DE102008036009A1 - Vehicle i.e. motor vehicle, protecting method for use in e.g. park garage, involves determining probability of collision of vehicle with objects provided in surrounding of vehicle from other objects by consideration of vehicle movement - Google Patents

Abstract

The method involves determining sensor information of a surrounding field sensor of a vehicle (1) i.e. motor vehicle, and providing a surrounding field map (26) from the sensor information of the surrounding field sensor. The vehicle independent movement is determined, and probability of collision of the vehicle with surrounding field objects (31, 33) provided in the surrounding of the vehicle is determined from other surrounding field objects illustrated in the surrounding field map by considering the vehicle independent movement. An independent claim is also included for a parking structure assistant for a vehicle implementing a method for protecting a vehicle.

Description

The The invention relates to a method for protecting a vehicle from a vehicle Collision in the parking and maneuvering area as well as a parking garage assistant to assist the driver of a vehicle accordingly the preamble of claim 1 and of claim 17.

One Driver of today's motor vehicles is in the parking and maneuvering area, so when parking and maneuvering in a parking lot or in a Parking garage, often overtaxed with the driving tasks. This is essentially due to the fact that the vehicle dimensions the models in the course of the facelift increase, the parking spaces in contrast, however, remain the same or reduced for optimization become. Thus, the available parking space for the driver objectively too small. Furthermore, the vehicles are for example for aerodynamic and / or design reasons designed so that the driver can not overlook the dimensions of the vehicle or can estimate.

The Consequences can therefore be considerable damage to the Vehicles as well as the infrastructure of parking garages or Parking, resulting in high follow-up costs. Also, the damage to the vehicle can be safety-relevant and significantly reduce the time value of the vehicle.

meanwhile Today's vehicles are often already standard with distance warning for the parking area, known as Park-Distance-Control PDC, equipped. Furthermore, systems have recently become concrete Assistance to the driver when parking in a parking space available as standard as standard, what is known as Park Steering Assist or Park Assist is. Consequently, environmental sensors are the immediate environment of Vehicle watching, already installed in production vehicles.

Out In the field of robotics is known that mobile robot means one or more suitable sensors an image of their environment create motion paths without colliding with objects in the Plan the environment and move autonomously along such paths move. Such images of the environment can be in shape so-called "Occupancy Grid Maps" are created, d. H. in the form of grid-based environment maps with equidistant Grid points, where each grid area of the grid is a probability value is assigned. For the assignment of a grid area can from the measurements of the sensor in the simplest case three states are defined, namely the state "occupied", "free" or "unknown", which are assigned to the grid area. These states then each corresponding to a probability of "1", "0" or "0.5". On the various methods used in robotics for the Creation of such grid-based environment maps is not here further discussed, since this is not the subject of the invention.

Meanwhile, the use of grid-based environment maps in the automotive sector is being considered. This is how the document describes Sugimoto et. al.: "Obstacle Detection Using Millimeter-wave Radar and Its Visualization to Image Sequence", Proceedings of the 17th International Conference on Pattern Recognition, IEEE, 2004 , a method for detecting objects by means of radar, wherein from the radar data, a grid-based map is created and equated to the resulting cluster in the map with objects.

Furthermore, in the article Nguyen et. al .: "A Sensor Fusion Approach Based on Occupational Grid and Fuzzy Logic, 5th International Workshop on Intelligent Transportation (WIT), Hamburg, March 18-19, 2008 , the merger of the data of several and different sensors of a motor vehicle using a grid-based environment map by means of a fuzzy logic approach.

Of the The invention is therefore based on the object, a method for collision protection a vehicle in the parking and maneuvering area and such Parking garage assistant using an environment map to create What a 360 ° collision protection for the vehicle is possible.

The The object is achieved by a method having the features of the claim 1 and by a parking garage assistant with the features of the claim 13 solved. Preferred embodiments of the invention are Subject of the dependent claims.

