EP2504213A1 - Verfahren zur unterstützung des fahrers eines fahrzeugs - Google Patents
Verfahren zur unterstützung des fahrers eines fahrzeugsInfo
- Publication number
- EP2504213A1 EP2504213A1 EP10761012A EP10761012A EP2504213A1 EP 2504213 A1 EP2504213 A1 EP 2504213A1 EP 10761012 A EP10761012 A EP 10761012A EP 10761012 A EP10761012 A EP 10761012A EP 2504213 A1 EP2504213 A1 EP 2504213A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- steering
- driver
- vehicle
- control
- temperature
- 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- Withdrawn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
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0496—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures by using a temperature sensor
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0072—Controller asks driver to take over
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0295—Inhibiting action of specific actuators or systems
Definitions
- the invention relates to a method for assisting the driver of a vehicle with an electronic steering, in particular during a parking operation. Furthermore, the invention is based on a device for carrying out the method according to the preamble of claim 10.
- Methods for assisting the driver of a vehicle are used, in particular, as parking systems, in which the driver of the vehicle is assisted during a parking procedure.
- the driver is supported during the parking process in a parking space, generally in a longitudinal parking gap, either by steering instructions or an automatic Lenkradreglung.
- the driver will receive instructions on how to operate the steering wheel via a suitable output device, for example a screen of an on-board computer.
- a suitable output device for example a screen of an on-board computer.
- the steering is generally adopted by the system by means of a suitable actuator.
- An automatic driver assistance system is described for example in US-A 2005/0137769.
- both the control and the longitudinal guidance that is, acceleration and deceleration of the vehicle, taken over by the driver assistance system.
- a control unit is provided on the front axle with the steerable wheels, by which the wheels are controlled in accordance with a control specification of the driver on the steering wheel.
- By the electrical control of the front wheels and an automatic steering is possible.
- Disadvantage of driver assistance systems with automatic steering wheel control is that due to different load sources for automatic steering Additional forces occur that add up to the force necessary to steer the steerable wheels.
- the steering of the steerable wheels can be done for example via a rack. In this case, the force that must be applied to the control is the force necessary to move the rack.
- Forces that can occur include friction with the ground, restoring forces of the tires and suspension, and a torsional springback force. Due to certain environmental influences, such as the state of the steering and the battery state of charge, as well as due to maneuvers with special power requirements, for example when steering in the state, it may come to shutdown or partial activation of the automatic steering. This leads to a parked for the driver parking.
- the demolition results, for example, from an overheating of the actuator for the steering, which results, for example, due to the increased power requirement.
- the inventive method for assisting the driver of a vehicle with an electronic steering, in particular during a parking operation comprises the following steps:
- the handover of the control is given to the driver in good time before the abort of the automatic control.
- the transfer of the control can be indicated acoustically, visually and / or haptically to the driver, for example.
- An acoustic indication can be made for example by a suitable sound signal.
- a sound signal for example, a warning sound can be delivered.
- An optical display can be made for example via a display device of an on-board computer. For this purpose, it is possible, for example, to make a request to take over the control light up in the display field. In addition or as an alternative to a written version, a symbol can also be displayed. In order to attract the attention of the driver, it is still possible that the display of the request to take over the control is combined with a color change of the display unit. Alternatively or in addition to a color change, the display could also blink, for example. To haptically indicate to the driver the transfer of the control, it is possible, for example, to generate a vibration in the steering wheel. The vibration gives the driver a clear indication that his attention is required.
- the driver Since, however, it is to be expected that the driver will not hold the steering wheel during an automatic parking operation, that is to say a parking operation in which the system also takes over the control, it is alternatively also possible for the driver to display the information via a Vibration of the seat or to transmit, for example, by a braking intervention or a short stutter braking.
- the display is preferably by vibration of the seat and / or the steering wheel.
- the display of the request to the Driver to take over control, acoustically and visually, acoustically and haptically or optically and haptically.
- the display is acoustically, visually and haptically. In this way, it can be ensured that the driver's attention is definitely aroused.
- step (a) If the driver receives a request to take over the control, it is preferred if the driver in this case, upon transfer of the control, necessary steering movements for driving through the path determined in step (a) are displayed. In this way, the fully automatic system for supporting the vehicle is reduced to a semi-automatic system. However, the driver still receives assistance in parking the vehicle, even if now the steering of the vehicle and the driving maneuver are no longer performed automatically by the vehicle.
- the reaction time of the driver and the speed with which the driver moves the steering wheel are taken into account in the display.
