CN102436758B - Method and apparatus for supporting parking process of vehicle - Google Patents
Method and apparatus for supporting parking process of vehicle Download PDFInfo
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- CN102436758B CN102436758B CN201110267837.9A CN201110267837A CN102436758B CN 102436758 B CN102436758 B CN 102436758B CN 201110267837 A CN201110267837 A CN 201110267837A CN 102436758 B CN102436758 B CN 102436758B
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- 238000000034 method Methods 0.000 title claims abstract description 90
- 230000008569 process Effects 0.000 title claims abstract description 56
- 238000003032 molecular docking Methods 0.000 claims description 47
- 238000004321 preservation Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
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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
- B62D15/0285—Parking performed automatically
-
- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Navigation (AREA)
Abstract
The method involves executing a comparison of a vehicle position (260) with a deposited parking situation (210). The parking situation is assigned to a parking surface (220) and has a deposited parking position. A parking information is determined on the basis of the comparison for supporting the parking process. Independent claims are also included for the following: (1) a device for supporting a parking process of a vehicle; (2) a method for assigning a parking space to a vehicle; and (3) a computer program product with a program code.
Description
Technical field
The present invention relates to a kind of method for support unit docking process and a kind of corresponding equipment, a kind of for distribute method and a kind of corresponding computer program on parking stall to vehicle.
Background technology
By means of the parking assisting function in vehicle, can identify the possible barrier in vehicle region, thereby make parking become easy.Such example has backup camera or range sensor.In addition known automatic parking assistance system, it can be realized and stopping in parking stall for example.
DE 10 2,008 02 7779A1 disclose a kind of method stopping providing support to vehicle driver to time in parking stall, wherein, possible parking stall is measured, according to the parking stall geometric configuration by the measurement on parking stall is tried to achieve and vehicle with respect to parking bit position, calculate parking track, then carry out docking process.
Summary of the invention
Under this background, propose a kind of method for support unit docking process by the present invention according to every independent claims, propose in addition a kind of equipment that adopts the method, a kind of for distributing the method on parking stall to vehicle and finally proposing a kind of corresponding computer program.Favourable design proposal is provided by each dependent claims and follow-up explanation.
The present invention is based on following understanding: replace and drive towards relevant parking spot, can carry out a kind of docking process, make to occupy an accurate definite position.This position can be for example and the distance of wall or object, or can be position coordinates.That is the present invention's proposition, parking assisting function is expanded, make this parking assisting function carry out docking process according to parking site, this place for example can be determined by gps coordinate.
The present invention proposes a kind of method for support unit docking process, has following steps: the position to vehicle and the parking condition of preservation compare, and wherein, parking condition is corresponding to a parking face, and comprises the parking spot of at least one preservation; Determine based on the comparison, for supporting the parking information of docking process.
The method for example can be implemented in the navigational system of vehicle, drive assist system or infosystem.By automatically or semi-automatically carrying out docking process by means of parking assisting function or exporting the prompting for vehicle parking acoustically and/or visually, can support docking process.The parking condition of preserving can be described below situation, and this situation has shown that vehicle was once once parked on parking face.Thereby parking face can be a parking stall.Vehicle location can be vehicle limit in advance around the current place in the scope of parking face, this place for example can be represented by gps coordinate.Described position can be also the current distance between vehicle and the object that limited by parking condition.Parking condition can be just detected in the time that vehicle had previously been parked on parking face.Parking condition can represent some data, these data in the time previously stopping by the surrounding environment pick-up unit of vehicle, for example range sensor or image detection device, or determined by for example gps receiver of position determining means.If described data are detected by surrounding environment pick-up unit, these data can be determined the one or more distances apart from one or more objects that recognize.If described data are detected by position determining means, these data for example can comprise position coordinates.Parking condition thereby can determined in advance, that is in time in the current region near being represented by the parking condition of preserving of vehicle and before causing current docking process.Especially, parking condition can be included in the current close situation of vehicle and can detect parking face detected data before by the surrounding environment pick-up unit of vehicle.Parking condition can be kept in the storage unit of vehicle.Can preserve multiple different parking conditions, these parking conditions can be corresponding to variant parking stall.During near a parking stall, store parking condition for this parking stall at vehicle, can manually or automatically choose the parking condition of corresponding preservation.This position with the comparative example of the parking spot preserved as carried out by means of suitable algorithm.This for example can determine vehicle location and the parking spot stored between distance, and this position is with respect to the direction of preserved parking spot.Relatively can determine to take which maneuver that travels by described, to make vehicle drive towards parking face from this position.The target is here to make current parking spot consistent with preserved parking condition.Parking information can be to adjust prompting, and this adjustment prompting should make vehicle parking become easily or should realize vehicle parking.Thereby parking information can represent the instruction for making the self-stopping opertaing device of vehicle.Also can under the condition that uses appropriate algorithm, carry out definite step.Can utilize known parking assisting function at this.