• – Erfassen der Sensorinformationen der Umfeldsensorik des Fahrzeugs,
• – Erstellen einer Umfeldkarte aus den Sensorinformationen der Umfeldsensorik,
• – Bestimmung der Fahrzeugeigenbewegung, und
• – Bestimmen der Kollisionswahrscheinlichkeit des Fahrzeugs mit in der Umgebung des Fahrzeugs befindlichen Umfeldobjekten aus der in der Umfeldkarte abgebildeten Umfeldobjekten unter Berücksichtigung der Fahrzeugeigenbewegung.

The method according to the invention for protecting a vehicle from a collision in the parking and maneuvering area, wherein the vehicle has surroundings sensors for detecting objects in the surroundings of the vehicle, comprises the following steps:

• Detecting the sensor information of the environment sensor of the vehicle,
• Creating an environment map from the sensor information of the environmental sensor system,
• - determination of the vehicle's own motion, and
• Determining the collision probability of the vehicle with environment objects located in the environment of the vehicle from the environment objects depicted in the environment map, taking into account the vehicle's own movement.

there is under vehicle here in particular a motor vehicle or a Motor vehicle combination, d. H. a motor vehicle with a trailer, Understood.

consequently be in the above-mentioned first step of the procedure environment information obtained from the sensors installed on the vehicle. It plays the Type of sensors used only a minor role. Preferably However, this can be done with existing series sensors be used, such. As for the parking assistance functions used ultrasonic sensors.

in the second step, this information is entered in an environment map. This can be considered as moving with the vehicle coordinate system or an environment map statically defined on the world coordinate system Be pronounced. The content of the card is preferably through the sensor information from acquisition cycle to acquisition cycle updated.

Under Considering the vehicle's own motion leaves to predict a vehicle trajectory into the future and it can be determined so whether the vehicle with an environmental obstacle will collide. The decisive advantage that results is that the environment information is stored and be followed so to speak relative to the vehicle movement. hereby it also succeeds for the vehicle side area (flank) to grant protection, even if this area is not is detected directly by a sensor, so that there without additional Sensor technology possible collisions can be predicted.

advantageously, The environment map is a grid-based map with equidistant Realized grid points. This shows the grid surfaces an identical size and it varies depending on Grid spacing sufficient quantization of the area the environment of the vehicle to sufficient objects in the environment map accurately locate, so that the risk of collision with sufficient spatial accuracy is localized.

advantageously, the environmental map will be through the sensor information of each new acquisition cycle updated. Since the current sensor information relative to a vehicle-fixed coordinate system is measured, this information must for updating the environment map in the case of a spatially fixed environment map transformed into the space-fixed coordinate system of the environment map become. Since the vehicle speed and steering angle are known, This transformation can take into account the vehicle movement be performed. With the update of the environment map with each acquisition cycle considering the vehicle's own movement Contains the environment map not only objects of the current Sensor measurement, but also from an earlier. Therefore contains the environment map Information about objects in the 360 ° environment of the vehicle and it can also be used by the environment sensors currently not recorded, but located in the environment map objects a collision probability can be determined because the environment map has a memory, so to speak.

there It does not matter if the environment map is fixed or vehicle-proof is. Preferably, however, the space-safe environment map is used since this is a reflection of what the driver is in reality offers.

As already mentioned, can be derived from the vehicle's own movement predict a future vehicle trajectory, where the trajectory of the vehicle's own speed and the steering angle can be derived. From this prediction of Vehicle trajectory is preferably taken into account the geometric vehicle dimensions a three-dimensional travel tube derived from the collision probability with an environment object can be determined. The determination of the driving tube of the vehicle is also possible for teams as the behavior of the coupled trailer due to the movement of the towing vehicle is predictable.

advantageously, can be checked by means of the environment map even when the vehicle is stationary be whether a door opening with an environment object the environment map would collide. This is the over Reason swept area or opening trajectory predicts the opening of the vehicle door, due to the knowledge of the geometric properties of the door is possible. In particular, in this way the maximum collision-free door opening angle from the environment map be determined. In this form of the procedure becomes Consequently, the environment map used to stop when the vehicle is the vehicle doors when opening against an obstacle to recognize. It is recognized from the vehicle data that the vehicle is at a standstill and an occupant opens a door would like to. Opening the door can be for example detected by pressing the door opener become. Under underlie the door geometries and the maximum opening angle of the door to be opened can its opening trajectory or over-swept area be determined. Lies within the trajectory or the swept Area in the environment map an obstacle, then becomes the possible Collision detected. In a further step, the maximum collision-free possible opening angle determined.

Advantageously, an acoustic and / or optical and / or haptic warning is output in the event of a collision. In this case, the visual warning can be carried out in a display, wherein in the display, the vehicle is displayed with a highlighted representation of the prospective collision location. Furthermore, the current vehicle speed and / or other relevant information in the display. The presentation of this warning information takes place, for example, in the multi-function display of the vehicle.

Preferably the vehicle has a display for displaying the environment map and the vehicle. Is in the vehicle a radio navigation system with a corresponding display, this display can be used for the presentation.

advantageously, In the environment map, a safety zone surrounding the vehicle is displayed shown, with objects of the environment map in the security zone be shown highlighted. Further, for information the driver preferably in the environment map of the predicated Driving tube and / or the driving tube for driving on a collision-free Railway of the vehicle shown.

Preferably The display can show further vehicle data such as airspeed of the vehicle and / or direction of travel and / or wheel steering angle become.

Preferably is the longitudinal axis of the vehicle shown in the display parallel to the real longitudinal axis of the vehicle. This corresponds the image shown in the display of the environment of the vehicle to that the driver of the vehicle, so due to the direct connection the driver can take the information from the environment map faster can.

Of the Parking garage assistant according to the invention of a vehicle for carrying out the above-described method an environment sensor for detecting the environment of the vehicle, a Evaluation unit for evaluating the environment data and creating a Environment map of the vehicle and at least one ad.

Preferably the parking garage assistant has a predetermined number of ultrasonic sensors, wherein furthermore the parking garage assistant at least one optically active Sensor, for example a laser scanner and / or a camera, can have.

Preferably The data are recorded by a maximum of 16 ultrasonic sensors, whereby a maximum of 8 sensors in the bow area and a maximum of 8 sensors in the stern area of the vehicle are arranged.

It is achieved with the above-described method and apparatus presented a warning concept with which it is possible to damage on the vehicle, which may arise during parking or maneuvering to prevent. Due to the warning concept the driver is getting very upset intuitive way mediates which objects in the vehicle environment in Dependence on the current vehicle maneuver are relevant, and whether they endanger the vehicle and where the vehicle would be damaged if the driver does not intervene correctively before.

• – Visualisierung des Egofahrzeugs
• – Veranschaulichung der fahrzeugbezogenen Sicherheitszone um das Fahrzeug in Abhängigkeit von fahrdynamischen Eigenschaften wie Geschwindigkeit
• – Bestimmung und Einblendung des prädizierten Fahrschlauchs
• – Einblendung der vom Sensor im Fahrzeugumfeld detektierten Hindernisse, sowie Visualisierung der auf das aktuelle Fahrmanöver bezogenen Relevanz und Kritikalität der Objekte, sowie der vorausberechneten Einschlagstelle am Fahrzeug
• – gerichtete akustische und optische Warnung des Fahrers

The display concept therefore has the following advantages:

• - Visualization of the ego vehicle
• - Illustration of the vehicle-related safety zone around the vehicle as a function of driving dynamics characteristics such as speed
• - Determination and display of the predicted driving tube
• - Showing the detected by the sensor in the vehicle environment obstacles, as well as visualization of the relevance and criticality of the objects related to the current driving maneuver, as well as the predicted impact on the vehicle
• - directed acoustic and visual warning of the driver

Essential here is the meaning of the viewer of the ad immediately is aware of the depicted, or this can be easily derived. The ego vehicle is z. B. by its stylized representation easily as such, to recognize and the viewer has no difficulty to recognize how the vehicle is aligned. This is partly because on the graphics themselves, as this makes it easy for the viewer, the To distinguish vehicle front from the rear end. There is also no contradiction to the actual vehicle situation, since the Longitudinal axis of the stylized vehicle parallel to the vehicle longitudinal axis of the real vehicle is located. So the viewer does not have to be elaborate Conversion to make his own position in the room, like this z. B. the case would be if the representation of the ego vehicle rotated by 90 °.

