Determining instantaneous angle between vehicle and road edge in automatic parking situations, adds relative road edge- and transverse motion angles

摘要

The vehicle moves transversely at an angle (alpha). This angle is measured between its instantaneous direction (1) and a given direction (5), both being generally longitudinal. The angle (beta) between the kerb (3) contour and the given direction (5) is determined. The instantaneous angle (gamma) between the vehicle and the road edge is determined by summing the angle of transverse motion (alpha) and the road edge angle (beta).