DE102012007984A1 - Shunting system and method for automatically maneuvering a motor vehicle, motor vehicle, portable communication device and computer program - Google Patents

Shunting system and method for automatically maneuvering a motor vehicle, motor vehicle, portable communication device and computer program

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Publication number
DE102012007984A1
DE102012007984A1 DE102012007984A DE102012007984A DE102012007984A1 DE 102012007984 A1 DE102012007984 A1 DE 102012007984A1 DE 102012007984 A DE102012007984 A DE 102012007984A DE 102012007984 A DE102012007984 A DE 102012007984A DE 102012007984 A1 DE102012007984 A1 DE 102012007984A1
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DE
Germany
Prior art keywords
motor vehicle
portable communication
communication device
display
device
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.)
Withdrawn
Application number
DE102012007984A
Other languages
German (de)
Inventor
Thorsten Meyer
Siav Kuong KUOCH
Patrick Bonhoure
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
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
Priority to DE102011112949 priority Critical
Priority to DE102011112949.2 priority
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Priority to DE102012007984A priority patent/DE102012007984A1/en
Publication of DE102012007984A1 publication Critical patent/DE102012007984A1/en
Application status is Withdrawn legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D1/00Steering controls, i.e. means for initiating a change of direction of the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/0285Parking performed automatically

Abstract

The invention relates to a maneuvering system for automatically maneuvering a motor vehicle (1), having a vehicle-side control device (2) which is designed to deliver control signals (S) to a drive and / or steering device (5) of the motor vehicle (1) and thereby an automatic shunting operation of the motor vehicle (1) to perform automatically, and with a portable communication device (10) which is adapted to an input that makes an operator to release the Rangiervorgangs on an operating device (11) of the portable communication device (10) receive and, on the basis of this input, wirelessly transmit a command (12) to the control device (2) to cause the jogging operation to be performed, the operating device (11) of the portable communication device (10) comprising at least one actuating element (14, 15) and the portable communication device (10) is arranged to maneuver the motor vehicle (1) only to cause while the operator holds the at least one actuating element (14, 15) actuated, and after releasing the actuating element (14, 15) to cause a stop of the motor vehicle (1).

Description

  • The invention relates to a maneuvering system for automatically maneuvering a motor vehicle. The maneuvering system comprises on the one hand a vehicle-side. Control device and on the other hand, a portable communication device, such as a mobile phone or a car key. The control device is designed to deliver control signals to a drive and / or steering device of the motor vehicle and thereby automatically perform an automatic maneuvering of the motor vehicle. The portable communication device is configured to receive an input made by an operator for releasing the shunting operation to an operating device of the portable communication device. The portable communication device is further configured to wirelessly transmit a command to the controller of the motor vehicle based on this input to cause the shunting operation to be performed. The invention also relates to a motor vehicle with such a maneuvering system, a portable communication device, a method for automatically maneuvering a motor vehicle, as well as a computer program.
  • In the present case, the interest is directed in particular to an automatic parking assistance system, which is designed for the autonomous or automatic parking of a motor vehicle in a parking space. Such parking assistance systems are already state of the art. Such a parking assistance system is for example from the document DE 198 17 142 B4 known. The parking assistance system can carry out the parking operation of the motor vehicle automatically without the driver having to steer or accelerate. The parking assistance system initially detects by means of ultrasonic sensors located in the vicinity of the motor vehicle parking space, which is suitable for parking the motor vehicle. Then, the parking assist system determines the relative position of the motor vehicle with respect to the parking space. Subsequently, the parking assistance system calculates a parking track along which the motor vehicle can be parked in an end position in the parking space. The driver only needs to release the automatic parking procedure, for example by means of an operating device. The driver also has the opportunity at any time to interrupt the autonomous parking process, namely by means of a remote control, which is provided for example in the form of a vehicle key.
  • In the mentioned parking assistance systems as well as from the document DE 10 2009 041 587 known, which have a remote control, the driver can stand next to the motor vehicle - outside the motor vehicle - while the automatic parking operation is performed by the parking assistance system. A problem with such parking assistance systems is the fact that the driver or the user must be active in order to interrupt the automatic maneuvering. In general, the driver must operate a special actuator or a button, so that the maneuvering is canceled. However, it may happen that the driver is not focused on the maneuvering at all or his concentration is distracted from the maneuvering. In such cases, it should be achieved that the automatic maneuvering process is aborted.
  • It is an object of the invention to provide a solution, as in a maneuvering system of the type mentioned a safe maneuvering of the motor vehicle can be made possible.
  • This object is achieved by a maneuvering system, a motor vehicle, a portable communication device and a method having the features according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.
