DE102013013568A1 - Lane keeping assistance system and method for lane keeping a motor vehicle - Google Patents

Abstract

The present invention relates to a lane keeping assistance system for a motor vehicle, comprising means for automatic lane keeping in a reverse drive. Furthermore, the present invention relates to a method for lane keeping of a motor vehicle.

Description

FIELD OF THE INVENTION

The present invention relates to a lane keeping assistance system and a tracking method.

TECHNICAL BACKGROUND

Modern motor vehicles include a variety of assistance systems to assist the driver in controlling the motor vehicle. These assistance systems increase the safety and comfort of driving a motor vehicle.

The assistance systems also include so-called lane keeping systems (eg "lane-keeping" or "lane-centering"), which are intended to assist the driver on motorway journeys or longer overland journeys at higher speeds. The German patent application 10 2011 002 911 A1 describes such a lane keeping system, which should assist the driver in keeping a lane. In such a lane keeping system, the traffic space is detected and evaluated immediately in front of the motor vehicle by means of a video camera. From the lane course thus detected, a desired trajectory is determined, which is to follow the motor vehicle. In the case of deviation from the desired trajectory, the lane keeping system intervenes, for example, by applying a steering torque or by braking on one or more wheels.

In modern motor vehicles sometimes the rear view is limited by a small rear window, a high trunk, people in the font, a darkened or a locked rear window. Further, when reversing through the steering at the rear in the direction opposite to the direction of travel front axle corrections to the direction always mirrored to the steering movement and in addition to a lateral Ausscheren the front axle. Overall, therefore, the reversing, especially in long narrow streets, (blind) alleys, driveways or the like, sometimes felt difficult.

SUMMARY OF THE INVENTION

Against this background, the present invention has the object to provide an improved, especially in its function extended lane keeping assistance system.

This object is achieved by a lane keeping assistance system having the features of patent claim 1 and / or by a method having the features of patent claim 12.

Accordingly, according to a first aspect of the invention:
A lane keeping assistance system for a motor vehicle, comprising means for automatically lugging in a reverse drive, comprising determining means for determining a rearward lane and steering means for steering assistance or for automatically steering the motor vehicle in reverse using the determined lane.

A method for lane keeping a motor vehicle, in which a trajectory in the reverse direction is determined for a reverse drive and the vehicle is automatically moved during the reversing along the determined trajectory.

The idea underlying the present invention is that, in a motor vehicle equipped with a lane keeping system, not only tracking in a straight ahead (forward) but also in a more or less long reverse driving can be assisted.

Straight ahead driving in the context of the present invention is understood to mean driving in the normal direction of vehicle travel. As a rule, the steering front axle of the motor vehicle is located in front in the direction of travel. In a reverse drive is accordingly the steering front axle in the (rear) driving direction rear end of the motor vehicle, which means a more unstable driving situation because of the lateral shearing of the front axle when steering.

With the present invention, an assistance system is provided, which makes the reverse drive by automatic lane keeping safer and more comfortable. Lane keeping in a reverse drive is supported by the lane keeping assistance system and / or even executed fully automatically.

According to one aspect of the invention, the driver in particular has control over the accelerator and brake pedal and thus continues to take responsibility for the motor vehicle, while the determined by means of the determination device rearward track means steering device for steering assistance or for automatically steering the motor vehicle during reverse travel is used. Thus, the driver specifies in particular the speed itself, which is usually perceived as comfortable and familiar. An advantage of the invention is thus also that the driver is supported in the reverse drive in the demanding task of steering and himself For example, it may be better to observe the surroundings of the motor vehicle or the path to be traveled and to choose the correct driving speed for reversing.

Advantageously, according to one aspect of the invention, for example, it is avoided that the motor vehicle travels too close to a lateral boundary or a lateral obstacle when reversing. Due to the sideways pivoting of the front axle when steering in reverse, the driver is often forced in such a situation to move forward again a bit to maneuver the vehicle away from the lateral boundary. This costs time and fuel and can in addition lead to misunderstandings on the road when other vehicles are waiting for the reversing vehicle. With a lane departure warning system according to an aspect of the invention, such situations are avoided since a predetermined lane can be maintained when reversing.

In the present invention, it is particularly advantageous if the lane-tracking assistance system on the motor vehicle already uses existing resources anyway. The present invention provides by a novel interaction and a novel control of vehicle components a very advantageous additional functionality.

