DE102006044803A1 - Motor vehicle for use in parking assistance, has unit for support of driver, where unit is formed for automatic operation of brake device in dependence of detected distance - Google Patents

Motor vehicle for use in parking assistance, has unit for support of driver, where unit is formed for automatic operation of brake device in dependence of detected distance

Info

Publication number
DE102006044803A1
DE102006044803A1 DE102006044803A DE102006044803A DE102006044803A1 DE 102006044803 A1 DE102006044803 A1 DE 102006044803A1 DE 102006044803 A DE102006044803 A DE 102006044803A DE 102006044803 A DE102006044803 A DE 102006044803A DE 102006044803 A1 DE102006044803 A1 DE 102006044803A1
Authority
DE
Germany
Prior art keywords
motor vehicle
obstacle
display
signal
characterized
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE102006044803A
Other languages
German (de)
Inventor
Markus Popken
Alejandro Vukotich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
Original Assignee
Audi AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi AG filed Critical Audi AG
Priority to DE102006044803A priority Critical patent/DE102006044803A1/en
Publication of DE102006044803A1 publication Critical patent/DE102006044803A1/en
Ceased legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/168Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/165Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

Motor vehicle with a device for assisting the driver when parking, comprising front and / or rear side at least one the distance to a arranged in the detection area detecting distance sensor with associated control device for outputting a warning signal upon detection of a falling below a defined minimum distance, the device for automatic Actuating a braking device is formed as a function of the detected distance, wherein the means (2) for outputting an information signal indicative of its automatic braking readiness after detection of an obstacle (9) is formed.

Description

  • The The invention relates to a motor vehicle having a device for supporting the Driver when parking, including front and / or rear side at least a distance to an arranged in the detection area obstacle detecting distance sensor with associated control device for outputting a warning signal upon detecting an undershoot a defined minimum distance, wherein the means for automatically actuating a Braking device in dependence of detected distance is formed.
  • Around to support the parking There are different systems. Acoustic or optical parking aids show distances to the driver to the next) Obstacle, optical aids that comprise a display representation, enable furthermore a local one Assignment of the obstacle relative to the vehicle. It is also known the use of cameras to record the vehicle environment on one Display is displayed, and sometimes auxiliary lines mathematically determined and output in the representation, which facilitate the estimation of distances or to indicate ideal driving lines. Although the known Systems the actual Conditions in front of or behind the vehicle, ie in areas that for the Drivers are sometimes poorly visible, in a simplified or interpreted width again, but the vehicle control is incumbent only to the driver, who has to decide on his own when a warning signal sounds, when he brakes and how far he still approaches the obstacle.
  • Out DE 197 45 127 A1 is a motor vehicle of the type mentioned above, which has a detection device, via which the distance is detectable and over which a warning signal can be output, and is also designed for selbsttä term braking of the vehicle in dependence of the distance to the obstacle. Thus, if the motor vehicle approaches a detected obstacle, then the brake system or a separate braking device is automatically actuated to automatically forcibly decelerate the vehicle as the obstruction approaches, possibly even to the level. Here, at least part of the vehicle control is taken from the driver The danger of driving to an obstacle is significantly reduced as a result of the automatic brake intervention. For the driver, however, there is an uncertainty insofar as he does not know whether he can rely on the automatically braking parking system at all. For example, if there is a fault in the control device, sometimes the automatic braking operation may not be possible, to which the driver may rely when parking backwards. Also, a possible obstacle may not be detected correctly or incorrectly, and as a result of this fault, an automatic braking operation will not occur, but the driver relies on it.
  • Of the The invention is thus based on the problem of specifying a motor vehicle, this gives the driver a high level of Safety regarding the functionality of the automatic Braking operation of the parking system offers.
  • to solution This problem is in a motor vehicle of the aforementioned Art provided according to the invention, in that the device for issuing an automatic brake readiness indicative Information signal formed after detection of an obstacle is.
  • at the motor vehicle according to the invention is the driver clearly over the activation of the automatic brake system informed, so he receives an information signal when the device is basically in is ready to brake, so the vehicle is automatically dependent of the distance to an obstacle can brake. This information signal is given when over the distance sensor and the control device in the detection area a brake-relevant obstacle was detected, that is, a hindrance, on which can be ascended if necessary, and with appropriate approach justifies an automatic brake intervention. The information signal is always given, if at all an obstacle has been detected on the continuation of the trip if necessary can be driven on the so therefore possibly a braking intervention must be done, but not until it is already a braking intervention requirement. Only then can the driver fully rely on the system, after being active about the Activation of the automatic braking operation is informed.
  • About the Facility, it is possible in principle, the Brake the vehicle to a standstill. This is with a vehicle with automatic transmission readily possible, in a vehicle with a manual transmission would be to provide an automatic clutch that automatically transmits the transmission decoupled, if sufficiently braked, to the engine is not strangle.
  • The information signal on the activation of the automatic braking readiness may be an optical signal, in particular in the form of a display on a display, on which, for example, the warning information, for example in the form of a simplified representation of a vehicle supervisor, indicating the sections to any obstacles represented. On this display, the driver is usually oriented so that he can immediately recognize when parking that the car brake Be is activated. Alternatively, the information signal can also be given as an acoustic signal, for example as a simple sound signal, but this sound signal should clearly differ from the acoustic warning signal (usually a beep). A voice output, for example "automatic brake system activated" is particularly expedient, as this is clearly differentiable from the driver to the other audible warning signals.Also the gift of a haptic signal, for example via the steering wheel or the seat, is conceivable to output an optical as well as an acoustic as well as a haptic signal.
  • In Development of the invention can also provide the driver with the obstacle via a display, whose detection leads to the gift of the information signal, in his Be able to be displayed relative to the motor vehicle. This is what the driver receives in a simple optical way information about where that usually closest, collision-relevant and therefore also brake-relevant obstacle relative is positioned to the vehicle. He can then judge for himself whether this obstacle is the one which also in his view the closest or most dangerous Obstacle is, as far as he sees the driving range sufficiently well can. In addition he can - after the obstacle as described already then to the gift of the information signal leads, if the vehicle is not so close to being an automatic Braking intervention is required - decide which other route he chooses, if necessary, to drive around or avoid the obstacle, without it at all comes to a braking intervention. Are there several in the surveillance area? braking-relevant, ie collision-dangerous obstacles whose Distance over the distance sensor and the control device detected and known is, of course, conceivable also these multiple obstacles optically in their relative position to display the vehicle on the display.
  • At the Display itself can be either one side of the controller generated representation of the motor vehicle and the or the brake relevant Obstacles, of which at least one to the gift of the activated Condition of the automatic brake system has led to be displayed. In this Case gets the driver a simplified top view of the motor vehicle and for example the individual distance sensors that monitor them, and a representation of the relative position of the obstacle in its shape from the recorded signals of the distance sensors, These are, for example, ultrasonic or radar sensors can act, also reasonably calculated mathematically in his geometry and displayed accordingly can be. Alternatively, on the display also via a Camera recorded camera image in which the brake-relevant obstacle highlighted is to be displayed. Here a detection takes place in the camera image of the obstacle, which in connection with the distance sensors given signals with the camera image, usually with one in one others, increased Position installed camera is recorded, be correlated possible is. about a suitable detection and processing algorithm then the obstacle is visually highlighted, for example, in accordance noticeable Color shown etc.
  • The Information signal itself can be unique with the detection of a braking-relevant obstacle, ie with the activation of the automatic braking readiness, or while the parking operation several times at predetermined intervals or be continuously outputable. For example, it is conceivable, a Buzzer or a vibration signal as an information signal several times or continuously given, perceived by the driver without further notice and can be distinguished from the warning signals. Also a voice output can at defined intervals be issued several times without further notice.