- the system it is possible, for example, to provide in the system to detect the steering speed and the reaction time of the driver when the system is operated semi-automatically, that is, the driver the necessary steering movements are displayed.
- the changed requests can then be calculated from the data thus acquired.
- the recorded data can be stored in a memory, for example, so that they can be used again during later parking processes.
- the system it is possible for the system to display another driver, so that the data stored for a driver is not overwritten.
- the driver prior to the request to take control, the driver is warned that control is being transferred.
- the warning that the controller is handed over can take place acoustically, optically and / or haptically.
- Particularly preferred is a combination of at least two of the three types of display.
- the warning it is possible for the warning to be acoustic and optical, acoustic and haptic, optical and tactile or auditory, visual and tactile.
- the speed of the vehicle and the steering speed are taken into account.
- the effort is dependent on both the steering speed and the speed of the vehicle. The slower the vehicle drives and the higher the steering speed, the greater the effort needed to steer. Particularly high is the effort when the vehicle is steered at a standstill.
- the air pressure in the tires of the steerable wheels, the tread depth of the tires of the steerable wheels, the coefficient of friction of the tires on the ground, the temperature and / or humidity are taken into account.
- the expected amount of effort for steering adjustment increases with decreasing air pressure in the tires of the steerable wheels.
- the coefficient of friction of the wheels on the ground also depends on the air pressure in the tires of the steerable wheels and the tread depth of the tires of the steerable wheels.
- the coefficient of friction of the wheels on the ground can be determined, for example, by determining the braking distance. Any other type of determination of the coefficient of friction of the wheels on the ground, which is known to those skilled in the art, can be used.
- the determination of the coefficient of friction is known to the person skilled in the art, for example, from ESP or ABS systems.
- the coefficient of friction of the wheels on the ground is particularly dependent on the air pressure in the tires of the steerable wheels and the tread depth of the tires of the steerable wheels.
- Additional sources of power for the actuator that controls the steering are tire restoring forces due to steering and springback due to torsion.
- the rack With which the steerable wheels are steered in a rack and pinion steering, driven. At the same time, a movement of the steering wheel takes place, so that the driver is informed about the respective steering operation due to the rotation of the steering wheel.
- a movement of the steering wheel takes place, so that the driver is informed about the respective steering operation due to the rotation of the steering wheel.
- the steering adjustments can be made automatically again. For this it is possible, for example, to indicate to the driver that the control can now be taken over again by the system. The driver may then be given the option to notify the system that he wishes to take over control. Alternatively, it is also possible that the controller remains with the driver. The notification that the driver wishes to take over the control can be effected, for example, by actuating a switch.
- the notification that the controller can be taken over again by the system can be done visually via the display device of the onboard computer.
- the system can automatically take over control again and the driver merely receives an indication that the steering adjustment takes place automatically again.
- the indication can be made acoustically, optically or haptically, for example. It is particularly preferred if the indication is also haptic, for example by the steering is adjusted so that a significantly increased effort is required for the operation. In this case, however, a simultaneous optical or acoustic display is preferred. It is preferred if the driver is given the choice to return the control system to the system or to retain it.
- the maximum permissible temperature at which the control is passed to the driver is, for example, the maximum permissible operating temperature at which faultless operation of the actuator can be ensured. This temperature is device-dependent and is specified by the device manufacturer for the actuator, for example. However, it is preferred if the maximum permissible temperature at which the control is transferred to the driver is below the maximum permissible operating temperature at which the actuator can still be operated, in order to obtain a safety margin in this way. Thus, the maximum permissible temperature at which the control is transferred to the driver is preferably at most 80% of the maximum permissible operating temperature of the actuator.
- the predetermined temperature at which the steering settings are automatically carried out again after the servomotor has cooled down is, for example, at a maximum of 60% of the maximum permissible operating temperature of the actuator. Due to the correspondingly large distance between the predetermined temperature, to which the steering adjustments are automated again, it is ensured that a transfer to the driver does not take place after only one steering adjustment again, but that several steering adjustments can be made, wherein it is particularly preferred the number of steering adjustments that can still be performed is sufficient to complete the automatic driving, in particular the parking operation.
- the environment of the vehicle is first detected. If the maneuver to be performed is a parking operation, it is first determined whether a sufficiently large parking space, the one
- Parking the vehicle allows exists.
- the environment adjacent to the vehicle is detected in a L Lucassparklücke while driving past. If a gap is detected which is long enough to park the vehicle, a suitable parking space is assumed.
- the system for detecting the environment the length of the parking space and possibly also the width of the parking space can be detected.
- distance sensors which are connected to a suitable evaluation unit used. Commonly used distance sensors are, for example, ultrasonic sensors, radar sensors, infrared sensors, capacitive sensors or LIDAR sensors. These sensors send a signal that is reflected by objects in the detection area and then pick up the echo. From the running time of the signal, the distance to an object.
- a parking space is limited by a front boundary, a rear boundary and a side boundary.
- the front and rear limits are generally formed by further parking vehicles.
- a longitudinal parking space is limited only by a rear boundary or only by a front boundary. This is the case when the parking space is the first or the last parking space in a row.
- Such a parking space may be detected, for example, by a recurring pattern of close-vehicle-to-vehicle boundaries with short intervening areas where the boundary is farther from the vehicle.
- the system is informed by the driver that it is such a parking space.
- a suitable access lane is then calculated.
- the entrance lane being calculated is the lane swept from the center of the rear axle of the vehicle.
- the steering adjustments of the steerable wheels of the vehicle required for driving through the web can then be determined.
- the determined path is traversed on the basis of the previously determined steering settings of the steerable wheels.
- the temperature of the actuator for the steering settings is now measured in each case.
- the expected effort for the subsequent steering adjustment is the expected temperature increase determined. In this way, it can be estimated whether the predetermined, maximum allowable temperature for the actuator can be exceeded due to the expected effort. If the preset, maximum permissible temperature for the actuator can be exceeded, the control is transferred to the driver.
- the invention further relates to a device for carrying out the method, wherein the device comprises a control device, an actuator for performing steering adjustments and means for detecting the temperature of the actuator.
- the actuator is controlled by the control unit and the means for detecting the Temperature are connected to the controller, so that detected temperatures can be transmitted to the controller.
- the controller is configured to include means for detecting a trajectory to be traversed by the vehicle and determining the steering adjustments of the steerable wheels of the vehicle required for traversing the track, and means for estimating the force required for the steering adjustments and a resultant resulting actuator temperature.
- any known to those skilled actuator with the appropriate steering settings can be performed.
- the actuator is dependent on the type of steering.
- any temperature sensors such as thermocouples can be used. Suitable temperature sensors are known to the person skilled in the art.
- the temperature sensors provide a voltage change to the controller, wherein the voltage change can then be converted into a temperature change and a temperature of the actuator.
- the control unit is preferably equipped with a processor.
- a program shall be provided to calculate the trajectory to be traversed.
- storage means are provided in which the acquired data, for example data of the temperature sensors and the distance sensors can be stored.
- the controller can then access the stored data and calculate the trajectory to be traversed from the stored data.
- Another program can be used to calculate the force required to perform the steering adjustment, and the force required to calculate the expected increase in the temperature of the actuator. In comparison with the stored temperature data then the expected temperature can be determined after performing the steering adjustment and if a cancellation of the automatic control is necessary, the driver will be sent a warning.
- control unit is connected, for example, with a suitable display device, for example a monitor in the instrument panel of the vehicle.
- a suitable bus system for example, a CAN bus.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009046966.4A DE102009046966B4 (de) | 2009-11-23 | 2009-11-23 | Verfahren zur Unterstützung des Fahrers eines Fahrzeugs |
