Method and device for determining the position and/or the anticipated position of a vehicle during a parking operation in relation to the oncoming lane of a multi-lane roadway

• US 20070063874A1
• Filed: 05/26/2004
• Published: 03/22/2007
• Est. Priority Date: 07/21/2003
• Status: Abandoned Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Danz, Christian, Bollengier, Cyrille
• Application Number:
  US10/564,371
• Publication Number:
  US 20070063874A1
• Time in Patent Office: Days
• US Class Current: 340/932.200
• CPC Class Codes: B60Q 9/006 using a distance sensor
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method and a device for determining the position and/or the anticipated position of a vehicle during a parking operation in relation to the oncoming lane of a multi-lane roadway. The object is to provide a method and a device which recognize the protrusion of a vehicle into the oncoming lane of a multi-lane roadway during a parking operation in a timely manner and, if necessary, activate suitable means for preventing the protrusion into the oncoming lane. Due to the fact that the position of the oncoming lane in relation to the vehicle at the beginning of the parking operation, the anticipated parking trajectory of the vehicle, and potential intersections of the anticipated parking trajectory with the oncoming lane are determined, a signal may be provided in the presence of at least one intersection of the parking trajectory with the oncoming lane; the signal may be processed into an alert of the driver of the vehicle or into a timely deceleration of the vehicle.

Claims

1-10. -10. (canceled)

11. A method for determining at least one of a position and an anticipated position of a vehicle during a parking operation in relation to an oncoming lane of a multi-lane roadway, comprising:

determining a position of the oncoming lane in relation to the vehicle at a beginning of the parking operation;

determining an anticipated parking trajectory of the vehicle;

determining at least one potential intersection of the anticipated parking trajectory with the oncoming lane; and

providing a signal in the presence of at least one actual intersection of the parking trajectory with the oncoming lane, the signal being processed.

12. The method as recited in claim 11, wherein:

the anticipated parking trajectory is determined based on a position of the vehicle at the beginning of the parking operation and an anticipated final parking position of the vehicle.

13. The method as recited in claim 11, further comprising:

comparing the anticipated parking trajectory of the vehicle during the parking operation to an actually driven parking trajectory; and

determining a remaining parking trajectory to be anticipated based on the comparing.

14. The method as recited in claim 12, wherein:

the position of the vehicle at the beginning of the parking operation, the position of the oncoming lane in relation to the vehicle at the beginning of the parking operation, and the anticipated final parking position of the vehicle are determined using at least one of an ultrasonic sensor, a radar sensor, a lidar sensor, a video sensor, a steering angle sensor, and a lane departure warning system.

15. The method as recited in claim 11, further comprising:

classifying an object approaching the vehicle in the oncoming lane with regard to an actual level of danger of the object in a potential collision with the vehicle via a video-based camera system.

16. The method as recited in claim 15, further comprising:

in the presence of the at least one actual intersection, providing a signal only if the object approaching in the oncoming lane presents a high level of danger in the potential collision.

17. A device for determining at least one of a position and an anticipated position of a vehicle during a parking operation in relation to an oncoming lane of a multi-lane roadway, comprising:

an arrangement for determining a position of the oncoming lane in relation to the vehicle at a beginning of the parking operation;

an arrangement for determining an anticipated parking trajectory of the vehicle;

an arrangement for determining at least one potential intersection of the anticipated parking trajectory with the oncoming lane; and

an arrangement for providing a signal in the presence of at least one actual intersection of the parking trajectory with the oncoming lane, the signal being processed.

18. The device as recited in claim 17, wherein:

the arrangement for determining the position of the oncoming lane in relation to the vehicle includes one of at least one ultrasonic sensor, at least one radar sensor, at least one lidar sensor, and at least one video sensor.

19. The device as recited in claim 17, wherein:

the arrangement for determining the position of the oncoming lane in relation to the vehicle is connected to an onboard computer of the vehicle.

20. The device as recited in claim 17, further comprising at least one of:

an arrangement for processing the provided signal and for alerting a driver of the vehicle; and

an arrangement for interrupting the parking operation.