DE102010023164A1 - Method for warning presence of pillar in environment to rider of motor car, involves computing path length of prospective track of motor car by driver assistance system, and accounting path length while checking satisfied warning criterion - Google Patents

Abstract

The method involves determining a relative position of an object on a basis of data of a sensor device (8). A prospective track of the motor car is determined by a driver assistance system (2). A rider is warned by the assistance system after satisfying a warning criterion, which comprises a condition that the object is arranged partially on the track such that a collision of the car makes threats with the object. Path length of the track is computed between the car and the object by the assistance system. The path length is accounted while checking the satisfied warning criterion. An independent claim is also included for a motor car comprising a driver assistance system.

Description

The invention relates to a method for warning a driver of a motor vehicle of the presence of an object in an environment of the motor vehicle by means of a driver assistance system of the motor vehicle. A relative position of the object with respect to the motor vehicle is determined on the basis of data from a sensor device. In addition, the driver assistance system determines an anticipated roadway of the motor vehicle. The driver assistance system warns the driver when a warning criterion is met. This warning criterion initially includes the condition that the object is at least partially on the road, so that a collision of the motor vehicle with the object threatens to occur. The invention also relates to a driver assistance system, which is designed to carry out the method, as well as a motor vehicle with such a driver assistance system.

The interest here applies to the so-called collision warning systems, by which a driver of a motor vehicle is warned when a collision between the motor vehicle and an object external to the vehicle is imminent. Such driver assistance systems are state of the art: The document EP 1 660 362 B1 describes a driver assistance system, which is designed to calculate a future traversed by the motor vehicle - ie expected - roadway. A distinction is made between relevant obstacles which lie within the carriageway and non-relevant obstacles which lie outside the carriageway. The driver is only warned of relevant obstacles.

From the publication EP 1 571 638 B1 There is also known a system for warning the driver of objects located on a calculated prospective roadway of the motor vehicle. It is determined whether or not the motor vehicle will pass the obstacle without collision. The driver can drive past an obstacle at a very short distance without an annoying warning being issued. The warning is issued only when the obstacle is on the predicted roadway and thus actually threatens to collide.

A collision warning system is also out of the document DE 198 43 564 A1 known. A collision risk of the motor vehicle with an object external of the vehicle is estimated on the basis of an estimated distance and on the basis of the current speed of the motor vehicle. The warning signal is output when the estimated instantaneous distance is less than a predetermined limit and the assessment results in the presence of a risk of collision. To assess the risk of collision, a time is determined that the motor vehicle needs to reach the object (also known as "time to collision"). On the basis of this determined time then the risk of a collision of the vehicle with the object is estimated. In the article according to DE 198 43 564 A1, the time required to reach the object is calculated on the basis of the direct distance between the motor vehicle and the object and on the basis of the vehicle speed and possibly also taking into account the acceleration of the motor vehicle.

If a warning signal is issued to each object that is close enough to the motor vehicle, the driver is warned constantly. A too often issued warning signal can be annoying for the driver, and the driver can not focus on the actual traffic situation. Precisely this circumstance is to be regarded as disadvantageous in the prior art. In particular, in such collision warning systems, in which only the direct distance between the motor vehicle and the object or a time calculated from this (time to collision) is taken into account in the output of the warning signal, it can lead to unwanted interference situations. A warning signal can also be perceived as disturbing if the object is located on the predicted roadway, but the warning signal is issued too early - on the basis of the direct distance.

It is an object of the invention to show a way how a driver of a motor vehicle can be warned in situations close to collisions particularly reliable and needs-based.

This object is achieved by a method having the features of claim 1, by a driver assistance system having the features according to claim 14, as well as by a motor vehicle having the features according to claim 15. Advantageous embodiments of the invention are the subject of the dependent claims and the description.

A method according to the invention is designed to warn a driver of a motor vehicle of the presence of an object in an environment of the motor vehicle with the aid of a driver assistance system of the motor vehicle. A relative position of the object with respect to the motor vehicle is determined on the basis of data from a sensor device. In addition, an anticipated road surface of the motor vehicle is determined by the driver assistance system. The driver is warned by the driver assistance system after fulfillment of a warning criterion, which initially includes the condition that the object is at least regionally is on the road, so that a collision of the motor vehicle threatens to enter with the object. According to the invention, a path length-that is to say a route length-of the roadway between the motor vehicle and the object is calculated by the driver assistance system, and when checking the fulfillment of the warning criterion, the path length is also taken into account.

