| 摘要 |
A method for calibrating a parking aid, which is configured to actively control a steering angle of a vehicle, by: automatically detecting a parking space with the aid of sensors and calculating a target course in light of the detected parking space. The steering angle is controlled based on the calculated target course, with a controllable actuator. The method accounts for an error by the actuator by: determining an actual course, which results from controlling according to the target course; comparing the actual course to the target course and ascertaining the error resulting from the comparison; and generating a correction parameter, which is linked to the error by a monotonic function. The correction parameter allows the actuator's behavior to be considered. Controlling the steering angle is done based on a combination of the set angle with the correction parameter. A related controller for implementing the method is also described. |
| 主权项 |
1. A method for calibrating a parking aid, which is configured to actively control a steering angle of a vehicle, the method comprising:
automatically detecting a parking space with the aid of sensors; calculating a target course in light of the detected parking space; controlling the steering angle in accordance with the calculated target course by using a controllable actuator; determining an actual course, which results from the controlling in accordance with the target course; comparing the actual course to the target course and ascertaining the error resulting from the comparison; and generating a correction parameter, which is linked to the error by a monotonic function; wherein the controlling of the steering angle includes controlling it according to a combination of the steering angle with the correction parameter, wherein controlling the steering angle includes driving the actuator, using a setpoint maximum steering value, and wherein determining the actual course includes measuring an actual maximum steering value, which results from the driven actuator using the setpoint maximum steering value, the ascertained error being the difference between the setpoint maximum steering value and the actual maximum steering value, wherein a first parking operation and a second parking operation following the first parking operation are executed, wherein the second parking operation is executed by driving using a maximum steering angle, which is increased by a control increment in comparison with the first parking operation, wherein maximum actual curvatures of the respectively resulting and actual course are compared to one another, wherein several parking operations are executed, wherein the control increment is increasingly raised with each parking operation, wherein the maximum actual curvature resulting during each operation is determined, wherein the respective, maximum actual curvatures of the operations are compared to one another, wherein an increase in the maximum actual curvatures of consecutive parking operations is measured, wherein the correction parameter is provided by detecting a decrease or a lack of the increase upon comparing maximum actual curvatures of consecutive operations, and wherein the correction parameter represents a cap of the controllable steering angle and at least one subsequent target parking track having a cap of the maximum curvature equal to the maximum actual curvature is provided. |