Furthermore, an existing vehicle system can also be used to execute components of the lane keeping assistance system designed as a program module. Thus, advantageously no additional hardware is needed. The vehicle system may be, for example, an electronic brake system and / or a camera system. The functionality of the components of the lane departure warning system, in particular a computing device and / or recording device and / or control device is thereby imaged in a program module which provides the functionality when it is executed by a computing device, such as a processor or a controller.

Advantageous embodiments and further developments will become apparent from the other dependent claims and from the description with reference to the figures of the drawing.

In a preferred embodiment of the invention, the steering device has at least one adjusting device for adjusting the steering angle of the motor vehicle and / or for applying a steering torque. By means of the adjusting device, a supported steering or an automated steering can be realized. For assisted steering while a torque interface is provided which provides a certain supportive steering torque on the steering wheel when steering available. In automated steering, which is also referred to as autonomous steering, an angle interface to the adjusting device is provided, which steers the motor vehicle automatically by specifying a predetermined steering angle. Advantageously, an automatic and / or assisted steering is thus made possible for lane keeping in a reverse drive.

According to an embodiment of the invention, the determining means comprises recording means for recording path data of a forward-traveling lane and for determining a lane to be reversed with the motor vehicle on the basis of the route data. Thus, when driving forward, a track of a route can be recorded and subsequently backtracked backwards as well. For example, when driving forwards, either a track of the last route can be constantly recorded or the recording of a forward track can be started automatically. Then, the driver can be favorably supported by the lane keeping assistance system when reversing this lane.

According to a preferred embodiment, the determination device has at least one sensor for detecting position information about the rear environment of the motor vehicle and optionally or additionally on the absolute position of the motor vehicle and also optionally or additionally on a relative to at least one reference point determined position of the motor vehicle. Thus, the sensory detection of position information is advantageously made possible. Thus, for example, the automatic recording of path data as a function of sensor signals or sensory detected events can be started. A sensor for detecting position information about the rear environment of the motor vehicle may be, for example, a camera, a radar sensor or an ultrasonic sensor. The absolute position of the motor vehicle can be detected, for example, by a GPS sensor. A sensor for determining a relative to at least one reference point position of the motor vehicle, for example, be a camera in combination with an image processing software. Furthermore, for example, thermal imaging cameras are conceivable, wherein the reference point may be a heat source. With such equipment, it is possible to provide the lane keeping assistance system with automatic recording by the recording means. For example, the recording may be automatically started when a reconciliation of map data with the current GPS position of the motor vehicle indicates that the motor vehicle could reach or reach a scenario in which reverse travel is likely. For example, such a scenario could be entering a dead end, turning off a main road into a driveway, or reaching a user-specified map area or GPS position. Furthermore, monitoring of a track determined from recorded path data when reversing through the position data of the sensors is also preferably provided. Further, the rear environment of the motor vehicle is monitored by the sensors when reversing, for example, with respect to suddenly emerging obstacles. Furthermore, the position of a fixed point on the motor vehicle can be determined or derived from it by the evaluation of the position data.

According to a further preferred embodiment, the determination device has a computing device for calculating a track to be traveled from the detected position information. Thus, optionally or in addition to a track determined from the recorded path data, an alternative track can be calculated, which is calculated from the detected position information and / or derived therefrom. Thus, a track can advantageously be made available, even if there is no recording of route data or the recorded route data is not usable or does not lead to a meaningful passable track. Furthermore, it is possible to compare one of a plurality of possible tracks, for example a track driven when entering a dead end, with a track calculated using the rear vehicle sensors and the evaluation of the data acquired therewith and to select the track determined to be more advantageous in this comparison.

In an advantageous embodiment, the device has an output device which displays a selection of a plurality of possible tracks, and an input device which enables selection of the desired track. In particular, the output device displays the selection to a driver of the motor vehicle and the input device also enables the selection of the desired track to a driver of the motor vehicle. Thus, a man-machine interface is advantageously provided, which gives the driver the opportunity to select from alternative tracks by displaying and selecting a track. The alternative tracks are determined as described above. The output device may be formed integrally with the input device, for example in the form of a touchscreen. The different tracks can then be displayed on the touch screen and selected using the touch function. Furthermore, a camera image can be displayed on the touchscreen, on which the driver can select or select a destination point or reference point. In particular, the displayed tracks can also be superimposed with the camera image in order to make the display as vivid as possible or ergonomic.

According to a further preferred embodiment, the steering device has a regulating device for regulating a position of a fixed point on the motor vehicle determined on the basis of the sensory detected position of the motor vehicle. Thus, it can be ensured that the position of the fixed point corresponds to a predetermined position, in particular the position predetermined by the track. In the event of a deviation, the control device automatically performs a correction to correct the position of the fixed point on the track.