  • Farther it is appropriate, a another information signal for indicating a successful automatic braking action issue. about This further information signal informs the driver that the Einparkeinrichtung started with the automatic braking operation has, so the vehicle is automatically delayed actively, since therefore a sufficient approach to the obstacle. This gives the driver then an additional information about the activated and actually also do automatic braking operation. Also the further information system may be an optical signal, in particular a display on a display or be an audible signal, including this signal always different from the warning signals or the first information signal should. Again, a haptic signal is alternatively conceivable.
  • Further Advantages, features and details of the invention will become apparent the embodiment described below and with reference to the Drawings. Showing:
  • 1 - 5 various representations of the successive approach of a motor vehicle according to the invention to an obstacle to explain the gift of different warning and information signals.
  • 1 shows a motor vehicle according to the invention 1 comprising a device 2 to assist the driver when parking. The device 2 includes several distance sensors 3 . of those in 1 only one is shown at the rear of the vehicle. Usually four horizontally distributed distance sensors are provided at the rear of the vehicle, as equally well according to the distance sensors can be provided on the vehicle front. The distance sensors may be radar or ultrasonic sensors, alternatively, the distance sensor can also be based on a photo-mixing device or a video sensor, so here would be provided as a distance sensor, a suitable image pickup means such as a camera. The distance sensors 3 communicate with a controller 4 that controls the entire setup operation. The control device 4 is a display 5 assigned to the via the control device 4 controlled corresponding warning signals and information signals are output. Also provided is an acoustic signaling device 6 For example, the speaker system of the infotainment system can be used here. Furthermore, the control device communicates 4 with a control device 7 , which controls the braking system of the vehicle, so therefore can activate the brakes, as to be indicated via the two connecting lines leading to the two wheels.
  • In the example shown, the driver has engaged the reverse gear or the reverse gear and moves back slowly in the direction of the arrow P, for example, to park in a parking space. About the distance sensors 3 becomes a coverage area 8th , represented by the detection or signal cone, monitored. Obstacles located in it can be determined in this way and in their distance relative to the motor vehicle 1 be determined. In the example shown is behind the vehicle 1 an obstacle 9 , here for example in the form of a light pole. In the example, this is outside the coverage area 8th , so is the device 2 not detected at all.
  • With the engagement of the reverse gear or the reverse gear is via the controller 4 on the display 5 automatically a presentation 10 displayed, which represents the motor vehicle in a plan view, and the output or optical representation of a warning signal in an impermissibly close approach to the obstacle 9 serves to warn the driver of a possible collision. After the obstacle 9 however, has not yet been recorded, only the stylized motor vehicle is shown on the display.
  • If now the motor vehicle moves back further, as in 2 is shown, the obstacle passes 9 in the coverage area 8th , the distance sensors 3 provide a corresponding signal to the controller 4 ,
  • The determined distance of the motor vehicle 1 to the obstacle 9 in 2 is d. This distance is even greater than a predetermined warning threshold distance D Warn , that is, the vehicle is still sufficiently far from the obstacle 9 A warning signal that should alert the driver to a possible collision is not needed yet.
  • However, already at this time, the output of an information signal indicating that the parking assistance device 2 has basically recognized an obstacle that lies in the reverse path, and which may be collision-relevant in a continuation of the journey, and with respect to which, if approaching sufficiently, in principle, the automatic braking mode is activated. This is shown in the example shown to the driver in the display 5 an optical information signal 11 , here, for example, in the form of the quadrangle shown on the upper left of the display, which basically shows him the activation of the automatic braking mode. Furthermore, the display shows 5 a depiction 12 of the obstacle 9 given as it is relative to the vehicle representation 10 is positioned. At the same time via the acoustic signal device 6 one or more times during the continuation of the reverse drive, an acoustic information signal input, for example an announcement "automatic braking system activated" carried out.The driver receives in this case both the optical and the acoustic information signal giving a clear indication that a possibly brake-relevant obstacle 9 has been detected and the automatic braking system is activated. The driver can therefore rest assured that the facility 2 the vehicle also decelerates automatically with sufficient approach and automatically avoids a collision.
  • Continuing the reverse, see 3 , takes the distance d of the motor vehicle 1 to the obstacle 9 continuously off. In 3 the actual distance d falls below the predetermined warning distance D Warn . This leads to the fact that in the example shown on the display 5 for example, the representation 12 of the obstacle 9 as an optical warning signal, for example, flashes to attract the driver's attention and to inform him that just the obstacle 9 now in collision-strong proximity to the motor vehicle. At the same time, when the warning signal threshold D is reached or undershot, the warning also comes from the acoustic signaling device 6 an acoustic signal, such as the known beep, given. At the same time, the acoustic information signal output about the activated operational readiness of the automatic braking mode can always be given at predetermined time intervals. The car 1 has in the presentation according to 3 However, not yet so far approached that an automatic brake intervention is required. This happens at a continuation the journey, see 4 , The distance d of the motor vehicle 1 to the obstacle 9 decreases further, it reaches or falls below a predetermined braking distance threshold D brake . Upon reaching this braking distance threshold D brake controls the controller 4 the control device 7 of the brake system, which now successively increases depending on the actual distance d, its reduction as well as possibly the reverse speed of the brake pressure and continuously more delayed. The automatic brake intervention is in turn made known to the driver via another warning signal, for example, the information signal 11 Flashes conspicuously on the display at the beginning of the automatic braking intervention, and it can also be indicated by the acoustic signal 6 be communicated, for example in the form of a voice output that is automatically braked. The driver can now either be active himself and press the brake to bring the vehicle to a standstill or further backwards the obstacle 9 approach. The closer he gets, the more the device delays 2 via the control device 7 the brake system, the motor vehicle 1 until a minimum distance is reached in 5 with D stop is specified. The car 1 is thus braked automatically so that it is up to this maximum stop distance D stop the obstacle 9 can approach. This may for example be 20 cm or the like, depending on the parameterization of the system. A further reversing is no longer possible, the brakes remain activated until the driver either turns off the engine or enters a forward gear to get away from the obstacle 9 to remove again. It then comes immediately to an automatic release of the brakes. All signal displays, etc. then go out immediately, of course.
  • As already described, the degree of deceleration takes place as a function of the change in the continuously detected actual distance between motor vehicle and obstacle. Thus, ultimately, the approach speed is in the degree of deceleration, ie in the strength of the braking process, a. It is also conceivable that the control device 4 immediately given a speed signal from a corresponding speed detection device, so that the actual speed when reversing and thus when approaching the obstacle directly by the controller 4 is present.