  • An inventive shunting system is designed for automatic or autonomous maneuvering of a motor vehicle. The maneuvering system has a vehicle-side control device and a portable communication device. The control device is designed for outputting control signals to a drive and / or steering device of the motor vehicle and thus for carrying out an automatic shunting operation of the motor vehicle. The portable communication device is configured to receive an input made by an operator for releasing the shunting operation to an operating device of the portable communication device, and to wirelessly transmit a command to the on-vehicle control device to cause the shunting operation to be performed. The operating device of the portable communication device has at least one actuating element. The portable communication device is further configured to cause the maneuvering of the motor vehicle only as long as the operator holds the actuating element actuated, and to cause a stop of the motor vehicle after release of the actuating element.
  • The effect according to the invention is therefore achieved by using a portable communication device-such as a smartphone or a vehicle key-as an operating device for controlling the automatic shunting operation, which is equipped for this purpose with a specific operating application and which, for example, via a WLAN. Data connection - communicates wirelessly with the vehicle-side control device, and that the control application is designed such that the safety requirements are met, namely that the motor vehicle is only moved as long as the operator holds the actuator operated, and automatically stopped when the operator releases the actuator or let go. If the operator intentionally or unintentionally releases the actuating element, the motor vehicle stops immediately. In this way, a safe maneuvering of the motor vehicle is made possible. If the concentration of the operator - such as the driver - be distracted from the maneuvering, so that the actuator is released, the maneuvering is canceled. It is continued when the operator actuates the actuator again. It is thus created a maneuvering system, which leaves the responsibility for the automatic maneuvering process at the driver and gives him the opportunity to detect dangers and cancel the automatic maneuvering at any time and without much effort.
  • In principle, the portable communication device may be a vehicle key or another communication device. However, it proves to be particularly advantageous if the portable communication device is designed as a mobile phone - such as a smartphone. The known mobile phones namely have sufficient computing resources, so that new applications or computer programs can be installed, which allow the operation of the invention Rangiersystems. To operate the maneuvering system can thus be used in a rule anyway existing mobile phone, so that the use of additional components with the associated disadvantages in terms of costs is unnecessary. In addition, the mobile phones nowadays usually have so-called touch-sensitive displays (touch displays), which with regard to the operation of the maneuvering system can be designed arbitrarily with switching areas or buttons - ie with actuators. In this case, the automatic maneuvering can be interrupted immediately if the operator no longer touches a specially marked switching area of the display.
  • Preferably, the operating device of the portable communication device on two separate actuating elements. The portable communication device may be configured so that the maneuvering of the motor vehicle is caused only so long while the operator holds the two actuators pressed simultaneously. After releasing at least one of the actuating elements, the motor vehicle is automatically and immediately stopped. In this way, it is possible to induce the operator to focus exclusively on the maneuvering. The maneuvering can thus be carried out very safely.
  • As already stated, the operating device can be designed as a touch-sensitive display (touch display) -not only in the case of a mobile telephone, and the at least one actuating element can be provided in the form of a touch-sensitive switching area of the display. Such displays are particularly simple and user-friendly to use; the operator merely has to touch the surface of the display to release the automatic shunting operation.
  • If the operating device-as described above-has two separate actuating elements, these two actuating elements can each be provided in the form of a touch-sensitive switching range of the display. The two switching areas or buttons can be arranged on the display at a distance from each other. It proves to be particularly advantageous if the shunting of the motor vehicle is caused only on condition that an area of the display between the two switching areas - especially the entire legal area of the display - is not affected. When touching the two switching areas at the same time, the operator must therefore ensure that the area of the touch-sensitive display in between is not touched. If this area is still touched, the motor vehicle is stopped and the maneuvering interrupted. The full concentration of the operator thus applies the maneuvering.
  • The portable communication device can also receive from the vehicle-side control device a ready signal, by which a readiness of the control device for performing the maneuvering operation - for example a parking operation - is signaled to the portable communication device. The portable communication device may be configured such that only after receiving this standby signal, the at least one switching area (actuating element) for releasing the maneuvering process is generated on the touch-sensitive display. The at least one shift range is therefore only present if the motor vehicle or its maneuvering system (for example a parking assistance system) is actually ready for automatic maneuvering, ie if, for example, a suitable parking space has been detected and a parking path has been calculated. This prevents the operator from pressing the shift range, for example, to try out whether or not the vehicle is moving.
  • The portable communication device is arranged in one embodiment, that with the Provision of the at least one shift range and a warning message is generated and displayed on the display, by which is signaled that the touching of the shift range causes a moving of a real motor vehicle. Such a warning can be understood as internationally as possible and indicates to the operator that the use of the application - namely the touch of the shift range - moves a real motor vehicle, and that this may do only a legitimate, driving license holder with a roadworthy motor vehicle.
