WO2005022006A1 - Automatic gear shifting during shunting recognition - Google Patents

Automatic gear shifting during shunting recognition Download PDF

Info

Publication number
WO2005022006A1
WO2005022006A1 PCT/EP2004/008721 EP2004008721W WO2005022006A1 WO 2005022006 A1 WO2005022006 A1 WO 2005022006A1 EP 2004008721 W EP2004008721 W EP 2004008721W WO 2005022006 A1 WO2005022006 A1 WO 2005022006A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
parking
driver
carried out
maneuvering
Prior art date
Application number
PCT/EP2004/008721
Other languages
German (de)
French (fr)
Inventor
Eckart Fischer
Helmut Keller
Jens KÖHNLEIN
Jakob Seiler
Original Assignee
Daimlerchrysler Ag
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 Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2005022006A1 publication Critical patent/WO2005022006A1/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0246—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by initiating reverse gearshift
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
    • F16H2059/446—Detecting vehicle stop, i.e. the vehicle is at stand still, e.g. for engaging parking lock
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2312/00—Driving activities
    • F16H2312/12—Parking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions

Definitions

  • the invention relates to a method for assisting a motor vehicle driver in parallel parking, the gear change being carried out automatically.
  • Rear-parking a motor vehicle in a parking space is one of the most difficult driving maneuvers that can occur in traffic. It must therefore be estimated whether a parking space is large enough, and the parking process itself requires a considerable amount of practice, so that beginners or unsafe drivers in particular cannot park quickly and easily. This means that the motor vehicle has to be reset a few times and the subsequent traffic is accordingly impeded or damage can occur during parking.
  • a parking aid for a motor vehicle is known from DE 38 13 083 C3, in which the motor vehicle is parked in the position of the smallest turning circle.
  • the parking aid comprises a movement sensor for measuring the movement distance and a display device as well as obstacle measuring devices with different distance measuring units, which are attached to suitable parts of the vehicle and point in different directions, for detecting the distances between the Body and the obstacles in these directions.
  • An indicator lamp arrangement is provided in the display device, as a result of which the driver is shown how exactly he should drive the car.
  • the clearance condition indicator lamp assembly consists of an "intermediate clearance to be enlarged” indicator lamp which illuminates when the body-obstacle clearance is insufficient; an "insufficient clearance” indicator lamp which illuminates when the car parking space is not is sufficient, a "possible collision” indicator lamp to warn of a collision when the vehicle is put into motion. Furthermore, a gearshift lamp assembly is provided which includes a “forward” and “reverse” lamp to alert the driver thereof to instruct whether he should drive forwards or backwards. It is also provided that the parking process is carried out automatically by parking the vehicle along a precalculated L-shaped or S-shaped path.
  • the parallel parking is carried out in particular by the driver selecting the parallel parking mode, whereupon the parallel to the Pa rklücke arranged vehicle stops driving at a predetermined stopping point, the reverse gear is engaged and the vehicle is guided in an S-shape from the stopping point to an end point. Measures in the event that the vehicle is not correctly positioned in the parking space are not provided.
  • a parking procedure support system is known from DE 101 61 316 AI.
  • This system includes a display for displaying parking support information including a target parking position and a vehicle position.
  • the system further contains a locus curve calculation means for calculating an expected locus of movement for a vehicle in question in accordance with a movement distance of the vehicle and a steering angle, a fault determining means for determining whether the expected movement locus will interfere with the target parking position, and information determining means for determining subsequent parking assist information based on the presence or absence of the disturbance.
  • the object of the present invention is to improve a method for assisting a motor vehicle driver in parallel parking in such a way that parking is made easier for the motor vehicle driver.
  • the object is achieved according to the invention by a method of the type mentioned in the introduction, in which a maneuvering requirement is recognized and the switching operation is carried out from a forward gear to a reverse gear or vice versa in accordance with the recognized maneuvering requirement.
  • the driver no longer has to shift independently when a change from a forward gear to a reverse gear or - from a reverse gear to a forward gear is necessary due to maneuvering requirements.
  • the driver does not have to be asked to change gear because the car "thinks".
  • the driver can therefore concentrate fully on maneuvering the vehicle and parking it in the parking space without having to worry about whether the correct gear is being used
  • It is particularly advantageous if the method according to the invention is used in vehicles with an automatic transmission.
  • the shifting operation is carried out in particular when it is recognized that there is a need for maneuvering in the parking space and therefore a shift request.
  • the switching operation is advantageously carried out when the vehicle is stationary. If the vehicle is brought to a stop in a parking space, it can be assumed that a maneuvering process, i.e. driving in the opposite direction. Stopping the vehicle can therefore be used as a signal to perform the shift.
  • the switching operation is preferably only carried out when it is recognized via a distance detection that there is only a small predetermined distance from an obstacle or from another vehicle. Otherwise, it could already be switched when approaching another vehicle or an obstacle slowly, during which the vehicle intentionally or unintentionally completely comes to a standstill. If, on the other hand, the detection of the stopping of the vehicle is combined with a distance measurement, it can be ensured that the switching operation is only carried out when driving further in the direction that was traveled before stopping would lead to a collision.
  • the switching operation is carried out when it is recognized that the vehicle is in a parallel parking space with the rear. This can be recognized automatically, in particular if the vehicle is at an angle in a parking space, ie is not yet aligned parallel to the roadside. If the vehicle is in Such a situation persists, it must be assumed that in order to align the vehicle in the parking space, it is still necessary to drive in the opposite direction, so that the switching process is triggered.
  • the switching process is carried out when it is recognized that the vehicle is standing at an obstacle.
  • the rear of the vehicle can protrude beyond the road boundary when parking. This could result in a collision with an obstacle, such as a garbage can or a street lamp.
  • the driver is either stopped by himself or warned by a distance warning system to stop the vehicle. This also means that the vehicle must be driven in the opposite direction as the parking maneuver continues. This situation can be recognized automatically and the switching process can be carried out automatically.
