Method for Guiding a Vehicle into a Parking Space and Parking Assistance Device
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Abstract
Disclosed is a method for steering a vehicle to be parked in reverse into a parking gap where a nominal parking trajectory of the vehicle is determined by a control unit and where a steering angle of the steered wheels of the vehicle that must be set for negotiating the parking gap is determined on the basis of the nominal parking trajectory. The nominal parking trajectory (yB (x)) is determined on the basis of a position of the vehicle from two reference trajectories (yLower (x); yUpper (x)), and the reference trajectories (yLower (x); yUpper (x)) represent parking trajectories for parking, starting from different start points.
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Citations
62 Claims
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1-31. -31. (canceled)
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32. A method for steering a vehicle into a parking gap, the method comprising:
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determining a nominal parking trajectory of a vehicle (1); and determining a steering angle of steered wheels of the vehicle that can be set for negotiating a parking gap (9) on the basis of the nominal parking trajectory, wherein the nominal parking trajectory (yB (x)) is determined from two reference trajectories (yLower (x);
yUpper (x)) on the basis of a position of the vehicle, wherein the reference trajectories (yLower (x);
yUpper (x)) represent parking trajectories for parking, starting from different start points. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61)
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62. A parking assist device for steering a vehicle to be parked into a parking gap, comprising:
a control unit with which a nominal parking trajectory of the vehicle and a steering angle of steered wheels of the vehicle that must be set for negotiating the parking gap can be determined, wherein the nominal parking trajectory (yB(x)) can be determined on the basis of a position of the vehicle from two reference trajectories (yLower(x);
yUpper(x)), wherein the reference trajectories (yLower(x);
yUpper(x)) represent parking trajectories for parking, starting from different start points.
Specification