CN102216732A - Control device for a vehicle and method for providing assistance during parking - Google Patents
Control device for a vehicle and method for providing assistance during parking Download PDFInfo
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- CN102216732A CN102216732A CN2009801457153A CN200980145715A CN102216732A CN 102216732 A CN102216732 A CN 102216732A CN 2009801457153 A CN2009801457153 A CN 2009801457153A CN 200980145715 A CN200980145715 A CN 200980145715A CN 102216732 A CN102216732 A CN 102216732A
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- 230000008676 import Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 3
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- 230000004888 barrier function Effects 0.000 description 30
- 230000008569 process Effects 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
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- 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
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- 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
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- 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
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Abstract
The invention relates to a control device (3) for a vehicle having a computing unit (4) for calculating a path to a parked position in a parking space, having an interface with an output unit (15, 16) for outputting guidance instructions for guiding the vehicle to the parked position, characterized by an interface with an input unit (5) for manually inputting at least one boundary of the parking space, and having an interface with at least one means (9, 11, 13) for producing a relationship between the boundary of the parking space and a position of the vehicle.
Description
Technical field
The present invention relates to control device that is used for motor vehicle and the method that is used to park and support according to claim type arranged side by side.
Background technology
By DE 10 2,005 023 177 A1 the method that a kind of driver of being used for supports is disclosed, wherein by sensor motor vehicle surrounding environment.The target location of motor vehicle is added in the motor vehicle surrounding environment.Can in the view of motor vehicle surrounding environment, move or rotate this target location by input block now.
Summary of the invention
With respect to this, the control device with independent claims feature according to the present invention has advantage, that is, do not need to measure parking position by sensor, however still can realize the support to automatic parking.By providing the possibility at least one border that is used for manually importing parking position, can under the situation that does not detect parking position, determine this bit position of parking with approach sensor.The parking position border of settling artificial input with respect to the current location of motor vehicle in addition by suitable device, the driving path can calculating from the current location of motor vehicle to the stand of parking position inside.Therefore a kind of method of parking and supporting at the motor vehicle that does not set the distance-measuring device that is used to measure parking position of being used for can be provided.Also possible in addition is, a border by for example importing parking position in advance by suitable entering apparatus also for motor vehicle as yet not from the side the parking position of process the support of parking is provided, in order to measure this parking position.
Also provide corresponding advantages for the method for supporting that is used to park according to the present invention.
Can be implemented in the control device that provides in the independent claims and the favourable expanded configuration of the method for the support that is used to park and improvement configuration by the measure of listing in the dependent claims.Therefore advantageously, when being operated, entering apparatus detects the top of parking position.Therefore, can make the input on parking position border become very simple, its mode be for the input on parking position border only entering apparatus of simple operations, for example to operate a button just enough.
In addition advantageously, a measurement mechanism that is used for the motion of machines motor-car after trying to achieve the top of parking position is set.Can move by motor vehicle thus and measure the length of parking position along parking position.If the motor vehicle motion is up to an other position (for example an other border of parking position is transfused on this other position), then can derive the length of parking position, and need not even directly measure the parking position size with approach sensor at this time durations by the distance of being passed by.
In addition advantageously, control device according to the present invention is connected with input block, and this input block has and is used to set up the device of parking position borderline phase for the relation of vehicle position.Therefore, portable computing can be carried and also be used to the support of parking in the motor vehicle that does not set range sensor in motor vehicle.
In addition advantageously, portable computing sets the positioning system that is used for the motion of machines motor-car.Therefore even if also can determine the motor vehicle motion when for example not existing with the motor vehicle electronic device, for example with being connected of the wheel detector that is used to measure the distance of travelling of passing by.
In addition also advantageously, on portable computing, demonstrate and be used for the display of display machines motor-car with respect to the position at the top of parking position.Therefore, the user can be for example by the correct input that overlap the top of controlling parking position of control show tags with the top of parking position in display.Also advantageously, a kind of possibility of for example revising the parking position of being imported by the show tags in the mobile parking position view has been proposed here.
In addition advantageously, portable computing also sets the guider of the travel route that is used to be calculated to the target of being imported of travelling.Therefore can especially be calculated to the travel route in parking lot.Portable computing not only can provide the travel route to the parking lot, and can play the support effect in the process of parking.