  • the switching operation is carried out when the driver performs maneuvering movements on the steering wheel.
  • This measure has the advantage that the driver can concentrate fully on parking, ie steering the vehicle. The driver no longer has to make sure that he is in the right gear. While it has hitherto been possible for a driver to turn the wheels for a maneuvering operation on the spot and forget to change gears and there is therefore a risk of damaging another vehicle, this can no longer be done with the method according to the invention, because when recognizing a shifting movement carried out on the steering wheel automatically changes gear.
  • the change of gear is advantageously made perceptible to the driver. This means that the driver is shown the gear change visually and / or acoustically and / or haptically. This measure prevents the driver from being surprised by a change of direction of the vehicle and the driver from failing.
  • a parking aid for a motor vehicle with means for automatic gear change, means for recognizing a maneuvering requirement being provided and the means for automatic gear change being controlled in accordance with the maneuvering requirement recognized by the means for recognizing a maneuvering requirement.
  • a parking aid for a motor vehicle makes parking much easier for a driver.
  • Such a parking aid is particularly suitable for assisting the driver when parking in a parallel parking space.
  • a parking space detection device is provided. This means that the surroundings of the vehicle are detected and recognized when the vehicle is to be parked in a parallel parking space.
  • the parking aid can advantageously be activated and deactivated. It can be provided that the parking aid can be activated and deactivated manually by the driver or that the parking aid can be activated automatically. In particular, if a parallel parking space is recognized by the parking space detection device, the parking aid can be activated automatically. It can thus be avoided that an automatic gearshift is triggered during normal driving, although no parking is to be carried out. A malfunction of the system can thus be safely avoided. On- on the other hand, the driver is automatically actively supported when parking in parallel parking spaces.
  • the parking aid advantageously has distance sensors.
  • the distance sensors can be used to inform the driver how close his vehicle has come to another vehicle or an obstacle.
  • the signals of the distance sensors can in particular be combined with the means for recognizing a maneuvering requirement or can be supplied to the latter.
  • the gear change can therefore only be triggered when it is not sensible to continue driving in a certain direction within the parking space. An early, unintentional gear change can thus be avoided.
  • the distance sensors can also be used to detect a parking space by detecting the lateral distance of the vehicle from an obstacle or from another vehicle or from the roadside.
  • FIG. 1 schematically shows a parallel parking space in which a vehicle is parked in reverse
  • FIG. 3 shows a parallel parking space in which a vehicle is parked which is not yet aligned parallel to the edge of the road;
  • Fig. 4 shows a vehicle that is parallel to a parking space.
  • 1 shows two vehicles 1, 2 which are parked parallel to a lane boundary 3.
  • Vehicle 5 points with its rear 6 into parking space 4.
  • parking is carried out in a parking space 4 between two vehicles 1, 2 in reverse, by vehicle 5 driving on an S-shaped curve. If the vehicle 5 deviates from an ideal line, the vehicle 5 may point with its rear 6 into the parking space 4 and stand there. A maneuvering process is necessary. If it is recognized that the vehicle 5 is in the parking space 4 and the rear 6 is pointing into the parking space 4, the forward gear is automatically engaged so that the parking process can be continued.
  • FIG. 2 shows a representation similar to that in FIG. 1.
  • an obstacle 10 is shown in the parking space 4 on the right edge 3 of the lane. While in a normal parking process the rear 6 may well protrude beyond the roadside 3, this is not possible in FIG. 2 because the obstacle 10 is in the way.
  • a gear change must be carried out in order to be able to correctly park the vehicle 5 in the parking space 4. If the obstacle 10 is detected in particular by distance sensors, and the vehicle 5 is stationary, a gear change is carried out automatically.
  • FIG. 3 shows a situation that can occur in particular if the parking space 4 is relatively small.
  • the vehicle 5 could not describe a complete S shape, so that it came to a stop in the parking space 4 in an inclined position.
  • a maneuvering process is necessary.
  • the front wheels of the vehicle 5 must go to the right be driven in and the vehicle 5 must be driven forward. If the vehicle 5 comes to a stop in the position shown in FIG. 3, the forward gear is automatically engaged so that the maneuvering process can be carried out. Alternatively, it can be provided that the forward gear is only engaged when the driver turns the steering wheel to the right.
  • the parking aid can be activated automatically, so that the driver is supported when parking the vehicle 5 in the parking space 4 in such a way that it is automatically recognized when a gear change of the vehicle 5 is necessary and that Switching process is carried out automatically.
  • Cameras or radar devices in particular can be used as distance sensors 11, 12.
  • a driver drives his vehicle 5 backwards into a parallel parking space 4.
  • the driver drives backwards as far as possible.
  • the vehicle 5 is not yet parallel in the parking space 4.
  • Forward maneuvering with the steering wheel counter-turning is necessary.
  • the driver starts turning the steering wheel.
  • the vehicle 5 recognizes that the vehicle 5 is driving into a parallel parking space 4, that maneuvering in the parking space 4 is necessary and that the driver is carrying out maneuvering movements with the steering wheel.
  • the transmission then changes automatically from reverse to forward gear.
  • the driver now drives as far as possible until the vehicle 5 comes to the limit of the parking space 4.
  • the vehicle 5 or the parking aid recognizes that a repeated maneuvering in the parking space 4 is necessary and that the driver executes maneuvering movements with the steering wheel.
  • the transmission then automatically changes from forward to reverse gear. This process is repeated until the vehicle 5 is correctly in the parking space.
  • the invention relates to a method for assisting a driver when parking, in which it is recognized whether a maneuvering movement is required for correct parking and, when the need for a maneuvering movement is recognized, a gear change is automatically carried out for driving in a direction opposite to the previous direction of travel. This enables the driver to concentrate on the necessary steering movements.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for assisting a driver when parking, during which it is recognised whether a shunting movement is required for correct parking and, if this requirement is recognised, a gearshift is automatically carried out so that the vehicle can be displaced in the direction opposing the previous direction of travel. In this way, the driver can concentrate on the required steering movements.