Accordingly, the effect of the invention is achieved in that in the decision whether the driver should be warned or not, not as in the prior art or not only the direct distance between the motor vehicle and the object, but the actual length of the roadway between the motor vehicle and the object is taken into account, if necessary, taking into account a curvature of the roadway. Thus, when checking the fulfillment of the warning criterion, the path length is taken into account, ie. H. the warning criterion also includes a condition regarding the calculated path length. The invention is based on the recognition that the driver can only be insufficiently warned on the basis of the direct distance between the motor vehicle and the object. The invention further builds on the finding that even if the direct distance is relatively small and the object is on the predicted roadway, the warning signal should not necessarily be output. If the actual path length or route length of the roadway between the motor vehicle and the object is calculated, then the driver can be warned reliably and as needed. The driver is thus warned by the driver assistance system only when this is actually necessary or when a collision situation is actually imminent. In particular, the driver is not warned in such situations when, although the direct distance between the motor vehicle and the vehicle external object is relatively small, the calculated path length - which actually requires the motor vehicle to reach the object - but significantly greater than the direct distance. Thus, a need-based warning procedure is created overall.

Whether or not the detected object is located on the anticipated road surface of the motor vehicle can be determined by the driver assistance system as a function of the relative position of the object with respect to the motor vehicle. The relative position of the object with respect to the motor vehicle is determined on the basis of measured values or data of the sensor device. Such a sensor device may, for. B. a variety of distance sensors - z. B. ultrasonic sensors - and / or at least one radar device and / or at least one lidar device and / or at least one optical digital camera include.

Thus, the warning criterion also includes a condition regarding the calculated path length of the roadway between the motor vehicle and the object. The warning criterion may, for example, include the condition that the calculated path length is below a predetermined limit value. The driver is then warned by the driver assistance system if, on the one hand, the object is located on the predicted roadway and, on the other hand, the calculated path length falls below the predetermined limit value. It is then ensured that the driver is warned by the driver assistance system when a collision situation is actually imminent. The driver can then react accordingly and drive around the object or decelerate the motor vehicle. The driver is not unnecessarily warned by the driver assistance system. The limit value for the calculated path length can be, for example, in a value range of 10 cm to 5 m; this limit can z. 10 or 30 or 50 or 70 or 90 or 110 or 130 or 150 or 170 or 190 or 210 or 230 or 250 or 270 or 290 or 310 or 330 cm or 350 cm or 370 cm or 390 cm or 410 cm or 430 cm or 450 cm or 470 cm or 490 cm or 500 cm or occupy any value from said range of values.

The driver assistance system can also record a time course of the path length of the roadway between the motor vehicle and the object and, when checking the fulfillment of the predetermined criterion, also take into account the time course of the path length. Then the warning criterion also includes a condition related to the time course of the path length. It can be detected for a predetermined time interval, a plurality of values of the path length and evaluated to see whether a critical situation is given or not or whether the driver should be warned or not. In this embodiment, not only a single value of the path length of the roadway between the motor vehicle and the vehicle external object is used for the verification of the warning criterion, but a time course of the path length. In this way, the decision whether the driver is warned, not only depends on the current path length, but depending on the tendency to take a longer time. Such an approach results in a more stable overall result compared to the prior art. The driver is thus warned only when this is actually necessary or when a collision situation is actually imminent. The driver can not be warned, for example, in such situations, although the current path length of the roadway between the motor vehicle and the object is relatively small, based on the time course the path length but no collision between the object and the motor vehicle is to be expected.

If the time course of the path length is detected, the warning criterion may include the condition that the path length falls within a predetermined time interval. This can be z. B. such that the driver is then warned, on the one hand, the current path length is relatively small and on the other hand, the path length within a predetermined time interval at least temporarily - especially steadily throughout the predetermined time interval - drops. This embodiment has the advantage that the warning is then suppressed or a warning signal is not output when the time course of the path length - even with a relatively low current path length - remains constant with a predetermined tolerance or even increases. Namely, in such a case, a collision between the motor vehicle and the object can not occur, and the driver is not unnecessarily disturbed by the driver assistance system. The driver can therefore concentrate on the actual road situation, namely, for example, a parking operation.

