EP2229594A1 - Procédé et dispositif d'affichage de l'environnement d'un véhicule - Google Patents
Procédé et dispositif d'affichage de l'environnement d'un véhiculeInfo
- Publication number
- EP2229594A1 EP2229594A1 EP08870110A EP08870110A EP2229594A1 EP 2229594 A1 EP2229594 A1 EP 2229594A1 EP 08870110 A EP08870110 A EP 08870110A EP 08870110 A EP08870110 A EP 08870110A EP 2229594 A1 EP2229594 A1 EP 2229594A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- detection sensor
- image
- environmental
- environment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
- G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
- G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
Definitions
- the invention relates to a method for displaying the surroundings of a vehicle, in particular a motor vehicle, by means of at least one display device of the vehicle, wherein the environment is detected as at least one detection sensor as an environment image while driving or when the vehicle is stationary.
- the invention relates to a device for displaying the environment of a vehicle, in particular a motor vehicle, with at least one display device associated with the vehicle and at least one detection sensor for detecting an environmental image of the environment while driving or at a standstill of the vehicle.
- Methods and devices of the type mentioned are known from the prior art. Often these are used in conjunction with parking systems of motor vehicles, in which the driver to facilitate the parking on a display device of the vehicle, the closer environment are represented by color representation of the critical distances to the vehicle.
- the next environment of the vehicle is detected by means of a detection sensor, wherein only the currently detected objects or contours of these objects in the area before and / or behind the vehicle, which are detected directly by the one or more detection sensors are displayed. In particular, only the nearest object, but not an object located behind this closest object, is displayed or detected.
- Published patent application DE 10 2004 027 640 A1 discloses such a method or such a device in which, while the vehicle is moving past a parking space, it is moved by means of the parking space Detection sensor is measured so that a schematic environment image of the contour of the parking space can be obtained.
- the published patent application DE 197 41 896 A1 further discloses a device for displaying the surroundings of a vehicle of the type mentioned above, which has a (picture) camera with which also distance data can be transmitted to recorded pixels to the control unit, whereby the on a display unit represented environment of the vehicle not only the nearest, but also behind it objects can represent.
- this requires a high computing power and also allows only the representation of the currently captured by the camera environment image / area of the environment.
- the inventive method provides that by means of the detection sensor of a certain area of the environment in different
- Vehicle positions are determined in each case an environmental image and / or by at least two spaced detection sensors of the specific environmental area respectively at least one environmental image is determined, wherein each of the environmental images obtained a composite environment image and displayed by means of the display device. It is therefore provided on the one hand that in each case an environmental image is determined in different vehicle positions by means of a detection sensor, for example during the drive of the vehicle, by a specific environmental region.
- the surrounding area By detecting the particular surrounding area from two different vehicle positions by means of the detection sensor, the surrounding area is "viewed" from different angles / perspectives, thereby creating different environmental images capturing the surrounding area from different sides, from which a composite environmental image is obtained
- the surrounding area By viewing the surrounding area from different angles, it is possible to detect not only nearest but also underlying objects and display them accordingly by means of the display device of the vehicle Alternatively or in addition
- environmental images are acquired from different "angles" by means of at least two detection sensors arranged at a distance from one another.
- the advantage of using a plurality of detection sensors is that the environmental image composed of the environmental images can also be obtained when the vehicle is at a standstill.
- the composite environment image advantageously results in a map of the surroundings, which reproduces the surroundings of the vehicle in great detail, preferably in a plan view of the vehicle.
- Ultrasonic sensor used.
- ultrasonic sensors are used for all detection sensors of the vehicle.
- Ultrasonic sensors are known in today's parking systems state of the art, so here on the one hand not to be discussed in more detail, and on the other hand it is clear that the use of such detection sensors is simple and inexpensive.
- the distance to an object can be detected or determined directly. Contours of the object in the detection area can also be detected and determined by means of a plurality of ultrasonic sensors.
- a short-range radar sensor a lidar sensor or a so-called range imager is used as the detection sensor.
- a lidar sensor a so-called range imager is used as the detection sensor.