Description

Automatisches Schalten bei Rangiererkennung Automatic switching when maneuvering is detected
Die Erfindung betrifft ein Verfahren zur Unterstützung eines Kraftfahrzeugfahrers beim Paralleleinparken, wobei der Gangwechsel automatisch durchgeführt wird.The invention relates to a method for assisting a motor vehicle driver in parallel parking, the gear change being carried out automatically.
Das rückwärtige Einparken eines Kraftfahrzeugs in eine Parklücke, insbesondere das parallele Einparken in eine Parklücke, ist eines der schwierigsten Fahrmanöver, die im Verkehr auftreten können. Daher muss abgeschätzt werden, ob eine Parklücke ausreichend groß ist, und der Einparkvorgang selbst erfordert ein erhebliches Maß an Übung, so dass insbesondere Anfänger oder auch unsichere Fahrer nicht schnell und problemlos einparken können. Dies führt dazu, dass das Kraftfahrzeug einige Male zurückgesetzt werden muss und dementsprechend der nachfolgende Verkehr behindert wird oder es zu Beschädigungen beim Einparken kommen kann.Rear-parking a motor vehicle in a parking space, in particular parallel parking in a parking space, is one of the most difficult driving maneuvers that can occur in traffic. It must therefore be estimated whether a parking space is large enough, and the parking process itself requires a considerable amount of practice, so that beginners or unsafe drivers in particular cannot park quickly and easily. This means that the motor vehicle has to be reset a few times and the subsequent traffic is accordingly impeded or damage can occur during parking.
Aus der DE 38 13 083 C3 ist eine Einparkhilfe für ein Kraftfahrzeug bekannt, bei der das Kraftfahrzeug in der Stellung des geringsten Wendekreises eingeparkt wird. Die Einparkhilfe umfasst einen Bewegungssensor zum Messen der Bewegungsstrecke und eine Anzeigevorrichtung sowie Hindernismesseinrichtungen mit verschiedenen Abstandsmesseinheiten, die an geeigneten Teilen des Fahrzeugs angebracht sind und in verschiedene Richtungen weisen, zur Erfassung der Abstände zwischen der Karosserie und den Hindernissen in diesen Richtungen. In der Anzeigevorrichtung ist eine Anzeigelampenanordnung vorgesehen, wodurch dem Fahrer angezeigt wird, wie er den Wagen genau fahren soll. Die Anzeigelampenanordnung für die Abstandsbedingungen besteht aus einer Anzeigelampe für „zu vergrößernder Zwischenraum", die dann aufleuchtet, wenn der Zwischenraum zwischen Karosserie und Hindernis ungenügend ist; einer Anzeigelampe für „ungenügenden Zwischenraum", die dann aufleuchtet, wenn der Raum zum Einparken des Wagens nicht ausreicht, einer Anzeigelampe für „möglicher Zusammenstoß", um vor einem Zusammenstoß zu warnen, wenn das Fahrzeug in Bewegung gesetzt wird. Weiterhin ist eine Lampenanordnung der Gangschaltung vorgesehen, die eine Lampe für „vorwärts" und „rückwärts" umfasst, um den Fahrer darüber zu instruieren, ob er vorwärts oder rückwärts fahren soll. Außerdem ist vorgesehen, dass der Einparkvorgang automatisch erfolgt, indem das Fahrzeug entlang einem vorberechneten L- oder S-förmigen Weg eingeparkt wird. Das Paralleleinparken erfolgt insbesondere, indem vom Fahrer der Paralleleinparkmodus ausgewählt wird, woraufhin das parallel zur Parklücke angeordnete Fahrzeug die Fahrt an einem vorgegebenen Haltepunkt stoppt, der Rückwärtsgang eingelegt wird und das Fahrzeug S-förmig von dem Haltepunkt zu einem Endpunkt geführt wird. Maßnahmen für den Fall, dass das Fahrzeug nicht korrekt in der Parklücke steht, sind nicht vorgesehen.A parking aid for a motor vehicle is known from DE 38 13 083 C3, in which the motor vehicle is parked in the position of the smallest turning circle. The parking aid comprises a movement sensor for measuring the movement distance and a display device as well as obstacle measuring devices with different distance measuring units, which are attached to suitable parts of the vehicle and point in different directions, for detecting the distances between the Body and the obstacles in these directions. An indicator lamp arrangement is provided in the display device, as a result of which the driver is shown how exactly he should drive the car. The clearance condition indicator lamp assembly consists of an "intermediate clearance to be enlarged" indicator lamp which illuminates when the body-obstacle clearance is insufficient; an "insufficient clearance" indicator lamp which illuminates when the car parking space is not is sufficient, a "possible collision" indicator lamp to warn of a collision when the vehicle is put into motion. Furthermore, a gearshift lamp assembly is provided which includes a "forward" and "reverse" lamp to alert the driver thereof to instruct whether he should drive forwards or backwards. It is also provided that the parking process is carried out automatically by parking the vehicle along a precalculated L-shaped or S-shaped path. The parallel parking is carried out in particular by the driver selecting the parallel parking mode, whereupon the parallel to the Pa rklücke arranged vehicle stops driving at a predetermined stopping point, the reverse gear is engaged and the vehicle is guided in an S-shape from the stopping point to an end point. Measures in the event that the vehicle is not correctly positioned in the parking space are not provided.
Aus der DE 101 61 316 AI ist ein Parkvorgang- Unterstützungssystem bekannt. Dieses System enthält eine Anzeige zum Anzeigen von Park-Unterstützungsinformationen einschließlich einer Zielparkposition und einer Fahrzeugposition. Das System enthält weiterhin ein Ortskurvenberechnungs- mittel zum Berechnen einer erwarteten Bewegungsortskurve für ein betreffendes Fahrzeug entsprechend einer Bewegungswegstrecke des Fahrzeugs und einem Lenkwinkel, ein Störungs- bestimmungsmittel zum Bestimmen, ob sich die erwartete Bewegungsortskurve mit der Zielparkposition stören wird, und ein Informationsbestimmungsmittel zum Bestimmen von anschließender Parkvorgang-Unterstützungsinformation auf der Basis des Vorhandenseins oder Fehlens der Störung.A parking procedure support system is known from DE 101 61 316 AI. This system includes a display for displaying parking support information including a target parking position and a vehicle position. The system further contains a locus curve calculation means for calculating an expected locus of movement for a vehicle in question in accordance with a movement distance of the vehicle and a steering angle, a fault determining means for determining whether the expected movement locus will interfere with the target parking position, and information determining means for determining subsequent parking assist information based on the presence or absence of the disturbance.
Aufgabe der vorliegenden Erfindung ist es, ein Verfahren zur Unterstützung eines Kraftfahrzeugfahrers beim Paralleleinparken dahingehend zu verbessern, dass das Ξinparken für den Kraftfahrzeugfahrer erleichtert wird.The object of the present invention is to improve a method for assisting a motor vehicle driver in parallel parking in such a way that parking is made easier for the motor vehicle driver.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren der eingangs genannten Art gelöst, bei dem ein Rangierbedarf erkannt wird und der Schaltvorgang von einem Vorwärts- in einen Rückwärtsgang oder umgekehrt entsprechend dem erkannten Rangierbedarf durchgeführt wird.The object is achieved according to the invention by a method of the type mentioned in the introduction, in which a maneuvering requirement is recognized and the switching operation is carried out from a forward gear to a reverse gear or vice versa in accordance with the recognized maneuvering requirement.
Im Gegensatz zum Stand der Technik braucht der Fahrer nicht mehr selbständig zu schalten, wenn ein Wechsel von einem Vorwärts- in einen Rückwärtsgang oder -von einem Rückwärts- in einen Vorwärtsgang aufgrund von Rangierbedarf notwendig wird. Der Fahrer muss auch nicht zum Schalten aufgefordert werden, da das Auto „mitdenkt". Der Fahrer kann sich daher vollständig auf das Rangieren des Fahrzeugs und das Einparken des Fahrzeugs in die Parklücke konzentrieren, ohne sich darüber Gedanken machen zu müssen, ob der richtige Gang eingelegt ist. Besonders vorteilhaft ist es, wenn das erfindungsgemäße Verfahren bei Fahrzeugen mit einem Automatikschaltgetriebe eingesetzt wird. Der Schaltvorgang wird insbesondere dann durchgeführt, wenn erkannt wird, dass in der Parklücke Rangierbedarf und daher ein Schaltwunsch besteht. Dies ist beispielsweise der Fall, wenn das Fahrzeug noch nicht parallel zum Straßenrand ausgerichtet ist . Durch entsprechende Abstandsmessung kann dieser Zustand festgestellt werden. Wird ein solcher Zustand erkannt, wird der Schaltvorgang automatisch durchgeführt. Im Gegensatz zum Stand der Technik ist es mit dem erfindungsgemäßen Verfahren möglich, während eines Einparkvorgangs mehrmals bei Erkennen von Rangierbedarf automatisch von einem Vorwärts- in einen Rückwärtsgang und wieder zurück zu schalten.In contrast to the prior art, the driver no longer has to shift independently when a change from a forward gear to a reverse gear or - from a reverse gear to a forward gear is necessary due to maneuvering requirements. The driver does not have to be asked to change gear because the car "thinks". The driver can therefore concentrate fully on maneuvering the vehicle and parking it in the parking space without having to worry about whether the correct gear is being used It is particularly advantageous if the method according to the invention is used in vehicles with an automatic transmission. The shifting operation is carried out in particular when it is recognized that there is a need for maneuvering in the parking space and therefore a shift request. This is the case, for example, when that Vehicle is not yet aligned parallel to the roadside, this condition can be determined by appropriate distance measurement if such a condition is recognized, the switching process is carried out automatically. In contrast to the prior art, it is possible with the method according to the invention to switch automatically from one forward to one reverse gear and back again several times during a parking operation when maneuvering needs are recognized.
Vorteilhafterweise wird der Schaltvorgang durchgeführt, wenn das Fahrzeug steht. Wenn das Fahrzeug in einer Parklücke zum Halten gebracht wird, kann davon ausgegangen werden, dass nun ein Rangiervorgang, d.h. ein Fahren in entgegengesetzter Richtung erfolgen soll. Das Anhalten des Fahrzeugs kann daher als Signal verwendet werden, den Schaltvorgang durchzuführen.The switching operation is advantageously carried out when the vehicle is stationary. If the vehicle is brought to a stop in a parking space, it can be assumed that a maneuvering process, i.e. driving in the opposite direction. Stopping the vehicle can therefore be used as a signal to perform the shift.
Vorzugsweise wird der Schaltvorgang jedoch erst durchgeführt, wenn über eine Abstandserkennung erkannt ist, dass nur ein geringer vorgegebener Abstand zu einem Hindernis oder zu einem anderen Fahrzeug besteht . Ansonsten könnte es schon bei einem langsamen Annähern an ein anderes Fahrzeug beziehungsweise an ein Hindernis, währenddessen das Fahrzeug beabsichtigt oder unbeabsichtigt vollständig zum Stillstand gelangt, bereits geschaltet werden. Wird hingegen das Erkennen des An- haltens des Fahrzeugs mit einer Abstandsmessung kombiniert, so kann sichergestellt werden, dass der Schaltvorgang erst durchgeführt wird, wenn ein weiteres Fahren in die Richtung, die vor dem Anhalten befahren wurde, zu einem Zusammenstoß führen würde .However, the switching operation is preferably only carried out when it is recognized via a distance detection that there is only a small predetermined distance from an obstacle or from another vehicle. Otherwise, it could already be switched when approaching another vehicle or an obstacle slowly, during which the vehicle intentionally or unintentionally completely comes to a standstill. If, on the other hand, the detection of the stopping of the vehicle is combined with a distance measurement, it can be ensured that the switching operation is only carried out when driving further in the direction that was traveled before stopping would lead to a collision.
Bei einer Verfahrensvariante kann vorgesehen sein, dass der Schaltvorgang durchgeführt wird, wenn erkannt wird, dass das Fahrzeug mit dem Heck in einer Parallelparklücke steht. Insbesondere, wenn das Fahrzeug schräg in einer Parklücke steht, d.h. noch nicht parallel zum Straßenrand ausgerichtet ist, kann dies automatisch erkannt werden. Wenn das Fahrzeug in einer solchen Situation anhält, ist davon auszugehen, dass zum Ausrichten des Fahrzeugs in der Parklücke noch ein Fahren in entgegengesetzter Richtung notwendig ist, so dass der Schaltvorgang ausgelöst wird.In a variant of the method it can be provided that the switching operation is carried out when it is recognized that the vehicle is in a parallel parking space with the rear. This can be recognized automatically, in particular if the vehicle is at an angle in a parking space, ie is not yet aligned parallel to the roadside. If the vehicle is in Such a situation persists, it must be assumed that in order to align the vehicle in the parking space, it is still necessary to drive in the opposite direction, so that the switching process is triggered.
Bei einer weiteren bevorzugten Verfahrensvariante kann vorgesehen sein, dass der Schaltvorgang durchgeführt wird, wenn erkannt wird, dass das Fahrzeug an einem Hindernis steht. Insbesondere kann beim Einparken das Heck des Fahrzeugs über die Straßenbegrenzung ragen. Dabei könnte es zu einem Zusammenstoß mit einem Hindernis, wie zum Beispiel einer Mülltonne oder einer Straßenlaterne, kommen. In einem solchen Fall wird der Fahrer entweder von sich aus, oder durch ein Abstands- warnsystem gewarnt, das Fahrzeug anhalten. Dies bedeutet auch, dass das Fahrzeug im weiteren Verlauf des Parkmanövers in entgegengesetzter Richtung gefahren werden muss. Diese Situation kann automatisch erkannt werden und der Schaltvorgang automatisch durchgeführt werden.In a further preferred method variant, it can be provided that the switching process is carried out when it is recognized that the vehicle is standing at an obstacle. In particular, the rear of the vehicle can protrude beyond the road boundary when parking. This could result in a collision with an obstacle, such as a garbage can or a street lamp. In such a case, the driver is either stopped by himself or warned by a distance warning system to stop the vehicle. This also means that the vehicle must be driven in the opposite direction as the parking maneuver continues. This situation can be recognized automatically and the switching process can be carried out automatically.
