METHOD AND DEVICE FOR MOVING A VEHICLE INTO A TARGET POSITION

• US 20170225679A1
• Filed: 06/26/2015
• Published: 08/10/2017
• Est. Priority Date: 08/08/2014
• Status: Active Grant

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: MOSER, Martin, SCHIEMENZ, Heiko, BONNET, Christophe, HILLER, Andreas, KUENZEL, Gerhard
• Granted Patent: US 10,179,585 B2
• Time in Patent Office: Days
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method of moving a vehicle from a start position to end position when the end position cannot be detected by the vehicle'"'"'s built-in sensors involves determining the start position by a mobile terminal or by the vehicle and determining the end position by the mobile terminal. A driving trajectory of the vehicle is planned within the vehicle, a driving maneuver of the vehicle is initiated by the vehicle or the mobile terminal, and the planned driving maneuver is carried out to reach the end position.

Claims

1-10. -10. (canceled)

11. A method for moving a vehicle from a start position into an end position along a target path which is determined in the vehicle, the method comprising:

initiating, by the vehicle or by a mobile terminal, driving the vehicle along the target path;

determining, by the mobile terminal or the vehicle, the start position;

determining, by the mobile terminal, the end position; and

determining alignment of the vehicle in the end position using an alignment of the mobile terminal in a global coordinate system.

12. The method of claim 11, wherein the determination of the start or end position of the vehicle is activated by an event and the start or end position is determined by the alignment of the mobile terminal in a global coordinate system.

13. The method of claim 11, wherein the alignment of the mobile terminal in the global coordinate system is determined using sensor data recorded by the mobile terminal and transmitted to the motor vehicle.

14. The method of claim 13, wherein the mobile terminal is moved from the start position into the end position, wherein the mobile terminal constantly receives data and analyses the received data to plan a driving maneuver.

15. The method of claim 14, further comprising:

correcting, by the mobile terminal, a course of the vehicle when the driving maneuver of the vehicle is carried out.

16. A device for moving a vehicle from a start position into an end position, the device comprising:

a controller arranged in the vehicle and coupled to a steering unit and an engine control system or a braking device of the vehicle,

wherein a mobile terminal is wirelessly connected to the control device,

wherein the mobile terminal determines the start position or the end position of the vehicle,

wherein the control device determines a target path on the basis of a driving maneuver plan produced by the mobile terminal and sets off on the target path by activating the steering unit and the engine control system or the braking device, and

wherein alignment of the vehicle in the end position is determined by an alignment of the mobile terminal in a global coordinate system.

17. The device of claim 16, wherein the control unit comprises a path control unit connected to a position determination device of the control device, wherein the path control unit determines the start position of the vehicle.

18. A device for planning driving maneuvers of a vehicle, the device comprising:

a computer;

at least one position detection sensor connected to the computer, wherein the at least one position detection sensor determines a start position or an end position or a possible travel path for the vehicle; and

a transmitter/receiver unit connected to the computer, wherein the transmitter/receiver unit sends the start position, the end position or a planned driving maneuver to the vehicle,

wherein the computer comprises a position calculation unit, to which the at least one position detection sensor is connected and which determines the position and alignment of the device in a global coordinate system, and

wherein the computer comprises a driving maneuver planning unit connected to the position calculation unit and the position determination unit and which plans the driving maneuver.

19. The device of claim 18, wherein the position calculation unit calculates a yaw angle and is connected to a gyroscope, a magnetic field sensor, or an acceleration sensor, wherein the position calculation unit emits sensor data comprising all three spatial directions.

20. The device of claim 18, wherein the position determination unit is connected to a wireless positioning system.