Method for providing assistance during a parking maneuver of a vehicle

• US 8,018,351 B2
• Filed: 06/08/2007
• Issued: 09/13/2011
• Est. Priority Date: 07/03/2006
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Albrecht, Benno, Hering, Michael
• Primary Examiner(s): Nguyen; Phung
• Application Number:
  US12/227,625
• Publication Number:
  US 20090243887A1
• Time in Patent Office: 1,558 Days
• Field of Search: 340/932.2, 340/435, 340/943, 340/933, 340/444, 340/436, 180/199
• US Class Current: 340/932.2
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Abstract

A method providing assistance during the parking maneuver of a vehicle into a parking space situated laterally to the vehicle to be parked, an erroneous length of the parking space being detected with the aid of a sensor system of the vehicle while the vehicle drives past the parking space on a curved trajectory. To determine the actual length of the parking space, a trajectory of the vehicle differing from a straight trajectory of the vehicle is additionally detected while driving past the parking space, for example, on the basis of the steering angle of the vehicle, and a correction value for the detected length of the parking space is ascertained therefrom. The actual length of the parking space is determined with a high degree of accuracy without the need for other measured values to be detected, for example, the orientation of parked vehicles or the depth of the parking space.

Claims

1. A method for providing assistance during a parking maneuver of a vehicle into a parking space situated laterally to the vehicle to be parked, the method comprising:

detecting a length of the parking space with the aid of a sensor system of the vehicle while the vehicle drives past the parking space;

detecting a trajectory of the vehicle differing from a straight trajectory of the vehicle while driving past the parking space; and

ascertaining a correction value for the detected length of the parking space,

wherein the trajectory of the vehicle is determined based on a rotation of the vehicle about its vertical axis, detected by a sensor, and the trajectory of the vehicle is determined based on a detected difference between the distances traveled by wheels on two tracks of the vehicle.

2. The method of claim 1, wherein the trajectory of the vehicle is determined based on at least one of a detected steering wheel angle and a steering angle.

3. The method of claim 1, wherein the trajectory of the vehicle is determined with the aid of a yaw rate sensor.

4. The method of claim 1, wherein the trajectory of the vehicle is determined with the aid of a transverse acceleration sensor.

5. The method of claim 1, wherein an actual length of the parking space is determined from the detected length of the parking space using the correction value.

6. The method of claim 1, wherein the correction value is detected one of continuously and at brief time intervals.

7. The method of claim 1, wherein the trajectory of the vehicle is determined with the aid of a yaw rate sensor, and wherein an actual length of the parking space is determined from the detected length of the parking space using the correction value.

8. The method of claim 1, wherein the trajectory of the vehicle is determined with the aid of a transverse acceleration sensor, and wherein an actual length of the parking space is determined from the detected length of the parking space using the correction value.

9. The method of claim 1, wherein the trajectory of the vehicle is determined with the aid of a yaw rate sensor, wherein an actual length of the parking space is determined from the detected length of the parking space using the correction value, and wherein the correction value is detected one of continuously and at brief time intervals.

10. The method of claim 1, wherein the trajectory of the vehicle is determined with the aid of a transverse acceleration sensor, wherein an actual length of the parking space is determined from the detected length of the parking space using the correction value, and wherein the correction value is detected one of continuously and at brief time intervals.