  • As already stated, the maneuvering system can be a parking assistance system, which is designed for the autonomous parking of the motor vehicle in a parking space or for carrying out automatic parking operations. Such a parking assistance system may comprise a sensor device, which includes, for example, a plurality of attached to the bumpers ultrasonic sensors. Based on sensor data of the sensor device, the parking assistance system can detect a suitable parking space and, depending on a current relative position of the motor vehicle with respect to the parking space, calculate a parking path along which the motor vehicle can be moved to an end position in the parking space. The parking assist system automatically actuates the drive and / or steering device of the motor vehicle to move the same into the parking space, namely in accordance with the calculated parking path. The driver only needs to release the automatic parking procedure, namely as already described above.
  • The maneuvering system can have at least one camera arranged in or on the motor vehicle. Then, image data taken by the camera and / or image data obtained therefrom by image processing can be transmitted to the portable communication device, namely in particular by the control device of the maneuvering system. The portable communication device can then display real-time images on a display-namely, in particular on the touch-sensitive display-based on the received image data of the at least one camera. In this way, the operator is assisted in monitoring the automatic shunting operation in such a way that it receives real images of at least one surrounding area of the motor vehicle on the display of the portable or mobile communication device. The operator can thus see the objects or obstacles located in the surrounding area of the motor vehicle and optionally interrupt the automatic parking process when a collision is imminent. In particular, the maneuvering system has a plurality of cameras - at least two cameras - which are mounted in and / or on the motor vehicle and in particular detect the entire surrounding area around the motor vehicle.
  • In the present case, a camera is understood to mean, in particular, a video camera or an image capture device which can detect light in the spectral range which is perceptible or visible by human beings and can thus record images.
  • In this case, real-time images are understood to be a temporal sequence of images which are displayed in real time on the display. This means that a live video of at least one surrounding area of the motor vehicle, which is detected by means of the at least one camera, is displayed on the display.
  • The portable communication device may be configured to display on the display real-time images representing at least an area of the motor vehicle and a surrounding area of the motor vehicle together with information in which direction the motor vehicle will move relative to the surrounding area upon actuation of the actuating element. It can therefore be illustrated by means of a graphic display, in which direction the motor vehicle will be moved upon actuation of the actuating element. For example, in the illustrated real-time images, one of the side flanks is optically highlighted together with the vehicle front or else the rear of the vehicle, namely as a function of the future direction of movement of the motor vehicle. For example, when a rearward movement of the motor vehicle with a steering angle to the right is imminent, the left and the rear edge of the motor vehicle are visually highlighted. In addition or as an alternative, the area overrun in the near future to the left of and behind the motor vehicle can also be highlighted here by means of suitable superimpositions or image changes. Thus, the driver can predict how the motor vehicle will shuffle, and the driver can focus on the currently relevant areas of the environment when assessing risks. The information about the future direction of movement of the motor vehicle can also be such that the pending, or ongoing, maneuvering process is displayed on the display fictitiously, that is, in an abstract manner. For example, the currently engaged gear (forward or reverse) can be graphically displayed here. Additionally or alternatively, the planned trajectory of the motor vehicle - represented by virtual tire tracks or by highlighting the area to be swept - graphically. Additionally or alternatively, the planned target position of the motor vehicle can be displayed on the display. This allows the driver to check in advance whether the planned trajectory and the planned end position are desired and safe.
  • Real-time images are preferably displayed on the display of the portable communication device, which represent a plan view of at least one area of the motor vehicle - in particular the entire motor vehicle - and a surrounding area - in particular the entire surrounding area around the motor vehicle. Such a bird's-eye view is also referred to as a bird-eye view. This may, for example, be such that the vehicle-side control device calculates such an image from the image data of the at least one camera-in particular the plurality of cameras-and transmits this image to the portable communication device. Alternatively, however, it may also be provided that the image data are transmitted to the portable communication device without processing and the portable communication device then generates an image representing the top view. The image processing can thus be carried out optionally in the vehicle-side control device or on the portable communication device. On the basis of such a top view, the operator can better recognize the obstacles present in the surroundings of the motor vehicle and better estimate the distances between the motor vehicle on the one hand and the obstacles on the other hand.
  • In one embodiment, the portable communication device is configured to change a zoom factor of the displayed real-time images and / or to move an imaged environment region due to an input of the operator to the operating device of the portable communication device and / or automatically during the shunting operation. The real-time images displayed on the display can thus be dynamic, so that the operator can change the zoom factor with appropriate gestures on the display and / or shift the displayed surrounding area of the motor vehicle. With an automatic change of the zoom factor, a larger surrounding area around the motor vehicle can be displayed at the beginning of the maneuvering process, so that the destination position of the maneuvering process is also visible. Then it can be automatically zoomed to an enlarged view of the surrounding vehicle environment. In this case, during the automatic maneuvering process, the motor vehicle can no longer be centered on the display, but the surrounding area next to the motor vehicle, which lies in the direction of movement of the motor vehicle, can be enlarged.
  • In order for the operator to better recognize the obstacles in the vicinity of the motor vehicle, these obstacles can be visually highlighted in the displayed real-time images. This can be done for example by highlighting the detected object contours. These object contours can be represented, for example, with a different coloration than the obstacles themselves.
