公开(公告)号：US08912923B2

公开(公告)日：2014-12-16

申请号：US12996153

申请日：2009-06-09

申请人： Harald Barth ,  Nicolas Jecker

发明人： Harald Barth ,  Nicolas Jecker

IPC分类号： B60Q1/48 ,  G08G1/14 ,  B62D15/02 ,  G08G1/16

CPC分类号： B62D15/0285 ,  B60T2201/10 ,  B62D15/028 ,  G08G1/14 ,  G08G1/16 ,  G08G1/168

摘要： The invention relates to a method and a device for assisting a parking process of a vehicle (1) into a parking space (P) which is arranged transversely with respect to a carriageway (F) and which is bounded on at least one side by a lateral boundary (10, 11), wherein the parking space (P) is measured by means of a measuring device, a parked position (G) of the vehicle (1) inside the parking space (P) is defined by means of an evaluation device, and a parking path (B) of the vehicle (1) into the parked position (G) is determined by means of the evaluation device.In order to assist the parking process in very wide parking spaces (P), the parked position (G) is defined at a lateral distance (d) from the center longitudinal axis (L) of the parking space (P) by the evaluation device at least when a predefined minimum width (b-min) of the parking space (P) is exceeded.

摘要翻译： 本发明涉及一种用于将车辆（1）的停车处理辅助到相对于行车道（F）横向布置的停车位（P）的方法和装置，所述停车位在至少一侧由 横向边界（10,11），其中通过测量装置测量停车位（P），通过评估来定义停车位（P）内部的车辆（1）的停放位置（G） 装置和车辆（1）的停放路径（B）进入停放位置（G）。 为了在非常宽的停车位（P）中辅助停车处理，停车位置（G）通过评估装置从停车位（P）的中心纵轴线（L）的横向距离（d） 至少当停车位（P）的预定最小宽度（b-min）超过时。

公开(公告)号：US08779939B2

公开(公告)日：2014-07-15

申请号：US12995684

申请日：2009-06-02

申请人： Harald Barth ,  Nicolas Jecker

发明人： Harald Barth ,  Nicolas Jecker

IPC分类号： B60Q1/48 ,  B60S9/00 ,  G08G1/14

CPC分类号： B60Q1/48 ,  B60S9/00 ,  B62D15/027 ,  B62D15/0275 ,  B62D15/028 ,  G08G1/14

摘要： A method for assisting a driver of a vehicle when parking in a parking space is disclosed. The method involves measuring a possible parking space, calculating a parking trajectory on the basis of a current parking space geometry determined from the measurement of the parking space and on the basis of a vehicle position relative to the parking space, and a parking process is subsequently carried out during which the vehicle is steered along the parking trajectory into the parking space, continuing to determine, during the parking process, the current parking space geometry and is compared with a previous parking space geometry determined before the start of the parking process, where, if the two parking space geometries differ from one another, a deviation which is present is evaluated and the parking trajectory corrected and/or re-calculated.

摘要翻译： 公开了一种当在停车位停车时辅助车辆的驾驶员的方法。 该方法包括测量可能的停车空间，基于从停车空间的测量确定的当前停车空间几何并基于相对于停车位的车辆位置来计算停车轨迹，随后停车过程 其中车辆沿着停车轨迹转向停车位，继续在停车过程期间确定当前的停车位几何形状，并将其与停车过程开始之前确定的先前停车位几何进行比较，其中 如果两个停车位几何形状彼此不同，则评估存在的偏差并且修正和/或重新计算停车轨迹。

公开(公告)号：US20140097971A1

公开(公告)日：2014-04-10

申请号：US14001720

申请日：2012-03-01

申请人： Harald Barth

发明人： Harald Barth

IPC分类号： G08G1/14

CPC分类号： G08G1/141 ,  G01S7/52004 ,  G01S15/87 ,  G01S15/931 ,  G01S2015/933 ,  G01S2015/935 ,  G01S2015/938

摘要： The invention relates to a method for detecting a parking space (20) by means of a parking assistance system (2) of a motor vehicle (1) while the motor vehicle (1) is travelling past the parking space (20). A first sensor (7) acquires a time sequence (26) of measured values (27), and a second sensor (12) likewise acquires a time sequence (31) of measured values (32) while the vehicle is travelling past. The parking space (20) is detected on the basis of the measured values (27, 32) of at least one of the sensors (7, 12). For the detection of the parking space (20), the measured values (27) of the first sensor (7) and the measured values (32) of the second sensor (12) are acquired redundantly, and the plausibility of the time sequence (26) of the measured values (27) of the first sensor (7) is checked on the basis of the measured values (32) of the second sensor (12). The invention also relates to a parking assistance system (2), as well as to a motor vehicle (1) with such a system.

