Method and device for recognising when a kerbstone has been driven over

摘要

The method involves determining wheel speed and travel direction by wheel sensors of the wheels of the motor vehicle. The speed of each wheel is continuously evaluated. The curbstone crossing is identified when one wheel has a positive acceleration for a predetermined time interval (delta t) and the other wheel has a negative acceleration for the same time interval. The curbstone crossing is recognized when the speed difference (delta V) between a maximum speed (VP) and initial speed (VA) of the rising edge of the acceleration signal of the wheel is above a predetermined threshold. Independent claims are included for the following: (1) a device for recognizing curbstone crossing of a motor vehicle; (2) a method for odometric calculation of the vehicle position; and (3) a parking steering assistant with a device for recognizing curbstone crossing of a motor vehicle and a unit for calculating parking trajectory.