• – dem Betrachter werden auch Objekte im 360°-Umfeld angezeigt, die nicht unmittelbar eine Gefährdung darstellen;
• – dies geschieht in der Form, das Objekte außerhalb der Sicherheitszone nur schemenhaft dargestellt werden und
• – erst dann optisch hervorgehoben werden, wenn sie in die Sicherheitszone eintauchen.

Another significant advantage of the method lies in the way in which the objects detected by the environmental sensor system are displayed:

• - The viewer is also displayed objects in the 360 ° environment, which are not immediately a threat;
• - This is done in the form that objects outside the security zone are shown only schematically and
• - only then be visually highlighted when they dip into the safety zone.

• – Die Darstellungsgröße des Fahrzeugs bleibt konstant, die Hülle der Sicherheitszone wird variiert
• – Die Darstellungsgröße der Sicherheitszone bleibt konstant und die Darstellungsgröße des Fahrzeugs wird variiert, oder
• – Kombinationen aus den vorher genannten Ausprägungen

The design of the safety zone can be carried out in such a way that the size, position and shape depending on various driving dynamics parameters such as speed and steering angle done. The representation of the security zone in Relation to the vehicle have different characteristics:

• - The display size of the vehicle remains constant, the envelope of the safety zone is varied
• - The display size of the safety zone remains constant and the display size of the vehicle is varied, or
• - Combinations of the previously mentioned characteristics

Put the environment objects depending on the current driving maneuver a danger, this is indicated by the fact that the affected part of the security zone is highlighted in color and a directed acoustic warning depending on Obstacle direction and collision criticality output becomes.

additionally is made clear to the viewer by color coding, at which point of the ego vehicle the damage would arise, if the driver does not intervene correctively.

The Collision criticality is not just like traditional ones Systems depend on the absolute distance to the obstacle concerned, but determined from the travel path of the vehicle to the collision. Accordingly, in addition to the geometric arrangement influence also the driving dynamics parameters the urgency of the warning.

Further it is preferred that in the case of an expected collision of the parking garage assistant generates an active steering recommendation. Represents therefore the parking garage assistant found that within the predicted driving tube at its follow-up by the driver within a given Distance or time a collision will occur, d. H. the collision probability exceeds a predetermined threshold, then the parking garage assistant intervene in a predetermined manner to prevent a collision. This can be done in the form that the active steering recommendation by visual information is provided. Another possibility exists in that the active steering recommendation by direct steering intervention or by impressing a steering torque on the steering.

preferred Embodiments of the invention are described below illustrated the drawings. It shows

1 a schematic representation of a conventional collision scenario in a parking garage or a parking garage,

2 a vehicle in a parking garage floor in a schematic representation without parking garage assistant (left) and with parking garage assistant (right),

3 the generation of an environment map by means of an exemplary sensor in a moving vehicle,

4 the arrangement of environmental sensors in a vehicle,

5 the possibilities of mapping the environment sensor data on a multifunction display (top right) and on the display of the radio navigation unit (bottom right),

6 the representation of the environment map of a vehicle with security zone displayed when reversing,

7 the display of 6 in zoomed view,

8th the representation of the environment map of a vehicle with security zone displayed during forward travel, and

9 the display of 8th in zoomed representation.

1 shows a typical collision-intensive situation when driving in a parking garage or underground parking, for example, to search for a free parking space, which often lead to vehicle damage and motivation for the development of the method and the parking garage assistant forms.

A vehicle 1 moves in a parking garage 2 along a lane 3 looking for a parking space or to leave the parking garage. To get out of the parking area 4 into a transit 5 For example, an exit or a ramp to another parking area, not shown, to enter, the vehicle must 1 drive a left turn, with the vehicle around an edge area 6 the passage 5 must be maneuvered around. If the driver of the vehicle 1 the lane 3 to handle the left-hander, as selected incorrectly, is a collision of the lateral area of the vehicle 1 with the edge area 6 the passage 5 inevitable.

