Device for maneuvering a vehicle using maneuvering moves using at least one trajectory

• US 8,712,643 B2
• Filed: 05/25/2010
• Issued: 04/29/2014
• Est. Priority Date: 07/22/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Pampus, Christian, Niemz, Volker
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US13/382,979
• Publication Number:
  US 20120185113A1
• Time in Patent Office: 1,435 Days
• Field of Search: 701/41, 701/42, 701/43, 180/445, 180/446
• US Class Current: 701/41
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/028 Guided parking by providing commands to the driver, e.g. acoustically or optically
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A device and a method for maneuvering a vehicle using maneuvering moves using at least one trajectory along which the vehicle is movable. Maneuvering moves have at least one reversing clothoid which borders on at least one trajectory and which is designed so that a steering motion of the vehicle is avoidable at standstill.

Claims

1. A device for maneuvering a vehicle, the device configured to cause the vehicle to move using maneuvering moves including at least one trajectory and at least one reversing clothoid that is situated between at least one of the trajectories and at least one stop point,

wherein the at least one reversing clothoid is designed so that a steering motion of the vehicle is avoidable at standstill, and

wherein at least one other of the trajectories is executed as a circular path on a side of the stop point opposite the at least one reversing clothoid.

2. The device as recited in claim 1, wherein the maneuvering of the vehicle includes the at least one stop point, in which the travel direction of the vehicle is reversible during execution of the maneuvering moves.

3. The device as recited in claim 2, wherein the reversing clothoid borders on the stop point.

4. The device as recited claim 2, wherein the reversing clothoid is situated between the stop point and a trajectory that is able to be traveled through after the stop point so that the reversing clothoid is able to be traveled through between the stop point and the trajectory.

5. The device as recited in claim 2, wherein the reversing clothoid is situated between a trajectory and the stop point that is to be reached after traveling through the trajectory so that between the trajectory and the stop point the reversing clothoid is able to be traveled through.

6. The device as recited in claim 1, wherein outside curvatures of two of the trajectories that are successive during maneuvering of the vehicle point to each other.

7. The device as recited in claim 1, wherein the reversing clothoid has a point of maximum excursion at which the steering of the vehicle runs through a neutral steering angle.

8. The device as recited in claim 1, wherein the maneuvering of the vehicle is carried out using the maneuvering moves for parking the vehicle in a parking space.

9. The device as recited in claim 1, wherein the reversing clothoid is arranged in front of a trajectory via which the vehicle executes a backwards drive.

10. A method for maneuvering a vehicle using maneuvering moves including at least one trajectory and at least one reversing clothoid, the method comprising:

determining, by a device, the at least one reversing clothoid which is situated between at least one of the traiectories and at least one stop point, wherein at least one other of the traiectories is executed as a circular path on a side of the stop point opposite the at least one reversing clothoid; and

developing, by the device, the reversing clothoid in such a way that a steering motion of the vehicle is avoidable during standstill.

11. The method as recited in claim 10, further comprising:

determining the at least one stop point between two trajectories in which the travel direction of the vehicle is reversed during the carrying out of the maneuvering,

wherein during the determination of the trajectories the reversing clothoid being situated bordering on the stop point.

12. The method as recited in claim 11, further comprising:

guiding the vehicle back to the stop point when the vehicle is moved beyond the stop point into an overrun region.