Steering assistance method and device for a motor vehicle
First Claim
1. A method for assisted steering, including the assisted maneuvering and parking, of a motor vehicle, comprising the following steps:
- determining a nominal driving path (X) with a starting point (S) and a destination point (Wnominal) and a nominal center of rotation (Dnominal);
outputting the nominal driving path (X);
setting the motor vehicle in motion;
determining an actual position (W1) of the motor vehicle;
shifting said nominal center of rotation (Dnominal) to a deviant center of rotation (DA) when movement of said motor vehicle deviates from said nominal driving path;
determining a deviant circular arc (KA) traveled based on said deviant center of rotation (DA) as well as a first (K1) and a second (K2) corrective circular arc if the actual position (W1) deviates from the nominal driving path (X), wherein the second corrective circular arc (K2) is a congruent projection of the deviant circular arc (KA) and ends at the destination point (Wnominal), and wherein a corrected nominal driving path (K1, K2) is generated as output; and
adjusting movement of said motor vehicle based on said corrected nominal driving path.
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Accused Products
Abstract
A method for the assisted steering, particularly the assisted maneuvering and parking, of a motor vehicle which includes determining a nominal driving path (X) with a starting point (S) and a destination point (Wnominal); providing an output of the nominal driving path (X), and setting the motor vehicle in motion. An actual position (W1) of the motor vehicle is determined, wherein a deviant circular arc (KA) traveled as well as a first (K1) and a second (K2) corrective circular arc are determined if the actual position (W1) deviates from the nominal driving path (X). The second corrective circular arc (K2) is a congruent projection of the deviant circular arc (KA) and ends at the destination point (Wnominal). A corrected nominal driving path (K1, K2) is provided as an output.
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Citations
20 Claims
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1. A method for assisted steering, including the assisted maneuvering and parking, of a motor vehicle, comprising the following steps:
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determining a nominal driving path (X) with a starting point (S) and a destination point (Wnominal) and a nominal center of rotation (Dnominal); outputting the nominal driving path (X); setting the motor vehicle in motion; determining an actual position (W1) of the motor vehicle; shifting said nominal center of rotation (Dnominal) to a deviant center of rotation (DA) when movement of said motor vehicle deviates from said nominal driving path; determining a deviant circular arc (KA) traveled based on said deviant center of rotation (DA) as well as a first (K1) and a second (K2) corrective circular arc if the actual position (W1) deviates from the nominal driving path (X), wherein the second corrective circular arc (K2) is a congruent projection of the deviant circular arc (KA) and ends at the destination point (Wnominal), and wherein a corrected nominal driving path (K1, K2) is generated as output; and
adjusting movement of said motor vehicle based on said corrected nominal driving path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device for assisted steering including the assisted maneuvering and parking, of a motor vehicle, the device comprising:
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a data processing unit for determining a nominal driving path between a starting point and a destination point, said nominal driving path being defined by said starting point, said destination point and a nominal center of rotation; an output unit for providing an output of a nominal driving path; a displacement sensor; a device for determining whether or not the actual position deviates from the nominal driving path, said device shifting said nominal center of rotation to a deviant center of rotation when movement of the motor vehicle deviates from said nominal driving path; a unit that determines a deviant circular arc based on said deviant center of rotation as well as a first and a second corrective circular arc if the actual position deviates from the nominal driving path, wherein the second corrective circular arc is a congruent projection of the deviant circular arc such that said congruent projection extends continuously from an end point of said deviant circular arc to said destination point, said congruent projection terminating at said destination point. - View Dependent Claims (11, 12, 13)
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14. A method for assisted steering of a motor vehicle, comprising the steps of:
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providing a device for assisted steering including a data processing unit for determining a nominal driving path between a starting point and a destination point, an output unit for providing an output of a nominal driving path, a displacement sensor, a device for determining whether or not the actual position deviates from the nominal driving path and a unit that determines a deviant circular arc as well as a first and a second corrective circular arc if the actual position deviates from the nominal driving path, wherein the second corrective circular arc is a continuous congruent projection of the deviant circular arc and ends at the destination point; determining a nominal driving path based on a starting point, a nominal center of rotation and the destination point; providing a nominal driving path as an output; setting the motor vehicle in motion; translating said nominal center of rotation to a deviant center of rotation when position of said motor vehicle differs from said nominal driving path; determining an actual position of the motor vehicle; determining the deviant circular arc traveled based on said deviant center of rotation as well as the first and the second corrective circular arc if the actual position deviates from the nominal driving path; providing a corrected nominal driving path as an output; and changing position of said motor vehicle based on said corrected nominal driving path. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification