公开(公告)号：US09415804B2

公开(公告)日：2016-08-16

申请号：US13321230

申请日：2010-06-07

申请人： Nicolas Jecker ,  Oliver Grimm ,  Vsevolod Vovkushevsky ,  Tobias Geiger

发明人： Nicolas Jecker ,  Oliver Grimm ,  Vsevolod Vovkushevsky ,  Tobias Geiger

IPC分类号： G05D1/02 ,  G06F17/10 ,  B62D15/02 ,  H04N7/18 ,  G01S15/87 ,  G01S15/93 ,  G01S13/93

CPC分类号： B62D15/0275 ,  G01S15/87 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2015/936 ,  H04N7/181

摘要： The invention relates to a device and a method for displaying objects in the surroundings of a vehicle having a sensor arrangement, in order to sense objects in the surroundings of the vehicle and to determine the position thereof relative to the vehicle, wherein the sensor arrangement covers, with its detection range, only a partial area of the surroundings of the vehicle; in order to improve the assistance provided to the driver during parking processes and the processes of removing a vehicle from a parking space, the processing device is designed to determine the area of the surroundings of the vehicle for which no object information is yet available, since said area has not yet been passed over by the detection range of the sensor arrangement, and the display device is designed to display the extent of this area.

摘要翻译： 本发明涉及一种用于在具有传感器装置的车辆的周围显示物体的装置和方法，以便感测车辆周围的物体并确定其相对于车辆的位置，其中传感器装置覆盖 ，其检测范围只有车辆周围的部分区域; 为了改善在停车过程中向司机提供的帮助以及从停车位移除车辆的处理，处理装置被设计成确定没有物体信息可用的车辆的周围区域，因为 所述区域尚未被传感器装置的检测范围所超越，并且显示装置被设计为显示该区域的范围。

公开(公告)号：US20120065877A1

公开(公告)日：2012-03-15

申请号：US13321230

申请日：2010-06-07

申请人： Nicolas Jecker ,  Oliver Grimm ,  Vsevolod Vovkushevsky ,  Tobias Geiger

发明人： Nicolas Jecker ,  Oliver Grimm ,  Vsevolod Vovkushevsky ,  Tobias Geiger

IPC分类号： G06F17/00

CPC分类号： B62D15/0275 ,  G01S15/87 ,  G01S15/931 ,  G01S2013/9314 ,  G01S2015/936 ,  H04N7/181

摘要： The invention relates to a device and a method for displaying objects in the surroundings of a vehicle having a sensor arrangement (10), in order to sense objects in the surroundings of the vehicle and to determine the position thereof relative to the vehicle (1), wherein the sensor arrangement (10) covers, with its detection range (10), only a partial area of the surroundings of the vehicle.In order to improve the assistance provided to the driver during parking processes and the processes of removing a vehicle from a parking space, the processing device is designed to determine the area (E) of the surroundings of the vehicle for which no object information is yet available, since said area (E) has not yet been passed over by the detection range (D) of the sensor arrangement (10), and the display device (20) is designed to display the extent of this area (E).

摘要翻译： 本发明涉及一种用于在具有传感器装置（10）的车辆的周围显示物体的装置和方法，以便感测车辆周围的物体并确定其相对于车辆（1）的位置， ，其中所述传感器装置（10）以其检测范围（10）仅覆盖所述车辆周围的部分区域。 为了改善在停车过程中对驾驶员的帮助以及从停车位移除车辆的过程，处理装置被设计成确定没有对象信息的车辆的周围区域（E） 因为所述区域（E）还没有被传感器装置（10）的检测范围（D）超过，并且显示装置（20）被设计为显示该区域（E）的程度。

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：US09969385B2

公开(公告)日：2018-05-15

申请号：US14241103

申请日：2012-08-29

申请人： Nicolas Jecker ,  Oliver Grimm

发明人： Nicolas Jecker ,  Oliver Grimm

IPC分类号： B62D15/02 ,  B60W30/06

CPC分类号： B60W30/06 ,  B62D15/027 ,  B62D15/0285

摘要： The invention relates to a method for carrying out a parking process for a vehicle (1), in which the parking process is carried out at least semi-autonomously, a parking assistance device (2) of the vehicle being able to carry out an autonomous parking process or a semi-autonomous parking process and, depending on environmental conditions of the vehicle (1), the parking assistance device (2) deciding whether a parking process is carried out autonomously or semi-autonomously.

