WO2005063525A1

WO2005063525A1 - Manoeuvring device and method for detecting an obstacle during a manoeuvre

Info

Publication number: WO2005063525A1
Application number: PCT/EP2004/014138
Authority: WO
Inventors: Sören Krehl; Kai Wagner
Original assignee: Daimlerchrysler Ag
Priority date: 2003-12-20
Filing date: 2004-12-11
Publication date: 2005-07-14
Also published as: DE10360137A1

Abstract

The invention relates to a manoeuvring device and a method for determining an obstacle (20-25) during a manoeuvre, especially a parking manoeuvre of a vehicle (10), by means of lateral distance sensors (60-63) detecting lateral surrounding regions of the vehicle (10). Said manoeuvring device comprises means (31) for generating distance warning signals on the basis of lateral distance data (67, 68) emitted by the lateral distance sensors (60-63) and signalling the presence of obstacles (22, 23) located in the lateral surrounding regions of the vehicle (10), according to a steering angle (S) of the vehicle (10).

Description

Maneuvering aid device and method for determining an obstacle during a maneuvering process

The invention relates to a maneuvering aid device and a method for determining an obstacle in a maneuvering process, in particular a parking process, of a vehicle, on the basis of side distance sensors which detect lateral surrounding areas of the vehicle.

Maneuvering aids or parking aids assist the driver of a vehicle, for example a passenger car, in maneuvering his vehicle past obstacles. For example, a maneuvering device can be used to park a vehicle between two other vehicles. Distance sensors, for example ultrasound sensors, measure distances to one or more obstacles that are in the vicinity of the vehicle. In particular, the area lying in front of the vehicle or behind the vehicle, which is difficult for the driver to see, is detected by the distance sensors.

However, lateral surrounding areas of the vehicle can also be relevant during the parking process or maneuvering process. A maneuvering device of the type mentioned, which is active in a relatively wide angular range, is known from DE 199 33 732 AI known. The maneuvering aid calculates a travel path based on a steering angle taken by the driver of the vehicle and uses distance sensors to check whether this travel path is clear. The driver of the vehicle is informed by means of a free signal whether the route is clear or not. If ^* after the start of the journey, the steering angle is changed from the route once selected, the maneuvering device issues an alarm signal in the event of a risk of a collision.

A maneuvering aid device known from DE 196 46 559 also supports the driver by evaluating a current steering angle of the vehicle. The maneuvering device shows the driver the driving and steering maneuvers necessary for the parking process and to be carried out by the driver.

However, conventional maneuvering aids or parking aids, the behavior of which is easy for drivers to understand, are based on a type of warning principle. The driver is informed by a warning tone and / or a visual indication that there is an obstacle in the vicinity of the vehicle. This can lead to false warnings, for example because an obstacle is in the vicinity of the vehicle but is outside the selected route. This leads to irritation of the driver.

It is therefore the object of the present invention to further develop a maneuvering aid device of the type mentioned at the outset or a method such that irritation to the driver is avoided even when warning signals are output. This object is achieved by a maneuvering aid device which has generating means for generating distance-dependent distance warning signals on the basis of side-distance data, which are transmitted by the side-distance sensors and signal obstacles located in the lateral surrounding areas of the vehicle, as a function of a steering angle of the vehicle. The object is also achieved by a method that functions in this way.

The distance warning signals are output, for example, as optical display signals, as acoustic display signals or haptic display signals. The driver uses the distance warning signals to determine whether there are sufficiently large driving areas for the current maneuvering process. Due to the steering angle-dependent warning, the driver is not disturbed by unnecessary distance warning signals which are not relevant due to the current steering angle of the vehicle.

Advantageous embodiments of the invention result from the dependent claims and the description.

A limit steering angle is expediently provided, depending on which the side distance data are evaluated. The limit or swell steering angle is, for example, 2 degrees to 3 degrees, so that when driving straight ahead or essentially in a straight direction of travel, lateral areas around the vehicle are, as it were, hidden when the distance warning signals are generated. In other words, as long as the steering angle set by the driver is smaller than the limit steering angle, lateral surrounding areas of the vehicle are hidden when the distance warning signals are generated. As soon as the steering angle set by the driver Exceeds the steering angle limit, the lateral surrounding areas of the vehicle are taken into account when generating the distance warning signals. Advantageously, only the page distance data that come from the page distance data that are located on the outside of the curve are taken into account.

