CN106515741B

CN106515741B - Device and method for automatic driving of a motor vehicle

Info

Publication number: CN106515741B
Application number: CN201610819948.9A
Authority: CN
Inventors: S.马克斯; S.布罗西希; T.比森费尔德; M.布罗伊尔; T.尼曼; K.H.鲍姆格特尔
Original assignee: Herahook; Volkswagen AG
Current assignee: Herahook; Volkswagen AG
Priority date: 2015-09-14
Filing date: 2016-09-13
Publication date: 2021-03-19
Anticipated expiration: 2036-09-13
Also published as: CN106515741A; DE102015217485A1

Abstract

The invention relates to a device (1) for automatic driving of a motor vehicle (50), comprising at least one sensor device (2,3) for detecting the surroundings of the motor vehicle (50), at least one control unit (4) for controlling at least one actuator (5,6) of the motor vehicle, and a memory (7) for storing a map of the surroundings, wherein the at least one control unit (4) is designed such that the ambient data detected by the at least one sensor device (2,3) are evaluated, the motor vehicle (50) is positioned in the ambient map using the evaluated ambient data, and at least one actuator (5,6) of the motor vehicle (50) is controlled in order to travel over a defined trajectory in an automated manner, the control unit (4) includes a trigger mechanism (8) that starts automatic travel along a predetermined trajectory, wherein the trigger mechanism (8) has a knock sensor (9). Furthermore, the invention includes an accompanying method.

Description

Device and method for automatic driving of a motor vehicle

Technical Field

The invention relates to a device and a method for automatic driving of a motor vehicle.

Background

Modern motor vehicles have a plurality of assistance systems which assist the driver in driving the vehicle. In this case, more and more semiautomatic and automatic systems are used, which allow semiautomatic or fully automatic control of the motor vehicle without the driver being seated in the motor vehicle.

It is known that motor vehicles can be driven automatically by means of an assistance system. For example, the motor vehicle can be automatically driven in this manner to a parking position in a garage or on a parking lot. In this case, the surroundings of the motor vehicle are usually detected by the sensor system and the motor vehicle is located in the stored surroundings map by means of the surroundings data generated by the sensor system. The vehicle is then controlled along a predetermined trajectory in an automatic mode of travel. For example, the motor vehicle can be controlled in a parking space on a trajectory stored or calculated for this purpose.

Driver behavior is often necessary to initiate automatic driving. Such behavior may be expected, for example, after a desired trajectory is selected by the driver. If the driver is outside the motor vehicle, it is known to initiate automatic driving by operating a Remote control (e.g. VW Park Assist Vision, BMW Remote Park Assist), which is installed, for example, in the vehicle key or in a mobile telephone.

From WO 2013/159845 a1, a method for carrying out an automatic parking process of a motor vehicle is known, in which a communication link is present between an operator located outside the motor vehicle and the motor vehicle, via which at least one command for activating the automatic parking process of the motor vehicle can be transmitted. For this purpose, a wireless communication device is provided.

In the case of modern motor vehicles, however, it is provided that the passenger compartment is not opened and closed directly with the key but only via contactless wireless identification (key-free Access System, for example, keyaccess System keyssy) by means of a chip installed in the key. The driver does not have to remove the key from the pocket any longer for entry into the vehicle. The activation of the automatic drive via a remote control installed in the key is therefore a loss of comfort for the driver, since he has to remove the key from the pocket.

Disclosure of Invention

The problem on which the invention is based is therefore that of realizing a device and a method for automatic driving of a motor vehicle in which the starting process is improved.

This object is achieved by the device according to the invention and the method according to the invention.

In the following, a knock sensor is to be understood as meaning, in general, a sensor device which is suitable for detecting pulsed mechanical or acoustic deflections and vibrations at the motor vehicle, in particular at the outer surface of the motor vehicle, and for converting these into electrical signals.

In the following, knocking is to be understood not only as a spoken word but generally as any sound signal with a pulse-like character.