In addition advantageously, show tags is overlapped with a border of parking position, import the top of parking position then by the operation entering apparatus.Therefore, can be with plain mode by the top of input parking position and the length that terminal is determined parking position.Can also when concerning between the projection of the account form of known show tags in the motor vehicle surrounding environment and the vehicle position, directly set up the top of parking position and the relation between the current vehicle position.Because the position of show tags is known and this show tags overlaps for driver's visible show tags in display with one under the situation that vehicle position is determined, so can be determined with account form by the position and the known relation between the vehicle position of show tags: the parking position top by the input of operation entering apparatus is positioned on that position with respect to motor vehicle.
Description of drawings
Embodiments of the invention are shown in the drawings and elaborate in the following description.It illustrates:
Fig. 1 illustrates the schematic views that has according to the motor vehicle of control device of the present invention;
Fig. 2 is illustrated in the motor vehicle when carrying out the method according to this invention;
Fig. 3 illustrates an embodiment who is used for according to the demonstration view of portable computing of the present invention;
Fig. 4 illustrates the process flow diagram of the method according to this invention process.
Embodiment
In Fig. 1, one motor vehicle 1 is shown with vertical view.In the embodiment shown here, in this motor vehicle 1, be provided with a portable computing 2 that limits by a dotted line.Also possible in another embodiment is that the parts of calculation element 2 can be integrated in the motor vehicle electronic device and for example and be arranged in panel board or the central control board as loading location.
In the embodiment shown here, this portable computing 2 has a control device 3.This control device 3 has a computing unit 4 again, and this computing unit is used for the driving path that calculates parking position length and be calculated to this parking position.Connect an operating unit 5 on control device 3, this operating unit for example has button 6.Memory machine motor-car size especially in storage unit 7, motor vehicle size are used to plan the track of the stand to the detected parking position.The motor vehicle data of being stored are used for also determining whether parking position is fit to the process of parking.Also possible in another embodiment is in order to use portable computing in different motor vehicles, to store the size of different motor vehicle types in storer 7.
The measurement of motor vehicle motion can realize in any way.In the first embodiment, control device 3 has an initial sensing device 8, and acceleration transducer is measured the acceleration of portable computing 2, the acceleration of measuring machine motor-car 1 thus in this initial sensing device.Can determine the motion of motor vehicle on corresponding direction in space by integration by acceleration signal.In another embodiment, radiolocation device 9, for example GPS positioning unit are set, so that determine each current vehicle position and try to achieve the motor vehicle motion by the difference between the vehicle position of determining with also can replenishing ground or conversion.Also possible in another embodiment is, is provided for the interface 10 of wheel speed sensor 11, and this wheel speed sensor is for example tried to achieve the rotation of vehicle wheels 12.Also can be provided for the interface 14 of steering angle sensor 13 in another embodiment, so that try to achieve the steering angle of current selection.
The driver is for example exported to acoustics ground and/or vision in the indication of travelling.For this reason, for example in motor vehicle, be provided with loudspeaker 15 or display 16.Therefore can indicate the driver, turn left to, turn right to, travel to overtake or backward.Also possible in another embodiment is, is provided with an interface 17, also automatically causes mobility operation by this interface.By interface 17 steering gear 18 of controller motor-car for example, so that influence motor turning and can realize thus along the automatic guiding of the distance of travelling of the parking spot to the parking position that calculates.
In order to realize the view of motor vehicle surrounding environment, can also be provided with the camera system 19 of machines motor-car surrounding environment.Display image can directly be transferred to display 16 from video camera 19 when needed.Also possible in another embodiment is, by the computing unit 4 of control device 3 show tags is joined in the image by video camera 19 picked-ups to be used for being presented at display 16.
In another embodiment, portable computing 2 also is designed under the situation of the information of numerical map form in reference-to storage 7 and is utilizing the travel route of determining under the situation of positioning unit 9 from the current location of motor vehicle to travel target, for example parking lot.
An example that is used for mooring into the process of the method for the parking position that extends along trend of road 20 shown in Figure 2.Another kind of but also correspondingly in the unshowned embodiment possible be, carry out parking to the parking position that otherwise, for example laterally is provided with respect to trend of road 20.