It is also expedient that the steering angle-dependent evaluation takes place depending on the direction of travel. For example, the fade-out only takes place when the vehicle is reversing.

It is particularly preferred that those side-distance data are faded out which relate to an area of an inner curve on the side of an obstacle lying to the rear of the vehicle. In this variant, which is expedient in particular when the vehicle is reversing, side distance data are hidden by side distance sensors, for example, which are arranged in the front area of the vehicle and whose detection areas are oriented toward the inner curve of the curve.

Side distance sensors are expediently arranged on the front of the vehicle, preferably in the corner areas. Side distance sensors arranged at the rear, in particular in the corner areas, are also expedient. Side distance sensors arranged in the front area or rear area of the vehicle expediently have detection areas oriented obliquely forward or obliquely rearward. It is particularly preferred that the side distance sensors arranged at the front of the vehicle continue into the lateral environment of the vehicle are oriented as rear distance sensors of the vehicle.

The generation means expediently evaluate the side distance data of the side distance sensors as a function of a distance to an obstacle, which is specified in the side distance data. For example, distance warning signals are only output at a predetermined, relatively small distance from a lateral obstacle. A side obstacle can e.g. due to the evaluation of the steering angle initially do not lead to the generation of warning signals. If, however, the distance to the obstacle falls below a predetermined minimum, the maneuvering aid device according to the invention outputs distance warning signals. That If the predetermined minimum distance is undershot, the non-consideration of the side distance data, which was carried out as a function of the steering angle set by the driver, is canceled.

Furthermore, it is expedient that the maneuvering aid device issues or does not issue distance warning signals as a function of a change in distance to an obstacle. For example, the output of distance warning signals is ended when the vehicle moves away from an obstacle in the area around the side. It is possible for the criteria “evaluation of the steering angle” and / or “distance from obstacle” and / or “distance change relative to the obstacle” to be evaluated in different combinations when generating the distance warning signals. For example, due to the currently set steering angle of the vehicle, obstacles located in the side area of the vehicle, for example along, first become vehicles located on the inside of a curve, hidden when generating distance warning signals. If the vehicle nevertheless approaches the lateral obstacle, the maneuvering aid device outputs, for example, distance warning signals with a lower intensity, for example a lower volume. If the distance falls below a minimum, at which a collision with the obstacle threatens, the intensity of the distance warning signals increases. In contrast, if the distance to the obstacle remains the same or increases, the distance warning signals are switched off.

The generation means preferably evaluate the side distance data as a function of an outer contour of the vehicle, for example the outer profile of a bumper of the vehicle.

In a particularly preferred variant of the invention, the generation means hide frontal distance data depending on the direction of travel. The frontal distance data are generated from the front or rear of the vehicle and are transmitted to the maneuvering aid device. The detection areas of the frontal distance sensors are oriented forwards or backwards, so that the frontal distance sensors can detect obstacles in front of or behind the vehicle. When driving backwards, for example, the frontal distance data of the frontal distance sensors arranged in the front area of the vehicle are hidden and vice versa, when driving forward, the frontal distance data of the rear frontal distance sensors. Through this measure, either viewed individually or in combination with the steering angle-dependent blanking or consideration of the side distance data, Among other things, the display of obstacles that re-enter the detection area is hidden.

The maneuvering aid device according to the invention can be implemented in hardware and / or in software. The side distance sensors and / or the frontal distance sensors can form part of the maneuvering aid device.

An exemplary embodiment of the invention is explained in more detail below with reference to the drawing. Show it:

1 shows a schematic view from above of a vehicle according to the invention with a maneuvering aid device according to the invention,

2 shows a driving situation in which the vehicle according to FIG. 1 is between two obstacles, and

3 shows a driving situation following the driving situation according to FIG. 2, in which the vehicle has moved away from an obstacle and has moved towards a further obstacle.

