EP2234857A1 - Procédé et dispositif pour adapter le guidage d'un véhicule - Google Patents

Procédé et dispositif pour adapter le guidage d'un véhicule

Info

Publication number
EP2234857A1
EP2234857A1 EP08805262A EP08805262A EP2234857A1 EP 2234857 A1 EP2234857 A1 EP 2234857A1 EP 08805262 A EP08805262 A EP 08805262A EP 08805262 A EP08805262 A EP 08805262A EP 2234857 A1 EP2234857 A1 EP 2234857A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
parking
guidance
height profile
obstacle
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Withdrawn
Application number
EP08805262A
Other languages
German (de)
English (en)
Inventor
Markus Koehler
Michael Scherl
Matthias Haug
Uwe Zimmermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2234857A1 publication Critical patent/EP2234857A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9319—Controlling the accelerator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • the invention relates to a method and a device for adjusting the guidance of a vehicle in an area having at least one obstacle, with the features mentioned in the preambles of claims 1 and 7.
  • various parking functions based on semi-autonomous functions, self-steering functions or automatic parking systems are known.
  • the semiautonomous functions provide a driver of a vehicle with hints on how the vehicle can be maneuvered into a parking space.
  • the self-steering functions automatically perform the lateral guidance or the steering of the vehicle and leave the driver only the longitudinal guidance of the vehicle.
  • DE 10261001 A1 describes a method for steering a motor vehicle with a power steering, in which a torque applied to the wheels is limited when three conditions occur.
  • the conditions are that a moment applied to a wheel or steering column exceeds a threshold, or that the driver tries to turn the steering wheel while the rate of change of the steering angle is zero. In these cases, it is assumed that there is an obstacle, and the moment is limited.
  • EP 1035001 A2 describes an electric power steering system in which the power supplied to an electric motor of the system is reduced when a condition of stalling, when e.g. B. a wheel crashes against a curb, is determined.
  • the stall is determined based on a sensed temperature of a power circuit through which the electric motor is powered.
  • a disadvantage of the known Einparkfunktionen is that they are relatively expensive, such. B. to additional sensors must be realized.
  • the object of the present invention is to provide a method and a device for adjusting the guidance of a vehicle in an area having at least one obstacle, which can be realized with little effort.
  • An advantage of the method and the device according to the invention is that they can be realized with little effort.
  • the adaptation of a guidance of the vehicle is performed predictively.
  • An advantage of this preferred embodiment is that, for. B. in automatic parking systems, the longitudinal guide is adapted predictively after the measurement of a parking space by a suitable sensor.
  • the longitudinal guidance of the vehicle to the height profile in Trajektorienverlauf, z. B. in passable obstacles in a parking space be made more pleasant for the driver.
  • adjusting the guidance comprises adjusting the speed and / or the acceleration of the vehicle.
  • adjusting the speed and / or acceleration comprises controlling an engine and / or at least one brake of the vehicle.
  • An advantage of these preferred embodiments is that the existing brake / accelerator devices can be used and therefore no additional hardware is needed.
  • Another advantage of these preferred embodiments is that the increase in driver acceptance for the longitudinal guidance, for example, of an autonomous parking system can be achieved without much effort.
  • the determination of the height profile comprises the detection of overrun or non-drivable obstacles.
  • An advantage of this preferred embodiment is that, in particular in paragraphs and curbs of parking spaces, the duration and frequency of driver intervention in the longitudinal guide can be significantly reduced.
  • Figure 1 is a side view of an application example of the method according to the invention.
  • FIG. 2 is a plan view of the application example of FIG. 1.
  • Figure 1 shows a side view of an application example of the method according to the invention.
  • a vehicle 1 which is located on a roadway 2, is positioned in its longitudinal direction substantially parallel to a flat parking strip 3 for vehicles.
  • the parking strip 3 is bounded by a first obstacle 4 between the roadway 2 and the parking strip 3 and a second obstacle 5 between the parking strip 3 and a sidewalk 6.
  • the first obstacle 4 has, in a transverse direction perpendicular to the longitudinal direction of the vehicle 1, a first distance d1 from the right side of the vehicle 1.
  • the second obstacle 5 has a second distance d2 from the right side of the vehicle 1 in the transverse direction and is higher than the first obstacle 2.
  • the first obstacle 4 is preferably a step between the lane 2 and the parking strip 3, and the second obstacle 5 is preferably a curb between the parking strip 3 and the pavement 6.