The driver of motor vehicle 21 has identified potential parking position 24, and this parking position extends between the barrier 28 along trend of road at one first barrier 27 and another in motor vehicle 21 fronts the preceding along trend of road 20.The driver is brought into his motor vehicle the distance 31 that estimate, between the motor vehicle 21 and first barrier 27 by him now, and roughly straight line to overtake, wherein, the driver roughly is maintained until the distance of first barrier.First distance 31 is here estimated by the driver and for example is about 1 meter.The driver from his motor vehicle of reference position 30s driving to overtake, discerns a consistent position 32 up to him now, and promptly the right outer visor 33 of motor vehicle 21 overlaps with the forward corner of first barrier and overlaps with the top of parking position 24 thus.This position additionally 34 illustrates in Fig. 2 by a dotted line.Except visor with outside a border of parking position is consistent, the top of parking position or the input of terminal also can by another arbitrarily automotive component, for example front bumper unanimity corresponding determine after realization.
The driver now for example comes operating operation unit 5 by pushing predetermined button 6.Computing unit 4 detects the detection of the operation of entering apparatus as the top of parking position 24 now.Because the distance 31 that roughly will keep that the driver is predetermined, thus computing unit 4 now can by this roughly distance and try to achieve the current location 32 of motor vehicle 21 and the relation between 34 parking positions that identify, 24 tops by a dotted line by the consistent parking position border of importing of seamed edges before the outer visor and first barrier 27.The driver continue now along shown in highway section 22 straight lines drive motor vehicle, reach the second consistent position 35 up to him.On this second consistent position, the outer visor 33 of motor vehicle is consistent with the beginning of another barrier 28 and thus with relative top or by set out terminal unanimity with parking position 24 of first barrier 27.The driver is operating operation device 5 again now.Computing unit 4 is used to determine that by inquiry the device of the distance of travelling of passing by tries to achieve now: the distance between the consistent position 35 with second, the first consistent position 32 is much.This for example can realize by inquiry wheel detector 11, initial sensing device 8 or GPS positioning unit 9.In another embodiment, by steering angle sensor 13 being taken into account or by checking that by inquiry GPS positioning unit 9 or initial sensing device 8 trend of the curve that travels also can try to achieve the deviation with the straight line distance, make when needed with account form for the length of parking position 24 determine can consider that also motor vehicle 21 is at the first consistent position 32 and second turning driving that overlaps between the position 35.
Now with the distance between these consistent positions 32,35 and be stored in the storer 7 the motor vehicle size relatively, especially with motor vehicle length relatively.If computing unit 4 determines that the length of parking positions 24 is enough for the process of parking, if it should cross one section from second transmission location or driver and is calculated to the driving path of the stand 23 the parking position 24 from the current location of motor vehicle under the situation on the preceding border of considering parking position and border, back so.Possible driving path is shown in Figure 2 and at first comprise to overtake to transfer point 36, first and be diverted to the right in first circle or the section 37 that circles round up to flex point 38, and in counter steering to the second circle or the section 39 that circles round.
In the first embodiment, present computing unit 4 impels exports to the driver with the indication of travelling, for example at first its motor vehicle is drawn up to transfer point 36, carry out corresponding deflecting roller then and turn to and reverse motion, on motor vehicle is decided to be final position 40 in the stand 23 of parking position 24 inside.The output of indicating of travelling can realize by loudspeaker 15 or by the visual cues signal in the display 16 on acoustics ground.
Also possible in another embodiment is only to indicate the driver to drive motor vehicle forward or backward, but automatically turn to.For this reason, control device 3 is by the steering gear 18 of interface 17 controller motor-cars, and execution turns to until final position 40 so that set out automatically by transfer point 36.
In another embodiment, the top of parking position or terminal are also carried out by the video camera 19 of motor vehicle and the support of display 16.An example of the corresponding views of the display image 50 in the display 16 is shown in Figure 3.Video camera 19 points to zone, motor vehicle 21 right front here, and wherein, first barrier 27 and second barrier 28 are shown in the display image 50.Video camera 19 is directed in this wise here, the feasible bottom surface 51 that especially also can see trend of road 50.Show tags 52 shown in this external display image 50.Show tags 52 for example is embodied as cross curve.The driver makes motor vehicle travel forward on the direction of arrow 53 now, and show tags 52 moves along first barrier 27, and the preceding border of first barrier 27 in show tags 52 and display image 50 overlaps.Among the embodiment shown here, on dotted line sign 54, the intermediate marker 55 on the intersection point point 56 of first barrier of show tags 52 overlaps with the visible borders of first barrier for this reason.Now the user can show by operation entering apparatus 6: show tags 52 is consistent with the top of parking position between first barrier 27 and second barrier 28.Show tags points to such intersection point point at this, and the left front seamed edge of barrier arrives the road bottom on this intersection point point.If arrive a position of motor vehicle, on this position the camera points of a fixed orientation this and consistent for the visible cue mark of observer and this point, so when location on motor vehicle of known motor vehicle size and known video camera clearly definite this with respect to video camera with thus with respect to the position of motor vehicle.Nowadays computing unit 4 can settle this point with respect to the current location of motor vehicle after by user's input.Therefore, for example can produce the surrounding environment map, this first is the initial point of a coordinate system in this surrounding environment map.