The device for automatic driving of a motor vehicle comprises at least one sensor for detecting the surroundings of the motor vehicle, at least one control unit for controlling at least one actuator of the motor vehicle, and a memory for storing a map of the surroundings, wherein the at least one control unit is designed for evaluating the surroundings data detected by the at least one sensor, for positioning the motor vehicle in the map of the surroundings by means of the evaluated surroundings data, and for controlling the at least one actuator of the motor vehicle in order to drive through a defined trajectory with automatic driving, wherein the control unit comprises a trigger device which initiates automatic driving along the defined trajectory, wherein the trigger device has a knock sensor.

Furthermore, a method for automatic driving of a motor vehicle is provided, comprising the following steps: the method comprises the steps of detecting the surroundings of the motor vehicle by means of at least one sensor, locating the motor vehicle in a surroundings map by evaluating surroundings data generated by the detected surroundings, and controlling automatic driving of at least one actuator of the motor vehicle along a defined trajectory, wherein a trigger means initiates automatic driving, wherein the trigger means initiates automatic driving when a defined signal is detected by a knock sensor.

The invention is based on the idea that a predetermined knock signal detected by a knock sensor is used to initiate automatic driving along a predetermined trajectory. If the trajectory is specified, for example, by the driver selecting a desired trajectory or by the device selecting or calculating a trajectory, automatic driving must be initiated. For this purpose, the driver is provided to get off the vehicle, close the door, and knock from the outside onto the roof of the vehicle, for example with a flat hand. In the event of the presence of a knock signal which meets the specified criteria, automatic driving is initiated and the vehicle automatically drives along a specified trajectory, for example into an empty parking space.

The advantage of the device and the method according to the invention is that the driver is no longer dependent on a remote control or another auxiliary device outside the vehicle in order to initiate autonomous driving. Thus eliminating the cumbersome search and removal of a remote control or key. The comfort achieved by the keyless entry system is also preserved in the case of the automatic driving function.

In a particular embodiment, it is provided that the predetermined signal for initiating the automatic driving is a learned signal. This has the advantage that the driver can use a personal preferred knock signal or a personal preferred knock frequency for this purpose to initiate automatic driving. The learning of the signal (Anlernen) can be recorded, for example, before or after a learning drive (Lernfahrt) to the stored trajectory.

The knock sensor may be configured in various types. A particularly simple and efficient method for determining knock noise is to use a solid-state acoustic sensor. In this case, the solid-state acoustic sensor is fixedly connected to the motor vehicle, for example via the vehicle body, so that the sound generated by a knocking directed toward the motor vehicle, for example toward the roof, can be detected well. In a further embodiment of the invention, it is therefore provided that the knock sensor comprises a solid-borne sound sensor.

The knock sensor may also be configured as a pressure sensor. In a further embodiment, it is therefore provided that the knock sensor comprises a pressure sensor. By means of the pressure sensor, for example, the deformation of a body part of the motor vehicle (as it is formed in the event of a knocking) can be measured and used as an electrical signal for further evaluation.

An embodiment is also possible in which it is provided that the knock sensor comprises a force sensor.

In another embodiment, the knock sensor comprises an acceleration sensor. By means of such an acceleration sensor, for example, a determined mechanical deflection of the body part (as it typically forms in the event of a knocking) can be detected and used.

The type of knock sensor can in principle be freely selected. As knock sensor, for example, a sensor suitable for detecting a knock signal, which is also already present in a motor vehicle, can be used.

In a further embodiment, it is provided that the triggering device comprises an evaluation device for the post-processing and evaluation of the signal detected by the knock sensor. This has the advantage that the knock signal detected by the knock sensor can be verified. In order to prevent false triggering, it is expedient here to post-process and evaluate the signal detected by the knock sensor.

