公开(公告)号：US07349820B2

公开(公告)日：2008-03-25

申请号：US10583213

申请日：2004-12-02

申请人： Heinrich Gotzig ,  Oliver Eckstein ,  Marion Henry ,  Thomas Jung ,  Nicolas Jecker

发明人： Heinrich Gotzig ,  Oliver Eckstein ,  Marion Henry ,  Thomas Jung ,  Nicolas Jecker

IPC分类号： G06F7/00

CPC分类号： G01S15/931 ,  G01S15/46 ,  G01S2015/465 ,  G01S2015/935

摘要： The invention relates to a method for determining the position (x, y) of at least one point of reflection (R1-2) on an obstacle. According to traditional methods of this kind a first distance (r1) between the point of reflection (R1-2) and a first position (x1) of a distance measuring device is calculated by evaluating a time period between the emission of a transmission signal and reception of a reflection signal. In order to state the unsharp position of the point of reflection thereby obtained even more precisely, in addition to the first distance (r1), a second distance (r2) of the point of reflection is calculated with respect to a second position (x2) of the distance measuring device in analogy to the calculation of the first distance (r1) and then a defined position (x, y) is calculated from the pair of variates (x1, r1) (x2, r2) so obtained using the triangulation method.

摘要翻译： 本发明涉及一种用于确定障碍物上的至少一个反射点（R_1-2-2）的位置（x，y）的方法。 根据这种传统方法，反射点（R_1-2-2）与第一位置（x <1）之间的第一距离（r 1> 1 / SUB>）通过评估发射信号的发射与反射信号的接收之间的时间周期来计算。 为了更准确地说明由此获得的反射点的钝化位置，除了第一距离（r 1> 1）之外，第二距离（r 2> 2） 相对于距离测量装置的第二位置（x2> 2）来计算反射点，类似于第一距离（r 1> 1 N）和 那么从一对变量（x 1，r 1 1）（x 2，r 1，...，x 2）计算定义的位置（x，y） 使用三角测量方法获得。

公开(公告)号：US20070124106A1

公开(公告)日：2007-05-31

申请号：US10583213

申请日：2004-12-02

申请人： Heinrich Gotzig ,  Oliver Eckstein ,  Marion Henry ,  Thomas Jung ,  Nicolas Jecker

发明人： Heinrich Gotzig ,  Oliver Eckstein ,  Marion Henry ,  Thomas Jung ,  Nicolas Jecker

IPC分类号： G01C17/00 ,  G01C19/00

CPC分类号： G01S15/931 ,  G01S15/46 ,  G01S2015/465 ,  G01S2015/935

摘要： The invention relates to a method for determining the position (x, y) of at least one point of reflection (R1-2) on an obstacle (200). According to traditional methods of this kind a first distance (r1) between the point of reflection (R1-2) and a first position (x1) of a distance measuring device is calculated by evaluating a time period between the emission of a transmission signal and reception of a reflection signal. In order to state the unsharp position of the point of reflection thereby obtained even more precisely, in addition to the first distance (r1), a second distance (r2) of the point of reflection is calculated with respect to a second position (x2) of the distance measuring device in analogy to the calculation of the first distance (r1) and then a defined position (x, y) is calculated from the pair of variates (x1, r1) (x2, r2) so obtained using the triangulation method.

摘要翻译： 本发明涉及一种用于确定障碍物（200）上的至少一个反射点（R_1-2-2）的位置（x，y）的方法。 根据这种传统方法，反射点（R_1-2-2）与第一位置（x <1）之间的第一距离（r 1> 1 / SUB>）通过评估发射信号的发射与反射信号的接收之间的时间周期来计算。 为了更准确地说明由此获得的反射点的钝化位置，除了第一距离（r 1> 1）之外，第二距离（r 2> 2） 相对于距离测量装置的第二位置（x2> 2）来计算反射点，类似于第一距离（r 1> 1 N）和 那么从一对变量（x 1，r 1 1）（x 2，r 1，...，x 2）计算定义的位置（x，y） 使用三角测量方法获得。

公开(公告)号：US20070030347A1

公开(公告)日：2007-02-08

申请号：US10571096

申请日：2004-07-08

申请人： Nicolas Jecker ,  Heinrich Gotzig

发明人： Nicolas Jecker ,  Heinrich Gotzig

IPC分类号： H04N7/18

CPC分类号： G01S13/931 ,  G01S2013/9314 ,  G01S2013/9364 ,  G01S2013/9367 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2015/934 ,  G01S2015/935

摘要： The invention relates to a method for detecting the contour of an obstacle in the surroundings of a moving vehicle by means of a sensor device that is preferably integrated in the lateral area of the vehicle. In previously known methods of this type, the sensor device usually emits a sensor signal to the obstacle already when said obstacle lies ahead in the direction of travel while also emitting a sensor signal once the vehicle has passed the obstacle. In order to improve evaluation of the sensor signals with regard to the reflection thereof on the obstacle, the reflection signals thus generated are first mathematically averaged so as to be able to then derive in a more precise manner the actual position and the actual shape of the contour of the obstacle from the obtained averaged reflection signal.