公开(公告)号：US09140553B2

公开(公告)日：2015-09-22

申请号：US13700450

申请日：2011-05-24

申请人： Oliver Grimm ,  Nicolas Jecker

发明人： Oliver Grimm ,  Nicolas Jecker

IPC分类号： B60W30/06 ,  G01C21/00 ,  B60W50/00 ,  B62D15/02 ,  G05D1/00 ,  B60W50/08

CPC分类号： G01C21/00 ,  B60W30/06 ,  B60W50/0098 ,  B60W50/082 ,  B60W2050/0063 ,  B60W2050/0089 ,  B62D15/027 ,  B62D15/0285 ,  G05D1/00

摘要： The invention relates to a method for assisting a driver of a motor vehicle (1) when parking in a parking space (19), in particular in a garage (18), using a driver assistance device (2) of the motor vehicle (1), wherein: in a learning mode of the driver assistance device (2), reference data related to the surrounding area (22) of the parking space (19) are recorded and stored using a sensor device (7) of the driver assistance device (2), while the motor vehicle (1) is parked in the parking space (19) while controlled by the driver, a reference target position (27), which is reached by the motor vehicle (1) in the learning mode, is recorded by the driver assistance device (2) and data with information about this reference target position (27) are stored, in a subsequent operating mode of the driver assistance device (2) different from the learning mode, sensor data are detected by the sensor device (7) and compared with the reference data, wherein depending on this comparison the surrounding area (22) of the parking space (19) is identified using the detected sensor data and thereby a current position (28, 33) of the motor vehicle (1) relative to the reference target position (27) is determined and depending on the current position (28, 33) of the motor vehicle (1) relative to the reference target position (27), a parking route (29, 32, 36) is determined by the driver assistance device (2), along which the motor vehicle (1) is parked in the parking space (19) from the current position (28, 33). The invention also relates to a driver assistance device (2) for carrying out the method.

摘要翻译： 本发明涉及一种使用机动车辆（1）的驾驶员辅助装置（2）在停车位（19）特别是车库（18）中停车时辅助机动车辆（1）的方法， ），其中：在所述驾驶员辅助装置（2）的学习模式中，使用所述驾驶员辅助装置（7）的传感器装置（7）记录和存储与所述停车位（19）的周围区域（22）相关的参考数据 （2）在机动车辆（1）在由驾驶员控制的同时停放在停车空间（19）中时，在学习模式下由机动车辆（1）到达的基准目标位置（27）为 驾驶员辅助装置（2）记录的数据和关于该参考目标位置（27）的信息的数据被存储在与学习模式不同的驾驶员辅助装置（2）的后续操作模式中，传感器数据由传感器 装置（7），并与参考数据进行比较，其中根据该比较 使用检测到的传感器数据识别停车空间（19）的起落区域（22），从而确定机动车辆（1）相对于基准目标位置（27）的当前位置（28,33），并且取决于 机动车辆（1）相对于基准目标位置（27）的当前位置（28,33），停车路线（29,32,36）由驾驶员辅助装置（2）确定，电动机 车辆（1）从当前位置（28,33）停放在停车位（19）中。 本发明还涉及一种用于执行该方法的驾驶员辅助装置（2）。

公开(公告)号：US20140371972A1

公开(公告)日：2014-12-18

申请号：US14241103

申请日：2012-08-29

申请人： Nicolas Jecker ,  Oliver Grimm

发明人： Nicolas Jecker ,  Oliver Grimm

IPC分类号： B60W30/06

CPC分类号： B60W30/06 ,  B62D15/027 ,  B62D15/0285

摘要： The invention relates to a method for carrying out a parking process for a vehicle (1), in which the parking process is carried out at least semi-autonomously, a parking assistance device (2) of the vehicle being able to carry out an autonomous parking process or a semi-autonomous parking process and, depending on environmental conditions of the vehicle (1), the parking assistance device (2) deciding whether a parking process is carried out autonomously or semi-autonomously.