  • It proves to be particularly advantageous if moving objects detected by the maneuvering system in the displayed real-time images on the display are emphasized in particular with respect to other, stationary objects. These moving objects can be displayed, for example, red and / or flashing. Optionally, the automatic shunting process is aborted when a moving object is detected in the vicinity of the motor vehicle. This can be such that the maneuvering operation is interrupted when the distance between the motor vehicle and a moving object falls below a predetermined limit, namely, for example, 1 m or 2 m or 3 m or 4 m.
  • The functionality of the remote control of the automatic shunting operation can be provided by installing a specially developed for this purpose application or a computer program on the portable communication device. Such a computer program can already be supplied on a data carrier with the motor vehicle and / or be made available on an Internet server and made available for download. It can be provided that the communication device must be registered to the motor vehicle before the remote control and the image display are possible. For this purpose, a not public code assigned to the vehicle can be entered once in the application, for example a secret number contained in the operating manual of the motor vehicle. Only then is the communication between the portable communication device and the vehicle-mounted control device enabled. This prevents unauthorized persons from accessing the video data and controlling the motor vehicle.
  • It may also be provided that the vehicle owner has to register once (eg on a website) stating his e-mail address and suitable identification before the remote control can be used. The above-mentioned code can be transmitted, for example, by e-mail. In this way, the owner will be informed later about the currently enabled communication devices and may revoke the releases if necessary. This in turn prevents unauthorized persons from accessing the video data and being able to control the motor vehicle.
  • Also, the portable communication device may include a camera. Then, the portable communication device may be configured to extract a face from an image captured by this camera and compare it with a reference face stored in the portable communication device. Thus, the operation of the maneuvering system can be released only for registered users, and it is prevented that unauthorized persons can start the application.
  • A motor vehicle according to the invention has an inventive shunting system.
  • The invention also relates to a portable communication device which includes an operating device and a control unit. The control unit is configured to receive an input made by an operator for releasing a shunting operation of a motor vehicle to the operating device and to wirelessly transmit a command to the motor vehicle based on this input to cause the shunting operation to be performed. The operating device has at least one actuating element, wherein the operating device is designed as a touch-sensitive display and the at least one actuating element is provided as a touch-sensitive switching region of the display. The control unit causes the maneuvering of the motor vehicle only as long as the operator keeps the actuation element actuated, so that after the actuation element has been released, the control unit causes the motor vehicle to stop.
  • An inventive method is designed for automatic maneuvering of a motor vehicle. By means of a control device on the vehicle control signals are delivered to a drive and / or steering device of the motor vehicle, so that an automatic shunting of the motor vehicle is carried out automatically. A portable communication device receives an input that an operator makes to release the shunting operation on an operating device of the portable communication device. The portable communication device transmits a command to the controller due to this input to cause the shunting operation to be performed. The operating device of the portable communication device has at least one actuating element, wherein the operating device is designed as a touch-sensitive display and the at least one actuating element is provided as a touch-sensitive switching region of the display. And the portable communication device causes the maneuvering of the motor vehicle only so long while the operator holds the actuator operated, and causes after releasing the actuating element, a stop of the motor vehicle.
  • The invention also includes a computer program which is designed to run on a portable communication device for carrying out the method according to the invention.
  • The preferred embodiments presented with reference to the maneuvering system according to the invention and their advantages apply correspondingly to the motor vehicle according to the invention, the portable communication device according to the invention, the method according to the invention and the computer program 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 maneuvering system according to an embodiment of the invention;
  • 2 a schematic representation of a touch-sensitive display of a mobile phone as a portable communication device, which is adapted to perform a method according to the invention.
  • In 1 is a schematic representation of a trained as a passenger car 1 illustrated, which has a maneuvering system, which for performing an autonomous or completely automatic parking operation of the motor vehicle 1 is trained.
  • The maneuvering system thus constitutes a parking assistance system in the exemplary embodiment. The maneuvering system comprises a control device 2 containing a microprocessor or digital signal processor 3 as well as a transmitting and receiving unit 4 having.
  • The control device 2 is with an in 1 only schematically illustrated drive and steering device 5 of the motor vehicle 1 electrically coupled. The drive and steering device 5 includes all necessary for performing a parking operation facilities of the motor vehicle 1 , as in particular a drive train, a brake system and a steering device. The control device 2 San controls the drive and steering device 5 give the effect of performing the autonomous parking operation.
  • The maneuvering system also includes sensors 6 attached to the circumference of the motor vehicle 1 arranged distributed on its outer surface. And that's the sensors 6 arranged so that parking spaces can be easily detected and detected. For example, a variety of sensors 6 on the front bumper of the motor vehicle 1 be arranged, and a variety of sensors 6 can also be attached to the rear bumper. The arrangement as well as the number of sensors 6 are in 1 merely exemplified. The sensors 6 may be ultrasonic sensors and / or optical sensors and / or radars.