摘要翻译： 本发明涉及一种用于通过优选地集成在车辆的横向区域中的传感器装置来检测移动车辆的周围环境中的障碍物的轮廓的方法。 在这种类型的先前已知的方法中，传感器装置通常在所述障碍物在行进方向上向前移动时已经向障碍物发射传感器信号，同时一旦车辆通过障碍物也发出传感器信号。 为了改善关于其在障碍物上的反射的传感器信号的评估，由此产生的反射信号首先被数学地平均，以便能够以更精确的方式导出实际位置和实际形状 得到的平均反射信号的障碍物轮廓。

公开(公告)号：US06906640B2

公开(公告)日：2005-06-14

申请号：US10422833

申请日：2003-04-25

申请人： Heinrich Gotzig ,  Nicolas Jecker ,  Dietmar Grüdl ,  Miguel Hurtado

发明人： Heinrich Gotzig ,  Nicolas Jecker ,  Dietmar Grüdl ,  Miguel Hurtado

IPC分类号： B60Q1/48 ,  B60T7/12 ,  B60T7/22 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/06 ,  B62D15/02 ,  G01S13/93 ,  G01S15/93 ,  G08G1/14 ,  G08G1/16

CPC分类号： B60W10/04 ,  B60T7/12 ,  B60T7/22 ,  B60T2201/10 ,  B60W10/18 ,  B60W10/20 ,  B60W30/06 ,  B60W30/1819 ,  B60W2550/10 ,  B62D15/028 ,  B62D15/0285 ,  G01S13/931 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9353 ,  G01S2015/933 ,  G01S2015/935

摘要： A method for operating a parking assistance system and a parking assistance system for a vehicle, is characterized by the following steps: a) determination of the length and/or width of a parking space when passing the parking space; b) determination of at least one feasible parking process for the vehicle for entering into or exiting the parking space; c) instructing the driver as to which direction the vehicle shall be moved and how far the steering wheel must be turned, and d) automatic braking and/or acceleration of the vehicle during the parking process into or out of a parking space, wherein steps c) and d) can be effected in any order, one after the other and/or at the same time.

摘要翻译： 一种用于操作车辆的停车辅助系统和停车辅助系统的方法，其特征在于以下步骤：a）当通过停车空间时确定停车位的长度和/或宽度; b）确定车辆进入或离开停车位的至少一个可行的停车过程; c）指示驾驶员车辆应该移动的方向以及方向盘必须转动多远，以及d）在停车过程中自动制动和/或加速车辆进入或离开停车位，其中步骤 c）和d）可以以任何顺序，一个接一个地和/或同时进行。

公开(公告)号：US20050035879A1

公开(公告)日：2005-02-17

申请号：US10490178

申请日：2003-02-05

申请人： Heinrich Gotzig ,  Miguel Hurtado ,  Nicolas Jecker ,  Anton Lill

发明人： Heinrich Gotzig ,  Miguel Hurtado ,  Nicolas Jecker ,  Anton Lill

IPC分类号： B60Q1/48 ,  G01S13/93 ,  G08G1/14

CPC分类号： B60Q9/006 ,  B60T2201/10 ,  G01S13/931 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2013/9364 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2015/935

摘要： The invention relates to a method for operating a parking assistance system for a vehicle, comprising at least one distance sensor that detects at least sections of the lateral immediate vicinity of the vehicle and at least one path sensor that detects the path travelled by the vehicle. According to the method, a control device determines the length and/or width of a parking space from the values measured by the sensors as the vehicle drives past said parking space. The invention is characterised in that the measured length and/or width of the parking space is/are corrected by a correction value and/or that depending on the speed of the vehicle as it drives past the parking space, the measurement is taken by means of the distance sensor at different time intervals.