Claims (8)

  1. Motor vehicle with a device for assisting the driver when parking, comprising front and / or rear side at least one the distance to an arranged in the detection area detecting distance sensor with associated control device for outputting a warning signal upon detection of a falling below a defined minimum distance, the device for automatic Actuating a braking device is formed as a function of the detected distance, characterized in that the device ( 2 ) for outputting an information signal indicating its automatic braking readiness after detection of an obstacle ( 9 ) is trained.
  2. Motor vehicle according to claim 1, characterized in that the information signal is an optical signal, in particular a display on a display ( 5 ), or is an acoustic signal or haptic signal.
  3. Motor vehicle according to claim 1 or 2, characterized in that the driver via a display ( 5 ) the obstacle ( 9 ) whose detection leads to the administration of the information signal, in its position relative to the motor vehicle ( 1 ) can be displayed.
  4. Motor vehicle according to claim 3, characterized in that on the display ( 5 ) a part of the control device ( 4 ) generated representation ( 10 . 12 ) of the motor vehicle ( 1 ) and the obstacle ( 9 ) can be displayed.
  5. Motor vehicle according to claim 3, characterized in that on the display ( 5 ) a camera image recorded via a camera, in which the obstacle ( 9 ) is displayed.
  6. Motor vehicle according to one of the preceding claims, characterized in that the information signal is unique with the detection of an obstacle ( 9 ) or during Einparkvorgangs several times at predetermined time intervals or continuously expendable.
  7. Motor vehicle according to one of the preceding claims, characterized characterized in that a further information signal for display a successful automatic braking operation can be issued.
  8. Motor vehicle according to claim 7, characterized in that the further information signal is an optical signal, in particular a display on a display ( 5 ), or is an acoustic signal or haptic signal.
DE102006044803A 2006-09-22 2006-09-22 Motor vehicle for use in parking assistance, has unit for support of driver, where unit is formed for automatic operation of brake device in dependence of detected distance Ceased DE102006044803A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102006044803A DE102006044803A1 (en) 2006-09-22 2006-09-22 Motor vehicle for use in parking assistance, has unit for support of driver, where unit is formed for automatic operation of brake device in dependence of detected distance

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102006044803A DE102006044803A1 (en) 2006-09-22 2006-09-22 Motor vehicle for use in parking assistance, has unit for support of driver, where unit is formed for automatic operation of brake device in dependence of detected distance
IT001782A ITMI20071782A1 (en) 2006-09-22 2007-09-14 Motor vehicle with a device to assist the driver when parking
FR0706669A FR2906210B1 (en) 2006-09-22 2007-09-24 Motor vehicle having a device for assisting the driver during parking

Publications (1)

Publication Number Publication Date
DE102006044803A1 true DE102006044803A1 (en) 2008-03-27

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DE102006044803A Ceased DE102006044803A1 (en) 2006-09-22 2006-09-22 Motor vehicle for use in parking assistance, has unit for support of driver, where unit is formed for automatic operation of brake device in dependence of detected distance

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Country Link
DE (1) DE102006044803A1 (en)
FR (1) FR2906210B1 (en)
IT (1) ITMI20071782A1 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202008005431U1 (en) 2008-04-19 2008-07-17 Staab, Mathias Parking aid
EP2130736A1 (en) * 2008-06-04 2009-12-09 Aisin Seiki Kabushiki Kaisha Surrounding recognition support system
WO2010049212A1 (en) * 2008-10-28 2010-05-06 Robert Bosch Gmbh Controller and method for the automatic guiding of a vehicle
US9047780B2 (en) 2012-11-16 2015-06-02 Robert Bosch Gmbh Collision mitigation systems and methods using driver attentiveness
WO2017067729A1 (en) * 2015-10-22 2017-04-27 Robert Bosch Gmbh Method and device for reducing the risk of collision of a motor vehicle with an object
EP3219569A1 (en) * 2016-03-14 2017-09-20 Valeo Schalter und Sensoren GmbH Method for preventing the collision of a vehicle with an object, taking account of a speed change of the vehicle, driver assistance system and motor vehicle
DE102017121302A1 (en) * 2017-09-14 2019-03-14 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Rear-end assistance system and a method for back-up assistance
CN110329228A (en) * 2019-05-27 2019-10-15 中科安达(北京)科技有限公司 The method of seamless intelligent car-backing automatic emergency brake system R-AEBS

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10037130A1 (en) * 1999-09-13 2001-04-26 Volkswagen Ag Parking or manoeuvring assistance device for motor vehicle uses display of e.g. navigation system to indicate obstructions
DE10357372A1 (en) * 2003-12-09 2005-07-14 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Reversing assistance apparatus for vehicle driver, outputs visual signal based on detected distance to obstacle, and control vehicle speed on input of confirmation signal from foot pedal and brake sensor
DE102004051963A1 (en) * 2004-10-25 2006-05-04 Robert Bosch Gmbh Method for driver assistance

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10037130A1 (en) * 1999-09-13 2001-04-26 Volkswagen Ag Parking or manoeuvring assistance device for motor vehicle uses display of e.g. navigation system to indicate obstructions
DE10357372A1 (en) * 2003-12-09 2005-07-14 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Reversing assistance apparatus for vehicle driver, outputs visual signal based on detected distance to obstacle, and control vehicle speed on input of confirmation signal from foot pedal and brake sensor
DE102004051963A1 (en) * 2004-10-25 2006-05-04 Robert Bosch Gmbh Method for driver assistance

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202008005431U1 (en) 2008-04-19 2008-07-17 Staab, Mathias Parking aid
EP2130736A1 (en) * 2008-06-04 2009-12-09 Aisin Seiki Kabushiki Kaisha Surrounding recognition support system
US8248220B2 (en) 2008-06-04 2012-08-21 Aisin Seiki Kabushiki Kaisha Surrounding recognition support system
WO2010049212A1 (en) * 2008-10-28 2010-05-06 Robert Bosch Gmbh Controller and method for the automatic guiding of a vehicle
US8754761B2 (en) 2008-10-28 2014-06-17 Robert Bosch Gmbh Control unit and method for automatically guiding a vehicle
US9047780B2 (en) 2012-11-16 2015-06-02 Robert Bosch Gmbh Collision mitigation systems and methods using driver attentiveness
WO2017067729A1 (en) * 2015-10-22 2017-04-27 Robert Bosch Gmbh Method and device for reducing the risk of collision of a motor vehicle with an object
EP3219569A1 (en) * 2016-03-14 2017-09-20 Valeo Schalter und Sensoren GmbH Method for preventing the collision of a vehicle with an object, taking account of a speed change of the vehicle, driver assistance system and motor vehicle
DE102017121302A1 (en) * 2017-09-14 2019-03-14 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Rear-end assistance system and a method for back-up assistance
CN110329228A (en) * 2019-05-27 2019-10-15 中科安达(北京)科技有限公司 The method of seamless intelligent car-backing automatic emergency brake system R-AEBS

Also Published As

Publication number Publication date
FR2906210A1 (en) 2008-03-28
FR2906210B1 (en) 2011-12-23
ITMI20071782A1 (en) 2008-03-23

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Effective date: 20140320