2 shows the basic procedure of the parking assistant in a schematic representation. In both parts of the 2 the vehicle drives 1 in the park area 4 a parking garage 2 For example, looking for a parking space.

In the left part of the 1 is the vehicle 1 not equipped with a parking garage assistant and the driver selects the route (not shown) in the passage 5 without support.

In the right part of the 2 is the vehicle 1 equipped with a parking garage assistant, the locating signals 7 emitted on both sides. The locating signals 7 be right side of the wall 8th and left side of the parked vehicle 9 reflected so that the parking garage assistant from the reflected signals of the locating signals 7 as well as the proper motion of the vehicle 1 Create an environment map and generate appropriate information to the driver.

3 shows a schematic representation of the procedure of the parking garage assistant in detail. The vehicle 1 moves within a space-fixed xy-coordinate system along a series of possible collision objects, namely columns in the case shown 9 . 10 and 11 , In the left part of the 3 sends a front sensor (not shown) of the vehicle 1 locating signals 8th from the pillar 11 are reflected and the reflected signals are detected by a corresponding receiver of the front sensor and supplied to the parking garage assistant. This is the vehicle 1 At time t0 of the measurement, the reference point PO is assigned in the xy coordinate system.

At another time t1, shown in the middle part of the 3 in which the vehicle 1 the reference point P1 is assigned, the vehicle has become 1 moved from the reference point P0 to the reference point P1 in the space fixed xy coordinate system and it will be a further measurement with the on the vehicle 1 sensor arranged on the front right, which is caused by the locating signals 8th is shown. The locating signals 8th the measurement with respect to the reference point P1 also detects the column 11 , but with different distances relative to the vehicle 1 which then takes into account the vehicle's own speed 1 be converted into the xy reference system.

Taking into account various measuring cycles at different reference points due to the vehicle's own motion 1 , ie at different times, then results in the right part of the 3 illustrated grid-based environment map 12 in which the positions of the columns 9 . 10 and 11 are reflected in space. Positions in a grid-based environment map means the assignment of the value "busy", ie usually logical "1", to a corresponding grid area. The other grid areas have the value "Free" or the value "Not known". The value "Free" is assigned to the grid areas swept by the lobe of the location signal beam without causing reflection. The value "not known" can be assigned to grid surfaces which are shielded from the lobe of the locating signal beam, that is, for example, are arranged behind an obstacle and regardless of the position of the vehicle are not reached by the locating signal, ie always lie in the beam shadow.

4 shows an example representation of a vehicle 1 with on the vehicle 1 arranged environment sensors S1 to S16. Conventionally, ultrasound sensors already used in production vehicles, such as those used for park steering assistant applications (PLA) and for park distance control applications (PDC), are used. Usually, PLA sensors have a detection range of approx. 3.5 m and can be used up to a maximum speed of approx. 15 km / h. PDC sensors usually have a detection range of approx. 1.5 m and can be used up to a maximum speed of approx. 10 km / h. The sensors are arranged at predetermined angles on the vehicle, so the sensor S5 detected at 0 ° to the vehicle longitudinal axis forward, sensor S6 detects 30 ° to the side, sensor S7 detects 60 ° to the side and sensor S8 90 ° to the side, each based on the vehicle longitudinal axis. The sensors S1 to S4 and S9 to S17 are arranged correspondingly symmetrical. Furthermore, the vehicle may also have an optically active sensor, such as a laser scanner and / or a monocular camera (not shown).

5 shows several possibilities of displaying the results of a parking garage assistant in the cockpit of a vehicle. In the left part of the 5 is a vehicle 1 in an environment with 4 objects 13 . 14 . 15 . 16 shown in the form of columns, with the intended direction of travel 17 symbolically represented by an arrow. The environmental sensors (not shown) of the car park assistant of the vehicle 1 send locating signals 18 forward and locating signal 19 to the rear to determine the vehicle environment. As already described above, the parking garage assistant generates a grid-based environment map of the vehicle's 360 ° environment 1 and possibly a warning. Furthermore, the parking garage assistant determines the collision area of the vehicle 1 concerning the possible collision.