摘要翻译： 本发明涉及一种用于操作车辆停车辅助系统的方法，该方法包括至少一个距离传感器，该至少一个距离传感器至少检测车辆的侧面紧邻附近的一部分，以及至少一个路径传感器，其检测由车辆行驶的路径。 根据该方法，控制装置在车辆行驶通过停车空间时，根据由传感器测量的值来确定停车位的长度和/或宽度。 本发明的特征在于，通过校正值和/或根据车辆驾驶经过停车空间的速度来校正停车空间的测量长度和/或宽度，通过装置 的距离传感器。

公开(公告)号：US07450738B2

公开(公告)日：2008-11-11

申请号：US10571096

申请日：2004-07-08

申请人： Nicolas Jecker ,  Heinrich Gotzig

发明人： Nicolas Jecker ,  Heinrich Gotzig

IPC分类号： G06K9/00 ,  G01C22/00

CPC分类号： G01S13/931 ,  G01S2013/9314 ,  G01S2013/9364 ,  G01S2013/9367 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2015/934 ,  G01S2015/935

摘要： The invention relates to a method for detecting the contour of an obstacle in the surroundings of a moving vehicle by means of a sensor device that is preferably integrated in the lateral area of the vehicle. In previously known methods of this type, the sensor device usually emits a sensor signal to the obstacle already when said obstacle lies ahead in the direction of travel while also emitting a sensor signal once the vehicle has passed the obstacle. In order to improve evaluation of the sensor signals with regard to the reflection thereof on the obstacle, the reflection signals thus generated are first mathematically averaged so as to be able to then derive in a more precise manner the actual position and the actual shape of the contour of the obstacle from the obtained averaged reflection signal.

摘要翻译： 本发明涉及一种用于通过优选地集成在车辆的横向区域中的传感器装置来检测移动车辆的周围环境中的障碍物的轮廓的方法。 在这种类型的先前已知的方法中，传感器装置通常在所述障碍物在行进方向上向前移动时已经向障碍物发射传感器信号，同时一旦车辆通过障碍物也发出传感器信号。 为了改善关于其在障碍物上的反射的传感器信号的评估，由此产生的反射信号首先被数学地平均，以便能够以更精确的方式导出实际位置和实际形状 得到的平均反射信号的障碍物轮廓。

公开(公告)号：US07205905B2

公开(公告)日：2007-04-17

申请号：US10490178

申请日：2003-02-05

申请人： Heinrich Gotzig ,  Miguel Hurtado ,  Nicolas Jecker ,  Anton Lill

发明人： Heinrich Gotzig ,  Miguel Hurtado ,  Nicolas Jecker ,  Anton Lill

IPC分类号： B60Q1/48

CPC分类号： B60Q9/006 ,  B60T2201/10 ,  G01S13/931 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2013/9364 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9385 ,  G01S2015/935

摘要： The invention relates to a method for operating a parking assistance system for a vehicle, comprising at least one distance sensor that detects at least sections of the lateral immediate vicinity of the vehicle and at least one path sensor that detects the path travelled by the vehicle. According to the method, a control device determines the length and/or width of a parking space from the values measured by the sensors as the vehicle drives past said parking space. The invention is characterised in that the measured length and/or width of the parking space is/are corrected by a correction value and/or that depending on the speed of the vehicle as it drives past the parking space, the measurement is taken by means of the distance sensor at different time intervals.

摘要翻译： 本发明涉及一种用于操作车辆停车辅助系统的方法，该方法包括至少一个距离传感器，该至少一个距离传感器至少检测车辆的侧面紧邻附近的一部分，以及至少一个路径传感器，其检测由车辆行驶的路径。 根据该方法，控制装置在车辆行驶通过停车空间时，根据由传感器测量的值来确定停车位的长度和/或宽度。 本发明的特征在于，通过校正值和/或根据车辆驾驶经过停车空间的速度来校正停车空间的测量长度和/或宽度，通过装置 的距离传感器。

公开(公告)号：US09174676B2

公开(公告)日：2015-11-03

申请号：US13321249

申请日：2010-06-07

申请人： Nicolas Jecker ,  Oliver Grimm ,  Tobias Geiger

发明人： Nicolas Jecker ,  Oliver Grimm ,  Tobias Geiger

IPC分类号： B62D15/02

CPC分类号： B62D15/0285

摘要： The invention relates to a method for executing an at least semi-autonomous parking process of a vehicle (13) by means of a parking assistance system (15), in which ambient conditions of the vehicle (13) are sensed as it travels past a potential parking space (3), and a parking path is determined as a function of the ambient conditions and of the parking space (3), wherein the ambient conditions comprise at least one obstacle (18, 18′, 18″) which is external to the parking space and does not directly bound the parking space (3) and is detected as near to the vehicle and is taken into account in the determination of the parking path (3), wherein the parking process is executed in a plurality of maneuvers (26, 27, 29; 34, 38, 39), and at least one maneuver (26, 27, 29; 34, 38, 39) which is executed with an autonomous steering intervention is determined in terms of its profile as a function of the obstacle (18, 18′, 18″). The invention also relates to a parking assistance system (15) for a vehicle (13).