  • Except the sensors 6 The maneuvering system also includes a plurality of cameras 7a to 7h which are adapted to detect light in a human-visible spectral range. A camera 7a is disposed in a left region of the rear bumper; a camera 7b is located in a right area of the rear bumper; a camera 7c is disposed in a left area of the front bumper; a camera 7d is disposed in a right area of the front bumper; a camera 7e is in the range of the left exterior mirror 8th arranged; a camera 7f is in the range of the right exterior mirror 9 arranged; a camera 7g is located in the area of the left C-pillar; and a camera 7h is located in the area of the right C-pillar. The cameras 7a to 7h each capture a surrounding area 21a to 21h of the motor vehicle 1 , overall, will be through the cameras 7a to 7h an entire environment or environment 22 of the motor vehicle 1 captured, ie it is through the cameras 7a to 7h a 360 ° image of the environment 22 won. The cameras 7a to 7h So capture the entire environment around the vehicle 1 around. This can be the detection areas 21a to 21h the individual neighboring cameras 7a to 7h overlap. The arrangement and the number of cameras 7a to 7h are in 1 merely exemplified. It can be provided, for example, that only one camera is centrally mounted on the rear and the front bumper. Optionally, it may also be provided that in each case three cameras or in each case only a single camera laterally on the side edges of the motor vehicle 1 are attached. It is also possible to use cameras with significantly wider coverage angles - even over 180 °.
  • The cameras 7a to 7h are with the control device 2 electrically coupled. The through the cameras 7a to 7h Recorded image data is sent to the signal processor 3 transmitted. The signal processor 3 So receives all the image data by the cameras 7a to 7h to be recorded. The signal processor 3 thus receives data representing an image over the entire 360 ° environment of the motor vehicle 1 include.
  • The maneuvering system also includes a mobile phone 10 , which is a portable communication device. The mobile phone 10 is a smartphone and is known to include a control unit, not shown, namely a digital signal processor. The mobile phone 10 has a touch-sensitive display 11 on, on the one hand has the function of an operating device and on the other hand, the function of an optical display device. The mobile phone 10 Also includes a non-illustrated transmitting and receiving device, which is designed for transmitting and receiving signals. Thus, the mobile phone 10 with the control device 2 of the motor vehicle 1 communicate, bidirectionally. This data transmission preferably takes place according to the WLAN communication standard (WiFi) or another suitable communication standard.
  • As already stated, the control device 2 of the motor vehicle 1 an autonomous or completely automatic parking process of the motor vehicle 1 carry out. After detecting a parking space using the sensors 6 the signal processor calculates 3 a parking lot, which is the motor vehicle 1 must travel to reach an end position in the detected parking space. After calculating this parking track then the actual parking operation can be started. This shunting can be a driver of the motor vehicle 1 initiate, namely using the mobile phone 10 , The mobile phone 10 can namely a command 12 to the controller 2 which initiates automatic parking. The driver can therefore next to the motor vehicle 1 stand and the automatic parking process from outside the vehicle 1 observe.
  • There are also signals 13 with those of the cameras 7a to 7h obtained image data and / or image data calculated therefrom by the control device 2 to the mobile phone 10 Posted. The of the control device 2 to the mobile phone 10 transmitted image data can be transmitted through one of the cameras 7a to 7h or through multiple cameras 7a to 7h obtained image data and / or from image data of one of the cameras 7a to 7h or multiple cameras 7a to 7h be calculated or derived image data. So can image data of any combination of the cameras 7a to 7h and / or from these Image data calculated images to the mobile phone 10 be transmitted. For example, such images can be sent to the mobile phone in real time 10 which gives an overall 360 ° representation of the environment 22 of the motor vehicle show. In this case, the image data of all cameras 7a to 7h summarized and to the mobile phone 10 transmitted. It can also be provided that the control device 2 such image data to the mobile phone 10 which transmits only a selected area of the entire environment 22 depict.
  • On the touch-sensitive display 11 of the mobile phone 10 become two separate and spaced apart switching areas 14 . 15 provided, which serve as actuators for releasing the automatic shunting operation. To the motor vehicle 1 to park automatically, the driver needs the two switching ranges 14 . 15 simultaneously, with one between the switching areas 14 . 15 lying surface 16 of the display 11 , and in particular the entire remaining area of the display 11 , not to be touched. Will the two switching ranges 14 . 15 touched simultaneously, so transmits the mobile phone 10 to the controller 2 the command 12 due to which the automatic parking procedure is initiated and carried out. However, the motor vehicle will 1 only as long as the driver moves the two switching ranges 14 . 15 touched, at the same time, without the intermediate surface 16 to touch. Will be at least one of the switching ranges 14 . 15 released, the motor vehicle stops 1 promptly and automatically. Thus, the driver thus has the opportunity to interrupt the automatic parking process at any time, namely by simply releasing one of the two switching areas 14 . 15 , Such a procedure is particularly safe and allows interruption of the parking process when the concentration of the driver is distracted from the automatic parking process.