  • a detection device 7 is mounted, which is suitably arranged and designed to detect the obstacles 4 and 5.
  • the detection device 7 has a suitably selected, with respect to the roadway 2 vertical detection area 8 and a suitably selected resolution.
  • the detection device 7 preferably comprises a microwave radar, an ultrasonic sensor, a laser scanner and / or a camera with image evaluation.
  • FIG. 2 shows a plan view of the application example of FIG. 1.
  • the vehicle 1 stands on the parking strip 3 in the longitudinal direction next to a parking space 9.
  • the parking space 9 is formed in the longitudinal direction between two other vehicles 10 and 11, which are located on the parking strip 3.
  • a horizontal detection area 12 of the detection device 7, which is horizontal with respect to the roadway 2 is likewise suitably selected and is scanned with a suitable resolution.
  • the height profile of a trajectory of the travel movement of the vehicle 1 into the parking space 9 is determined by the detection device 7.
  • obstacles are detected on the trajectory and preferably in obstacles, which are traversable by the vehicle 1, such as the first obstacle 4, and obstacles that are not traversable by the vehicle 1, such as for example, the second obstacle 5, classified.
  • This classification is preferably based on the strength and the extent of reflection of a radiation used for detection at the obstacles 4 and 5.
  • the driving behavior of the vehicle 1, as with respect to the trajectory location-dependent speed and / or acceleration of the vehicle 1, in the parking space 9 is predicted or predicted adapted.
  • the suitable motion sequence of the vehicle is calculated in a processing device and then stored in a memory device. While driving into the parking space 9, this movement pattern is retrieved from the storage device and, for example, the rotational speed and the moment of an engine of the vehicle 1 and an actuation of brakes of the vehicle 1 are controlled accordingly.
  • the height profile and a corresponding movement behavior of the vehicle along the trajectory during the driving of the vehicle 1 in the parking space 9 are determined and / or updated.
  • the height profile in Trajektorienverlauf can be determined.
  • traversable obstacles such. B. a paragraph on which the parking space 9 is located, are recognized by location.
  • the longitudinal guidance can be adapted predictively during automatic parking.
  • the engine and brake control can be adapted automatically at the required location even before a major change in the altitude profile and a concomitant deceleration / acceleration of the vehicle 1.
  • the engine torque can be increased to avoid lowering the speed.
  • the recognized but traversable obstacle can be passed at the required parking speed.
  • the invention is in various methods and apparatus for adjusting and controlling a guidance of a vehicle, such as a passenger car, a truck or other movable device, in an area such.
  • a vehicle such as a passenger car, a truck or other movable device
  • a parking strip, a parking space, etc. applicable, regardless of which direction, d. H. in a longitudinal direction or a transverse direction of the area, the vehicle is parked or held and regardless of whether other vehicles or other non-movable objects and where vehicles or other non-moving objects in the area are present or not.
  • the invention is particularly suitable for use in parking systems and E in parking method for vehicles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé et un dispositif pour adapter le guidage d'un véhicule (1) dans une zone (9) qui présente au moins un obstacle (4, 5, 10, 11). Le procédé comprend les étapes suivantes : détermination du profil de hauteur d'une trajectoire que doit suivre le véhicule (1) lors de son stationnement dans la zone (9) ; et adaptation de la vitesse du véhicule (1) au profil de hauteur déterminé, en commandant le moteur et/ou les freins du véhicule.
EP08805262A 2007-12-19 2008-10-14 Procédé et dispositif pour adapter le guidage d'un véhicule Withdrawn EP2234857A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007061234A DE102007061234A1 (de) 2007-12-19 2007-12-19 Verfahren und Vorrichtung zum Anpassen der Führung eines Fahrzeuges
PCT/EP2008/063750 WO2009077220A1 (fr) 2007-12-19 2008-10-14 Procédé et dispositif pour adapter le guidage d'un véhicule

Publications (1)

Publication Number Publication Date
EP2234857A1 true EP2234857A1 (fr) 2010-10-06

Family

ID=40185051

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08805262A Withdrawn EP2234857A1 (fr) 2007-12-19 2008-10-14 Procédé et dispositif pour adapter le guidage d'un véhicule

Country Status (4)

Country Link
EP (1) EP2234857A1 (fr)
CN (1) CN101903229A (fr)
DE (1) DE102007061234A1 (fr)
WO (1) WO2009077220A1 (fr)

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DE102016221276A1 (de) * 2016-10-28 2018-05-03 Ford Global Technologies, Llc Rangierverfahren für ein Kraftfahrzeug, Kraftfahrzeug
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Also Published As

Publication number Publication date
DE102007061234A1 (de) 2009-06-25
WO2009077220A1 (fr) 2009-06-25
CN101903229A (zh) 2010-12-01

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