When checking the fulfillment of the warning criterion, the driver assistance system can also take into account a current speed of the motor vehicle. Thus, an even improved warning criterion can be determined, based on which the decision is made whether the driver is warned or not or with what intensity the driver should be warned. For example, from the current speed and the calculated path length, a time can be calculated that the motor vehicle actually needs to reach the object. In contrast to the subject matter of the document DE 198 43 564 A1 Thus, this time (time to collision) is calculated on the basis of the actual path length of the roadway between the motor vehicle and the object, and not based on the direct distance. Compared to the prior art, the time required to reach the object is thus calculated precisely and precisely in this embodiment, so that a corresponding reliable and robust warning criterion can be set.

The warning criterion may also include a condition regarding the calculated time required for the motor vehicle to reach the object. The warning criterion can, for. B. include the condition that the calculated time is below a predetermined limit. This limit value can be, for example, in a value range of 2 seconds to 10 seconds; he can z. 2 seconds or 3 seconds or 4 seconds or 5 seconds or 6 seconds or 7 seconds or 8 seconds or 9 seconds or 10 seconds. In this way, it is possible to warn the driver in an actually imminent collision.

Thus, a limit value for the time required to reach the object and / or a limit value for the calculated path length of the roadway between the motor vehicle and the object can be defined. At least one of these limits may also vary. For example, the at least one limit value can be set as a function of the instantaneous speed of the motor vehicle. At a higher speed, a higher limit may be set for the path length and / or for the time than at a lower speed.

It proves to be particularly advantageous if, depending on the determined probable road surface and as a function of the relative position of the object with respect to the motor vehicle - and in particular as a function of stored in the driver assistance system data on the geometry of the motor vehicle or on the outer contours of the motor vehicle - a collision point of the motor vehicle and a collision point of the object are determined at which the collision threatens to occur. Then, the path length of a lane section of the lane between the two collision points can be calculated. In this embodiment, therefore, those points of the motor vehicle on the one hand and of the vehicle-external object on the other hand are predicted at which the collision threatens to occur. This embodiment provides a highly accurate warning method; the warning can be suppressed while the motor vehicle, for example, passes very close to the object, and it can be output when the calculated length of the track section between the collision point of the motor vehicle - for example in the rear area - and the collision point of the object falls below the predetermined limit. The advantages of this embodiment can be illustrated, for example, by means of such a scenario: the motor vehicle is parked by the driver in a parking space forward, such as a parking space aligned perpendicular to the road. The parking space is located, for example, on the left side of the road, and the motor vehicle is in the right lane. The driver strikes the steering wheel to the left to park the vehicle in the parking space. Depending on the current steering angle, the driver assistance system calculates the probable roadway of the motor vehicle. It is the trajectory that is expected to pass through the motor vehicle in the future. The sensor device detects objects in the surroundings of the motor vehicle. The sensor device detects two vehicles directly limiting the parking space. The driver assistance system determines the relative position of the objects with respect to of the motor vehicle and thus also with regard to the expected roadway. The driver assistance system determines that one of the objects is on the road so that this object would collide with the vehicle. The driver is not warned yet. Depending on the relative position of the object relative to the motor vehicle and in dependence on the outer contours of the motor vehicle, the driver assistance system determines the collision point of the motor vehicle on the one hand and the collision point of the object on which the collision would occur, depending on the predicted roadway. The driver assistance system then calculates the path length of a path section of the predicted roadway between the two collision points. The driver assistance system determines that the collision point of the motor vehicle is a point in the rear area, such as a point of the rear bumper on the left side flank. If the driver has not yet started parking, the calculated path length is relatively large and a warning need not yet be issued. The driver can still correct the steering angle, and it does not necessarily come to a collision. If, however, a front area of the motor vehicle enters the parking space, the continuously calculated path length decreases. The motor vehicle slowly passes the object, so that the collision point of the motor vehicle approaches the collision point of the object. Now the direct - so the smallest - distance between the motor vehicle and the object is very low - the motor vehicle passes the object -, but the calculated path length between the two collision points has not fallen below the limit. If the driver assistance system determines that the calculated path length is below the limit, it alerts the driver. The driver can now correct the steering angle or decelerate the vehicle. On the one hand, there is thus no collision; On the other hand, the driver is warned only when it is actually required. The driver is thus not disturbed unnecessarily by the driver assistance system.