摘要翻译： 本发明涉及一种在机动车辆（1）行进通过停车位（20）时借助于机动车辆（1）的停车辅助系统（2）来检测停车位（20）的方法。 第一传感器（7）获取测量值（27）的时间序列（26），并且第二传感器（12）同时在车辆行驶过程中获取测量值（32）的时间序列（31）。 基于传感器（7,12）中的至少一个的测量值（27,32）来检测停车空间（20）。 对于停车空间（20）的检测，冗余地获取第一传感器（7）的测量值（27）和第二传感器（12）的测量值（32），并且时间序列的合理性 基于第二传感器（12）的测量值（32）来检查第一传感器（7）的测量值（27）的位置。 本发明还涉及一种具有这种系统的停车辅助系统（2）以及机动车辆（1）。

公开(公告)号：US20110087406A1

公开(公告)日：2011-04-14

申请号：US12995684

申请日：2009-06-02

申请人： Harald Barth ,  Nicolas Jecker

发明人： Harald Barth ,  Nicolas Jecker

IPC分类号： G06F7/00 ,  B62D6/00

CPC分类号： B60Q1/48 ,  B60S9/00 ,  B62D15/027 ,  B62D15/0275 ,  B62D15/028 ,  G08G1/14

摘要： A method for assisting a driver of a vehicle (02, 12) when parking in a parking space (03, 13) is described, in which a possible parking space (03, 13) is measured, a parking trajectory (04, 14) is calculated on the basis of the parking space geometry which is determined from the measurement of the parking space (03, 13), and on the basis of a vehicle position relative to the parking space (03, 13), and a parking process is subsequently carried out during which the vehicle is steered along the parking trajectory (01, 11) into the parking space (03, 13), and in which method the parking space geometry continues to be determined during the parking process and is compared with the parking space geometry determined before the start of the parking process, wherein, if the two parking space geometries differ from one another, a deviation which is present is evaluated and the parking trajectory (01, 11; 05, 15) is, if appropriate, corrected and/or re-calculated. Furthermore, a driver assistance device for carrying out the method and a computer program product which causes a microprocessor with associated storage means to carry out the method are described.

摘要翻译： 描述了当停车在停车空间（03,13）时辅助车辆驾驶员（02,12）的方法，其中测量可能的停车位（03,13），停车轨迹（04,14） 基于从停车空间（03,13）的测量确定的停车空间几率，并且基于相对于停车空间（03,13）的车辆位置计算停车处理， 随后执行车辆沿着停车轨迹（01,11）转向停车空间（03,13），并且在该方法中停车位几何继续在停车过程中确定并与停车位进行比较 在停车过程开始之前确定的空间几何，其中如果两个停车位几何形状彼此不同，则评估存在的偏差，并且如果适当的话校正停车轨迹（01,11; 05，15） 和/或重新计算。 此外，描述了用于执行该方法的驾驶员辅助装置和使具有相关联的存储装置的微处理器执行该方法的计算机程序产品。

公开(公告)号：US07660205B2

公开(公告)日：2010-02-09

申请号：US11989641

申请日：2006-06-16

申请人： Harald Barth ,  Nicolas Jecker

发明人： Harald Barth ,  Nicolas Jecker

IPC分类号： G01S15/93

CPC分类号： G01S15/931 ,  G01S2013/9314 ,  G01S2015/934 ,  G01S2015/935

摘要： A method for determining the depth of a parking space using at least one ultrasonic vehicle sensor. According to the method, the following steps are carried out as the vehicle drives longitudinally past the parking space: a) an ultrasonic wave is emitted, b) echo signals of the emitted ultrasonic wave are collected within a measuring window, c) the dispersion is determined and/or the distribution of the echo signals within that dispersion is determined, d) a depth is defined if the dispersion range of all and/or several echo signals that form a concentration within the distribution lies below a pre-determinable threshold value.

摘要翻译： 一种使用至少一个超声波车辆传感器来确定停车位的深度的方法。 根据该方法，当车辆纵向驱动通过停车空间时，执行以下步骤：a）发射超声波，b）发射的超声波的回波信号被收集在测量窗口内，c）分散体 确定和/或在该色散内的回波信号的分布被确定，d）如果形成分布内的浓度的全部和/或多个回波信号的色散范围低于可预先确定的阈值，则定义深度。

公开(公告)号：US20090095084A1

公开(公告)日：2009-04-16

申请号：US11989641

申请日：2006-06-16

申请人： Harald Barth ,  Nicolas Jecker

发明人： Harald Barth ,  Nicolas Jecker

IPC分类号： G01N29/07 ,  G01N29/36 ,  G01N29/44

CPC分类号： G01S15/931 ,  G01S2013/9314 ,  G01S2015/934 ,  G01S2015/935

摘要： A method for determining the depth of a parking space using at least one ultrasonic vehicle sensor. According to the method, the following steps are carried out as the vehicle drives longitudinally past the parking space: a) an ultrasonic wave is emitted, b) echo signals of the emitted ultrasonic wave are collected within a measuring window, c) the dispersion is determined and/or the distribution of the echo signals within that dispersion is determined, d) a depth is defined if the dispersion range of all and/or several echo signals that form a concentration within the distribution lies below a pre-determinable threshold value.

摘要翻译： 一种使用至少一个超声波车辆传感器来确定停车位的深度的方法。 根据该方法，当车辆纵向驱动通过停车空间时，执行以下步骤：a）发射超声波，b）发射的超声波的回波信号被收集在测量窗口内，c）分散体 确定和/或在该色散内的回波信号的分布被确定，d）如果形成分布内的浓度的全部和/或多个回波信号的色散范围低于可预先确定的阈值，则定义深度。

公开(公告)号：US20130293369A1

公开(公告)日：2013-11-07

申请号：US13988386

申请日：2011-11-14

申请人： Patrice Reilhac ,  Harald Barth

发明人： Patrice Reilhac ,  Harald Barth

IPC分类号： G08G1/16

CPC分类号： G08G1/16 ,  B60Q9/004 ,  G08G1/166 ,  G08G1/168

摘要： The intention is to indicate a way in which a driver of a motor vehicle (1) can be warned particularly reliably, when he is removing his vehicle from a parking space (18), of the presence of a moving object (24) which is external to the vehicle, on a carriageway (23) adjoining the parking space (18). The object (24) is detected with the aid of sensor means (5 to 9), and by using sensor data of the sensor means (5 to 9) a current distance (26) of the object (24) from the motor vehicle (1) is determined. An image representation (27, 43, 64) is generated which shows a plan view of at least one area of the motor vehicle (1′) and in which the distance (26) of the object (24) from the motor vehicle (1) is visually indicated. The image representation (27, 43, 64) is displayed on a visual display device (3).

摘要翻译： 目的在于指出当机动车辆（1）的驾驶员从停车位（18）移除车辆时，可以特别可靠地警告机动车辆（1）的驾驶员的存在的移动物体（24）的存在 在与停车位（18）相邻的行车道（23）上。 借助于传感器装置（5至9）检测物体（24），并且通过使用传感器装置（5至9）的传感器数据，来自机动车辆的物体（24）的当前距离（26） 1）。 生成图像表示（27,43,64），其示出了机动车辆（1'）的至少一个区域的平面图，并且其中来自机动车辆（1）的物体（24）的距离（26） ）。 图像表示（27,43,64）显示在可视显示装置（3）上。

公开(公告)号：US08497782B2

公开(公告)日：2013-07-30

申请号：US12742951

申请日：2008-11-05

申请人： Harald Barth ,  Nicolas Jecker

发明人： Harald Barth ,  Nicolas Jecker

IPC分类号： G08G1/00

CPC分类号： B62D15/028 ,  B62D15/0285

摘要： A method and a device for planning a path when parking a vehicle (02) are described, in which a path (01) which comprises a first and second path arc (03; 04) is calculated on the basis of the geometry of a parking space (05) and a vehicle position relative to this parking space (05). According to the invention, at first a minimum appropriate first path arc (08) of the path (01) is calculated in order to reach a starting position as early as possible, and subsequently a possible larger first path arc (09) of the path (01) is preferably calculated as a function of an actual stopping position (13) of the vehicle (02). Furthermore, a driving assistance device for carrying out the method is described, as well as a computer program product which causes a microprocessor with associated storage means to carry out the method.

