WO2015117611A2 - Verfahren und vorrichtung zum sicheren parken eines fahrzeugs - Google Patents
Verfahren und vorrichtung zum sicheren parken eines fahrzeugs Download PDFInfo
- Publication number
- WO2015117611A2 WO2015117611A2 PCT/DE2015/200038 DE2015200038W WO2015117611A2 WO 2015117611 A2 WO2015117611 A2 WO 2015117611A2 DE 2015200038 W DE2015200038 W DE 2015200038W WO 2015117611 A2 WO2015117611 A2 WO 2015117611A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- parking
- minimum distance
- parking maneuver
- wheels
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
- 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
- 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
Definitions
- the invention relates to a method for the secure parking of a vehicle according to the preamble of claim 1.
- the invention further relates to a device for implementing the method according to the invention.
- a generic method is known from DE 10 2012 103 059 AI.
- This discloses a method for the secure parking of a vehicle which comprises means for detecting a lane ⁇ randbefest Trent, means for automatically controlling a steering and means for detecting a parking situation.
- the method are in detecting a parking situation, ie when it is detected that the vehicle is in the final parking position, at least two wheels of the vehicle via the automatic control in such a manner wrapped ⁇ that these show in the direction of travel to a road edge. This ensures, especially in parking situations on the slope, that in the event of rolling away of the vehicle this rolls in the direction of the edge attachment and is stopped by them.
- the edge attachment is, for example, the curb or curb on the roadside.
- the present invention addresses the problem recognized based on that the automatic turning of the wheels can lead to BeCdi ⁇ conditions on the vehicle, especially if the distance to the road edge attachment is too low, then damage to the wheels and the steering mechanism of the vehicle may result. It is an object of the present invention to provide an improved method and an improved apparatus for Siche ⁇ ren parking of a vehicle.
- An essential idea of the invention is to monitor during a parking maneuver by means of a detection device a minimum distance to a Fahrbahnrandbefestist.
- the minimum distance is preferably monitored continuously and is preferably selected such that the wheels can be safely beaten without causing damage to the vehicle, in particular such that the wheels do not touch the Fahrbahnrandbefestist when driving.
- the minimum distance may be, for example, ⁇ refer to the distance between the outermost point of the lateral vehicle trim and the outermost edge or point of the road edge fastening and / or on the distance between the edges of the vehicle, especially when not taken position in the direction of travel, and the outermost edge or point of the Fahrbahnrandbefestist.
- the inventive method thus serves for safe Par ⁇ ken, especially for safe parking or parking a vehicle in a parking space or parking bay, is provided as part of the process that when stopping a park ⁇ maneuver, ie in particular when reaching a final parking position , At least two wheels of the vehicle are taken over an automatic control such that they point in the direction of travel to a roadway edge.
- a minimum distance to a lane edge attachment is monitored during the parking maneuver by means of a detection device.
- the invention is carried out in a parking situation on a slope. Parking on a slope is determined in a preferred manner with a longitudinal acceleration sensor in combination with a standstill detection.
- Standstill detection is preferably carried out with the aid of Radcarden.
- Longitudinal acceleration sensors are already installed in the vehicle e.g. used in the context of ESP or occupant protection systems (airbag control after accident detection by an accelerometer). If the longitudinal acceleration sensor outputs a value which is above a defined threshold value at standstill, a park can be expected on a slope or a slope.
- a parking situation is identified on the basis of one or more of the following criteria:
- a parking brake lever or switch is operated by the driver.
- a parking situation on the basis of additional criteria is detected, for example, the stoppage is longer than a specified differently bene time tl (threshold value) and / or the driver is buckled from ⁇ and / or the door opens.
- An electronic parking brake of the vehicle is akti ⁇ fourth, in particular by an automatic activation.
- a parking situation is identified on the basis of additional criteria, for example stopping for longer than a predetermined time t 1 (threshold value) when a standstill of the vehicle is detected and the vehicle is stationary Unstrapped driver and / or the door opens and / or when a parking maneuver is completed, which was performed by an automatic parking assistant.
- t 1 threshold value
- a parking maneuver is in this case recognized either by the activation of a parking assistant or it is generally stored, in which Rich ⁇ tion, the vehicle has moved in a predetermined elapsed time, this period takes a value between 5 and 90 seconds. In a preferred embodiment, the time period is about 10 seconds. In a particular embodiment of the invention, this information is at a
- the driver indicates the direction through the turn signal, which in particular turns on a parking light.
- the parking maneuver is a manual parking maneuver, ie a parking operation with manual longitudinal and lateral control of the vehicle by the vehicle driver
- the vehicle driver during the manual parking maneuver is preferably continuously over the minimum distance to the edge of the roadway during the manual parking maneuver informed.
- the vehicle driver can be informed about a suitable acoustic, optical and / or hap- tic output device, for example about the compliance, the undershooting or the current distance to be observed minimum distance.
- an automated parking maneuver ie a parking operation with at least one automated cross-regulation, and optionally an automated longitudinal control of the vehicle by a Parkassistenzsys ⁇ system
- the minimum distance in particular compliance with the minimum distance at He ⁇ rich the final parking position or parking position is meant.