The upper arrow 20 of the 5 indicates possible representations of a risk of collision in the multifunction display 22 of the vehicle 1 out. In the left illustration of the multifunction display 22 the collision area is directly as a highlighted hint area 24 the representation of the vehicle 1 shown here in 5 shown in dashed lines. In the right-hand illustration of the multifunction display 22 is the range of possible collision by an on the front left area of the vehicle shown 1 indicative pointer 25 visually visualized, which in 5 also shown in dashed lines. Thereby the hint areas become 24 . 25 on the collision areas in the depiction the multifunction display 22 visually highlighted, for example in red.

Furthermore, in the multifunction display 22 even more information such as direction and vehicle speed be shown, which are not shown here.

The lower arrow in 5 points to the representation of the environment map and the warning of a possible collision in the display 23 of the radio navigation system. This display is usually mounted in the center console or in the center of the dashboard and is much larger than the multifunction display 22 , which is located in the dashboard directly in the driver's field of vision. Presented in the ad 23 is the grid-based environment map 26 with in the environment map 26 represented vehicle 1 as well as its from own airspeed, steering angle and vehicle dimensions predicted Fahrschlauch 28 , It should be noted that the orientation of the longitudinal axis of the vehicle 1 parallel to the real longitudinal axis of the vehicle 1 takes place so that the reference system of the vehicle coincides with that of the driver. Further, in the environment map 26 detected environment objects 27 shown. The visually highlighted area 30 (hatched shown) the representation of the vehicle 1 Visualizes the driver a possible collision in a follow-up of the predicted driving tube 28 , Further, in the ad 23 another free area 29 present, which is used to display the vehicle speed, the steering angle and other information important to the driver of the parking garage assistant.

6 shows a further preferred embodiment of the representation of the grid-based environment map 26 on a display in the vehicle, preferably the display 23 of the radio navigation system. There is also a security area 32 around the vehicle 1 shown. Within this security area 32 are the detected environment objects 33 visually highlighted, while the surrounding objects 31 outside the security area 32 the environment map 26 visually restrained. This will ensure that the driver's attention to the important objects 33 in the immediate vicinity of the vehicle 1 is steered. Furthermore, in the environment map the predicated driving line 28 represented by the vehicle speed, the steering angle and the geometric dimensions of the vehicle 1 is calculated. In the 6 is the predicted driving tube 28 directed backwards so that it is a reverse drive, ie, for example, a Ausparkvorgang is. The free space above and below the representation of the environment map 26 can serve for the presentation of further information of the parking garage assistant.

7 shows the situation of 6 in enlarged, ie zoomed representation. The change between enlarged and normal representation can be initiated by the driver or automatically based on predetermined criteria. The environment map 26 is not completely on the ad 23 shown, however, is the security zone 32 so enlarged shown that they the permissible display range of the environment map 26 maximally exploited. The objects within the security zone 32 are again shown highlighted, which should be symbolized by the hatching. Because the predicted driving tube 28 no collision hazard, no collision warning is displayed.

8th shows a representation of the environment map 26 of a vehicle 1 in an ad 23 of the radio navigation system. Shown are the visually restrained objects 31 outside the security zone 32 of the vehicle 1 while the objects 33 within the security zone 32 visually highlighted, which is to be symbolized by the dashes. In 8th is a predicted driving tube 28 in the forward direction of the vehicle 1 intended. This will cause collisions of the vehicle 1 with environment objects, whereby the immediately to be expected collision by warning areas 34 and 35 is shown. The warning area 34 concerns the collision object of the environment map 26 while the warning area 35 the impact area of the vehicle 1 symbolizes. That by the intended driving route 28 in time direction later acting collision object 36 is not marked with a warning area, because first the collision in the areas 34 and 35 will be done.