According to a kind of embodiment, the parking spot of preserving can be arranged in parking face.Parking face can be described vehicle occupied region after docking process finishes.Parking spot can represent in the time that vehicle is parked on parking face the determined position coordinates of position determining means by vehicle.The parking spot of preserving can comprise directional information, and this directional information defines the orientation of the vehicle on the directed or parking face of being parked in of parking face.Alternatively, parking spot also can be illustrated in the coordinate of parking face midpoint.Can make in this way vehicle for example automatically be parked on predetermined parking stall by means of position determination system, this parking stall is passed through preserved parking spot and is limited.
In addition the parking condition of preserving, can limit apart from the distance that is positioned at the object outside parking face.This object can be for example wall or another vehicle.Thereby in current docking process, just can consider the barrier around the face that for example stops, although this barrier is not yet detected by the surrounding environment pick-up unit of vehicle during current docking process.Vehicle also can stop like this, makes again to maintain the distance apart from object of once selecting.
According to another embodiment, the parking condition of preserving can limit the range information between the object in vehicle and surrounding environment.Correspondingly, can also further determine parking information based on this range information.Range information can be for example the data of preserving of one or more range sensors.Range information can be for determining adjustment path to be carried out before determining current distance value by range sensor.
According to another embodiment, the parking condition of preserving can be illustrated in fixed information in previous vehicle parking process.Described information can be for example the data of vehicle distances sensor and/or by the definite gps data of Vehicular navigation system or gps coordinate.These data can be detected during the maneuver that travels of carrying out previous docking process.As an alternative or additional, these data can be detected after vehicle has occupied the final parking spot reaching by previous docking process.In previous docking process, vehicle can be parked in and the corresponding parking spot of preserved parking spot.Data corresponding to preserved parking condition can be stored chronically, and called in the time re-executing docking process.
Another embodiment can comprise the step that detects the step of current parking condition and current parking condition and the parking condition of preserving are compared.Variation between the parking condition that can determine current parking condition thus and preserve.Correspondingly, can further implement definite step based on described variation.Current parking condition can range sensor and the navigational system by vehicle detect as preserved parking condition.Describedly relatively can carry out by means of suitable algorithm.Can advantageously determine whether that in this way for example emerging barrier is positioned at parking face or parking face adjustment region around, this barrier makes to be necessary to adjust parking information.Described emerging barrier can be at still non-existent barrier of the detection moment of preserved parking condition.Thereby can prevent the collision between vehicle and barrier.
In addition the parking condition of preserving, can comprise travel maneuver initial position and about the maneuver that travels of successive generation vehicle is guided to the data of the parking spot of being stored from the maneuver initial position that travels.Therefore, can additionally carry out definite step based on these data.The maneuver initial position that travels can be for example the coordinate outside parking condition limiting in advance.Vehicle arrives the maneuver initial position that travels for example can trigger the data of output for the successive maneuver that travels occurring.Can also guide or carry out in this way docking process complicated and/or that carry out along path far away.
The method also can comprise the step of preserved parking condition being exported to vehicle display device.Display device can be for example the display screen of Vehicular navigation system.This can make driver's easier overview parking face and the barrier around this parking face.
According to another embodiment, described method can comprise the step that receives the parking condition of preserving from the generator of outside vehicle.Generator can away from vehicle arrange, and connect with vehicle by communication interface.Then the parking condition receiving based on the generator from outside is determined parking information.The outside unit that provides can be for example the server in garage.Can make in this way vehicle driver for example without find idle parking stall in garage, because for example driver can be guided into the parking stall that is suitable for its vehicle size by parking information.So, even in garage in most cases in limited space, also can advantageously make complicated the stopping of design become easy to the maneuver in the parking stall of sailing for.
In addition, the present invention also provides a kind of equipment for support unit docking process, there is following feature: for the device that vehicle location and the parking condition preserved are compared, wherein parking condition is corresponding to a parking face and comprise the parking spot that at least one is preserved; And determine based on the comparison, for supporting the device of parking information of docking process.