- the speed, the steering angle and / or the yaw angle of the vehicle are taken into account when obtaining the composite environment image or the environment map. This makes it possible to clearly detect the environmental images acquired by the detection sensor or by the detection sensors
- a door opening assistant When obtaining a composite environment image while driving the vehicle, it is also advantageous that objects which are located on one side of the vehicle in the environment can also be recognized and taken into account, for example, by a door opening assistant, so that a driver points out, for example, after a parking operation is that a particular door should not be opened because there is a risk of collision with an adjacent object.
- a door opening assistant would require a detection sensor arranged on the door.
- this can be dispensed with by means of the method according to the invention since the composite environment image represents the surroundings of the vehicle and not only the currently detected surrounding area.
- the speed, the steering angle and / or the yaw angle of the vehicle are detected by means of sensors, which are preferably already present in the vehicle. This allows a particularly cost-effective determination of the speed, the steering angle and / or the yaw angle.
- the speed is advantageously detected by means of one or more radar speed sensors.
- At least one detection sensor is aligned substantially perpendicular to the longitudinal axis of the vehicle.
- Usually four detection sensors are mounted in the front and / or rear of the vehicle, which are aligned substantially forward or backward. When detecting the environment of the vehicle while driving, these are also sufficient to detect laterally arranged to the vehicle objects.
- At standstill of the vehicle it is however advantageous if in addition at least one detection sensor is aligned on at least one side of the vehicle substantially perpendicular to the longitudinal axis of the vehicle. As a result, even when the vehicle is stationary, objects located next to the vehicle can be detected and displayed to the driver by means of the display device.
- Viewing the surrounding area from different angles can, as already stated, determine not only distances to objects but also the shape of the objects. Thus, for example, be differentiated between a continuous wall and a post or a post row.
- a trajectory is displayed as a function of the current steering angle in the composite environment image.
- This trajectory indicates the route of the vehicle along which the vehicle would move at the current steering angle.
- a SoII-T is displayed, which specifies the driver of the vehicle a driving distance, for example, to reach a parking position.
- the driver is additionally made aware by acoustic and / or haptic warning signals on detected by the detection sensor or by the detection sensors objects.
- objects detected in the surroundings of the vehicle are marked differently graphically, in particular color, as a function of their risk factor.
- objects that are not obstructive become black
- objects that are detected / detected as an obstacle, but are not in a critical area turn green
- objects that are in a critical area but are still far away are yellow
- Objects that require the driver to intervene to avoid a collision orange
- objects with which a collision is imminent shown in red.
- the composite environment image can also be used for autonomous or semi-autonomous parking operations.
- the composite environment image is supplemented by (video) images of at least one reversing camera and / or side camera of the vehicle.
- video images of at least one reversing camera and / or side camera of the vehicle.
- the driver of the vehicle has access to the composite environment image / the environment map and additionally an actual video image of the environment or an environmental region.
- the composite environment image is stored after a parking operation.
- parking out the stored environmental image can then be used again, so that the driver, even before he has moved the vehicle, already the environment map of the environment of the vehicle is available.
- new and / or missing objects are marked differently graphically, in particular color. Particular preference is given to displaying missing objects by means of a dashed contour line.
- objects and / or surrounding areas are graphically marked, preferably in color, which can not be verified. Here, the driver of the vehicle is prompted to check these objects / surrounding areas themselves.
- the advantageous method for displaying the surroundings of a vehicle can be used, for example, when maneuvering in narrow streets, driveways or parking garages.
- a complete all-round view of the vehicle is obtained from the environmental images as a composite environment image.
- the detection sensors are arranged and aligned at corresponding locations of the vehicle.
- the device according to the invention for displaying the surroundings of a vehicle is characterized in that the display device is associated with at least one computing unit, the detected by the detection sensor in at least two different vehicle positions environmental images of a certain environmental area and / or two spaced apart on the vehicle detection sensors detected environmental images of the particular environmental area joins together to form a composite environment image and displayed by the display device.
- At least one detection sensor is designed as an ultrasonic sensor.
- all detection sensors are designed as ultrasonic sensors.
- At least one detection sensor is arranged aligned substantially perpendicular to the longitudinal axis of the vehicle.
- this detection sensor is arranged directly in the region of a door of the vehicle or on the door.
- the display device and / or the
- Computing unit is connected to at least one rear view camera and / or at least one side camera / are.
- the computing unit is expediently assigned one or more sensors for detecting the speed, the steering angle and / or the yaw angle of the vehicle.
- FIGS. 1 A and 1 B show a current traffic situation and an environmental image composed according to the advantageous method
- FIG. 1A shows a top view of a traffic situation with a vehicle 1 located on a road 2.
- the road 2 has on its - viewed in the direction of travel of the vehicle 1 - right side on a side strip or parking strip 3, on which a vehicle 4 is parked.
- the parking strip 3 is bounded on its right side by a curb 5.
- the driver of the vehicle 1 now wants to park in the parking space between the parked vehicle 4 and the bollard 7.
- a respective environmental image 10 is determined by a specific surrounding area of the vehicle 1 in different vehicle positions of the vehicle 1. This can be done, for example, when driving past the parking space formed between the parked vehicle 4 and the bollard 7.
- the detection sensor is corresponding to the vehicle 1, in particular vertically to the longitudinal axis of the vehicle 1, to order.
- at least two detection sensors arranged at a distance from one another and arranged on the vehicle 1, in each case at least one environmental image, preferably simultaneously, is determined from the determined environmental region.
- a composite environmental image 10 is obtained in each case and, as shown in FIG. 1B, displayed by means of the display device.
- the environment image 10 shows the vehicle 1 in a plan view, or in the so-called bird-view representation.
- dashed lines 11 a driving tube or a trajectory 13 is shown, which indicates the way that the vehicle 1 would drive with a current steering angle during a backward movement.
- the environment of the vehicle 1 is shown only schematically in FIG. 1B as in the prior art, the contours of the nearest objects or obstacles being indicated.
- an obstacle area 12 which is composed of the vehicle 4, the curb 5 and the bollard 7, as shown in Figure 1 A, as a contiguous area, advantageously shown in yellow.
- FIG. 2A shows the traffic situation from FIG. 1A at a later point in time at which the driver has moved the vehicle 1 backwards obliquely into the parking space between the vehicle 4 and the bollard 7.
- the vehicle 1 is now partly already in the parking space.
- FIG. 2B shows a composite environmental image 15 which was obtained according to the advantageous method. Shown is the vehicle 1 in a plan view (bird-view view).
- the advantageous method it is possible to determine the shape of the object 6 or of the bollard 7 by viewing from different perspectives and correspondingly as in the figure 2B, to display. The object 6 is thus displayed separately from the obstacle area 12 shown in FIG. 1B.
- the object 8 is also shown in orange, since it is indeed in the currently available driving tube or in the currently present trajectory 13, but the distance to the vehicle 1 is not critical.
- the intersecting region 16 overlapping with the trajectory 13 is marked in color in the surrounding image 15. The driver can now distinguish between next and behind objects as well as recognize the shape of objects.
- ultrasonic sensors are used as detection sensors.
- detection sensors 18 and a display device 19 representing the composite environment image 15 are illustrated by way of example for illustration purposes in FIG. 2A. In this case, an arithmetic unit 20 composing the surroundings images is integrated into the display device 19.
- FIG. 3A shows the traffic situation from the preceding FIGS. 1A and 2A at an even later point in time when the vehicle 1 is in a parking position in the parking space between the vehicle 4 and the bollard 7.
- the vehicle 1 stands with its rear area close to the bollard 7 or the object 6 and with a passenger door 17 at the height of the object 8 and the post 9.
- FIG. 3B shows the environmental image 15 corresponding to the traffic situation shown in FIG. 3A at the even later point in time.
- the object 8 and the object 6 are displayed in red, since they are located very close to the vehicle, ie in a critical area.
- the proximity of the vehicle increases its risk factor, thereby changing the color from the previously uncritical orange to red.
- the object 6 or the bollard 7 is therefore shown red, or recorded as high risk, since it / he is in the current trajectory 13 or in the Ride of the vehicle 1 is located.
- the object 8 or the post 9, however, has a high risk because it is close to the door of the passenger 17.
- the driver and / or the passenger should be made aware by means of the display or the composite environment image 15 that the door 17 should not be opened or can not be opened.
- the door can just be opened so far that it does not collide with the object 8 or post 9.
- the composite environment image 15 (dynamic 2D image), which represents an environment map of the entire vicinity of the vehicle
- a driver of the vehicle 1 can be visually assisted, in particular during parking operations or when maneuvering in close proximity.
- the steering angle, the yaw angle and / or the speed of the vehicle are advantageously detected.
- the driver may easily avoid collisions and / or risks in maneuvering and / or parking due to the information provided to him by the display.
- the determined when parking, composite environmental image 15 is stored and used again when you parked. In this case, advantageously, a verification and plausibility check by means of a new detection of the environment should be performed.
- the vehicle 1 is typically equipped with ten or twelve ultrasonic sensors, with four detection sensors or ultrasonic sensors being provided on the front and rear of the vehicle as the basis of a standard parking system.
- at least one detection sensor is provided on each side of the vehicle.
- the number of rear, front and side detection sensors can be varied. Whereby with increasing number the detail accuracy of the environment picture increases.
- the advantageous method makes it possible by detecting a specific environmental region of the environment Different perspectives determining the shape of objects, as well as the detection of several consecutively arranged objects (multi-target capability).
- the surroundings of the vehicle 1 are expediently divided into a plurality of different contiguous or partially overlapping surrounding areas, the division depending on the arrangement, number and orientation of the detection sensors, and subsequently after detection of the respective surrounding area be brought together from different perspectives to the composite environment image.
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
L'invention concerne un procédé d'affichage de l'environnement d'un véhicule, en particulier d'un véhicule automobile, à l'aide d'au moins un dispositif d'affichage du véhicule, l'environnement étant détecté et enregistré sous forme d'image par au moins un détecteur lorsque le véhicule circule ou est à l'arrêt. Selon l'invention, une image d'une zone définie de l'environnement est établie au moyen du détecteur en différents points du véhicule et/ou au moins une image de la zone définie de l'environnement est établie à l'aide d'au moins deux détecteurs distants l'un de l'autre, une image composite étant obtenue à partir des images de l'environnement et affichée au moyen du dispositif d'affichage. L'invention concerne également un dispositif d'affichage de l'environnement d'un véhicule.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008003662A DE102008003662A1 (de) | 2008-01-09 | 2008-01-09 | Verfahren und Vorrichtung zum Anzeigen der Umgebung eines Fahrzeugs |
PCT/EP2008/065239 WO2009086967A1 (fr) | 2008-01-09 | 2008-11-10 | Procédé et dispositif d'affichage de l'environnement d'un véhicule |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2229594A1 true EP2229594A1 (fr) | 2010-09-22 |
Family
ID=40419178
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08870110A Withdrawn EP2229594A1 (fr) | 2008-01-09 | 2008-11-10 | Procédé et dispositif d'affichage de l'environnement d'un véhicule |
Country Status (6)
Country | Link |
---|---|