9 shows the situation of 8th in an enlarged view, the representation of the safety zone 32 within the display area of the environment map 26 is maximized. The warning areas 34 and 35 a possible collision while maintaining the predicted driving tube 28 are optically maximally highlighted, for example, by the use of a red color, which in the 8th and 9 symbolized by a punctuation. There is therefore the gradation "visually restrained", "optically highlighted" and "optically maximally highlighted" in the illustration to convey to the driver the urgency of the particular information. These gradations can be effected by appropriate choice of brightness and color design, for example, "optically restrained" by a low brightness, "highlighted" by high brightness and "optically highlighted" by maximum brightness in conjunction with an aggressive color scheme, such as Color red, be effected.

• – Der Fahrer bekommt unmittelbar ein Feedback darüber, dass die Schutzfunktion aktiv ist und kann leichter ein Systemvertrauen aufbauen, als wenn nur solche Objekte dargestellt werden, die das Fahrzeug aktuell gefährden.
• – Durch die zusätzlich Einblendung des Fahrschlauchs ist es für den Fahrzeuglenker leicht zu erkennen, ob der aktuelle Lenkwinkel dazu geeignet ist, Hindernisse zu umfahren, auch wenn diese noch nicht im Schutzraum liegen.
• – Durch die Hervorhebung von Objekten im Schutzraum ist es für den Betrachter leichter, den Überblick zu behalten, selbst wenn viele Hindernisse im Fahrzeugumfeld vorhanden sind.
• – Dadurch, dass der betreffende Teil des Schutzraums hervorgehoben wird, wird auf leicht verständliche Art und Weise die Warnfunktion in der Darstellung umgesetzt.
• – Dies wird zudem noch optisch und Inhaltlich dadurch aufgewertet, dass auch die gefährdeten Bereiche am Ego-Fahrzeug selbst farblich hervorgehoben werden. Insbesondere in Situationen, in denen Objekte erst am Ende der Vorbeifahrt für das Fahrzeug gefährlich werden, verdeutlicht die nicht unmittelbar an das Objekt angrenzende Einschlagstelle dem Betrachter, warum ein Objekt als kritisch eingestuft wird.

The main advantages of the described Embodiments can be summarized as follows:

• The driver immediately receives feedback that the protection function is active and can more easily establish a system confidence than if only those objects are represented that currently endanger the vehicle.
• - By the additional display of the driving tube, it is easy for the driver to recognize whether the current steering angle is suitable to avoid obstacles, even if they are not yet in the shelter.
• - Highlighting objects in the shelter makes it easier for the viewer to keep track even when there are many obstacles in the vehicle environment.
• - The fact that the relevant part of the shelter is highlighted, the warning function is implemented in an easy-to-understand manner in the presentation.
• - This is also upgraded visually and content by the fact that even the endangered areas on the ego vehicle itself are highlighted. Particularly in situations in which objects become dangerous only when the vehicle passes by, the point of impact not immediately adjacent to the object clarifies to the observer why an object is classified as critical.

1

vehicle

2

car park

3

lane

4

parking area

5

passage

6

edge

7

locating signal

8th

locating signal

9

pillar

10

pillar

11

pillar

12

environment map

13

object

14

object

15

object

16

object

17

direction of travel

18

locating signals forward

19

locating signals backward

20

Hinweispfeil

21

Hinweispfeil

22

Multi-function display

23

display Radio navigation system

24

Note collision

25

Note collision

26

grid-based environment map

27

environment objects

28

predicted two-dimensional driving tube

29

free display area

30

Note on possible collision area of the vehicle

31

objects the environment map outside the security zone

32

security zone

33

objects within the security zone

34

warning area

35

warning area

36

in temporal direction later possible collision object

P0

reference point 0

P1

reference point 1

S1-S16

ambient sensor

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited non-patent literature

• - Sugimoto et. al.: "Obstacle Detection Using Millimeter-wave Radar and Its Visualization to Image Sequence", Proceedings of the 17th International Conference on Pattern Recognition, IEEE, 2004 [0006]
• - Nguyen et. al .: "A Sensor Fusion Approach based on Occupancy Grid and Fuzzy Logic, 5th International Workshop on Intelligent Transportation (WIT), Hamburg, March 18-19, 2008 [0007]