摘要翻译： 描述了在停放车辆（02）时规划路径的方法和装置，其中基于停车场的几何形状来计算包括第一和第二路径弧（03; 04）的路径（01） 空间（05）和相对于该停车位（05）的车辆位置。 根据本发明，首先计算路径（01）的最小适当的第一路径弧（08），以尽可能早地到达起始位置，并且随后可能的较大的第一路径弧（09） （01）优选地根据车辆（02）的实际停止位置（13）的函数来计算。 此外，描述了用于执行该方法的驾驶辅助装置，以及使具有相关联的存储装置的微处理器执行该方法的计算机程序产品。

公开(公告)号：US09318022B2

公开(公告)日：2016-04-19

申请号：US14001720

申请日：2012-03-01

申请人： Harald Barth

发明人： Harald Barth

IPC分类号： G08G1/00 ,  G08G1/14 ,  G01S7/52 ,  G01S15/87 ,  G01S15/93

CPC分类号： G08G1/141 ,  G01S7/52004 ,  G01S15/87 ,  G01S15/931 ,  G01S2015/933 ,  G01S2015/935 ,  G01S2015/938

摘要： The invention relates to a method for detecting a parking space (20) by means of a parking assistance system (2) of a motor vehicle (1) while the motor vehicle (1) is travelling past the parking space (20). A first sensor (7) acquires a time sequence (26) of measured values (27), and a second sensor (12) likewise acquires a time sequence (31) of measured values (32) while the vehicle is travelling past. The parking space (20) is detected on the basis of the measured values (27, 32) of at least one of the sensors (7, 12). For the detection of the parking space (20), the measured values (27) of the first sensor (7) and the measured values (32) of the second sensor (12) are acquired redundantly, and the plausibility of the time sequence (26) of the measured values (27) of the first sensor (7) is checked on the basis of the measured values (32) of the second sensor (12). The invention also relates to a parking assistance system (2), as well as to a motor vehicle (1) with such a system.

摘要翻译： 本发明涉及一种在机动车辆（1）行进通过停车位（20）时借助于机动车辆（1）的停车辅助系统（2）来检测停车位（20）的方法。 第一传感器（7）获取测量值（27）的时间序列（26），并且第二传感器（12）同时在车辆行驶过程中获取测量值（32）的时间序列（31）。 基于传感器（7,12）中的至少一个的测量值（27,32）来检测停车空间（20）。 为了检测停车空间（20），冗余地获取第一传感器（7）的测量值（27）和第二传感器（12）的测量值（32），并且时间序列的合理性 基于第二传感器（12）的测量值（32）来检查第一传感器（7）的测量值（27）的位置。 本发明还涉及一种具有这种系统的停车辅助系统（2）以及机动车辆（1）。

公开(公告)号：US09100554B2

公开(公告)日：2015-08-04

申请号：US13640086

申请日：2011-04-11

申请人： Harald Barth

发明人： Harald Barth

IPC分类号： H04N7/18 ,  B60R1/12

CPC分类号： H04N7/181 ,  B60R2001/1253

摘要： The invention relates to a method for displaying an image (27, 28, 29) on a display unit (3) in a vehicle (1). A vehicle image (1′) of at least one region of the vehicle (1) is provided, and sensor data are acquired, which contain information about an environment of the vehicle (1). An image (27, 28, 29) is displayed, which is formed from the vehicle image (1′) and the sensor data, the image (27, 28, 29) containing a blank region (14′, 16′, 18′, 19′, 22′ to 25′) assigned to the environment, for which no sensor data are provided. In the image (27, 28, 29), the vehicle image (1′) protrudes into the blank region (14′, 16′, 18′, 19′, 22′ to 25′).

摘要翻译： 本发明涉及一种在车辆（1）的显示单元（3）上显示图像（27,28,29）的方法。 提供车辆（1）的至少一个区域的车辆图像（1'），并且获取包含关于车辆（1）的环境的信息的传感器数据。 显示由车辆图像（1'）和传感器数据形成的图像（27,28,29），包含空白区域（14'，16'，18'）的图像（27,28,29） ，19'，22'至25'）分配给环境，没有提供传感器数据。 在图像（27,28,29）中，车辆图像（1'）突出到空白区域（14'，16'，18'，19'，22'至25'）。