- a sub ⁇ be allowed falls below the minimum distance.
- the turning of the wheels takes place in the case of falling below the minimum distance, in particular when falling below in the end ⁇ valid parking position of the vehicle, the turning of the wheels to a lesser extent, compared to the extent of wrenching the wheels in compliance with the minimum distance.
- the turning of the wheels can, for example, only until to such an extent that the wheels are not touching the edge of the road.
- the inventive device comprises means for automatic ⁇ rule controlling a steering of the vehicle and is used for implementing the method according to the invention, in particular ge ⁇ Gurss one of the embodiments described above.
- the device for this purpose comprises at least one device for detecting and monitoring a minimum distance to a lane edge attachment.
- Sen ⁇ sorsysteme can be used for detecting the surroundings here, example ⁇ as camera, radar, ultrasonic or lidar.
- Advantageous specifics ⁇ DERS is to use a so-called surround view camera system, wherein by means of several arranged on the vehicle cameras frames from different region of the vehicle environment acquired and to form an overall image, and in particular ⁇ sondere to a Rundumsicht- or top view showing be sammenutton to ⁇ ,
- the inventive device further comprises preference ⁇ as means for outputting information about the minimum ⁇ distance to the vehicle operator and / or means for carrying out an automated parking maneuver, this attitude to a ⁇ of the minimum distance to the road edge attachment, and in special when reaching the parking position, are formed.
- the means for information may, for example, be a loudspeaker for acoustic information and / or a display screen for optical information about the minimum distance, comparable to known PDC systems (Park Distance Control Systems).
- the means for carrying out an automated parking maneuver may be, for example, a so-called parking assistance system which maneuvers the vehicle via automated interventions in the driving dynamics, ie by means of an automated longitudinal and / or transverse control of the vehicle, from a starting position to a parking position.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112015000205.7T DE112015000205A5 (de) | 2014-02-10 | 2015-01-28 | Verfahren und Vorrichtung zum sicheren Parken eines Fahrzeugs |
JP2016544668A JP6696903B2 (ja) | 2014-02-10 | 2015-01-28 | 車両を安全に駐車するための方法と装置 |
US15/113,126 US10046804B2 (en) | 2014-02-10 | 2015-01-28 | Method and device for safely parking a vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014202324.6A DE102014202324A1 (de) | 2014-02-10 | 2014-02-10 | Verfahren und Vorrichtung zum sicheren Parken eines Fahrzeugs |
DE102014202324.6 | 2014-02-10 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2015117611A2 true WO2015117611A2 (de) | 2015-08-13 |
WO2015117611A3 WO2015117611A3 (de) | 2015-11-19 |
Family
ID=52813860
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2015/200038 WO2015117611A2 (de) | 2014-02-10 | 2015-01-28 | Verfahren und vorrichtung zum sicheren parken eines fahrzeugs |
Country Status (4)
Country | Link |
---|---|
US (1) | US10046804B2 (de) |
JP (1) | JP6696903B2 (de) |
DE (2) | DE102014202324A1 (de) |
WO (1) | WO2015117611A2 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102638561B1 (ko) * | 2016-11-02 | 2024-02-20 | 주식회사 에이치엘클레무브 | 주차지원시스템 및 주차지원방법 |
DE102017212364B4 (de) | 2017-07-19 | 2022-08-11 | Audi Ag | Verfahren zum Abstellen eines Kraftfahrzeugs in einer Abstellposition, Steuereinrichtung, und Kraftfahrzeug |
US10525881B1 (en) * | 2018-12-21 | 2020-01-07 | Robert Bosch Gmbh | Wheel orientation warning system |
US11807221B2 (en) | 2020-04-29 | 2023-11-07 | Gm Cruise Holdings Llc | System for parking an autonomous vehicle |
US11623637B2 (en) * | 2021-06-28 | 2023-04-11 | Ford Global Technologies, Llc | Assisted parking maneuvers for vehicles coupled in a towed recharging arrangement |
Citations (1)
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DE102012103059A1 (de) | 2012-04-10 | 2013-10-10 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum sicheren Parken eines Fahrzeugs |
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-
2014
- 2014-02-10 DE DE102014202324.6A patent/DE102014202324A1/de not_active Withdrawn
-
2015
- 2015-01-28 US US15/113,126 patent/US10046804B2/en active Active
- 2015-01-28 WO PCT/DE2015/200038 patent/WO2015117611A2/de active Application Filing
- 2015-01-28 DE DE112015000205.7T patent/DE112015000205A5/de active Pending
- 2015-01-28 JP JP2016544668A patent/JP6696903B2/ja active Active
Patent Citations (1)
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---|---|---|---|---|
DE102012103059A1 (de) | 2012-04-10 | 2013-10-10 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum sicheren Parken eines Fahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
US20160332667A1 (en) | 2016-11-17 |
WO2015117611A3 (de) | 2015-11-19 |
JP6696903B2 (ja) | 2020-05-20 |
US10046804B2 (en) | 2018-08-14 |
DE112015000205A5 (de) | 2016-07-28 |
JP2017507829A (ja) | 2017-03-23 |
DE102014202324A1 (de) | 2015-08-13 |
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