  • The mobile phone 10 also has a camera 16 on, by means of which an image of the driver's face can be recorded and compared with a stored reference image.
  • The switching ranges 14 . 15 only then on the display 11 provided when the control device 2 a ready signal to the mobile phone 10 has transmitted which information to the mobile phone 10 implies that a suitable parking space has been found and a suitable parking space has been calculated. Only then is the automatic parking process possible.
  • Before initiating the parking operation and during the automatic parking operation, the control device transmits 2 also the mentioned image data to the mobile phone 10 ,
  • Referring to 2 will be on display 11 a plan view of the entire motor vehicle 1' as well as its surroundings 22 ' displayed in real time. On the display 11 become real-time images 17 displayed, so a live video. The cameras 7a to 7h namely, continuously capture the entire environment 22 to the motor vehicle 1 around.
  • Before initiating automatic parking, the display may show 11 a relatively large surrounding area around the motor vehicle 1' around, so possibly also a parking space 24 is shown as in 2 shown. Although not explicit 2 shows, while the image of the motor vehicle 1' centered on the display 11 being represented. The driver is also enabled by appropriate gestures on the touch-sensitive display 11 to change the zoom factor and the surrounding area 22 ' to move. After initiating the automatic parking process, the mobile phone 10 even those area of the environment 22 ' Zoom in, in the direction of the motor vehicle 1' is moved. Thus, on the display 11 the relevant environmental area 22 ' displayed.
  • The future direction of movement of the motor vehicle 1 can on the display 11 be signaled even before the initiation of the parking process. For this purpose, for example, tire marks 18 - the expected trajectory - on the display 11 are displayed. Additionally or alternatively, if the motor vehicle 1 parked backwards with a steering angle to the right, the left side flank 19 as well as the rear edge 20 opposite the remaining contour of the motor vehicle 1' be highlighted. The driver is thus informed about which areas he has to concentrate on. Additionally or alternatively, the end position of the motor vehicle 1' in the parking space 24 be presented as in 2 with a dashed line shown vehicle 25 you can see.
  • A method according to an embodiment of the invention is described in more detail below: Someone buys a motor vehicle 1 with the functionality "maneuvering assistant". According to instructions in the manual visited the owner of the motor vehicle 1 a certain website, there sees the list of supported mobile phones 10 , identifies itself as the owner of a maneuvering system with a specific serial number, reads and accepts the terms of use and provides a valid email address. He gets an email with an owner code and a driver code. The owner loads the appropriate application on his mobile phone 10 and installed these. He starts the application, selects the "connect to car" function and enters the owner code received by e-mail in order to establish the connection between his motor vehicle 1 and this mobile phone 10 to allow. He gets an e-mail with the information that a particular mobile phone 10 for the control of his motor vehicle 1 was unlocked. From now on, the application or the computer program on his mobile phone 10 used by anyone to contact the motor vehicle 1 take.
  • The owner or another person authorized by him can also use the application on another mobile phone 10 start. Then select the "New User" function, enter the driver code, allow the application to save a picture of the face of this new user, read and accept the terms of use. From now on, the application on this mobile phone can be used by this user to contact the motor vehicle and control automatic maneuvering.
  • The user drives with the motor vehicle 1 , activates the preparation of an automatic maneuvering process - for example by a voice input "I want to park" - receives confirmation from the maneuvering system (eg the message "Ready for parking"), stops the motor vehicle 1 , gets out of this and closes the door and starts the application on the mobile phone. There is - as in 2 shown - a real-time image 17 of the motor vehicle 1' from above with the current vehicle environment 22 ' to see, as well as graphic elements, which indicate, on which way and where the shunting process will lead. This can, for example, the mentioned tire marks 18 and / or the highlighted edges 19 . 20 be.
  • Also, in the real-time pictures 17 also in the area 22 located objects are highlighted, and in particular the moving obstacles. For example, the object contours are highlighted graphically here.
  • At first, there is a larger surrounding area 22 ' to the motor vehicle 1' represented around, the illustrated motor vehicle 1' itself is therefore relatively small, so that, if appropriate, the target position of the maneuvering is visible. There then takes place an automatic zoom, the area shown is thus smaller and details are shown larger, for example, the imaged surrounding area 22 ' only in the direction of travel up to 2.5 m distance from the vehicle 1' and contrary to the direction of travel only to 1 m distance from the motor vehicle 1' will be shown.
  • There is also a note explaining that the user assumes responsibility for maneuvering the operation of this application. This must be done by tapping or touching a corresponding button on the display 11 be accepted.
  • By means of the camera 16 Also, a picture of the user's face is taken. The mobile phone 10 then checks if this image matches a stored reference image or not. If the application is in the captured image of the camera 16 recognizes the face of the registered user, the two switching areas 14 . 15 to enable automatic maneuvering.