In one embodiment, it is provided that the evaluation device is designed to evaluate the amplitude and/or the temporal course of the detected signal, wherein the triggering means initiates the automatic driving when the detected signal has a defined amplitude and/or a defined amplitude range and/or a defined temporal course. This has the advantage that, within the framework of a simple plausibility check, it is ensured that not every signal detected by the knock sensor triggers automatic driving.

In this way, it is possible to trigger automatic driving only with a certain knock signal and/or knock frequency. It is thus possible, for example, to trigger automatic driving with three knocks at equal intervals of approximately half a second towards the roof of the motor vehicle, whereas one intense knock (as it is formed, for example, by a chestnut falling onto the roof) does not trigger automatic driving. Weak rapid knocks, as they are formed in the case of a crackle of rain striking the roof of the motor vehicle, can also be ignored by means of a corresponding evaluation in the case of triggering automatic driving.

In general, different measures can be used in the evaluation device in the case of post-processing and evaluation. Mention may be made here, by way of example only, of fourier analysis or frequency analysis, filtering of determined frequency bands, pattern recognition methods and threshold recognizers and switches. The post-processing and evaluation can be performed not only by means of analog techniques but also by means of digital techniques and/or processor-supported DSP techniques.

In one embodiment, it is provided that the triggering means only initiates the automatic travel after a defined trajectory has been selected for a defined period of time. Such a prescribed duration may be, for example, one minute. The driver then has sufficient time to exit the vehicle after selecting the trajectory, to shut down the vehicle and to start the automatic driving, for example by three regular knocks toward the roof of the vehicle. The advantages are increased reliability in the case of starting automatic driving and the prevention or minimization of undesired false triggering.

In a further embodiment, it is provided that the triggering device is sensitive only to a limited region of the motor vehicle. This improves the reliability and robustness of the device with respect to false triggering. In this way, the region in which the initiation of automatic driving can be triggered by knocking can be limited, for example, to the region of the roof of the motor vehicle directly above the driver's seat. The driver can then initiate automatic driving after getting off the vehicle, whereas copilot driving is not possible. By limiting the sensitive areas, the possibility of false triggering by other events can be limited in addition. The smaller the sensitive area, the less likely it is that, for example, a falling chestnut will strike the sensitive area of the triggering mechanism and trigger automatic driving.

It is obviously possible that the triggering mechanism comprises a further sensor mechanism or mechanism, for example a remote control, a remote control installed in a key or a mobile phone, via which automatic driving can likewise be initiated.

Drawings

The invention will be explained in detail below with reference to the drawings according to preferred embodiments. Wherein:

fig. 1 shows a schematic view of an embodiment of a device for automatic driving of a motor vehicle;

FIG. 2a shows a schematic diagram of a knock signal for initiating automatic driving;

fig. 2b shows a diagram of a knock signal without initiating automatic driving.

List of reference numerals

1 apparatus

2 sensing mechanism

3 additional sensing mechanisms

4 control part

5 actuator

6 additional actuators

7 memory

8 trigger mechanism

9 knock sensor

10 evaluation device

20 limited area

22 threshold value

23',23' ',23' '' knock pulses

25 detonation sequence

26 additional detonation sequences

30 solid acoustic sensor

31 pressure sensor

32 force sensor

33 acceleration sensor

50 motor vehicle

51 vehicle roof.

Detailed Description

Fig. 1 schematically shows an embodiment of a device 1 for autonomous driving of a motor vehicle 50. The device 1 comprises a sensor device 2 and optionally a further sensor device 3, which detects the surroundings of the motor vehicle 50. The device 1 furthermore comprises a control unit 4 and a memory 7, the control unit 4 controlling at least one actuator 5 of the motor vehicle 50 and optionally further actuators 6 as required, and the memory 7 storing a map of the surroundings and at least one trajectory. The control unit 4 comprises a triggering device 8, wherein the triggering device 8 comprises a knock sensor 9 and optionally an evaluation device 10.