摘要翻译： 本发明涉及一种用于通过驻车辅助系统（15）执行车辆（13）的至少半自主停车过程的方法，其中，当车辆（13）行驶过去时，感测到车辆（13）的环境条件 根据环境条件和停车空间（3）确定停车路径，其中环境条件包括至少一个外部的障碍物（18,18'，18“）， 并且不直接限制停车空间（3），并被检测为靠近车辆，并且在停车路径（3）的确定中被考虑，其中停车过程以多个机动执行 （26,27,29; 34,38,39），并且以自主转向干预执行的至少一个机动（26,27,29; 34,38,39）根据其轮廓确定为一个功能 的障碍物（18,18'，18“）。 本发明还涉及一种用于车辆（13）的停车辅助系统（15）。

公开(公告)号：US20120072067A1

公开(公告)日：2012-03-22

申请号：US13321249

申请日：2010-06-07

申请人： Nicolas Jecker ,  Oliver Grimm ,  Tobias Geiger

发明人： Nicolas Jecker ,  Oliver Grimm ,  Tobias Geiger

IPC分类号： G05D1/02

CPC分类号： B62D15/0285

摘要： The invention relates to a method for executing an at least semi-autonomous parking process of a vehicle (13) by means of a parking assistance system (15), in which ambient conditions of the vehicle (13) are sensed as it travels past a potential parking space (3), and a parking path is determined as a function of the ambient conditions and of the parking space (3), wherein the ambient conditions comprise at least one obstacle (18, 18′, 18″) which is external to the parking space and does not directly bound the parking space (3) and is detected as near to the vehicle and is taken into account in the determination of the parking path (3), wherein the parking process is executed in a plurality of manoeuvres (26, 27, 29; 34, 38, 39), and at least one manoeuvre (26, 27, 29; 34, 38, 39) which is executed with an autonomous steering intervention is determined in terms of its profile as a function of the obstacle (18, 18′, 18″). The invention also relates to a parking assistance system (15) for a vehicle (13).

摘要翻译： 本发明涉及一种用于通过驻车辅助系统（15）执行车辆（13）的至少半自主停车过程的方法，其中，当车辆（13）行驶过去时，感测到车辆（13）的环境条件 根据环境条件和停车空间（3）确定停车路径，其中环境条件包括至少一个外部的障碍物（18,18'，18“）， 并且不直接限制停车空间（3），并被检测为靠近车辆，并且在停车路径（3）的确定中被考虑，其中停车过程以多个机动执行 （26,27,29; 34,38,39），并且以自主转向干预执行的至少一个机动（26,27,29; 34,38,39）根据其轮廓确定为一个功能 的障碍物（18,18'，18“）。 本发明还涉及一种用于车辆（13）的停车辅助系统（15）。

公开(公告)号：US20110054739A1

公开(公告)日：2011-03-03

申请号：US12933025

申请日：2009-03-28

申请人： Jens Bammert ,  Nicolas Jecker ,  Simon Kossmann ,  Vsevolod Vovkuschevsky ,  Klaus Hoffsommer

发明人： Jens Bammert ,  Nicolas Jecker ,  Simon Kossmann ,  Vsevolod Vovkuschevsky ,  Klaus Hoffsommer

IPC分类号： G06F7/00 ,  B62D6/00

CPC分类号： B62D15/0285 ,  B62D15/028

摘要： A method is described for assisting a driver of a vehicle (01) in exiting from a lateral parking space (02) in a longitudinal direction with respect to a roadway, comprising the method steps: starting of the method when a parking space (02) is to be exited longitudinally with respect to a roadway; measuring of at least the length (D) of the parking space (02); determination of a parking-space-exiting trajectory (03) at least on the basis of the data acquired by means of the measurement; starting of the parking-space-exiting process; carrying out of the parking-space-exiting process with simultaneous collision prevention by monitoring the distance from at least objects (05, 07, 08) which bound the parking space (02); and ending of the method as soon as collision-free exiting from the parking space (02) is possible. Furthermore, a driving 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： 描述了一种用于辅助车辆（01）的驾驶员相对于道路在纵向方向上从侧面停车空间（02）离开的方法，包括以下方法步骤：当停车位（02） 将相对于道路纵向排出; 至少测量停车位（02）的长度（D）; 至少基于通过测量获取的数据来确定停车空间离开轨迹（03）; 启动停车位退出过程; 通过监视至少与停车空间（02）相连的物体（05，07，08）的距离，进行同步防撞的停车空间过程; 并且一旦从停车空间（02）离开就可以结束该方法。 此外，描述了用于执行该方法的驾驶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。