  • If the situation appears harmless to the user, he touches the two switching areas with two fingers 14 . 15 , As long as he does this, the motor vehicle moves 1 automatically, and it will display text information similar to "Release to Stop!". The video image or the real-time images 17 and the graphic overlays are dynamically updated. If the user has one or both fingers on the display during the automatic maneuvering process 11 takes or the display 11 at a location other than the switching areas 14 . 15 touched or with the help of an acceleration sensor of the mobile phone 10 measured acceleration values exceed a predefined limit value or the data connection to the motor vehicle 1 is disturbed or the maneuvering system detects obstacles in dangerous proximity or other disturbances occur, then the motor vehicle 1 stopped. Interrupted automatic shunting may continue if none of the above impediments persists.
  • When the target position is reached or for other reasons, no further automatic maneuvering is possible, the motor vehicle 1 stopped, and the two switching ranges 14 . 15 disappear. When the data connection to the motor vehicle 1 is interrupted because, for example, the distance between the motor vehicle 1 and the mobile phone 10 is too big or the motor vehicle 1 turned off, then the real-time image disappears 17 ,
  • 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
    • DE 19817142 B4 [0002]
    • DE 102009041587 [0003]

Claims (14)

  1. Shunting system for automatic maneuvering of a motor vehicle ( 1 ), with an on-board control device ( 2 ), which is adapted to control signals (S) to a drive and / or steering device ( 5 ) of the motor vehicle ( 1 ) and thereby an automatic maneuvering of the motor vehicle ( 1 ) and with a portable communication device ( 10 ), which is adapted to an input that an operator to release the shunting operation on an operating device ( 11 ) of the portable communication device ( 10 ) and to receive a command (due to this input) ( 12 ) to the control device ( 2 ) to cause the shunting operation to be carried out, characterized in that the operating device ( 11 ) of the portable communication device ( 10 ) at least one actuating element ( 14 . 15 ) wherein the operating device ( 11 ) is designed as a touch-sensitive display and the at least one actuating element ( 14 . 15 ) is provided as a touch-sensitive switching area of the display and the portable communication device ( 10 ) is arranged to maneuver the motor vehicle ( 1 ) only while the operator controls the at least one actuator ( 14 . 15 ) and after releasing the actuator ( 14 . 15 ) stopping the motor vehicle ( 1 ).
  2. Rangiersystem according to claim 1, characterized in that the portable communication device ( 10 ) is designed as a mobile phone.
  3. Rangiersystem according to claim 1 or 2, characterized in that the operating device ( 11 ) of the portable communication device ( 10 ) two actuators ( 14 . 15 ) and the portable communication device ( 10 ) is arranged to maneuver the motor vehicle ( 1 ) only while the operator controls the two actuators ( 14 . 15 ) is actuated simultaneously, and after releasing at least one of the actuating elements ( 14 . 15 ) stopping the motor vehicle ( 1 ).
  4. Rangiersystem according to claim 3, characterized in that the portable communication device ( 10 ) is arranged to maneuver the motor vehicle ( 1 ) only on the condition that touching an area ( 16 ) of the display between the two switching areas ( 14 . 15 ) is omitted.
  5. Rangiersystem according to any one of the preceding claims, characterized in that the portable communication device ( 10 ) is arranged by the vehicle-mounted control device ( 2 ) to receive a ready signal, by which a readiness of the control device ( 2 ) is signaled to perform the shunting the portable communication signal, and only after receiving the ready signal the at least one switching area ( 14 . 15 ) for releasing the shunting operation on the touch-sensitive display ( 11 ).
  6. Rangiersystem according to any one of the preceding claims, characterized in that the portable communication device ( 10 ) is arranged with the provision of at least one switching area ( 14 . 15 ) also display a warning message on the display, which signals that the switching range ( 14 . 15 ) moving a real motor vehicle ( 1 ) causes.
  7. Rangiersystem according to any one of the preceding claims, characterized in that the maneuvering system is a parking assistance system, which for autonomous parking of the motor vehicle ( 1 ) is formed in a parking space.
  8. Shunting system according to one of the preceding claims, characterized in that - the shunting system at least one in or on the motor vehicle ( 1 ) arranged camera ( 7a to 7h ) and from the camera ( 7a to 7h ) and / or image data obtained therefrom by image processing to the portable communication device ( 10 ) and - the portable communication device ( 10 ) is set up on a display, in particular on the touch-sensitive display ( 11 ), Real-time images ( 17 ) based on the received image data.
  9. Rangiersystem according to claim 8, characterized in that the portable communication device ( 10 ) is set up on the display ( 11 ) Real-time images ( 17 ) covering at least a portion of the motor vehicle ( 1' ) and a surrounding area ( 22 ' ) of the motor vehicle ( 1 ), with information ( 18 . 19 . 20 ) indicate in which direction the motor vehicle ( 1 ) with respect to the surrounding area ( 22 ) when actuating the actuating element ( 14 . 15 ) will move.