Described equipment can be for example navigational system, driver assistance system or the infosystem of vehicle.If vehicle has automatic parking assistance system, this equipment also can comprise the coupling part connecting to wheel steering system.Parking assistance system can comprise the device for vehicle location and the parking condition of preserving are compared automatically, and this device can compare under the condition that uses appropriate algorithm.Parking condition for example can be kept in the storer of navigational system.Within determining that the device of parking information can be included in automatic parking assistance system equally.Equipment can be understood as a kind of electric instrument here, this electricity instrument processes sensor signal, and export accordingly control signal.Described equipment can have interface, that this interface can be designed to hardware type and/or software type.In the design of hardware type, interface can be for example a part of so-called system ASIC, the various difference in functionalitys that this part comprises described equipment.But interface can be also the integrated circuit of self, or formed by discrete element at least partly.In the design of software type, interface can be the software module except other software modules being for example positioned on microcontroller.
In addition, the invention provides a kind ofly for distributing the method on parking stall to vehicle, there are following steps: select the parking stall that is suitable for detected vehicle from multiple parking stalls, wherein each in parking stall matches with a kind of parking condition; And handle passes to vehicle with the parking condition that suitable parking stall matches.
The method for example can be implemented by public parking position provider's generator.For example can detect vehicle by means of the sensor sailing on railing in region, public parking position.For example can, according to detected vehicle size or the vehicle detecting, in the multiple parking stalls that never taken by another vehicle, choose suitable parking stall.Each parking condition corresponding to corresponding parking stall for example can comprise from sailing railing into until arrive the running data on parking stall at this.So, after transmitting parking condition, vehicle can be directed to selected parking stall through region, parking stall.The step of described transmission for example can be carried out by the communication unit of generator.Data corresponding to each parking condition for example can be detected once and storage by parking stall provider.
A kind of computer program with program coding also advantageously, this program coding can be stored in machine readable carrier as in semiconductor memory, harddisk memory or optical memory and for when with the corresponding equipment of computing machine on while carrying out this program, implement according to the method in aforementioned arbitrary embodiment.
Brief description of the drawings
Exemplarily introduce in detail the present invention according to accompanying drawing below.In accompanying drawing:
Fig. 1 shows according to an embodiment of the present the process flow diagram for the method for support unit docking process;
Fig. 2 shows the schematic diagram of vehicle parking process according to an embodiment of the present; And
Fig. 3 shows according to an embodiment of the present the schematic diagram for the equipment of support unit docking process.
In description of the preferred embodiment of the present invention, use same or analogous Reference numeral for the similar element of effect shown in each different accompanying drawing below, wherein saved being repeated in this description these elements.
Embodiment
Fig. 1 shows the process flow diagram of the method 100 for support unit docking process according to an embodiment of the invention.
For some parking condition, particularly, in the time that home address stops, favourable parking mode is to make automobile occupy a definite position.In order to realize as far as possible without any problems this point, can advantageously on vehicle technology, support docking process.
For example two cars may must be stopped on ramp side by side.May on ramp or in garage, must keep passage unimpeded in addition.
According to an embodiment, this can realize in the following way: first disposable vehicle driving to be it seems to the position suitable to vehicle driver.This position can be for example both based on corresponding gps coordinate, and the signal based on other range sensor is stored in the control module of for example navigational system again.As object of reference and/or reference plane, should for example use a sidewalls that can not change in each docking process in future here.Thisly also can be stored in control instrument for example in navigating instrument with reference to situation.Utilize vehicle with respect to the position with reference to situation, can determine the parking condition of vehicle, and be for example kept in navigating instrument.For docking process herein in vehicle future, at that time can this parking condition of re invocation, to support docking process.
According to a kind of embodiment, in method 100, in order to design in advance parking, in step 110, the vehicle current location detecting and the parking condition of preserving are compared.Relatively can carry out once between parking spot current and that preserved, or repeatedly repeat, until current position and the position consistency of having preserved.At this, the parking spot of having preserved can represent by gps coordinate, and this coordinate has been navigated system and saves as the parking spot of vehicle in the docking process for the first time of vehicle.The current location of vehicle also can be corresponding with a gps coordinate of being determined by navigational system.As additional or substitute, parking condition can represent with the distance value of range sensor, and this distance value is recording and compare with current distance value in docking process for the first time.Carry out object identification, be same object with what guarantee distance value reference current and that preserved for this reason.In following step 120, can be identified for the parking information of the docking process of support unit.In order to determine, can use the information obtaining in comparison step 110.Parking information can be for example the instruction about Vehicular turn to vehicle driver, and this instruction for example can be exported and additionally or alternatively also can visually be exported by display screen by vehicle speakers.But parking information can be also the steering order of the automatic stopping backup system to vehicle, by means of described steering order can driver not pro-active intervention in the situation that by vehicle movement to correct parking spot.