If motor vehicle continues now to travel on the direction of arrow 53, when consistent, can realize re-entering so with the back terminal of second barrier 28.Can not only calculate the length of parking position but also calculate the attitude of parking position with account form by following the tracks of with respect to the current location of motor vehicle from top to the motor vehicle motion of the terminal of parking position of parking position.In principle, draw a kind of surrounding environment map, position, top and the terminal location of parking position and the current location of motor vehicle of record parking position in this surrounding environment map with account form.Also possible in addition is for example according to the view of motor vehicle 21 and barrier 27 and 28, with account form the surrounding environment map that correspondingly calculates to be shown in this vertical view., advantageously provide following situation for the driver here, the position of his motor vehicle 21 is revised by corresponding input according to his visual angle when needed.
Also feasible in another embodiment is that show tags 52 moves in display image especially in the horizontal direction, so that in fact show tags is adjusted on the intersection point point of first barrier 27.Can for example compensate the driver does not thus cross from first barrier, 27 next doors with predetermined distance.Also possible in another embodiment is that as shown in FIG. 3, show tags is equipped with the side direction sign of other cross curve form.If in the middle of substituting or for example right cross curve of left cross curve consistent with the intersection point point of first barrier 27, then the user also can correspondingly import intersection point point consistent of cross curve and barrier.Also can derive motor vehicle 21 to barrier and thus to the distance on the border of the road side of parking position by the location of show tags or by the selection of cross curve.
Replace the intersection point point, also can for example adopt location,, make and to set up clearly spatial relationship equally because this class bumper has unified height mostly with respect to bumper in order clearly to determine the position.
If only there is a barrier (should park at this barrier place), control device is also supported the driver when only parking a barrier front so.Enough in this case is to import for example border of first barrier 27 when barrier 28 does not exist.Next corresponding input in the hope of parking of barrier front realizes by the user.
Also possible in another embodiment is, illustrates with the method flow of excitation along the flow process of parking according to the driving path of the view in Fig. 2.
Also possible in addition is, for passing by for the situation of the enough length of parking before arriving second input point 35 from the first input point 32s, provides about ready, enough corresponding promptings of big parking position to the driver.Nowadays the driver can just begin to park before measuring whole parking position.
When using portable computing, the user provides in the time of must using calculation element in his motor vehicle for the track and for the required information of well-formedness of calculating parking position of parking in the stand that is calculated to hope for the first time.For example necessary reader motor-car length, motor vehicle width, wheelbase and the maximum circle of turning.If control device has been installed in the motor vehicle, these information provide one side of manufacturer usually so.
With the execution of initialization step 60 introducing the method according to this invention, the driver informs the hope of parking by operating unit 5 usually in initialization step.Can inquire also in addition in initialization step 60 user wishes still to be to wish laterally and on the travel direction of motor-driven vehicle going direction parking on the travel direction that is parallel to the motor-driven vehicle going direction.Driver's hope adopts in the calculating of moving towards of parking after a while and under the situation of consideration parking position length.What the driver still need oneself judge only is whether parking position is enough dark for parking.