US (1) | US20100329510A1 (fr) |
EP (1) | EP2229594A1 (fr) |
CN (1) | CN101910866A (fr) |
DE (1) | DE102008003662A1 (fr) |
RU (1) | RU2010133248A (fr) |
WO (1) | WO2009086967A1 (fr) |
Families Citing this family (51)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009028760A1 (de) * | 2009-08-20 | 2011-02-24 | Robert Bosch Gmbh | Verfahren zur Prüfung der Umgebung eines Kraftfahrzeugs |
DE102009028832A1 (de) * | 2009-08-24 | 2011-03-03 | Robert Bosch Gmbh | Verfahren zur Kennzeichnung historischer Daten in Fahrzeugumgebungskarten |
DE102010010912A1 (de) * | 2010-03-10 | 2010-12-02 | Daimler Ag | Fahrerassistenzvorrichtung mit optischer Darstellung erfasster Objekte |
JP5062498B2 (ja) * | 2010-03-31 | 2012-10-31 | アイシン・エィ・ダブリュ株式会社 | 風景マッチング用参照データ生成システム及び位置測位システム |
JP5057183B2 (ja) * | 2010-03-31 | 2012-10-24 | アイシン・エィ・ダブリュ株式会社 | 風景マッチング用参照データ生成システム及び位置測位システム |
CN101833092B (zh) * | 2010-04-27 | 2012-07-04 | 成都捌零科技有限公司 | 车辆360度障碍无死角智能检测与预警方法 |
DE102010031672A1 (de) | 2010-07-22 | 2012-01-26 | Robert Bosch Gmbh | Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs |
DE102010051206A1 (de) * | 2010-11-12 | 2012-05-16 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erzeugen eines Bilds einer Fahrzeugumgebung und Abbildungsvorrichtung |
GB2491560B (en) * | 2011-05-12 | 2014-12-03 | Jaguar Land Rover Ltd | Monitoring apparatus and method |
DE102011102744A1 (de) * | 2011-05-28 | 2012-11-29 | Connaught Electronics Ltd. | Verfahren zum Betreiben eines Kamerasystems eines Kraftfahrzeugs, Kraftfahrzeug sowie System mit einem Kraftfahrzeug und einer separaten Recheneinrichtung |
FR2979299B1 (fr) * | 2011-08-31 | 2014-09-12 | Peugeot Citroen Automobiles Sa | Dispositif de traitement pour estimer une trajectoire future d'un vehicule, associee a une couleur fonction d'un niveau de risque de collision estime, pour un systeme d'aide a la conduite |
DE102011112149A1 (de) * | 2011-09-01 | 2013-03-07 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Durchführen eines Parkvorgangs eines Fahrzeugs sowie Fahrerassistenzeinrichtung |
KR101316501B1 (ko) * | 2011-10-14 | 2013-10-10 | 현대자동차주식회사 | 메쉬형 공간 해석기법을 이용한 주차 공간 탐지방법 및 그 시스템 |
DE102011086433A1 (de) * | 2011-11-16 | 2013-05-16 | Robert Bosch Gmbh | Gedächtnisbehaftetes Manövrierassistenzsystem |
DE102011121285A1 (de) * | 2011-12-15 | 2013-06-20 | Gm Global Technology Operations, Llc | Einparkhilfe |
JP5857224B2 (ja) * | 2012-03-30 | 2016-02-10 | パナソニックIpマネジメント株式会社 | 駐車支援装置、及び駐車支援方法 |
DE102012012265A1 (de) | 2012-06-20 | 2013-12-24 | Audi Ag | Verfahren zum Betrieb eines Kraftfahrzeugs umfassend ein Einparkassistenzsystem |
DE102012015922A1 (de) * | 2012-08-10 | 2014-02-13 | Daimler Ag | Verfahren zum Durchführen eines Parkvorgangs eines Fahrzeugs mittels eines Fahrerassistenzsystems |
WO2014028872A2 (fr) * | 2012-08-17 | 2014-02-20 | Marquet Louis D | Systèmes et procédés pour améliorer une planification fonctionnelle |
DE102012214959B4 (de) | 2012-08-23 | 2019-03-28 | Robert Bosch Gmbh | Verfahren zur Kollisionsvermeidung oder zur Verminderung von Unfallschäden und Fahrerassistenzsystem |
KR101401399B1 (ko) * | 2012-10-12 | 2014-05-30 | 현대모비스 주식회사 | 주차 지원 장치 및 방법과 이를 이용한 주차 지원 시스템 |
JP5935655B2 (ja) * | 2012-10-24 | 2016-06-15 | 株式会社デンソー | 情報表示装置 |
DE102012022276A1 (de) * | 2012-11-14 | 2014-05-28 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Warnung vor Querverkehr bei Ausparksituationen |