PCT/EP2010/064865 WO2011061000A1 (de) | 2009-11-23 | 2010-10-06 | Verfahren zur unterstützung des fahrers eines fahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2504213A1 true EP2504213A1 (de) | 2012-10-03 |
Family
ID=43037733
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10761012A Withdrawn EP2504213A1 (de) | 2009-11-23 | 2010-10-06 | Verfahren zur unterstützung des fahrers eines fahrzeugs |
Country Status (4)
Country | Link |
---|---|
US (1) | US20130043989A1 (de) |
EP (1) | EP2504213A1 (de) |
DE (1) | DE102009046966B4 (de) |
WO (1) | WO2011061000A1 (de) |
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DE102011013808B4 (de) * | 2011-03-14 | 2017-06-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Übergabe der Fahrzeugführungskontrolle |
DE102012211025A1 (de) | 2012-06-27 | 2014-01-02 | Robert Bosch Gmbh | Verfahren zur Fahrassistenz und Fahrassistenzsystem |
DE102012216986A1 (de) | 2012-09-21 | 2014-03-27 | Robert Bosch Gmbh | Verfahren zur Assistenz bei einem Fahrmanöver und Fahrassistenzsystem |
EP2921375B1 (de) * | 2012-11-02 | 2018-01-10 | Toyota Jidosha Kabushiki Kaisha | Parkassistent |
EP3006272A4 (de) * | 2013-05-29 | 2016-06-15 | Toyota Motor Co Ltd | Parkhilfevorrichtung |
US9828028B2 (en) | 2013-06-05 | 2017-11-28 | Toyota Jidosha Kabushiki Kaisha | Parking assist device |
WO2014207850A1 (ja) * | 2013-06-26 | 2014-12-31 | トヨタ自動車 株式会社 | 駐車支援装置 |
JP6079596B2 (ja) * | 2013-12-06 | 2017-02-15 | トヨタ自動車株式会社 | 駐車支援装置 |
DE102014209152A1 (de) | 2014-05-14 | 2015-11-19 | Volkswagen Aktiengesellschaft | Servolenkung und Verfahren zur Anpassung einer in einer Endstufe und/oder E-Maschine einer elektrischen Servolenkung erzeugten Verlustleistung |
DE102015216625A1 (de) * | 2015-08-31 | 2017-03-02 | Continental Teves Ag & Co. Ohg | Vorrichtung und Verfahren zum Ansteuern eines Lenksystems für ein Kraftfahrzeug |
US20170129536A1 (en) * | 2015-11-11 | 2017-05-11 | Ford Global Technologies, Llc | Hill parking aid |
JP6460033B2 (ja) * | 2016-04-11 | 2019-01-30 | 株式会社デンソー | 車両制御装置 |
US10308243B2 (en) | 2016-07-26 | 2019-06-04 | Ford Global Technologies, Llc | Vehicle remote park assist with occupant detection |
JP6775894B2 (ja) * | 2016-12-26 | 2020-10-28 | ダイハツ工業株式会社 | 駐車支援装置 |
US10683034B2 (en) | 2017-06-06 | 2020-06-16 | Ford Global Technologies, Llc | Vehicle remote parking systems and methods |
US10585430B2 (en) | 2017-06-16 | 2020-03-10 | Ford Global Technologies, Llc | Remote park-assist authentication for vehicles |
US10775781B2 (en) | 2017-06-16 | 2020-09-15 | Ford Global Technologies, Llc | Interface verification for vehicle remote park-assist |
US10580304B2 (en) | 2017-10-02 | 2020-03-03 | Ford Global Technologies, Llc | Accelerometer-based external sound monitoring for voice controlled autonomous parking |
US10627811B2 (en) | 2017-11-07 | 2020-04-21 | Ford Global Technologies, Llc | Audio alerts for remote park-assist tethering |
US10578676B2 (en) | 2017-11-28 | 2020-03-03 | Ford Global Technologies, Llc | Vehicle monitoring of mobile device state-of-charge |
US10737690B2 (en) | 2018-01-02 | 2020-08-11 | Ford Global Technologies, Llc | Mobile device tethering for a remote parking assist system of a vehicle |
US11148661B2 (en) | 2018-01-02 | 2021-10-19 | Ford Global Technologies, Llc | Mobile device tethering for a remote parking assist system of a vehicle |
US10585431B2 (en) | 2018-01-02 | 2020-03-10 | Ford Global Technologies, Llc | Mobile device tethering for a remote parking assist system of a vehicle |
US10583830B2 (en) | 2018-01-02 | 2020-03-10 | Ford Global Technologies, Llc | Mobile device tethering for a remote parking assist system of a vehicle |
US10688918B2 (en) | 2018-01-02 | 2020-06-23 | Ford Global Technologies, Llc | Mobile device tethering for a remote parking assist system of a vehicle |
US10974717B2 (en) | 2018-01-02 | 2021-04-13 | Ford Global Technologies, I.LC | Mobile device tethering for a remote parking assist system of a vehicle |
US10814864B2 (en) | 2018-01-02 | 2020-10-27 | Ford Global Technologies, Llc | Mobile device tethering for a remote parking assist system of a vehicle |
US10684773B2 (en) | 2018-01-03 | 2020-06-16 | Ford Global Technologies, Llc | Mobile device interface for trailer backup-assist |