Check in the step ensuing first and to check executive component, just for example whether button 6 is pressed, to show the top of parking position.If this does not also take place, branch gets back to first and checks step 61 so.If the operation of operating unit 5 is determined, in first determining step 62, try to achieve the top of parking position so.In addition initialization is carried out in the calculating of the distance of passing by from the current location of motor vehicle, making is set out by the position, top of the parking position of determining detects the distance of passing by.Next be branched off into second and check step 63.Check second whether checked operation unit 5 is operated again in the step 63,, for example pass through operation push-button 6 again so that show the terminal of parking position.If not this situation, branch gets back to second and checks step 63 so.If this is the case, then in first calculation procedure 64, calculate parking position length between parking position top try to achieve and the parking position terminal of the trying to achieve.For this reason, for example adopt the alternate position spike of distance sensor or the alternate position spike of trying to achieve by positioning unit.Next continue to be branched off into the 3rd and check step 65, check in the step the 3rd the parking position length and the motor vehicle length of trying to achieve is compared.If motor vehicle length for example adds one meter maneuvering distance greater than the length of parking of trying to achieve, this parking position is not suitable for parking and this method finishes in the final step 66 of the next one so.Corresponding prompt is exported to the user.If otherwise parking position is big and be thus suitable for the process of parking, so can acoustics ground and/or vision inform the driver these.Automatically or under driver's input check that from the 3rd step 65 continues to be branched off into a calculation procedure 67 now.In this calculation procedure 67, calculate by the current location of motor vehicle driving path to the suitable stand of parking position inside by the current location of motor vehicle.Next output is used for the support of travelling indicating or realize at least partial automation of park process of motor turning to parking position in output step 68.By arriving the final position 40 of inside, parking stall on the berth, this method finishes in final step 69.
Claims (11)
1. be used for the control device (3) of motor vehicle, comprise: the computing unit (4) of driving path that is used for being calculated to the stand of parking position; Be used for output unit (15,16) interface, described output unit is used to export and is used to guide the guiding indication of described motor vehicle to described stand, it is characterized in that, be provided with the interface that is used for input block (5), described input block is used at least one border that described parking position is imported in the artificially, and the device (9 that is provided with the relation of the position that is used at least one border that is used to set up described parking position and described motor vehicle, 11,13) interface.
2. control device according to claim 1 is characterized in that, detects the top of described parking position when the operation of trying to achieve entering apparatus (5,6).
3. according to each described control device in the above claim, it is characterized in that, be provided with the measurement mechanism (11) that is used to detect the motion of described motor vehicle after trying to achieve the top of described parking position.
4. have portable computing (2), it is characterized in that, be provided with and be used for the artificially and import the input block at least one border of described parking position (5,6) according to each described control device (3) in the above claim.
5. portable computing according to claim 4 is characterized in that, is provided with the positioning system (9) of the motion that is used to detect described motor vehicle.
6. according to each described portable computing in the claim 4 to 5, it is characterized in that, be provided with the interface (10) of device of relation of the position of at least one border that is used to be used for to set up described parking position and described motor vehicle.
7. according to each described portable computing in the claim 4 to 6, it is characterized in that, be provided with and be used to show the display (16) of described motor vehicle with respect to the position at the top of an input of parking position.
8. portable computing according to claim 7 is characterized in that, described motor vehicle can be corrected by operating described entering apparatus with respect to the position at top shown in the parking position.
9. according to each described portable computing in the claim 4 to 8, it is characterized in that, be provided with the guider of the vehicle line of the target of travelling that is used to be calculated to input.
10. the method for parking and supporting that is used for motor vehicle, wherein, calculate the driving path of the stand (23) of described motor vehicle to the parking position (24), output is used to guide the guiding indication of described motor vehicle to described stand (23), it is characterized in that, by artificial input import described parking position (24) at least one border and with current location (21) opening relationships of described motor vehicle.