US10093247B2 (en) * | 2013-05-23 | 2018-10-09 | GM Global Technology Operations LLC | Enhanced front curb viewing system |
US9013286B2 (en) * | 2013-09-23 | 2015-04-21 | Volkswagen Ag | Driver assistance system for displaying surroundings of a vehicle |
CN103616675A (zh) * | 2013-11-04 | 2014-03-05 | 法雷奥汽车内部控制(深圳)有限公司 | 一体化倒车雷达及其控制方案 |
CN103675827A (zh) * | 2013-11-18 | 2014-03-26 | 法雷奥汽车内部控制(深圳)有限公司 | 车载雷达探测虚拟全景*** |
CN104730514A (zh) * | 2013-12-19 | 2015-06-24 | 青岛盛嘉信息科技有限公司 | 一种四轮测距装置 |
US20150286878A1 (en) | 2014-04-08 | 2015-10-08 | Bendix Commercial Vehicle Systems Llc | Generating an Image of the Surroundings of an Articulated Vehicle |
US10328932B2 (en) | 2014-06-02 | 2019-06-25 | Magna Electronics Inc. | Parking assist system with annotated map generation |
JP6528382B2 (ja) * | 2014-10-22 | 2019-06-12 | 株式会社Soken | 車両用障害物検出装置 |
US9725040B2 (en) | 2014-10-28 | 2017-08-08 | Nissan North America, Inc. | Vehicle object detection system |
US9880253B2 (en) | 2014-10-28 | 2018-01-30 | Nissan North America, Inc. | Vehicle object monitoring system |
US9834141B2 (en) | 2014-10-28 | 2017-12-05 | Nissan North America, Inc. | Vehicle object detection system |
FR3031707B1 (fr) * | 2015-01-16 | 2018-06-29 | Renault S.A.S. | Procede et dispositif d'aide a la manœuvre en marche arriere d'un vehicule automobile |
WO2017033518A1 (fr) * | 2015-08-27 | 2017-03-02 | 株式会社Jvcケンウッド | Dispositif et procédé d'affichage pour véhicule |
US10179590B2 (en) | 2015-09-10 | 2019-01-15 | Ford Global Technologies, Llc | Park out assist |
US20170102451A1 (en) * | 2015-10-12 | 2017-04-13 | Companion Bike Seat | Methods and systems for providing a personal and portable ranging system |
CN105427671A (zh) * | 2015-12-20 | 2016-03-23 | 李俊娇 | 一种基于雷达探测的雾区辅助行驶装置 |
EP3614106B1 (fr) * | 2016-06-27 | 2021-10-27 | Mobileye Vision Technologies Ltd. | Commande d'un véhicule hôte sur la base des caractéristiques détectées de véhicule en stationnement |
DE102016011915A1 (de) | 2016-10-05 | 2017-06-01 | Daimler Ag | Verfahren zur Anzeige einer Umgebung eines Fahrzeuges |
WO2018081613A1 (fr) | 2016-10-28 | 2018-05-03 | Ppg Industries Ohio, Inc. | Revêtements d'augmentation des distances de détection proche infrarouge |
US11392133B2 (en) * | 2017-06-06 | 2022-07-19 | Plusai, Inc. | Method and system for object centric stereo in autonomous driving vehicles |
CN108099905B (zh) * | 2017-12-18 | 2020-08-18 | 深圳大学 | 车辆偏航检测方法、***及机器视觉*** |
WO2019133786A1 (fr) * | 2017-12-29 | 2019-07-04 | General Electric Company | Triangulation de position de pôle sonore dans un système d'éclairage |
DE102018214875A1 (de) * | 2018-08-31 | 2020-03-05 | Audi Ag | Verfahren und Anordnung zum Erzeugen einer Umgebungsrepräsentation eines Fahrzeugs und Fahrzeug mit einer solchen Anordnung |
US11561329B2 (en) | 2019-01-07 | 2023-01-24 | Ppg Industries Ohio, Inc. | Near infrared control coating, articles formed therefrom, and methods of making the same |
DE102019123778A1 (de) * | 2019-09-05 | 2021-03-11 | Valeo Schalter Und Sensoren Gmbh | Darstellen einer Fahrzeugumgebung zum Bewegen des Fahrzeugs zu einer Zielposition |
CN111198385A (zh) * | 2019-12-26 | 2020-05-26 | 北京旷视机器人技术有限公司 | 障碍物检测方法、装置、计算机设备和存储介质 |
EP4194883A1 (fr) * | 2021-12-09 | 2023-06-14 | Aptiv Technologies Limited | Dispositif et procédé pour déterminer des objets autour d'un véhicule |