The computational effort in calculating the path length between the two collision points can be reduced to a minimum by calculating a direct-shortest distance between the two collision points and using it as the path length. The driver assistance system can thus first determine the two collision points as a function of the predicted roadway and the relative position of the object with respect to the motor vehicle and then calculate the direct or straight-line distance between the two collision points. This is based on the knowledge that the direct distance between the two collision points differs only slightly from the actual path length of the section of the roadway between the two collision points. On the one hand, therefore, the error in the calculation of the path length is minimal; On the other hand, this can save a lot of computing power.

When determining the anticipated roadway, various embodiments are provided:
The expected roadway can be determined depending on a current steering angle. The steering angle is preferably the steering angle of the steering wheel. This can be measured, for example, by means of a steering angle sensor. The expected roadway can be estimated in dependence on the current steering angle, starting from the respective instantaneous position of the motor vehicle for a predetermined route length. Changes the steering angle, the roadway for the predetermined route length can be determined each new.

The computational effort in the determination of the roadway can be reduced to a minimum, if an annular or ring-shaped path is assumed. The expected roadway can thus be determined such that, depending on the current steering angle, an annular track is determined as the expected roadway. Thus, the roadway can be determined only as a function of the current steering angle without much effort.

If the driver assistance system has the function of assisting the driver when parking in a parking space and / or when parking out of the parking space, then the following procedure proves to be particularly advantageous: The driver assistance system can assist the driver when parking and / or parking in that there is a Parkbahn calculated along which the motor vehicle - fully automatic or steered by the driver - parked in the parking space or parked out of the parking space. Then, the calculated parking lane may be used as the prospective lane. Thus, a parking path calculated in any case by the driver assistance system is used and based on the warning function. It is therefore unnecessary to determine the probable roadway - this is already known.

The driver can be warned by the driver assistance system in different ways: The driver assistance system, for example, an audible warning and / or an optical warning signal - such as using a visual display device - spend and / or it can operate a relevant for the driving behavior of the motor vehicle system. For example, the driver assistance system may include a braking system and / or a Actuate the steering system autonomously to warn the driver.

In a particularly user-friendly and effective driver assistance system can be provided that a warning intensity of warning depending on the calculated path length is set by the driver assistance system. This may, for example, be such that the driver is warned less intensively with a longer path length than with a shorter path length. The warning intensity can be adjusted either stepwise or continuously or continuously with the changing path length.

An inventive driver assistance system is designed to warn a driver of a motor vehicle of the presence of an object in an environment of the motor vehicle. The driver assistance system determines a relative position of an object with respect to the motor vehicle on the basis of data of a sensor device of the driver assistance system. The driver assistance system also determines a probable roadway of the motor vehicle and warns the driver after fulfillment of a warning criterion. The warning criterion includes the condition that the object is at least partially on the road, so that a collision of the motor vehicle with the object threatens to occur. The driver assistance system is designed to calculate a path length of the roadway between the motor vehicle and the object and also to take into account the path length when checking the fulfillment of the warning criterion.

A motor vehicle according to the invention comprises a driver assistance system according to the invention.

The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All the features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively indicated combination but also in other combinations or alone.

The invention will now be described with reference to individual preferred embodiments, as well as with reference to the accompanying drawings.

Show it:

1 a schematic representation of a motor vehicle with a driver assistance system according to an embodiment of the invention; and

2 a schematic representation of a road situation, with reference to which a method according to an embodiment of the invention is explained in more detail.

A motor vehicle 1 as it is in 1 is shown, in the embodiment, a passenger car. The car 1 includes a driver assistance system 2 or a driver assistance device. The driver assistance system 2 assists the driver in driving the motor vehicle 1 , The driver assistance system 2 in the exemplary embodiment is a collision warning system, ie it serves to warn the driver of the presence of objects in an environment 3 of the motor vehicle 1 , The driver assistance system 2 but can also be designed to assist the driver when parking in a parking space and / or when parking out of a parking space.

The driver assistance system 2 comprises a control device 4 containing a digital signal processor 5 , a microcontroller 6 as well as a memory 7 may include. The driver assistance system 2 also includes a sensor device 8th which has a plurality of sensors. The sensors are on an outer surface of the motor vehicle 1 arranged distributed and capture the environment 3 , The sensor device 8th For example, it can comprise at least one ultrasound sensor and / or at least one radar device and / or at least one lidar device and / or at least one digital camera. The sensor device 8th - All sensors - is with the controller 4 electrically coupled, namely for example via a communication bus 9 of the motor vehicle 1 , Via the communication bus 9 be from the sensor device 8th recorded data or measured values to the control device 4 transmit, and the controller 4 can process the recorded data.