US10747218B2 (en) | 2018-01-12 | 2020-08-18 | Ford Global Technologies, Llc | Mobile device tethering for remote parking assist |
US10917748B2 (en) | 2018-01-25 | 2021-02-09 | Ford Global Technologies, Llc | Mobile device tethering for vehicle systems based on variable time-of-flight and dead reckoning |
US10684627B2 (en) | 2018-02-06 | 2020-06-16 | Ford Global Technologies, Llc | Accelerometer-based external sound monitoring for position aware autonomous parking |
US11188070B2 (en) | 2018-02-19 | 2021-11-30 | Ford Global Technologies, Llc | Mitigating key fob unavailability for remote parking assist systems |
US10507868B2 (en) * | 2018-02-22 | 2019-12-17 | Ford Global Technologies, Llc | Tire pressure monitoring for vehicle park-assist |
US10732622B2 (en) | 2018-04-05 | 2020-08-04 | Ford Global Technologies, Llc | Advanced user interaction features for remote park assist |
US10683004B2 (en) | 2018-04-09 | 2020-06-16 | Ford Global Technologies, Llc | Input signal management for vehicle park-assist |
US10493981B2 (en) | 2018-04-09 | 2019-12-03 | Ford Global Technologies, Llc | Input signal management for vehicle park-assist |
US10759417B2 (en) | 2018-04-09 | 2020-09-01 | Ford Global Technologies, Llc | Input signal management for vehicle park-assist |
US10793144B2 (en) | 2018-04-09 | 2020-10-06 | Ford Global Technologies, Llc | Vehicle remote park-assist communication counters |
US10821972B2 (en) | 2018-09-13 | 2020-11-03 | Ford Global Technologies, Llc | Vehicle remote parking assist systems and methods |
US10717432B2 (en) | 2018-09-13 | 2020-07-21 | Ford Global Technologies, Llc | Park-assist based on vehicle door open positions |
US10967851B2 (en) | 2018-09-24 | 2021-04-06 | Ford Global Technologies, Llc | Vehicle system and method for setting variable virtual boundary |
US10529233B1 (en) | 2018-09-24 | 2020-01-07 | Ford Global Technologies Llc | Vehicle and method for detecting a parking space via a drone |
US10908603B2 (en) | 2018-10-08 | 2021-02-02 | Ford Global Technologies, Llc | Methods and apparatus to facilitate remote-controlled maneuvers |
US10628687B1 (en) | 2018-10-12 | 2020-04-21 | Ford Global Technologies, Llc | Parking spot identification for vehicle park-assist |
US11097723B2 (en) | 2018-10-17 | 2021-08-24 | Ford Global Technologies, Llc | User interfaces for vehicle remote park assist |
US11137754B2 (en) | 2018-10-24 | 2021-10-05 | Ford Global Technologies, Llc | Intermittent delay mitigation for remote vehicle operation |
US11789442B2 (en) | 2019-02-07 | 2023-10-17 | Ford Global Technologies, Llc | Anomalous input detection |
US11195344B2 (en) | 2019-03-15 | 2021-12-07 | Ford Global Technologies, Llc | High phone BLE or CPU burden detection and notification |
US11169517B2 (en) | 2019-04-01 | 2021-11-09 | Ford Global Technologies, Llc | Initiation of vehicle remote park-assist with key fob |
US11275368B2 (en) | 2019-04-01 | 2022-03-15 | Ford Global Technologies, Llc | Key fobs for vehicle remote park-assist |
JP2022167106A (ja) * | 2021-04-22 | 2022-11-04 | トヨタ自動車株式会社 | 車両システム |
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JP4604566B2 (ja) * | 2004-06-17 | 2011-01-05 | 日産自動車株式会社 | 車両用操舵装置 |
JP4294573B2 (ja) * | 2004-11-02 | 2009-07-15 | 本田技研工業株式会社 | 操舵装置 |
DE102005008468B4 (de) * | 2005-02-24 | 2017-01-12 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Einstellung eines Lenkwinkels eines Kraftfahrzeugs |
JP4725797B2 (ja) * | 2006-06-13 | 2011-07-13 | 株式会社ジェイテクト | 車両用操舵装置 |
JP4254864B2 (ja) * | 2007-01-25 | 2009-04-15 | トヨタ自動車株式会社 | 車両およびその制御方法 |
DE102007061234A1 (de) * | 2007-12-19 | 2009-06-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Anpassen der Führung eines Fahrzeuges |
-
2009
- 2009-11-23 DE DE102009046966.4A patent/DE102009046966B4/de not_active Expired - Fee Related
-
2010
- 2010-10-06 WO PCT/EP2010/064865 patent/WO2011061000A1/de active Application Filing
- 2010-10-06 EP EP10761012A patent/EP2504213A1/de not_active Withdrawn
- 2010-10-06 US US13/511,494 patent/US20130043989A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2011061000A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE102009046966B4 (de) | 2019-01-31 |
DE102009046966A1 (de) | 2011-05-26 |
US20130043989A1 (en) | 2013-02-21 |
WO2011061000A1 (de) | 2011-05-26 |
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