  10. Shunting system according to claim 8 or 9, characterized in that the portable communication device ( 10 ) is set up on the display ( 11 ) Real-time images ( 17 ), which is a top view of at least one region of the motor vehicle ( 1' ) and a surrounding area ( 22 ).
  11. Rangiersystem according to any one of claims 8 to 10, characterized in that the portable communication device ( 10 ) is adapted to provide a zoom factor of the displayed real-time images ( 17 ): - on the basis of an input by the operator on the operating device ( 11 ) and / or - automatically during shunting.
  12. Motor vehicle ( 1 ) with a maneuvering system according to one of the preceding claims.
  13. Portable communication device ( 10 ) with an operating device ( 11 ) and with a control unit that is set up for input by an operator for releasing a shunting operation of a motor vehicle ( 1 ) on the operating device ( 11 ) and to receive a command (due to this input) ( 12 ) to the motor vehicle ( 1 ) to cause the shunting operation to be carried out, characterized in that the operating device ( 11 ) at least one actuating element ( 14 . 15 ) wherein the operating device ( 11 ) is designed as a touch-sensitive display and the at least one actuating element ( 14 . 15 ) is provided as a touch-sensitive switching area of the display and the control unit of the portable communication device ( 10 ) is arranged to maneuver the motor vehicle ( 1 ) only while the operator is operating the actuator ( 14 . 15 ) and after releasing the actuator ( 14 . 15 ) stopping the motor vehicle ( 1 ).
  14. Method for automatically maneuvering a motor vehicle ( 1 ), in which an on-board control device ( 2 ) Control signals (S) to a drive and / or steering device ( 5 ) of the motor vehicle ( 1 ) and thereby an automatic maneuvering of the motor vehicle ( 1 ) is carried out automatically, and a portable communication device ( 10 ) an input that an operator for releasing the shunting operation at an operating device ( 11 ) of the portable communication device ( 10 ) and receives a command (due to this input) 12 ) to the control device ( 2 ) transmits wirelessly to cause the shunting operation to be carried out, characterized in that the operating device ( 11 ) of the portable communication device ( 10 ) at least one actuating element ( 14 . 15 ) wherein the operating device ( 11 ) is designed as a touch-sensitive display and the at least one actuating element ( 14 . 15 ) is provided as a touch-sensitive switching area of the display and the portable communication device ( 10 ) maneuvering the motor vehicle ( 1 ) only while the operator is operating the actuator ( 14 . 15 ) and after releasing the actuator ( 14 . 15 ) the car ( 1 ) is stopped.
DE102012007984A 2011-09-13 2012-04-20 Shunting system and method for automatically maneuvering a motor vehicle, motor vehicle, portable communication device and computer program Withdrawn DE102012007984A1 (en)

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DE102011112949 2011-09-13
DE102011112949.2 2011-09-13
DE102012007984A DE102012007984A1 (en) 2011-09-13 2012-04-20 Shunting system and method for automatically maneuvering a motor vehicle, motor vehicle, portable communication device and computer program

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EP2801511A3 (en) * 2013-05-10 2014-11-19 Huf Hülsbeck & Fürst GmbH & Co. KG System for parking a motor vehicle in a parking space with a communication field attached to the motor vehicle
WO2015007673A1 (en) * 2013-07-17 2015-01-22 Bayerische Motoren Werke Aktiengesellschaft Vehicle system and method for automated control of at least one safety-relevant function of a vehicle
DE102013217445B4 (en) 2013-08-07 2019-07-18 Volkswagen Aktiengesellschaft Controlling an automatic driving of a vehicle
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DE102013217445A1 (en) 2013-08-07 2015-02-12 Volkswagen Aktiengesellschaft Controlling an automatic driving of a vehicle
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DE102014015655A1 (en) * 2014-10-22 2016-04-28 Audi Ag Method for detecting a user and motor vehicle monitoring an automated driving maneuver
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WO2016185151A1 (en) * 2015-05-20 2016-11-24 Valeo Comfort And Driving Assistance Method for interactive control of the automatic parking of a motor vehicle by means of a mobile terminal
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GB2534471A (en) * 2015-12-22 2016-07-27 Daimler Ag Method for operating a motor vehicle by remote control
FR3046859A1 (en) * 2016-01-19 2017-07-21 Valeo Comfort & Driving Assistance Method for securing a maneuver to be applied to a motor vehicle
WO2017125514A1 (en) * 2016-01-19 2017-07-27 Valeo Comfort And Driving Assistance Method for securing a manoeuvre to be applied to a motor vehicle
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US10372132B2 (en) 2016-12-12 2019-08-06 Apple Inc. Guidance of autonomous vehicles in destination vicinities using intent signals
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