The at least one actuator 5 and the further actuator 6 of the motor vehicle 50, which are controlled by the control unit, are designed, for example, to control an automatic steering, gear shifting, braking and drive system, so that automatic driving is possible.

The knock sensor 9 may, according to embodiments, optionally alternatively or in combination comprise at least one solid-state sound sensor 30, at least one pressure sensor 31, at least one force sensor 32 or at least one acceleration sensor 33, which detect knock signals individually or in combination. Here, any combination of two or more of the different sensors is possible.

The device 1 detects the surroundings of the motor vehicle 50 via at least one sensor system 2. From the detected data, the control unit 4 locates the motor vehicle 50 in the surrounding map stored in the memory 7. If the control unit 4 recognizes, for example, an empty parking space, the trajectory from the current position of the motor vehicle 50 to it is stored in the memory 7 or such a trajectory can additionally be provided (for example by calculation), the driver of the motor vehicle 50 can select the trajectory. If the driver selects a trajectory and the motor vehicle 50 is in its starting position, the triggering mechanism 8 prevents the automatic driving along the selected trajectory from being initiated. As the trajectory or another defined moment is selected, the duration in which autonomous driving may be initiated ends. Such a duration is for example one minute. The driver then gets off the vehicle 50, closes the driver's door and knocks three times at regular intervals of half a second towards the roof 51 of the vehicle 50.

In this case, the driver knocks in a restricted area 20 on the roof 51. Only in this limited region 20 is the knock sensor 9 of the triggering means 8 sensitive. The knock sensor 9 detects triple knock and converts it into an electrical signal, which it supplies to the evaluation device 10. The evaluation device evaluates the knock signal with respect to the amplitude of the electrical signal and its temporal structure and identifies that the detected knock signal corresponds to a predefined knock signal for initiating automatic driving within the framework of a predefined tolerance range. The trigger mechanism 8 triggers and sends out an activation signal to the control unit 4. The control unit 4 then controls the motor vehicle 50 by means of the actuators 5,6 along the selected trajectory, for example into a parking space.

It is assumed at this time that the initial position of the motor vehicle 50 is below the large chestnut tree that has just dropped the chestnuts. It is further assumed that after the trajectory has been selected, but before the driver has dropped off the motor vehicle 50, three millet drops at half-second intervals onto the roof 51 of the motor vehicle 50, only one of which is however within the restricted region 20. The knock sensor therefore detects only a single pulse and the triggering means 8 does not initiate automatic driving.

In this case, it is assumed that rain and rain crackles strike the roof 51 of the motor vehicle 50 and produce regular blows there. Although a part of the rain falls onto the limited region 20 of the roof 51 and is detected there by the knock sensor 9, the evaluation device 10 recognizes that it is not a knock for initiating automatic driving, but rather another signal. Such a distinction may be achieved, for example, via determination of a threshold value for the amplitude of the detected signal. Only if the threshold value is exceeded is a further evaluation of the signal by the evaluation device 10 carried out, for example in view of its temporal structure.

This makes it possible to initiate automatic driving only in the case of a correct knocking sequence in a limited region 20 of the roof 51 of the motor vehicle 50.

Fig. 2a shows an exemplary temporal progression of the amplitude of the knock signal, as detected by the knock sensor. Here, it is at time t₀,t₁And t₂With a regular detonation sequence 25 of three detonation pulses 23',23 "'. The individual knock pulses 23',23' ',23' '' are thus at a distance Δ t from one another₁And Δ t₂The interval of (c). The evaluation device of the triggering means then evaluates, for example, the amplitude or signal strength which must be at least partially above the threshold value 22, whereby the knock pulses 23',23 "' are taken into account in the evaluation. Here, all three knock pulses 23',23 "' are above the threshold value 22, so that all three thereof are taken into account by the evaluation device. Then, for example, the time interval Δ t is evaluated₁And Δ t₂. If it is within the determined tolerance range, a knocking sequence 25 for starting the automatic driving is detected and the triggering means issue a corresponding signal to the control of the device.