11. method according to claim 10, it is characterized in that, the surrounding environment image (50) that in display (16), shows the surrounding environment of described motor vehicle, in described surrounding environment image (50), add show tags (52), and try to achieve during the entering apparatus under operation and the corresponding position of described show tags (52) as the top of described parking position.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102008043738.7 | 2008-11-14 | ||
| DE200810043738 DE102008043738A1 (en) | 2008-11-14 | 2008-11-14 | Control device for a vehicle and method for parking assistance |
| PCT/EP2009/062020 WO2010054880A1 (en) | 2008-11-14 | 2009-09-16 | Control device for a vehicle and method for providing assistance during parking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102216732A true CN102216732A (en) | 2011-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009801457153A Pending CN102216732A (en) | 2008-11-14 | 2009-09-16 | Control device for a vehicle and method for providing assistance during parking |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN102216732A (en) |
| DE (1) | DE102008043738A1 (en) |
| RU (1) | RU2529078C2 (en) |
| WO (1) | WO2010054880A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107272671A (en) * | 2016-03-31 | 2017-10-20 | 福特全球技术公司 | Remote control for motor vehicles remote control |
| CN109598972A (en) * | 2018-11-23 | 2019-04-09 | 中汽研（天津）汽车工程研究院有限公司 | A kind of detection of automatic parking parking stall and range-measurement system of view-based access control model |
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| DE102010030486B4 (en) * | 2010-06-24 | 2019-09-26 | Robert Bosch Gmbh | Method for semi-automatic parking of a motor vehicle and a parking system |
| MX364029B (en) * | 2014-04-02 | 2019-04-11 | Nissan Motor | Vehicular information presentation device. |
| JP6330903B2 (en) * | 2014-04-25 | 2018-05-30 | 日産自動車株式会社 | Information presentation device and information presentation method |
| DE102014223237A1 (en) | 2014-11-14 | 2016-05-19 | Volkswagen Aktiengesellschaft | Inductive charging system for charging an electric vehicle |
| CN107924619B (en) * | 2015-08-14 | 2022-03-29 | 福特全球技术公司 | User configurable vehicle parking alert system |
| EP3367367B1 (en) * | 2015-10-22 | 2021-01-27 | Nissan Motor Co., Ltd. | Parking support method and parking support device |
| MY191458A (en) * | 2015-10-22 | 2022-06-28 | Nissan Motor | Parking support method and parking support device |
| WO2017068697A1 (en) * | 2015-10-22 | 2017-04-27 | 日産自動車株式会社 | Parking support information display method and parking support device |
| BR112018008086A2 (en) * | 2015-10-22 | 2018-10-23 | Nissan Motor Co., Ltd. | parking support method and parking support device |
| EP3895947A1 (en) * | 2016-10-04 | 2021-10-20 | Nissan Motor Co., Ltd. | Parking control method and parking control device |
| US10195992B2 (en) * | 2017-04-03 | 2019-02-05 | Ford Global Technologies, Llc | Obstacle detection systems and methods |
| EP3693231B1 (en) * | 2017-10-05 | 2023-01-04 | Nissan Motor Co., Ltd. | Parking control method and parking control device |
| DE102018221871B4 (en) * | 2018-12-17 | 2022-06-15 | Volkswagen Aktiengesellschaft | Method for operating a parking assistance system of a vehicle with specification of a travel direction for a parking maneuver and parking assistance system |
| EP4026743B1 (en) | 2019-09-06 | 2023-11-01 | NISSAN MOTOR Co., Ltd. | Parking assistance method and parking assistance device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4234374B2 (en) * | 2002-08-21 | 2009-03-04 | 三菱自動車工業株式会社 | Parking assistance device |
| RU34758U1 (en) * | 2003-07-16 | 2003-12-10 | Общество с ограниченной ответственностью "С.М. Технологии" | MULTIFUNCTIONAL CAR COMPUTER |
| DE102005023177A1 (en) | 2005-05-19 | 2006-11-30 | Robert Bosch Gmbh | Method for driver assistance |
| DE102006017178A1 (en) * | 2006-04-12 | 2007-10-25 | Robert Bosch Gmbh | Driver assistance system with wireless communication connection |
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2008
- 2008-11-14 DE DE200810043738 patent/DE102008043738A1/en not_active Ceased
-
2009
- 2009-09-16 RU RU2011123376/11A patent/RU2529078C2/en not_active IP Right Cessation
- 2009-09-16 WO PCT/EP2009/062020 patent/WO2010054880A1/en active Application Filing
- 2009-09-16 CN CN2009801457153A patent/CN102216732A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272671A (en) * | 2016-03-31 | 2017-10-20 | 福特全球技术公司 | Remote control for motor vehicles remote control |
| CN107272671B (en) * | 2016-03-31 | 2022-03-22 | 福特全球技术公司 | Remote control device for remote control of motor vehicles |
| CN109598972A (en) * | 2018-11-23 | 2019-04-09 | 中汽研（天津）汽车工程研究院有限公司 | A kind of detection of automatic parking parking stall and range-measurement system of view-based access control model |
| CN109598972B (en) * | 2018-11-23 | 2021-11-19 | 中汽研（天津）汽车工程研究院有限公司 | Automatic parking space detection and distance measurement system based on vision |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102008043738A1 (en) | 2010-05-20 |
| WO2010054880A1 (en) | 2010-05-20 |
| RU2011123376A (en) | 2012-12-20 |
| RU2529078C2 (en) | 2014-09-27 |
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Application publication date: 20111012 |