To the communication bus 9 is also a steering system 10 of the motor vehicle 1 connected. The steering system 10 can over the communication bus 9 Data with information about a current steering angle of a steering wheel 11 transfer. This data may be the controller 4 on the communication bus 9 pick up and process.

The control device 4 In one embodiment, the steering system 10 operate or in the steering system 10 intervention. For example, the control device 4 the steering system 10 cause the steering wheel 11 impulsively easy to beat in order to warn the driver in a haptic way.

Likewise, the control device 4 Interference with a braking system 12 of the motor vehicle 1 make to the wheels of the motor vehicle 1 slow down slightly. Also in this way, the control device 4 warn the driver haptically when a collision is imminent.

In the motor vehicle 1 There is also an optical display 13 as well as an acoustic output device 14 , Under the output of corresponding control signals, the control device 4 the display device 13 - This may for example be a screen - and the acoustic output device 14 - For example, a speaker - drive to the driver information about the presence of objects in the area 3 to convey.

In the storage room 7 a warning criterion is filed, for example in the form of an algorithm. Only after fulfillment of this warning criterion is the driver through the driver assistance system 2 warned. Referring now to 2 the warning criterion will be explained in more detail below. In 2 is shown a plan view of a road situation in which the motor vehicle 1 controlled by the driver, for example, in an in 2 not shown parking space is parked forward, such as in an underground car park.

In 2 is the motor vehicle 1 presented in ten different positions in which the motor vehicle 1 is located at different times t ₁ to t ₁₀ . The car 1 So moves forward from the position taken at time t ₁ position to the position taken later at t ₁₀ position. The positions of the motor vehicle 1 at times t ₂ to t ₁₀ are in 2 shown with dashed lines. In the neighborhood 3 of the motor vehicle 1 there is an external vehicle object 15 which may be, for example, a pillar or another vehicle. The sensor device 8th of the motor vehicle 1 includes the environment 3 continuously. The control device 4 notes that the object is 15 in the neighborhood 3 located. The control device 4 now determines a relative position of the object 15 with respect to the motor vehicle 1 namely, based on the data of the sensor device 8th , Includes the sensor device 8th two ultrasonic sensors, the relative position can be determined, for example, by means of triangulation.

The control device 4 also determines - based on the current steering wheel angle - a probable roadway 16 of the motor vehicle 1 ie a carriageway 16 by the motor vehicle 1 is expected to pass. The roadway 16 is one by two boundary lines 17 . 18 Immediately limited stripes. To determine the boundary lines 17 . 18 is in each case the extreme point seen in the direction of travel 19 . 20 of the motor vehicle 1 viewed on the left or right side. The boundary lines 17 . 18 therefore correspond to the respective tracks that the outermost points 19 . 20 while driving the motor vehicle 1 leave. The width of the carriageway 16 is thus determined by the distance of the boundary lines 17 . 18 certainly. The extreme points 19 . 20 are usually the curve outer front corner of the motor vehicle 1 as well as the wheelhouse of the inside rear wheel. The width of the carriageway 16 So is usually - namely when cornering - greater than the actual width of the motor vehicle 1 , Only when driving straight ahead corresponds to the width of the roadway 16 the width of the motor vehicle 1 ,

So the controller can 4 the expected roadway 16 determine. This roadway 16 can depend on in memory 7 stored vehicle data can be determined, namely in dependence on the geometry or the contours of the motor vehicle 1 ,

The roadway 18 can be determined, for example, depending on the current steering angle such that an annular path as expected lane 16 is used. However, by the control device 4 to assist the driver when parking in a parking space or when parking out of the parking space calculated a parking path along which the motor vehicle 1 parked in the parking space or can be parked out of the parking space, so this Parkbahn as probable roadway 16 be used. Then the calculation of the probable roadway is unnecessary 16 ,

So the roadway can be 16 by the control device 4 be determined depending on the current steering angle. This roadway 16 can z. B. are determined for a predetermined route length, such as 10 m or 15 m or 20 m. If the steering angle is changed by the driver, the control device 4 the roadway 16 redetermine. The control device 4 thus continuously captures the current steering angle and adjusts the road surface 16 to the current steering angle continuously.