Weiterhin kann vorgesehen sein, dass der Schaltvorgang durchgeführt wird, wenn der Fahrer am Lenkrad Rangierbewegungen durchführt. Diese Maßnahme hat den Vorteil, dass der Fahrer sich vollständig auf das Einparken, d.h. das Lenken des Fahrzeugs konzentrieren kann. Der Fahrer muss nicht mehr darauf achten, den richtigen Gang eingelegt zu haben. Während es bislang möglich ist, dass ein Fahrer auf der Stelle die Räder für einen Rangiervorgang einschlägt und vergisst, den Gang zu wechseln und somit die Gefahr besteht, ein anderes Fahrzeug zu beschädigen, kann dies mit den erfindungsgemäßen Verfahren nicht mehr geschehen, da beim Erkennen einer am Lenkrad ausgeführten Rangierbewegung automatisch der Gangwechsel erfolgt . Vorteilhafterweise wird der Gangwechsel dem Fahrer wahrnehmbar gemacht. Dies bedeutet, dass dem Fahrer der Gangwechsel visuell und/oder akustisch und/oder haptisch angezeigt wird. Diese Maßnahme verhindert, dass der Fahrer durch einen Richtungswechsel des Fahrzeugs überrascht wird und es zu Fehlleistungen des Fahrers kommt .Furthermore, it can be provided that the switching operation is carried out when the driver performs maneuvering movements on the steering wheel. This measure has the advantage that the driver can concentrate fully on parking, ie steering the vehicle. The driver no longer has to make sure that he is in the right gear. While it has hitherto been possible for a driver to turn the wheels for a maneuvering operation on the spot and forget to change gears and there is therefore a risk of damaging another vehicle, this can no longer be done with the method according to the invention, because when recognizing a shifting movement carried out on the steering wheel automatically changes gear. The change of gear is advantageously made perceptible to the driver. This means that the driver is shown the gear change visually and / or acoustically and / or haptically. This measure prevents the driver from being surprised by a change of direction of the vehicle and the driver from failing.
Die Aufgabe wird erfindungsgemäß außerdem gelöst durch eine Einparkhilfe für ein Kraftfahrzeug mit Mitteln zum automatischen Gangwechsel, wobei Mittel zum Erkennen eines Rangierbedarfs vorgesehen sind und die Mittel zum automatischen Gangwechsel entsprechend dem von den Mitteln zum Erkennen eines Rangierbedarfs erkannten Rangierbedarf angesteuert sind. Mit einer solchen Einparkhilfe für ein Kraftfahrzeug wird einem Fahrer das Einparken erheblich erleichtert. Eine solche Einparkhilfe ist besonders geeignet, den Fahrer beim Einparken in eine Parallelparklücke zu unterstützen.The object is also achieved according to the invention by a parking aid for a motor vehicle with means for automatic gear change, means for recognizing a maneuvering requirement being provided and the means for automatic gear change being controlled in accordance with the maneuvering requirement recognized by the means for recognizing a maneuvering requirement. Such a parking aid for a motor vehicle makes parking much easier for a driver. Such a parking aid is particularly suitable for assisting the driver when parking in a parallel parking space.
Bei einer bevorzugten Ausführungsform der Einparkhilfe ist eine Parklückenerkennungseinrichtung vorgesehen. Dies bedeutet, dass die Umgebung des Fahrzeugs erfasst wird und erkannt wird, wenn das Fahrzeug in eine Parallelparklücke eingeparkt werden soll.In a preferred embodiment of the parking aid, a parking space detection device is provided. This means that the surroundings of the vehicle are detected and recognized when the vehicle is to be parked in a parallel parking space.
Vorteilhafterweise ist die Einparkhilfe aktivierbar und deaktivierbar. Dabei kann vorgesehen sein, dass die Einparkhilfe vom Fahrer manuell aktivierbar und deaktivierbar ist oder dass die Einparkhilfe automatisch aktivierbar ist. Insbesondere, wenn von der Parklückenerkennungseinrichtung eine Parallelparklücke erkannt wird, kann die Einparkhilfe automatische aktiviert werden. Somit kann vermieden werden, dass bei normalem Fahrbetrieb ein automatischer Schaltvorgang ausgelöst wird, obwohl nicht eingeparkt werden soll. Eine Fehlfunktion des Systems kann somit sicher vermieden werden. An- dererseits wird der Fahrer beim Einparken in Parallelparklücken automatisch aktiv unterstützt.The parking aid can advantageously be activated and deactivated. It can be provided that the parking aid can be activated and deactivated manually by the driver or that the parking aid can be activated automatically. In particular, if a parallel parking space is recognized by the parking space detection device, the parking aid can be activated automatically. It can thus be avoided that an automatic gearshift is triggered during normal driving, although no parking is to be carried out. A malfunction of the system can thus be safely avoided. On- on the other hand, the driver is automatically actively supported when parking in parallel parking spaces.
Vorteilhafterweise weist die Einparkhilfe Abstandssensoren auf . Über die Abstandssensoren kann der Fahrer informiert werden, wie nahe er sich mit seinem Fahrzeug einem anderen Fahrzeug oder einem Hindernis angenähert hat . Die Signale der Abstandssensoren können insbesondere mit den Mitteln zum Erkennen eines Rangierbedarfs kombiniert bzw. diesen zugeführt werden. Der Gangwechsel kann somit erst ausgelöst werden, wenn ein weiteres Fahren in einer bestimmten Richtung innerhalb der Parklücke nicht sinnvoll ist. Ein vorzeitiger, unbeabsichtigter Gangwechsel kann somit vermieden werden. Die Abstandssensoren können jedoch auch dazu eingesetzt werden, eine Parklücke zu erkennen, indem der seitliche Abstand des Fahrzeugs zu einem Hindernis beziehungsweise zu einem anderen Fahrzeug beziehungsweise zum Straßenrand erfasst wird.The parking aid advantageously has distance sensors. The distance sensors can be used to inform the driver how close his vehicle has come to another vehicle or an obstacle. The signals of the distance sensors can in particular be combined with the means for recognizing a maneuvering requirement or can be supplied to the latter. The gear change can therefore only be triggered when it is not sensible to continue driving in a certain direction within the parking space. An early, unintentional gear change can thus be avoided. However, the distance sensors can also be used to detect a parking space by detecting the lateral distance of the vehicle from an obstacle or from another vehicle or from the roadside.
Ausführungsbeispiels sind in der nachfolgenden Zeichnung dargestellt. Dabei zeigen:Exemplary embodiments are shown in the following drawing. Show:
Fig. 1 schematisch eine Parallelparklücke, in der ein Fahrzeug rückwärts einparkt;1 schematically shows a parallel parking space in which a vehicle is parked in reverse;
Fig. 2 eine Parallelparklücke, an deren Rand sich ein Hindernis befindet;2 shows a parallel parking space, on the edge of which there is an obstacle;
Fig. 3 eine Parallelparklücke, in die ein Fahrzeug eingeparkt ist, das noch nicht parallel zum Fahrbahnrand ausgerichtet ist;3 shows a parallel parking space in which a vehicle is parked which is not yet aligned parallel to the edge of the road;
Fig. 4 ein Fahrzeug, das parallel zu einer Parklücke steht. In der Fig. 1 sind zwei Fahrzeuge 1, 2 gezeigt, die parallel zu einer Fahrbahnbegrenzung 3 abgestellt sind. Zwischen den Fahrzeugen 1 , 2 besteht eine Parklücke 4. Das Fahrzeug 5 zeigt mit seinem Heck 6 in die Parklücke 4. Normalerweise wird in eine Parklücke 4 zwischen zwei Fahrzeugen 1, 2 rückwärts eingeparkt, indem das Fahrzeug 5 eine S-förmige Kurve befährt. Weicht das Fahrzeug 5 von einer Ideallinie ab, kann es sein, dass das Fahrzeug 5 mit seinem Heck 6 in die Parklücke 4 zeigt und dort steht. Ein Rangiervorgang ist notwendig. Wird erkannt, dass das Fahrzeug 5 in der Parklücke 4 steht und das Heck 6 in die Parklücke 4 zeigt, wird automatisch der Vorwärtsgang eingelegt, so dass der Parkvorgang fortgesetzt werden kann.Fig. 4 shows a vehicle that is parallel to a parking space. 1 shows two vehicles 1, 2 which are parked parallel to a lane boundary 3. There is a parking space 4 between vehicles 1, 2. Vehicle 5 points with its rear 6 into parking space 4. Normally, parking is carried out in a parking space 4 between two vehicles 1, 2 in reverse, by vehicle 5 driving on an S-shaped curve. If the vehicle 5 deviates from an ideal line, the vehicle 5 may point with its rear 6 into the parking space 4 and stand there. A maneuvering process is necessary. If it is recognized that the vehicle 5 is in the parking space 4 and the rear 6 is pointing into the parking space 4, the forward gear is automatically engaged so that the parking process can be continued.
In der Fig. 2 ist eine ähnliche Darstellung gezeigt wie in der Fig. 1. Im Unterschied zur Fig. 1 ist in der Parklücke 4 am rechten Fahrbahnrand 3 ein Hindernis 10 dargestellt. Während bei einem normalen Parkvorgang das Heck 6 durchaus den Straßenrand 3 überragen darf, ist dies in der Fig. 2 nicht möglich, da das Hindernis 10 im Weg steht. In dieser Konstellation muss nach einem Rückwärtsfahren des Fahrzeugs 5 in Richtung des Hindernisses 10 bei einem Anhalten des Fahrzeugs 5 ein Gangwechsel vorgenommen werden, um das Fahrzeug 5 richtig in der Parklücke 4 parken zu können. Wird insbesondere durch Abstandssensoren das Hindernis 10 erkannt, und steht das Fahrzeug 5, wird automatisch ein Gangwechsel vorgenommen.FIG. 2 shows a representation similar to that in FIG. 1. In contrast to FIG. 1, an obstacle 10 is shown in the parking space 4 on the right edge 3 of the lane. While in a normal parking process the rear 6 may well protrude beyond the roadside 3, this is not possible in FIG. 2 because the obstacle 10 is in the way. In this constellation, after the vehicle 5 has reversed in the direction of the obstacle 10 and the vehicle 5 has stopped, a gear change must be carried out in order to be able to correctly park the vehicle 5 in the parking space 4. If the obstacle 10 is detected in particular by distance sensors, and the vehicle 5 is stationary, a gear change is carried out automatically.
In der Fig. 3 ist eine Situation dargestellt, die insbesondere vorkommen kann, wenn die Parklücke 4 relativ klein ist. Das Fahrzeug 5 konnte keine vollständige S-Form beschreiben, so dass es in einer Schräglage in der Parklücke 4 zum Halten gekommen ist . Um das Fahrzeug 5 parallel zur Fahrbahnbegrenzung 3 auszurichten, ist ein Rangiervorgang notwendig. In der Fig. 3 müssen die Vorderräder des Fahrzeugs 5 nach rechts eingeschlagen werden und muss das Fahrzeug 5 nach vorne gefahren werden. Kommt das Fahrzeug 5 in der in der Fig. 3 dargestellten Lage zum stehen, so wird automatisch der Vorwärtsgang eingelegt, damit der Rangiervorgang vorgenommen werden kann. Alternativ kann vorgesehen sein, dass der Vorwärtsgang erst eingelegt wird, wenn der Fahrer das Lenkrad nach rechts eingschlägt .3 shows a situation that can occur in particular if the parking space 4 is relatively small. The vehicle 5 could not describe a complete S shape, so that it came to a stop in the parking space 4 in an inclined position. In order to align the vehicle 5 parallel to the lane boundary 3, a maneuvering process is necessary. In Fig. 3, the front wheels of the vehicle 5 must go to the right be driven in and the vehicle 5 must be driven forward. If the vehicle 5 comes to a stop in the position shown in FIG. 3, the forward gear is automatically engaged so that the maneuvering process can be carried out. Alternatively, it can be provided that the forward gear is only engaged when the driver turns the steering wheel to the right.
In der Fig.4 ist das Fahrzeug 5 in einer Lage parallel zu den Fahrzeugen 1, 2 dargestellt. Durch Abstandssensoren 11, 12 kann der Abstand des Fahrzeugs 5 sowohl zu den Fahrzeugen 1, 2 als auch zum Straßenrand 3 erfasst werden. Durch Zuführen der gemessenen Abstände an eine entsprechende Datenverarbeitungseinheit kann festgestellt werden, ob die Parklücke 4 groß genug ist, um das Fahrzeug 5 einzuparken. Ist erkannt, dass die Parklücke 4 groß genug ist, kann die Einparkhilfe automatisch aktiviert werden, so dass der Fahrer beim Einparken des Fahrzeugs 5 in die Parklücke 4 derart unterstützt wird, dass automatisch erkannt wird, wann ein Gangwechsel des Fahrzeugs 5 notwendig ist und der Schaltvorgang automatisch durchgeführt wird. Als Abstandssensoren 11, 12 können insbesondere Kameras oder Radargeräte eingesetzt werden.4 shows the vehicle 5 in a position parallel to the vehicles 1, 2. The distance of the vehicle 5 to the vehicles 1, 2 and to the roadside 3 can be detected by distance sensors 11, 12. By feeding the measured distances to a corresponding data processing unit, it can be determined whether the parking space 4 is large enough to park the vehicle 5. If it is recognized that the parking space 4 is large enough, the parking aid can be activated automatically, so that the driver is supported when parking the vehicle 5 in the parking space 4 in such a way that it is automatically recognized when a gear change of the vehicle 5 is necessary and that Switching process is carried out automatically. Cameras or radar devices in particular can be used as distance sensors 11, 12.
Die Erfindung wird anhand des folgenden Beispiels nochmals erläutert. Ein Fahrer fährt mit seinem Fahrzeug 5 rückwärts in eine Parallelparklücke 4. Der Fahrer fährt so weit rückwärts wie möglich. Am Ende dieses Fahrmanövers steht das Fahrzeug 5 noch nicht parallel in der Parklücke 4. Ein Vorwärtsrangieren mit Gegeneinschlagen des Lenkrads ist notwendig. Der Fahrer beginnt mit dem Einschlagen des Lenkrads. Das Fahrzeug 5 erkennt, dass das Fahrzeug 5 in eine Parallel- parklücke 4 fährt, dass ein Rangieren in der Parklücke 4 notwendig ist und dass der Fahrer Rangierbewegungen mit dem Lenkrad ausführt. Daraufhin wechselt das Getriebe automatisch vom Rückwärts- in den Vorwärtsgang. Der Fahrer fährt nun so weit wie möglich vorwärts, bis das Fahrzeug 5 an die Begrenzung der Parklücke 4 herankommt . An diesem Punkt beginnt der Fahrer abermals mit Rangierbewegungen. Das Fahrzeug 5 bzw. die Einparkhilfe erkennt, dass ein nochmaliges Rangieren in der Parklücke 4 notwendig ist und dass der Fahrer Rangierbewegungen mit dem Lenkrad ausführt. Daraufhin wechselt das Getriebe automatisch vom Vorwärts- in den Rückwärtsgang. Dieser Vorgang wiederholt sich so oft, bis das Fahrzeug 5 korrekt in der Parklücke steht .The invention is explained again using the following example. A driver drives his vehicle 5 backwards into a parallel parking space 4. The driver drives backwards as far as possible. At the end of this driving maneuver, the vehicle 5 is not yet parallel in the parking space 4. Forward maneuvering with the steering wheel counter-turning is necessary. The driver starts turning the steering wheel. The vehicle 5 recognizes that the vehicle 5 is driving into a parallel parking space 4, that maneuvering in the parking space 4 is necessary and that the driver is carrying out maneuvering movements with the steering wheel. The transmission then changes automatically from reverse to forward gear. The driver now drives as far as possible until the vehicle 5 comes to the limit of the parking space 4. At this point the driver starts maneuvering again. The vehicle 5 or the parking aid recognizes that a repeated maneuvering in the parking space 4 is necessary and that the driver executes maneuvering movements with the steering wheel. The transmission then automatically changes from forward to reverse gear. This process is repeated until the vehicle 5 is correctly in the parking space.
Die Erfindung betrifft ein Verfahren zur Unterstützung eines Fahrers beim Einparken, bei dem erkannt wird, ob für ein korrektes Einparken eine Rangierbewegung erforderlich ist und bei Erkennen der Notwendigkeit einer Rangierbewegung automatisch ein Gangwechsel für eine Fahrt in zur bisherigen Fahrtrichtung entgegengesetzter Richtung vorgenommen wird. Somit kann der Fahrer sich auf die notwendigen Lenkbewegungen konzentrieren. The invention relates to a method for assisting a driver when parking, in which it is recognized whether a maneuvering movement is required for correct parking and, when the need for a maneuvering movement is recognized, a gear change is automatically carried out for driving in a direction opposite to the previous direction of travel. This enables the driver to concentrate on the necessary steering movements.