The vehicle 10 shown in FIG. 1 is, for example, a passenger car, a commercial vehicle or the like. The vehicle 10 can be controlled by a driver 12 with the aid of a steering wheel 11. The vehicle 10 is driven by a motor, not shown, for example an internal combustion engine or an electric motor. The steering wheel 11 or another steering handle is with a right and a left steerable front wheel 13, 14 operatively connected. As shown schematically in FIG. 1, direct steering of the vehicle 10, optionally supported by a steering aid device or servo device, can be provided. However, an electrical variant is also conceivable, for example a so-called steer-by-wire system. A left and a right rear wheel 15, 16 of the vehicle 10 are not steerable in the exemplary embodiment, a steerable variant also being possible. A steering angle sensor 17 or another steering angle detection device detects the steering angle δ set on the front wheels 13, 14. The front wheels 13, 14 are shown in dashed lines in FIG. The steering angle sensor 17 can, for example, be part of a steering assistance device or a steer-by-wire system.

A steering angle signal 1 generated by the steering angle sensor 17 contains information about the current steering angle δ, which is evaluated by a maneuvering aid device 30 of the vehicle 10. The maneuvering device 30, which can also be referred to as a parking aid, supports the driver 12 when maneuvering, in particular when parking the vehicle 10. The maneuvering device 30 contains generating means 31 for generating distance-dependent warning signals which warn the driver 12 of obstacles which are located to the side of the vehicle 10 and / or in front of or behind the vehicle 10. The generation means 31 contain, for example, optical output means 32 for outputting optical warning signals and / or acoustic output means 33, for example a loudspeaker. The optical output means 32, for example an LCD screen, luminous diodes or the like, indicate the distance to an obstacle, for example in the form of differently colored symbols, in plain text, in the form of variable-length bar displays or the like. The loudspeaker 33 signals distances to obstacles through warning tones of different frequencies and / or amplitudes and / or sound lengths. Text output is also possible. A plurality of loudspeakers 33 can be provided, for example in each case in the corner regions of a passenger compartment of the vehicle 10, the rear loudspeakers, for example, indicating obstacles located in the rear region of the vehicle 10 and loudspeakers arranged in the front region of the passenger compartment in the front region of the vehicle 10. The generation means 31 can also output haptic warnings, for example with a vibration generator (not shown) on the steering wheel 11. The optical, acoustic and possibly haptic output means 32, 33 can form part of the maneuvering aid device 30 and / or be controlled by it.

A plurality of distance sensors 50 are provided in vehicle 10 to detect obstacles, and more or fewer distance sensors can also be provided than shown in vehicle 10. The distance sensors 50 are, for example, infrared, ultrasound or radar sensors. Sensors that operate in the invisible frequency range are particularly preferred. Frontal distance sensors 51 to 54 arranged in the rear area of the vehicle 10 detect a surrounding area located behind the vehicle 10. There is an obstacle 20 there, for example. Front front distance sensors 55 to 58 are arranged in the front area of the vehicle 10, which sensors detect the front circumference. Detect the field area in front of the front of the vehicle 10 and thereby detect an obstacle 21, for example. Furthermore, 10 side distance sensors 60, 61 are arranged on the front of the vehicle, which detect lateral surrounding areas, right and left of the vehicle 10. In the exemplary embodiment, the detection areas of the distance sensors 60, 61 are oriented obliquely towards the front, ie the distance sensors 60, 61 also partially detect obstacles in front of the vehicle 10. It goes without saying that the distance sensors 60, 61 can also be designed such that they only detect obstacles located to the side of the vehicle 10.

In analogy to the front side distance sensors 60, 61, rear side distance sensors 62, 63 oriented optionally obliquely to the rear are also possible (and therefore shown in dashed lines).

The distance sensors 50 are connected to the maneuvering aid 30, for example via individual lines and / or via a data bus 18, e.g. a GAN bus (CAM = Controller Area Network). The distance sensors 50 are controlled or queried sequentially by the parking aid device 30. The distance sensors 50 have a sensitivity in the range from 6 to about 150 cm, for example. The respective detection areas are, for example, conical or club-shaped and shown schematically in FIG. 1 by dotted lines.