The above-mentioned warning criterion initially includes the condition that the detected object 15 at least partially on the road 16 is located and thus a collision between the motor vehicle 1 and the object 15 threatens to enter. The driver can thus through the driver assistance system 2 only be warned when the object 15 actually on the trajectory of motor vehicle 1 located. The control device 4 calculated as a function of the instantaneous relative position of the object 15 with respect to the motor vehicle 1 a path length of a curved track section 21 the roadway 16 between the motor vehicle 1 and the object 15 , And that determines the controller 4 in the exemplary embodiment, first a collision point 22 of the motor vehicle 1 as well as a collision point 23 of the object 15 where the collision is likely to take place. The control device 4 then calculates the path length of the track section 21 between the two collision points 22 . 23 , namely in the direction of curvature of the roadway 16 or in the extension direction of the boundary lines 17 . 18 , In other words, the controller calculates 4 the route length of the path that the motor vehicle 1 along the roadway 16 to reach the object 15 or to touch the object 15 has to cover. This path length is thus in the direction of curvature of the road 16 sized.

To calculate the path length of the railway section 20 To simplify or to reduce the computational effort to a minimum, the control device 4 a direct or straight distance 24 between the two collision points 22 . 23 to calculate. Then the control device 4 the direct distance 24 as path length of the track section 21 use. Numerous experiments have shown that a resulting error is negligible and the direct distance 24 between the collision points 22 . 23 essentially the path length of the track section 21 equivalent.

• – wenn sich das Objekt 15 zumindest bereichsweise auf der Fahrbahn 16 befindet,
• – wenn die berechnete Weglänge des Bahnabschnitts 21 kleiner als der vorgegebene Grenzwert ist,
• – wenn die berechnete Zeit kleiner als ein vorbestimmter Grenzwert ist, nämlich beispielsweise kleiner als 10 Sekunden und
• – wenn anhand eines zeitlichen Verlaufs der berechneten Weglänge über einem vorbestimmten Zeitintervall erkannt wird, dass diese Weglänge während des gesamten Zeitintervalls abfällt.

The above-mentioned warning criterion additionally includes a condition regarding the calculated path length of the path section 21 between the two collision points 22 . 23 , For example, the warning criterion may include the condition that the calculated path length is less than a predetermined threshold, for example, less than 100 cm. The control device 4 can be calculated from the calculated path length and depending on the current speed of the motor vehicle 1 also calculate a time that the motor vehicle 1 needed to get the object 15 to touch. Overall, the warning criterion can then be met if the following conditions are met:

• - if the object 15 at least partially on the road 16 is,
• - if the calculated path length of the track section 21 is less than the predetermined limit,
• - If the calculated time is less than a predetermined threshold, namely, for example, less than 10 seconds and
• - If it is detected on the basis of a time course of the calculated path length over a predetermined time interval that this path length decreases during the entire time interval.

Unlike in the prior art, the warning criterion thus becomes the actual path length of the roadway 16 between the two collision points 22 . 23 considered, and not about direct distances between the motor vehicle 1 and the object 15 , How out 2 is apparent, is a direct distance 25 between the motor vehicle 1 and the object 15 at time t ₁ significantly less than the path length of the web section 21 in the direction of curvature of the roadway 16 between the collision points 22 . 23 , Also at time t ₇ is the distance 24 ' between the collision points 22 ' . 23 greater than a direct distance 25 ' between the motor vehicle 1 and the object 15 , In the prior art, the driver is therefore warned much earlier by the driver assistance system than is actually required. In contrast, in the present embodiment, the actual path length of the web section 21 takes into account the motor vehicle 1 to touch the object 15 must pass through.

