Semiautomatic parking machine
First Claim
1. A method for controlling the steering of a vehicle during a parking maneuver, said method comprising:
- measuring a parking spot selected for parking the vehicle;
generating an orientation field, which determines a number of position points within the selected parking spot and in the environment of the selected parking spot and assigns a target orientation to each position point;
determining a position and orientation of the vehicle to be parked relative to the position points of the orientation field; and
controlling a steering angle of the vehicle in such a way that the orientation of the vehicle at a position point assumes essentially the target orientation assigned to this position point in the orientation field,wherein as soon as it is recognized that there is a risk of collision with an obstacle if the target orientations of the orientation fields are followed, the vehicle is driven along an orientation leading around the obstacle until there is no longer a risk of collision.
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Accused Products
Abstract
The invention relates to a device and a method for controlling the steering of a vehicle during a parking maneuver. To this end first the parking spot selected for parking the vehicle is surveyed. Based on said survey, an orientation field is prepared, which defines a target orientation for a plurality of positioning points inside the selected parking spot and in the surroundings of the parking spot, the vehicle being guided along these points from any arbitrary point inside the orientation field to the target point of the parking maneuver. The control of the vehicle occurs by comparing the respective current orientation thereof to the target orientation specified for the respective position in the orientation field and by an appropriate adjustment of the steering angle by the vehicle orientation to said target orientation.
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Citations
18 Claims
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1. A method for controlling the steering of a vehicle during a parking maneuver, said method comprising:
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measuring a parking spot selected for parking the vehicle; generating an orientation field, which determines a number of position points within the selected parking spot and in the environment of the selected parking spot and assigns a target orientation to each position point; determining a position and orientation of the vehicle to be parked relative to the position points of the orientation field; and controlling a steering angle of the vehicle in such a way that the orientation of the vehicle at a position point assumes essentially the target orientation assigned to this position point in the orientation field, wherein as soon as it is recognized that there is a risk of collision with an obstacle if the target orientations of the orientation fields are followed, the vehicle is driven along an orientation leading around the obstacle until there is no longer a risk of collision. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A device for controlling the steering of a vehicle during a parking maneuver, comprising:
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a sensor device which is designed for measuring a parking spot and for detecting an obstacle; a vehicle position determining device which is designed at least for determining the vehicle position and the vehicle orientation; a gear selection detecting device, which is designed for output of a signal representing the gear currently engaged in the vehicle; an operator interface for input of instructions from the driver of the vehicle and/or for output of information to the driver of the vehicle; an electromechanical control unit for control of the steering angle of the vehicle; and a parking path guiding device for calculating the steering angles to be set by the electromechanical control unit for guidance of the vehicle along a parking path, whereby the parking path guiding device comprises; a parking spot determining device which is designed in cooperation with the sensor device for determining the geometry of the parking spot selected for parking the vehicle and of obstacles in the environment of the vehicle; an orientation field creating device which is designed for creating an orientation field which determines a number of position points within the selected parking spot and in the environment of the selected parking spot and assigns a target orientation to each position point; an orientation deviation device, which is designed for determining the deviation of the current vehicle orientation at a position point from the target orientation predefined by the orientation field; and a steering angle preselection device which is designed for calculation of a steering angle stipulation for the electromechanical control unit on the basis of the deviation in orientation of the vehicle from the target orientation and for forwarding the steering angle stipulation to the electromechanical control unit, wherein as soon as it is recognized that there is a risk of collision with an obstacle if target orientations of the orientation fields are followed, the vehicle is driven along an orientation leading around the obstacle until there is no longer a risk of collision. - View Dependent Claims (15, 16, 17)
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18. A nontransitory computer program product for controlling the steering of a vehicle during a parking maneuver whereby the computer program product has a number of physically differentiable states which are readable and executable by a data processing system and which represent a sequence of instructions which are executed on a data processing system, to:
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measure a parking spot selected for parking the vehicle; generate an orientation field, which determines a number of position points within the selected parking spot and in the environment of the selected parking spot and assigns a target orientation to each position point; determine a position and orientation of the vehicle to be parked relative to the position points of the orientation field; and control a steering angle of the vehicle in such a way that the orientation of the vehicle at a position point assumes essentially the target orientation assigned to this position point in the orientation field, wherein as soon as it is recognized that there is a risk of collision with an obstacle if the target orientations of the orientation fields are followed, the vehicle is driven along an orientation leading around the obstacle until there is no longer a risk of collision.
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Specification