CN117455792B (zh) * | 2023-12-25 | 2024-03-22 | 武汉车凌智联科技有限公司 | 一种车辆内置360度全景影像合成处理方法 |
Family Cites Families (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3844340A1 (de) * | 1988-12-30 | 1990-07-05 | Licentia Gmbh | Einparkhilfe |
DE19741896C2 (de) | 1997-09-23 | 1999-08-12 | Opel Adam Ag | Vorrichtung zur bildlichen Darstellung von Bereichen der Umgebung eines Kraftfahrzeugs |
EP1050866B1 (fr) * | 1999-04-28 | 2003-07-09 | Matsushita Electric Industrial Co., Ltd. | Procédé et appareil d'assistance au parking |
DE60009000T2 (de) * | 1999-10-21 | 2005-03-10 | Matsushita Electric Industrial Co., Ltd., Kadoma | System zur Einparkhilfe |
JP2002036991A (ja) * | 2000-07-27 | 2002-02-06 | Honda Motor Co Ltd | 駐車支援装置 |
JP3750512B2 (ja) * | 2000-10-12 | 2006-03-01 | 日産自動車株式会社 | 車両用周辺障害物検出装置 |
JP4765213B2 (ja) * | 2001-07-19 | 2011-09-07 | 日産自動車株式会社 | 車両用駐車支援装置 |
DE10220426A1 (de) * | 2002-05-08 | 2003-11-20 | Valeo Schalter & Sensoren Gmbh | Verfahren zum Betreiben eines Parkhilfesystems und Parkhilfesystem |
DE10257722A1 (de) * | 2002-12-11 | 2004-07-01 | Robert Bosch Gmbh | Einparkhilfe |
JP2005025692A (ja) * | 2003-07-04 | 2005-01-27 | Suzuki Motor Corp | 車両用情報提供装置 |
DE10331948A1 (de) * | 2003-07-15 | 2005-02-24 | Valeo Schalter Und Sensoren Gmbh | Verfahren und System zur Unterstützung des Manövrierens von Fahrzeugen |
JP3931857B2 (ja) * | 2003-07-23 | 2007-06-20 | トヨタ自動車株式会社 | 駐車支援装置及び後退支援装置 |
DE102004027640A1 (de) | 2004-06-05 | 2006-06-08 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum unterstützten Einparken eines Kraftfahrzeuges |
US7106183B2 (en) * | 2004-08-26 | 2006-09-12 | Nesa International Incorporated | Rearview camera and sensor system for vehicles |
JP4724522B2 (ja) * | 2004-10-28 | 2011-07-13 | 株式会社デンソー | 車両周囲視界支援システム |
JP4604703B2 (ja) * | 2004-12-21 | 2011-01-05 | アイシン精機株式会社 | 駐車補助装置 |
DE102005027165B4 (de) * | 2005-06-13 | 2024-01-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Ausgabe von Einparkhinweisen |
JP2007030700A (ja) * | 2005-07-27 | 2007-02-08 | Aisin Seiki Co Ltd | 駐車支援装置 |
JP4882302B2 (ja) * | 2005-07-28 | 2012-02-22 | 株式会社アドヴィックス | 駐車支援制御装置および駐車支援制御システム |
JP4622806B2 (ja) * | 2005-10-27 | 2011-02-02 | アイシン・エィ・ダブリュ株式会社 | 駐車支援方法及び駐車支援装置 |
JP4414959B2 (ja) * | 2005-11-16 | 2010-02-17 | アイシン精機株式会社 | 駐車支援装置 |
DE102005061909A1 (de) * | 2005-12-23 | 2007-07-05 | Volkswagen Ag | Parklenkassistenzsystem und Verfahren zum Betreiben eines Parklenkassistenzsystems |
JP4769625B2 (ja) * | 2006-04-25 | 2011-09-07 | トヨタ自動車株式会社 | 駐車支援装置及び駐車支援方法 |
JP5309442B2 (ja) * | 2006-05-29 | 2013-10-09 | アイシン・エィ・ダブリュ株式会社 | 駐車支援方法及び駐車支援装置 |
US7970535B2 (en) * | 2006-07-04 | 2011-06-28 | Denso Corporation | Drive assist system |
US8332097B2 (en) * | 2007-12-14 | 2012-12-11 | Denso International America, Inc. | Method of detecting an object near a vehicle |
-
2008
- 2008-01-09 DE DE102008003662A patent/DE102008003662A1/de not_active Withdrawn
- 2008-11-10 RU RU2010133248/11A patent/RU2010133248A/ru unknown
- 2008-11-10 US US12/735,164 patent/US20100329510A1/en not_active Abandoned
- 2008-11-10 WO PCT/EP2008/065239 patent/WO2009086967A1/fr active Application Filing
- 2008-11-10 CN CN2008801244345A patent/CN101910866A/zh active Pending
- 2008-11-10 EP EP08870110A patent/EP2229594A1/fr not_active Withdrawn
Non-Patent Citations (1)
Title |
---|
See references of WO2009086967A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20100329510A1 (en) | 2010-12-30 |
CN101910866A (zh) | 2010-12-08 |
WO2009086967A1 (fr) | 2009-07-16 |
RU2010133248A (ru) | 2012-02-20 |
DE102008003662A1 (de) | 2009-07-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2229594A1 (fr) | Procédé et dispositif d'affichage de l'environnement d'un véhicule | |
EP2766237B1 (fr) | Dispositif d'aide à la conduite d'un véhicule ou de conduite autonome d'un véhicule | |
EP1147032B1 (fr) | Dispositif pour surveiller les abords d'un vehicule en cours de stationnement | |
DE102008036009B4 (de) | Verfahren zum Kollisionsschutz eines Kraftfahrzeugs und Parkhausassistent | |
EP2493745B1 (fr) | Procédé d'assistance permettant de sortir d'une place de stationnement | |
EP2594461B1 (fr) | Procédé de détection d'une place de stationnement pour un véhicule automobile, système d'aide au stationnement et véhicule automobile équipé d'un système d'aide au stationnement | |
DE102015202435A1 (de) | Fahrzeugsteuersystem zum Ausrichten einer induktiven Ladeverbindung | |
DE102008004633A1 (de) | Verfahren und Vorrichtung zur Erkennung und/oder Vermessung einer Parklücke | |
EP2982572B1 (fr) | Procédé d'assistance d'un conducteur de véhicule automobile lors du stationnement, système d'assistance de conducteur et véhicule automobile | |
EP1642768A1 (fr) | Procédé d'affichage de la zone de conduite d'une automobile | |
DE102010051206A1 (de) | Verfahren zum Erzeugen eines Bilds einer Fahrzeugumgebung und Abbildungsvorrichtung | |
DE102009024083A1 (de) | Verfahren zum Durchführen eines zumindest semi-autonomen Parkvorgangs eines Fahrzeugs und Parkassistenzsystem für ein Fahrzeug | |
WO2012069330A1 (fr) | Procédé et dispositif d'assistance à un conducteur d'un véhicule automobile lorsqu'il quitte un créneau de stationnement et véhicule automobile | |
WO2006111222A1 (fr) | Procede et dispositif pour evaluer des donnees de mesure de distance d'un systeme de mesure de distance d'un vehicule automobile | |
DE102006051977B4 (de) | Parkassistenzsystem | |
DE102009046726A1 (de) | Auswahl einer Parklücke aus mehreren erkannten Parklücken | |
WO2006069973A1 (fr) | Procede pour determiner si un vehicule peut se garer dans une place de stationnement et dispositif d'aide au stationnement | |
WO2011138164A1 (fr) | Procédé de fonctionnement d'un système d'assistance au conducteur d'un véhicule, système d'assistance au conducteur et véhicule | |
DE102009046674A1 (de) | Verfahren zur Unterstützung eines Parkvorgangs eines Kraftfahrzeugs und Vorrichtung hierzu | |
WO2012003942A2 (fr) | Procédé et dispositif d'aide à la conduite lors de la marche et/ou du parcage d'un véhicule | |
EP2720906A1 (fr) | Élément de rééquipement pour le guidage lors d'un stationnement | |
EP2493746B1 (fr) | Procédé d'aide au stationnement | |
DE102010034142A1 (de) | Verfahren zum Unterstützen eines Fahrers beim Führen eines Kraftfahrzeugs und Fahrerassistenzsystem | |
DE102010000964A1 (de) | Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeuges | |
DE102010001288A1 (de) | Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs beim Einparken |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20100809 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA MK RS |
|
17Q | First examination report despatched |
Effective date: 20110119 |
|
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20110531 |