摘要翻译： 本发明涉及一种用于对车辆（1）进行停车处理的方法，其中停车过程至少半自主地执行，车辆的停车辅助装置（2）能够执行自主的 停车过程或半自动停车过程，并且根据车辆（1）的环境条件，停车辅助装置（2）决定是自主还是半自主地进行停车处理。

公开(公告)号：US20130085637A1

公开(公告)日：2013-04-04

申请号：US13700450

申请日：2011-05-24

申请人： Oliver Grimm ,  Nicolas Jecker

发明人： Oliver Grimm ,  Nicolas Jecker

IPC分类号： G01C21/00 ,  G05D1/00

CPC分类号： G01C21/00 ,  B60W30/06 ,  B60W50/0098 ,  B60W50/082 ,  B60W2050/0063 ,  B60W2050/0089 ,  B62D15/027 ,  B62D15/0285 ,  G05D1/00

摘要： The invention relates to a method for assisting a driver of a motor vehicle (1) when parking in a parking space (19), in particular in a garage (18), using a driver assistance device (2) of the motor vehicle (1), wherein: in a learning mode of the driver assistance device (2), reference data related to the surrounding area (22) of the parking space (19) are recorded and stored using a sensor device (7) of the driver assistance device (2), while the motor vehicle (1) is parked in the parking space (19) while controlled by the driver, a reference target position (27), which is reached by the motor vehicle (1) in the learning mode, is recorded by the driver assistance device (2) and data with information about this reference target position (27) are stored, in a subsequent operating mode of the driver assistance device (2) different from the learning mode, sensor data are detected by the sensor device (7) and compared with the reference data, wherein depending on this comparison the surrounding area (22) of the parking space (19) is identified using the detected sensor data and thereby a current position (28, 33) of the motor vehicle (1) relative to the reference target position (27) is determined and depending on the current position (28, 33) of the motor vehicle (1) relative to the reference target position (27), a parking route (29, 32, 36) is determined by the driver assistance device (2), along which the motor vehicle (1) is parked in the parking space (19) from the current position (28, 33). The invention also relates to a driver assistance device (2) for carrying out the method.

摘要翻译： 本发明涉及一种使用机动车辆（1）的驾驶员辅助装置（2）在停车位（19）特别是车库（18）中停车时辅助机动车辆（1）的方法， ），其中：在所述驾驶员辅助装置（2）的学习模式中，使用所述驾驶员辅助装置（7）的传感器装置（7）记录和存储与所述停车位（19）的周围区域（22）相关的参考数据 （2）在机动车辆（1）在由驾驶员控制的同时停放在停车空间（19）中时，在学习模式下由机动车辆（1）到达的基准目标位置（27）为 驾驶员辅助装置（2）记录的数据和关于该参考目标位置（27）的信息的数据被存储在与学习模式不同的驾驶员辅助装置（2）的后续操作模式中，传感器数据由传感器 装置（7），并与参考数据进行比较，其中根据该比较 使用检测到的传感器数据识别停车空间（19）的起落区域（22），从而确定机动车辆（1）相对于基准目标位置（27）的当前位置（28,33），并且取决于 机动车辆（1）相对于基准目标位置（27）的当前位置（28,33），停车路线（29,32,36）由驾驶员辅助装置（2）确定，电动机 车辆（1）从当前位置（28,33）停放在停车位（19）中。 本发明还涉及一种用于执行该方法的驾驶员辅助装置（2）。

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。

公开(公告)号：US20100265103A1

公开(公告)日：2010-10-21

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： G08G1/123

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。