Fig. 2 has illustrated the docking process of vehicle 200 according to an embodiment of the present with the schematic diagram of overlooking.What illustrate is parking condition 210.In parking condition 210, the restriction that is subject to standing on the wall 230 on the left side and is parked in another vehicle 240 on the right with the parking face 220 for vehicle 200 shown in dotted line frame.Parking condition 210 is designed to, and makes parking face 220 left to having respectively a segment distance between vehicle 240 between wall 230 and to the right, thereby under the dead ship condition of vehicle 200, for example can open without any problems car door.In the view shown in Fig. 2, vehicle 200 in stopping backward of representing with arrow in the process 250 in the parking stall being represented by parking face 220.
Parking face 220 is at this accurate location that to be vehicle 200 occupied in docking process for the first time, and according to the method that proposed here for making the current docking process 250 accurately stopping in vehicle 200 positions come back to this parking face.
In the embodiment shown in Figure 2, when the mid point 260 representing when point of use of vehicle 200 overlaps with the mid point 270 with another point represents of parking face 220, docking process 250 finishes.In order to coordinate docking process 250, also can use other coordinate vehicle 200 or parking face 220.As an alternative or additional, when the range sensor that can work as vehicle is exported a distance value consistent with preserved distance value 272, docking process 250 finishes.
In the time press now shown in Fig. 2 further close parking face 220, the data 270,272 of vehicle 200 based on preserved are automatically stopped.Should consider the distance that need maintain apart from the object 230,240 of storing in advance at this, consider again and walk around new barrier, for example an automobile of stopping (not shown in Fig. 2).
For example can in man-machine interface (HMI), illustrate by overview image at the parking condition 210 shown in Fig. 2.
According to a kind of embodiment, described method may be embodied as, and not only stores with reference to situation 210, and is stored in the docking process that the moment has more early adopted.This is quite complicated and can be useful singly cannot solve by automatic parking assistance system time in situation.
According to another embodiment, for example, in garage, from sail garage into, to the path on a definite parking stall, including the necessary data for sensor element, can be loaded in main frame (Head Unit) by communication unit.Here, can according to particular vehicle (fahrzeugspezifisch), for example, leave in advance in database according to vehicle for the data of sensor element.Thereby for driver, the adjustment in unknown garage reduces.In addition, can also determine parking stall by garage server according to the size of vehicle.
Fig. 3 shows the schematic diagram of the equipment 300 for support unit docking process according to an embodiment of the present.Vehicle shown in Fig. 3 can be for example the vehicle 200 of Fig. 2.Illustrate for for storing the device 310 of the parking condition that will preserve, for determining the device 320, comparison means 330 of current vehicle location, for determining the device 340 of parking information and for supporting the device 350 of docking process.
According to the view in Fig. 3, be kept at the information of the relevant parking condition in device 310 and be passed to comparison means 330 by means of the data of the device 320 relevant vehicle current locations of reading in, to compare by means of suitable algorithm there.For specified data, for example range sensor of vehicle 200 and navigational system can be for devices 320.Then comparison means 330 is passed to device 340 the result of performed comparison, and in this device 340, result is identified for again the parking information 360 of the docking process of vehicle 200 by means of suitable algorithm based on the comparison.Finally, parking information 360 is exported to the device 350 for supporting docking process.Device 350 can be the automatic stopping backup system of vehicle 200, or can be also display device, by means of this display device, the driver of vehicle 200 can be in the time implementing suitable unpowered maneuver action visually and/or acoustically supported.
Described and in the accompanying drawings shown in embodiment only exemplarily select.Various embodiment can fully or in single characteristic aspect combine mutually.A kind of embodiment also can be supplemented by the feature of another embodiment.In addition, can also repeat according to method step of the present invention, and implement with the order different from described order.