The distance sensors 50 send, for example, test pulses that are reflected by the obstacles 20, 21. A distance sensor 50 receives its own test signal nal and test signals sent by neighboring sensors. For example, the sensor 55 sends a test signal t that is reflected by the obstacle 21, so that reflections trl and tr2 are received by the distance sensor 55 and by the adjacent distance sensor 56. The frontal distance sensors 55, 56 use the reflections trl and tr2 to generate frontal distance data 64, 65, which are sent to the maneuvering aid device 30, for example, as CAN messages. Depending on the distance of the vehicle 10 from the obstacle 21 signaled by the distance data 64, 65, the maneuvering aid device 30 generates distance warning signals which are output by the output means 32, 33 in a manner which will be explained in more detail later.

The obstacle 21 is in particular a particularly narrow obstacle, for example a post. If the vehicle 10 continues to approach the obstacle 21, the obstacle 21 can enter a detection shadow, for example if it is less than 6 cm from the vehicle 10. Before falling below this detection threshold, which is indicated by a dotted representation of the obstacle 21 in FIG. 1, the maneuvering aid device 30 issues a particularly urgent distance warning.

In principle, the same way as the frontal distance sensors 55 to 58, the rear frontal distance sensors 51 to 54 also record distances to obstacles behind the vehicle 10, for example distances to obstacle 20, the distance sensors 53, 54, for example, frontal distance data 66 to the maneuvering aid device 30. The maneuvering aid device 30 accordingly generates distance warning signals with the aid of the output means 32, 33. The maneuvering aid device 30 contains receiving means 34, for example a bus interface for the data bus 18, an interface for analog signals or the like. The maneuvering aid device 30 can receive data transmitted on the data bus 18 via the receiving means 34. Output means 35 are used to output data, for example to send query data on the data bus 18 and to control the optical and / or acoustic output means 32, 33. The generation means 31 are implemented in software in the present case (one could correspondingly use a generation module 31 speak), whose program code is stored in a memory 37, for example RAM and / or ROM (Random Access Memory, Read Only Memory) and can be executed by a processor 36.

In addition to the basic functions explained above, namely to signal obstacles in the front or rear surroundings of the vehicle 10 during a maneuvering operation, the maneuvering aid device 30 according to the invention performs further, comfort-oriented functions which are explained in more detail below. For this purpose, the maneuvering aid device 30 evaluates the steering angle δ of the vehicle 10 contained in the steering angle signal 1 and the driving speed vl of the vehicle 10, which is indicated in a driving speed signal sv transmitted by a driving speed sensor 19.

The signaling of obstacles as a function of the steering angle is particularly advantageous when the vehicle 10 is reversing. When the vehicle 10 travels backwards, for example the obstacles 22, 23 located in the lateral surrounding areas of the vehicle 10, which are, for example, gate posts of a parking space or a garage entrance and the like can act in the detection ranges of the front side distance sensors 60, 61. The side distance sensors 60, 61 then send side distance data 67, 68, which signal the distances to the obstacles 22, 23. A steering angle evaluation function 38, for example a program function, filters out the side distance data 67, 68 if a predetermined steering angle δ limit is undershot, for example 2-3 degrees. The vehicle 10 then moves essentially straight ahead, so to speak, so that there is no fear of a collision with one of the obstacles 22, 23. Accordingly, the maneuvering aid device 30 does not generate any distance warning signals with the aid of the optical and acoustic output means 32, 33.

Non-evaluation or blanking in the sense of the invention is also to be understood if the maneuvering aid device 30 does not, for example, query the distance sensors which are irrelevant in the assessment of obstacles for distance data, for example in the driving situations according to FIGS Side distance sensor 60 detecting obstacles located next to vehicle 10 does not interrogate, but interrogates distance sensor 61, which detects obstacles lying laterally on the outside of the curve at the rear of the curve, for example the obstacle 23. It is also possible that the maneuvering aid device 30 is connected to distance sensors, e.g. sends off signals to the inside side distance sensor 60 if it does not want to receive distance data from them.