Claims

Patentansprüche claims
1. Verfahren zur Unterstützung eines Kraftfahrzeugfahrers beim Paralleleinparken, wobei der Gangwechsel automatisch durchgeführt wird, d a d u r c h g e k e n n z e i c h n e t , dass ein Rangierbedarf erkannt wird und der Schaltvorgang von einem Vorwärts- in einen Rückwärtsgang oder umgekehrt entsprechend dem erkannten Rangierbedarf durchgeführt wird.1.Procedure for assisting a motor vehicle driver in parallel parking, the gear change being carried out automatically, because of the fact that a maneuvering requirement is recognized and the switching operation from a forward to a reverse gear or vice versa is carried out in accordance with the recognized maneuvering requirement.
2. Verfahren nach Anspruch 1 , d a d u r c h g e k e n n z e i c h n e t , dass der Schaltvorgang durchgeführt wird, wenn das Fahrzeug (5) steht.2. The method of claim 1, d a d u r c h g e k e n n z e i c h n e t that the switching operation is carried out when the vehicle (5) is stationary.
3. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass der Schaltvorgang durchgeführt wird, wenn erkannt wird, dass das Fahrzeug (5) mit dem Heck (6) in einer Parallelparklücke (4) steht.3. The method according to any one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the switching process is carried out when it is recognized that the vehicle (5) with the rear (6) is in a parallel parking space (4).
4. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass der Schaltvorgang durchgeführt wird, wenn erkannt wird, dass das Fahrzeug (5) an einem Hindernis (10) steht .4. The method according to any one of the preceding claims, characterized in that the switching process is carried out when detected is that the vehicle (5) is at an obstacle (10).
5. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass der Schaltvorgang durchgeführt wird, wenn der Fahrer am Lenkrad Rangierbewegungen durchführt .5. The method according to any one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the switching operation is carried out when the driver performs maneuvering movements on the steering wheel.
6. Verfahren nach einem der vorhergehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass der Gangwechsel dem Fahrer wahrnehmbar gemacht wird.6. The method according to any one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the gear change is made noticeable to the driver.
7. Einparkhilfe für ein Kraftfahrzeug mit Mitteln zum automatischen Gangwechsel, d a d u r c h g e k e n n z e i c h n e t , dass Mittel zum Erkennen eines Rangierbedarfs vorgesehen sind und die Mittel zum automatischen Gangwechsel entsprechend dem von den Mitteln zum Erkennen eines Rangierbedarfs erkannten Rangierbedarf angesteuert sind.7. Parking aid for a motor vehicle with means for automatic gear change, that means that means for recognizing a maneuvering requirement are provided and the means for automatic gear change are controlled in accordance with the maneuvering requirement recognized by the means for recognizing a maneuvering requirement.
8. Einparkhilfe nach Anspruch 7, d a d u r c h g e k e n n z e i c h n e t , dass eine Parklückenerkennungseinrichtung vorgesehen ist .8. Parking aid according to claim 7, d a d u r c h g e k e n n z e i c h n e t that a parking space detection device is provided.
9. Einparkhilfe nach Anspruch 7 oder 8, d a d u r c h g e k e n n z e i c h n e t , dass die Einparkhilfe aktivierbar und deaktivierbar ist.9. Parking aid according to claim 7 or 8, d a d u r c h g e k e n e z e i c h n e t that the parking aid can be activated and deactivated.
10. Einparkhilfe nach einem der Ansprüche 7 bis 9, d a d u r c h g e k e n n z e i c h n e t , dass Abstandssensoren (11, 12) vorgesehen sind. 10. Parking aid according to one of claims 7 to 9, d a d u r c h g e k e n n z e i c h n e t that distance sensors (11, 12) are provided.
PCT/EP2004/008721 2003-08-21 2004-08-04 Automatic gear shifting during shunting recognition WO2005022006A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10338335.2 2003-08-21
DE10338335A DE10338335A1 (en) 2003-08-21 2003-08-21 Automatic switching with jumper detection