Claims (8)
1. the method (100) of the docking process for support unit (200) (250), is characterized in that, described method has following steps:
The step (110) that position (260) to described vehicle and the parking condition (210) of preserving compare, wherein said parking condition is corresponding to a parking face (220), and comprises the parking spot (270,272) of at least one preservation; And
Determine based on described comparison, for supporting the step (120) of parking information (360) of docking process,
Wherein, the parking spot of described preservation (272) has been determined and the distance that is positioned at the object (230,240) outside described parking face (220).
2. the method for claim 1 (100), is characterized in that, the parking spot (270) of described preservation is arranged in described parking face (220).
3. as method in any one of the preceding claims wherein (100), it is characterized in that, the parking condition (210) of described preservation is illustrated in definite information in the previous docking process of described vehicle (200).
4. the method for claim 1 (100), it is characterized in that, described method has the step that detects current parking condition, and the step that current parking condition and the parking condition of described preservation (210) are compared, to determine the variation between current parking condition and the parking condition of described preservation, wherein also carry out based on described variation the step (120) of determining described parking information (360).
5. the method for claim 1 (100), it is characterized in that, the parking condition (210) of described preservation comprises the maneuver initial position and about the data for vehicle (200) is guided to the maneuver that travels of the successive generation of the parking spot (270,272) of described preservation from the maneuver initial position that travels of travelling, and wherein additionally carries out based on described data the step (120) of determining described parking information (360).
6. the method for claim 1 (100), is characterized in that, described method has the step that receives the parking condition (210) of described preservation from the generator of outside vehicle.
7. for an equipment for the docking process (250) of support unit (200), it is characterized in that, described equipment has following feature:
The device (330) comparing for the position (260) to vehicle and the parking condition (210) of preserving, wherein, described parking condition is corresponding to a parking face (220), and comprises the parking spot (270,272) of at least one preservation; And
For determining based on device (340) described comparison, that support the parking information (360) of docking process, wherein, the parking spot of described preservation (272) has been determined and the distance that is positioned at the object (230,240) outside described parking face (220).
8. for distributing the method on parking stall to vehicle (200), it is characterized in that, described method has the following step:
From multiple parking stalls, select the parking stall that is suitable for detected vehicle, wherein, each in described parking stall is to there being a kind of parking condition (210), described parking condition is corresponding to a parking face (220) and comprise the parking spot (270,272) of at least one preservation, and the parking spot (272) of described preservation has been determined and the distance that is positioned at the object (230,240) outside described parking face (220); And
Passing to vehicle corresponding to the parking condition on described applicable parking stall.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010038966A DE102010038966A1 (en) | 2010-08-05 | 2010-08-05 | Method for supporting parking process of vehicle, involves executing comparison of vehicle position with deposited parking situation, where parking situation is assigned to parking surface |
| DE102010038966.8 | 2010-08-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102436758A CN102436758A (en) | 2012-05-02 |
| CN102436758B true CN102436758B (en) | 2014-11-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110267837.9A Active CN102436758B (en) | 2010-08-05 | 2011-08-03 | Method and apparatus for supporting parking process of vehicle |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN102436758B (en) |
| DE (1) | DE102010038966A1 (en) |
| FR (1) | FR2963600B1 (en) |
| IT (1) | ITMI20111479A1 (en) |
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| JP6517561B2 (en) * | 2015-03-27 | 2019-05-22 | クラリオン株式会社 | Vehicle control device |
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| KR101916515B1 (en) * | 2016-07-20 | 2018-11-07 | 현대자동차주식회사 | Method for guiding parking mode in remote automatic parking assist system |
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| US20190016331A1 (en) * | 2017-07-14 | 2019-01-17 | Nio Usa, Inc. | Programming complex parking maneuvers for driverless vehicles |
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2010
- 2010-08-05 DE DE102010038966A patent/DE102010038966A1/en active Pending
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- 2011-08-02 FR FR1157079A patent/FR2963600B1/en not_active Expired - Fee Related
- 2011-08-03 CN CN201110267837.9A patent/CN102436758B/en active Active
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| CN1713099A (en) * | 2004-06-23 | 2005-12-28 | 株式会社电装 | Parking assistance system |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102010038966A1 (en) | 2012-02-09 |
| CN102436758A (en) | 2012-05-02 |
| ITMI20111479A1 (en) | 2012-02-06 |
| FR2963600B1 (en) | 2019-01-25 |
| FR2963600A1 (en) | 2012-02-10 |
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