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.
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,
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
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.
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.
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
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
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.
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
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.
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
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
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
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
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.
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
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
Position installed camera is recorded, be correlated
a suitable detection and processing algorithm
then the obstacle is visually highlighted, for example, in accordance
Color shown etc.
Information signal itself can be unique with the detection of a
braking-relevant obstacle, ie with the activation of the automatic braking readiness,
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.
it is appropriate, a
another information signal for indicating a successful automatic
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
to the obstacle. This gives the driver then an additional information about the
activated and actually
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.
Advantages, features and details of the invention will become apparent
the embodiment described below and with reference to the
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.