However, if the steering angle δ exceeds the limit steering angle δ limit, collisions with Obstacles located in the area of the vehicle 10, for example the obstacles 22, 23 occur. In principle, it would be possible for the maneuvering aid device 30 to then evaluate all the side distance data sent by the right and left side distance sensors 60, 61 and to generate distance warning signals with respect to both obstacles 22, 23. However, the invention is based on the further finding that this would also lead to unnecessary distance warning signals. Accordingly, the maneuvering aid device 30 or the steering angle evaluation function 38 only evaluates such side distance data, in the exemplary embodiment the side distance data 68 which in the Obstacles located on the outside of the curve around the side of the vehicle 10, in this case the obstacle 23, relate. A corresponding driving situation is shown in FIGS. 2 and 3, with a curved travel path of the vehicle 10 being shown in broken lines. Side distance data, which relate to obstacles located in the inner area of the vehicle 10 on the inside of the curve, the obstacle 22 in the exemplary embodiment, are not evaluated by the maneuvering aid device 30, so to speak they are hidden.

At this point, a travel direction evaluation function 39 of the maneuvering aid device 30 or of the generating means 31 already comes into play. The travel direction evaluation function 39 evaluates the travel speed signal sv, which contains negative values when driving backward, for example, positive values when driving forward. When driving backwards, the side distance data 68 of the lateral side distance sensor 61, which is on the outside of the curve and is at the rear in relation to the direction of travel, is preferably evaluated. The direction of travel evaluation function 39 is dazzling in contrast to this, active side distance sensors, for example the side distance sensor 62, in the front, outside of the curve in relation to the direction of travel, so to speak.

The travel direction evaluation function 39 has further functionality according to the present invention in relation to the frontal distance data 55 to 58 or 51 to 54 sent by the front and / or rear frontal distance sensors. When the vehicle 10 is reversing, the direction of travel evaluation function 39 separates the frontal distance data sent by the front frontal distance sensors 55 to 58, for example the frontal distance data 64, 65 in FIG. 1, since this relates to a frontal obstacle located at the rear in relation to the direction of travel, that cannot lead to a collision. Such an obstacle is, for example, the obstacle 21 in FIG. 1 or an obstacle 24 in FIGS. 2 and 3.

If frontal distance data relate to a vehicle located frontally in front of the vehicle 10 in the direction of travel, for example when reversing the obstacle 20 in FIG. 1 or the obstacle 25 in FIGS. 2 and 3, the maneuvering aid device 30 evaluates the corresponding frontal distance data, in FIG 1, for example, the frontal distance data 66. The direction of travel evaluation function 39 does not separate this frontal distance data 66, but rather forwards it to a generation function 40 of the generation means 31, which controls the optical or acoustic output means 32, 33 as a function of the distance. If there is a large distance to an obstacle, for example the distance 26 to the obstacle 25 according to FIG. 2, sounds with a low frequency and / or a short duration are output on the loudspeaker 33, for example. give. FIG. 3 shows that the distance 26 is reduced to a distance 26 ′, so that the maneuvering aid device 30 outputs more intensive distance warning signals, for example tones with a higher frequency and / or longer duration, to the loudspeaker 33.

In a driving situation (not shown) following FIG. 3, the vehicle 10 again moves in the forward direction v in the direction of the obstacle 24. The maneuvering aid 30 then fades out frontal distance data of the rearal frontal distance sensors 51 to 54 based on the direction of travel and generates them by means of the output means 32 and / or 33 distance warning signals.

It goes without saying that the maneuvering aid device 30 can be activated on the basis of various criteria, for example if the vehicle falls below a predetermined driving speed vl, if the steering angle limit δ is exceeded, by a manual activation by the driver 12, for example a control button or by selecting a rear - direction of travel. The deactivation of the maneuvering aid device 30 is preferably dependent on a further criterion, for example on exceeding a predetermined driving speed vl. If the vehicle 10 is traveling faster than this vehicle speed, the generating means 31 no longer generate distance warning signals, for example, evaluating the vehicle speed signal sv.