Publications (1)

Publication Number Publication Date
WO2005022006A1 true WO2005022006A1 (en) 2005-03-10

Family

ID=34201752

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/008721 WO2005022006A1 (en) 2003-08-21 2004-08-04 Automatic gear shifting during shunting recognition

Country Status (2)

Country Link
DE (1) DE10338335A1 (en)
WO (1) WO2005022006A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10047854B2 (en) * 2013-08-07 2018-08-14 Jaguar Land Rover Limited Vehicle speed control system and method
CN108454512A (en) * 2017-02-20 2018-08-28 奥迪股份公司 Avoid the device of foreign matter, method and vehicle around wheel of vehicle
CN108791277A (en) * 2017-04-28 2018-11-13 丰田自动车株式会社 The control device of vehicle
CN109043765A (en) * 2018-06-15 2018-12-21 四川斐讯信息技术有限公司 A kind of method and system of Intelligent travel suitcase Automatic-searching storage location
CN111746525A (en) * 2020-07-07 2020-10-09 东风柳州汽车有限公司 Parking path planning method, device, equipment and storage medium

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006006171A1 (en) * 2006-02-10 2007-08-16 Zf Friedrichshafen Ag Automatic gearbox operating method, involves detecting measuring signals of drive input sensor, which monitors actuations and contacts of driver on brake pedal or accelerator or steering or gear selector lever of vehicle
DE102008029348A1 (en) * 2008-06-20 2009-12-31 Audi Ag A motor vehicle comprising an electronically shiftable automatic transmission and a park-steering assistance system for assisting a parking operation

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3813083A1 (en) * 1988-04-19 1989-11-02 Ind Tech Res Inst AUTOMATIC PARKING DEVICE FOR MOTOR VEHICLES
EP0937627A1 (en) * 1998-02-23 1999-08-25 Honda Giken Kogyo Kabushiki Kaisha Automatic steering system for vehicle
DE10161316A1 (en) * 2000-12-15 2002-07-11 Honda Motor Co Ltd Parking operation support system
DE10109662A1 (en) * 2001-02-28 2002-09-05 Volkswagen Ag Controlling dual coupling gearbox, involves permanently engaging forward and reverse gears separate sub-gearboxes, changing direction by engaging one coupling and disengaging the other

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3813083A1 (en) * 1988-04-19 1989-11-02 Ind Tech Res Inst AUTOMATIC PARKING DEVICE FOR MOTOR VEHICLES
EP0937627A1 (en) * 1998-02-23 1999-08-25 Honda Giken Kogyo Kabushiki Kaisha Automatic steering system for vehicle
DE10161316A1 (en) * 2000-12-15 2002-07-11 Honda Motor Co Ltd Parking operation support system
DE10109662A1 (en) * 2001-02-28 2002-09-05 Volkswagen Ag Controlling dual coupling gearbox, involves permanently engaging forward and reverse gears separate sub-gearboxes, changing direction by engaging one coupling and disengaging the other

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10047854B2 (en) * 2013-08-07 2018-08-14 Jaguar Land Rover Limited Vehicle speed control system and method
CN108454512A (en) * 2017-02-20 2018-08-28 奥迪股份公司 Avoid the device of foreign matter, method and vehicle around wheel of vehicle
CN108791277A (en) * 2017-04-28 2018-11-13 丰田自动车株式会社 The control device of vehicle
CN109043765A (en) * 2018-06-15 2018-12-21 四川斐讯信息技术有限公司 A kind of method and system of Intelligent travel suitcase Automatic-searching storage location
CN111746525A (en) * 2020-07-07 2020-10-09 东风柳州汽车有限公司 Parking path planning method, device, equipment and storage medium

Also Published As

Publication number Publication date
DE10338335A1 (en) 2005-03-17

Similar Documents

Publication Publication Date Title
EP2170679B1 (en) Parking steering assistance system and method for assisting the process of driving out of a parked position
EP1966030B1 (en) Parking steering assistance system and method for operating a parking steering assistance system
EP2768718B1 (en) Method and device for assisting a driver of a motor vehicle
EP2569204B1 (en) Process for automatic parking of a vehicle and corresponding assisting system and vehicle
DE102009039084A1 (en) A method for assisting a driver of a motor vehicle when parking in a transverse parking space, Fahrassistzeinrichtung and motor vehicle with a driver assistance device
WO2004050458A1 (en) Method for steering a vehicle that is to be reversed into a parking space
WO2011051137A1 (en) Method for support when driving out of a parking space
DE102006059684A1 (en) Driver assistance system for, particularly truck, has indicating device that has projector for warping information on road surface such that vehicle guide observes in operation of information
DE102009060165B4 (en) Method and device for backing out of a vehicle
EP2345572B1 (en) Method to support a driver of a motor vehicle
EP2493746B1 (en) Method for assisting a driver while parking
WO2020193490A1 (en) Method and driver assistance system for assisting a driver of a vehicle in a parking manoeuvre into a parallel parking space
DE102013212708A1 (en) Method and device for carrying out autonomous driving maneuvers of a vehicle
DE102010049586A1 (en) Method for assisting driver for vehicle during traffic situation, involves communicating haptic feedback to driver in vehicle during driving to target position that is determined in surrounding of vehicle
EP1640213B1 (en) Parking assistance method and system for vehicles
WO2005022006A1 (en) Automatic gear shifting during shunting recognition
EP2808219A2 (en) Driver assistance system, in particular for a utility vehicle
EP3626583B1 (en) Method for operating a control unit of a motor vehicle and motor vehicle comprising a control unit for carrying out said method
DE102016003847A1 (en) Method for supporting a parking operation of a vehicle
DE102017222538A1 (en) Control system for steering a team
DE102015118584A1 (en) A method for at least semi-autonomous maneuvering of a motor vehicle with determination of a target angle for the exit from a parking space, driver assistance system and motor vehicle
DE102022000183A1 (en) Method of operating a vehicle
DE102014006548A1 (en) motor vehicle
DE102006047461A1 (en) A method for assisting the driver of a motor vehicle during a parking operation

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DPEN Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101)
122 Ep: pct application non-entry in european phase