10343174A1 (en) * | 2003-09-18 | 2005-04-14 | Robert Bosch Gmbh | Device and method for controlling the speed of a vehicle when maneuvering / parking the vehicle |
| DE102004054437B4 (en) * | 2004-11-11 | 2012-01-26 | Volkswagen Ag | Method for automatically controlling and / or regulating a movement of a vehicle during a parking operation |
-
2007
- 2007-12-19 DE DE102007061234A patent/DE102007061234A1/en not_active Withdrawn
-
2008
- 2008-10-14 WO PCT/EP2008/063750 patent/WO2009077220A1/en active Application Filing
- 2008-10-14 EP EP08805262A patent/EP2234857A1/en not_active Withdrawn
- 2008-10-14 CN CN2008801215249A patent/CN101903229A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1846149A (en) * | 2003-08-28 | 2006-10-11 | 罗伯特·博世有限公司 | Method and device for determining the size and position of a parking space |
| CN1993631A (en) * | 2004-08-05 | 2007-07-04 | 大众汽车有限公司 | Device for a motor vehicle |
| EP1643271A1 (en) * | 2004-09-30 | 2006-04-05 | Robert Bosch Gmbh | Method and device for classifying side boundaries of a parking space for a parking assistance system of a motor vehicle |
| EP1764630A1 (en) * | 2005-09-15 | 2007-03-21 | Hella KG Hueck & Co. | Method of determining the size of a parking place |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104541284A (en) * | 2012-06-06 | 2015-04-22 | 谷歌公司 | Obstacle evaluation technique |
| CN104541284B (en) * | 2012-06-06 | 2018-05-29 | 伟摩有限责任公司 | Barrier assessment technology |
| CN107831484A (en) * | 2017-09-29 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of ladder data capture method and device based on laser radar |
| CN111422185A (en) * | 2018-12-20 | 2020-07-17 | 大众汽车有限公司 | Method for controlling a motor vehicle, control device and motor vehicle |
| CN111422185B (en) * | 2018-12-20 | 2023-10-31 | 大众汽车有限公司 | Method for controlling a motor vehicle, control device and motor vehicle |
| CN111812657A (en) * | 2020-07-10 | 2020-10-23 | 广州小鹏车联网科技有限公司 | Parking space determining method and device based on vehicle |
| CN111812657B (en) * | 2020-07-10 | 2024-04-16 | 广州小鹏自动驾驶科技有限公司 | Parking space determining method and device based on vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102007061234A1 (en) | 2009-06-25 |
| WO2009077220A1 (en) | 2009-06-25 |
| EP2234857A1 (en) | 2010-10-06 |
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