Obviously, other knock sequences 25 for initiating automatic driving are possible, the knock sequence 25 shown in fig. 2a being for illustration only. In principle, the detonation train 25 can also be of a more or less complex design. The evaluation measures can also be designed more complex.

Fig. 2b schematically shows another knock sequence 26 detected by the knock sensor of the triggering mechanism. Which in turn involves three detonationsThe pulses 23',23 "', however, differ in their amplitude or signal strength and are also irregular in time. In this case, the first 23 'and third 23' ″ knock pulses have an amplitude or signal strength which is smaller than a defined threshold value 22, so that they are not taken into account by the evaluation device. Time interval Δ t₁And Δ t₂And so different so that the trigger mechanism does not initiate automatic driving.

Naturally, it is also possible for characteristics which differ from the amplitude and the time interval of the knock pulses 23',23 "' to be evaluated. The illustrated

knock sequences

25,26 are likewise only to be understood as illustrating examples of the invention.

Claims

1. Device (1) for automatic driving of a motor vehicle (50), comprising at least one sensor device (2,3) for detecting the surroundings of the motor vehicle (50), at least one control unit (4) for controlling at least one actuator (5,6) of the motor vehicle, and a memory (7) for storing a surroundings map, wherein the at least one control unit (4) is designed for evaluating surroundings data detected by the at least one sensor device (2,3), for positioning the motor vehicle (50) in the surroundings map and for controlling the at least one actuator (5,6) of the motor vehicle (50) by means of the evaluated surroundings data in order to drive over a defined trajectory with automatic driving, wherein the control unit (4) comprises a trigger device (8) which initiates automatic driving along the defined trajectory, characterized in that the triggering means (8) has a knock sensor (9), wherein the knock sensor (9) is suitable for detecting pulsed mechanical or acoustic deflections and vibrations at the outer surface of the motor vehicle and for converting them into an electrical signal.

2. The arrangement according to claim 1, characterized in that the knock sensor (9) comprises a solid-borne sound sensor (30).

3. An arrangement according to claim 1 or 2, characterized in that the knock sensor (9) comprises a pressure sensor (31).

4. The arrangement according to claim 1 or 2, characterized in that the knock sensor (9) comprises a force sensor (32).

5. An arrangement according to claim 1 or 2, characterized in that the knock sensor (9) comprises an acceleration sensor (33).

6. The device according to claim 1 or 2, characterized in that the triggering means (8) comprise an evaluation device (10) for post-processing and evaluating the signal detected by the knock sensor (9).

7. The device (1) according to claim 6, wherein the evaluation device (10) is configured for analyzing the amplitude and/or the course in time of the signal detected by the knock sensor (9), and wherein the triggering means (8) initiates the automatic driving when the signal detected by the knock sensor (9) has a defined amplitude and/or a defined amplitude range and/or a defined course in time.

8. Device (1) according to claim 1 or 2, characterized in that said triggering means (8) initiate said automatic travel only after said prescribed trajectory has been selected for a prescribed duration.

9. Device (1) according to claim 1 or 2, characterized in that the triggering mechanism (8) is sensitive only to a limited area (20) of the motor vehicle (50).

10. A method for autonomous driving of a motor vehicle (50), comprising the steps of:

detecting the surroundings of the motor vehicle (50) by means of at least one sensor device (2,3),

locating the motor vehicle (50) in a surroundings map by evaluating surroundings data generated by the detected surroundings,

by controlling the automatic driving of at least one actuator (5,6) of the motor vehicle (50) along a defined trajectory,

wherein a triggering mechanism (8) initiates the automatic driving,

it is characterized in that the preparation method is characterized in that,

the triggering device (8) initiates the automatic driving when a predetermined signal is detected by a knock sensor (9), wherein the knock sensor (9) is suitable for detecting mechanical or acoustic deflections and vibrations in the form of pulses at the outer surface of the motor vehicle and for converting them into electrical signals.