Claims (22)

Method for collision protection of a vehicle ( 1 ), in particular a motor vehicle or a motor vehicle combination, in the parking and maneuvering area, wherein the vehicle ( 1 ) an environment sensor system (S1-S16) for detecting environmental objects ( 9 - 11 . 13 - 16 ) in the environment of the vehicle ( 1 ), comprising the following steps: - detecting the sensor information of the environment sensor of the vehicle ( 1 ), - creating an environment map ( 26 ) from the sensor information of the environment sensor system, - determination of the vehicle's own motion, and - determining the collision probability of the vehicle ( 1 ) with environment objects located in the surroundings of the vehicle from the environment map ( 26 ) imaged environment objects ( 31 . 33 ) taking into account the vehicle's own movement. Method according to claim 1, characterized in that the environment map ( 26 ) is a grid-based map with equidistant grid points. Method according to one of the preceding claims, characterized in that the environment map ( 26 ) is updated by the sensor information of a new acquisition cycle. Method according to one of the preceding claims, characterized in that the environment map ( 26 ) is fixed in space or vehicle-resistant. Method according to one of the preceding claims, characterized in that from the vehicle own movement a future vehicle trajectory is predicted. A method according to claim 5, characterized in that from the future Fahrzeugtrajektorie a predicted driving tube ( 28 ) is derived from the predicted driving line ( 28 ) a collision probability with an environment object ( 33 ) is determined. Method according to one of the preceding claims, characterized in that when the vehicle is stationary ( 1 ) is checked whether a door opening would collide with an environment object of the environment map. A method according to claim 7, characterized in that the maximum collision-free door opening angle from the environment map ( 26 ) is determined. Method according to one of the preceding claims, characterized in that at the risk of a collision a audible and / or visual and / or haptic warning issued becomes. A method according to claim 9, characterized in that the visual warning in a display ( 22 ), wherein in the display the vehicle is displayed with a highlighted representation of the prospective collision location. A method according to claim 10, characterized in that the current vehicle speed in the display ( 22 ) is pictured. Method according to one of claims 1 to 8, characterized in that the vehicle is an indicator ( 23 ) for displaying the environment map ( 26 ) as well as the vehicle ( 1 ) having. Method according to claim 12, characterized in that in the environment map ( 26 ) a safety zone surrounding the vehicle ( 32 ), where objects ( 33 ) of the environment map ( 26 ) within the security zone ( 32 ) are highlighted. A method according to claim 13, characterized in that in the environment map of the predicated driving tube ( 28 ) of the vehicle ( 1 ) is shown. Method according to one of claims 12 to 14, characterized in that in the display ( 23 ) Further vehicle data such as the vehicle's own speed and / or direction of travel and / or wheel steering angle are shown. Method according to one of claims 12 to 15, characterized in that the longitudinal axis of the vehicle shown in the display ( 1 ) is parallel to the real longitudinal axis of the vehicle. Parking garage assistant of a vehicle ( 1 ) for performing the method according to any one of the preceding claims, with an environment sensor (S1-S16) for detecting the environment of the vehicle, an evaluation unit for evaluating the environmental data and creating an environment map ( 26 ) of the vehicle ( 1 ) and at least one advertisement. Parking garage assistant according to claim 17, characterized that the parking garage assistant a predetermined number of ultrasonic sensors (S1-S16) having. Parking garage assistant according to Claim 18, characterized that the parking garage assistant at least one optically active sensor having. Parking garage assistant according to one of the claims 17 to 19, characterized in that in the case of an expected Collision of parking garage assistant generated an active steering recommendation. Parking garage assistant according to claim 20, characterized that the active steering recommendation is made by optical indications. Parking garage assistant according to claim 20, characterized that the active steering recommendation by direct steering intervention or by impressing a steering torque on the steering.