The control device 4 can also warn the driver with different warning intensities. This warning intensity, for example, depending on the calculated path length of the web section 21 be set, namely gradually or continuously or steadily. This can be z. B. look like that with a decreasing path length, the frequency of the output audible warning signal is increased. On the display 13 The actual value of the calculated path can also be displayed.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1660362 B1 [0002]
• EP 1571638 B1 [0003]
• DE 19843564 A1 [0004, 0014]

Claims (15)

Method for warning a driver of a motor vehicle ( 1 ) before the presence of an object ( 15 ) in an environment ( 3 ) of the motor vehicle ( 1 ) using a driver assistance system ( 2 ) of the motor vehicle ( 1 ), comprising the steps: - determining a relative position of the object ( 15 ) with respect to the motor vehicle ( 1 ) based on data from a sensor device ( 8th ), - determining an anticipated road surface ( 16 ) of the motor vehicle ( 1 ) by the driver assistance system ( 2 ) and - warning the driver by the driver assistance system ( 2 after fulfilling a warning criterion which includes the condition that the object ( 15 ) at least partially on the road ( 16 ), so that a collision of the motor vehicle ( 1 ) with the object ( 15 ) threatens to occur, characterized in that a path length of the road ( 16 ) between the motor vehicle ( 1 ) and the object ( 15 ) by the driver assistance system ( 2 ) and the path length is taken into account when checking the fulfillment of the warning criterion. A method according to claim 1, characterized in that the warning criterion also includes the condition that the calculated path length is below a predetermined limit value. A method according to claim 1 or 2, characterized in that a temporal course of the path length of the road ( 16 ) between the motor vehicle ( 1 ) and the object ( 15 ) by the driver assistance system ( 2 ) and taken into account when checking the fulfillment of the warning criterion. Method according to one of the preceding claims, characterized in that when checking the fulfillment of the warning criterion also a current speed of the motor vehicle ( 1 ) is taken into account. A method according to claim 4, characterized in that from the current speed and the calculated path length, a time is calculated, the motor vehicle ( 1 ) to reach the object ( 15 ) needed. A method according to claim 5, characterized in that the warning criterion also includes the condition that the calculated time is below a predetermined limit value. Method according to one of the preceding claims, characterized in that, depending on the roadway ( 16 ) and depending on the relative position of the object ( 15 ) with respect to the motor vehicle ( 1 ) a collision point ( 22 ) of the motor vehicle ( 1 ) as well as a collision point ( 23 ) of the object ( 15 ) at which the collision threatens to occur, the path length of a section of track ( 21 ) of the roadway ( 16 ) between the two collision points ( 22 . 23 ) is calculated. A method according to claim 7, characterized in that the calculation of the path length is such that a direct distance ( 24 ) between the two collision points ( 22 . 23 ) and used as the path length. Method according to one of the preceding claims, characterized in that the prospective roadway ( 16 ) is determined in dependence on a current steering angle, in particular each new determined when the steering angle is changed. Method according to claim 9, characterized in that the anticipated roadway ( 16 ) is determined such that, depending on the current steering angle, an annular track as an anticipated roadway ( 16 ). Method according to one of the preceding claims, characterized in that by the driver assistance system ( 2 ) the driver when parking the motor vehicle ( 1 ) in a parking space or when parking out of the parking space is supported by the driver assistance system ( 2 ) calculates a parking path along which the motor vehicle ( 1 ) is parked in the parking space or is parked out of the parking space, the calculated parking orbit being the anticipated carriageway ( 16 ) is used. Method according to one of the preceding claims, characterized in that the step of warning the driver includes that an audible warning signal and / or an optical warning signal is output and / or for a driving behavior of the motor vehicle ( 1 ) relevant system ( 10 . 12 ), in particular a braking system ( 12 ) and / or a steering system ( 10 ), by the driver assistance system ( 2 ) is pressed. Method according to one of the preceding claims, characterized in that a warning intensity as a function of the calculated path length by the driver assistance system ( 2 ) is set. Driver assistance system ( 2 ) for a motor vehicle ( 1 ), the driver assistance system ( 2 ) is designed to: - a relative position of an object ( 15 ) with respect to the motor vehicle ( 1 ) based on data from a sensor device ( 8th ) of the driver assistance system ( 2 ) to determine - an expected roadway ( 16 ) of the motor vehicle ( 1 ) and - a driver of the motor vehicle ( 1 ) after fulfillment of a warning criterion, which includes the condition that the object ( 15 ) at least partially on the road ( 16 ), so that a collision of the motor vehicle ( 1 ) with the object ( 15 ) threatens to occur, characterized in that the driver assistance system ( 2 ) is designed to cover a path length of the roadway ( 16 ) between the motor vehicle ( 1 ) and the object ( 15 ) and to consider the path length when checking the fulfillment of the warning criterion. Motor vehicle ( 1 ) with a driver assistance system ( 2 ) according to claim 14.

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