The maneuvering aid device 30 can be a separate device, for example a separate control device for a parking sensor system. It is expedient to combine it with other devices, not shown, of the vehicle 10 are networked. For example, the steering assist sensor 17 and the vehicle speed sensor 19, in contrast to that shown in FIG. 1, can be connected to a data bus, for example the data bus 18.

Claims

claims

1. A maneuvering aid device for determining an obstacle (20-25) during a maneuvering process, in particular a parking process, of a vehicle (10) on the basis of side distance sensors (60-63) which detect lateral surrounding areas of the vehicle (10), characterized in that they Generation means (31) for generating distance-dependent distance warning signals on the basis of side distance data (67, 68) signaling obstacles (22, 23) transmitted by the side distance sensors (60-63) and located in the lateral surrounding areas of the vehicle (10) depending on a steering angle (δ) of the vehicle (10).

2. maneuvering aid device according to claim 1, characterized in that the generating means (31) evaluate the side distance data (67, 68) as a function of a limiting steering angle (δ).

3. maneuvering aid device according to claim 1 or 2, characterized in that the generating means (31), in particular the side distance data (67, 68) depending on a direction of travel (v, r) of the vehicle (10) when the vehicle (10) is reversing, evaluate depending on the steering angle.

4. maneuvering aid device according to one of the preceding claims, characterized in that the generation means (31) hide such side distance data (67, 68) that ^' in the area of a curve inner lane related to the direction of travel (v, r) of the vehicle (10) relate to an obstacle (22) lying to the side of the vehicle (10).

5. maneuvering aid device according to one of the preceding claims, characterized in that the generating means (31) the page distance data (67, 68) of the page distance sensors (60-63) as a function of one of the page distance data (67, 68) Evaluate the distance to an obstacle (22) described in each case.

6. maneuvering aid device according to one of the preceding claims, characterized in that the generating means (31) the page distance data (67, 68) of the page distance sensors (60-63) as a function of one of the page distance data (67, 68) Evaluate the signaled change in distance to an obstacle (22).

7. maneuvering aid device according to one of the preceding claims, characterized in that the generating means (31) evaluate the side distance data (67, 68) of the side distance sensors (60-63) as a function of an outer contour of the vehicle (10).

8. Maneuvering aid device according to one of the preceding claims, characterized in that the side distance sensors (60-63) have detection regions oriented essentially obliquely to the front and / or oriented obliquely to the rear.

9. maneuvering device according to one of the preceding claims, characterized in that the side distance sensors (60-63) at the front and / or rear of the vehicle (10), in particular in the corner regions of the vehicle (10), are arranged.

10. maneuvering aid device in particular according to one of the preceding claims, characterized in that the generating means (31) for the direction-dependent (v, r) masking of frontal distance data (64-66) are designed in the generation of distance-dependent distance warning signals, which are designed by frontal distance sensors (51-58) with detection areas oriented forwards or backwards for the detection of obstacles (20-25) present in front or behind the vehicle (10), the generation means (31) when driving backwards frontal distance data (64-66) Hide frontal distance sensors (55-58) located in the front area of the vehicle (10) and / or frontal distance sensors (51-54) located in the rear area of the vehicle (10) when driving forward.

11. maneuvering device according to one of the preceding claims, characterized in that the generating means (31) for generating the distance warning signals are designed as acoustic and / or optical and / or haptic warning signals.

12. maneuvering device according to one of the preceding claims, characterized in that it has a program code executable by a processor.

13. Storage means with a maneuvering device according to claim 12.

14. Vehicle, in particular a passenger car, characterized in that it has a maneuvering device according to one of claims 1 to 12 and / or a storage device according to claim 13.

15. A method for determining an obstacle (20-25) in a maneuvering process, in particular a parking process, of a vehicle (10), using side-distance sensors (60-63) which detect lateral surrounding areas of the vehicle (10), characterized in that that a generation of distance-dependent distance warning signals on the basis of obstacles (22, 23), which are transmitted by the side distance sensors (60-63) and are located in the lateral surrounding areas of the vehicle (10), signaling side distance data (67, 68) as a function of a steering angle (δ) of the vehicle is performed.