According to a preferred embodiment, the control device is in communication with the sensor and the adjusting device. Furthermore, the recording device preferably has a data acquisition device and a GPS receiver with position detection and map data link in a memory and / or wheel speed sensors and / or steering angle sensors. Thus, the control device can particularly advantageously retrieve the data of the track to be traveled recorded by means of the GPS receiver with position detection and map data link and / or the wheel speed sensors and / or the steering angle sensors and align with the currently determined position data. Thus, an online monitoring and control of the position of a fixed point of the motor vehicle on the basis of the track to be traveled is possible.

According to an advantageous embodiment, the sensor has at least one camera, ultrasound sensor, radar sensor and / or GPS receiver. Thus, the position can advantageously be determined absolutely or relative to a reference point.

According to an advantageous embodiment, a hand sensor is provided on the steering wheel of the motor vehicle for detecting hands resting on the steering wheel. Such sensors are also referred to as "hands-off detection". Furthermore, the control device preferably interacts with the hand-held sensor and the adjusting device in such a manner that when the hands are in contact, the steering torque can be varied by the adjusting device as the manipulated variable and the steering angle can be changed as the manipulated variable by the adjusting device when the hands are not in contact. Thus, the driver is advantageously supported by hands, while steering is done automatically when not in hands. Thus, the driver, depending on preference, when reversing his hands from the steering wheel take and leave the steering work entirely the control and adjustment or supported by the control and adjustment when steering.

In an advantageous embodiment of a method according to one aspect of the invention, a step of determining the position of the motor vehicle and / or a track to be traveled backwards with a fixed point of the motor vehicle is absolutely based on GPS position detection and stored or retrieved map data and / or relative sensory detected rearward environment and the distance to a reference point provided. Thus, the position data can be detected absolutely and reproducibly by means of GPS position detection. Furthermore, alternatively or additionally, a relative position determination is made possible relative to a reference point.

According to a further advantageous embodiment of the method, a step of determining a track to be traveled backwards with a fixed point of the motor vehicle is provided on the basis of a recorded forward track which is recorded during a forward movement. The recording is recorded in particular on the basis of GPS position detection and optional or additional wheel speed sensors and / or steering angle sensors and recorded by means of a recording device. Thus, a backward-to-travel lane is easily recorded in forward travel and therefore can serve as a reliable lane for reversing the same.

According to a further embodiment of the method, a step of providing the selection of a target point of the reverse drive and / or one of a plurality of determined possible rearward tracks prior to a reverse drive, in particular when engaging the reverse gear, is provided. Thus, the driver of a motor vehicle is advantageously given the opportunity to select either a destination point for the reverse drive or a predetermined track for the reverse drive. A driver can therefore advantageously choose the alternative desired by him.

In a further preferred embodiment, a step of detecting the presence of hands on the steering wheel of the motor vehicle is provided, wherein in the case of detected present hands an automatic steering assistance takes place or in the case of detected non-applied hands an automated steering. Thus, the driver, depending on preference, take the hands off the steering wheel when reversing and leave the steering work entirely to the motor vehicle or leave hands on the steering wheel and are supported only by the motor vehicle. Preferably, this step is continuously repeated during a reverse drive, so that the driver can decide, for example, while driving to let go of the steering wheel. It would also be conceivable to be able to change between the automatic steering modes (assisted and automatic steering) and the driver can intervene or steer under automatic steering for a short time and then release again for automatic steering without having to interrupt the procedure ,

In a further preferred embodiment of the method selbiges is aborted in the presence of a termination criterion. Such a termination criterion may be, for example, a detection of hands on the steering wheel in case of inherited automated steering, if a change of the automatic steering modes is not provided. Furthermore, an increased hand torque on the steering wheel in the case of a supported steering can represent a termination criterion. Other termination criteria could include clutch or brake application, engagement of a forward gear, a keystroke on the input unit, the presence of insufficient position, sensor, or path data, sensory detection of an obstacle, or the like.

The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations, not explicitly mentioned, of features of the invention described above or below with regard to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.

CONTENT OF THE DRAWING

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawing. It shows:

1A a typical driving situation of a motor vehicle, in which a lane keeping assistance system and / or a method for lane keeping in reverse drive are used;

1B the driving situation 1A with a lane departure warning system with sensors on the motor vehicle,

2A a schematic structure of the architecture of a lane departure warning system;

2 B 1 is a schematic representation of an architecture of a lane departure warning system according to a further exemplary embodiment,

3 a schematic representation of an electronic vehicle system and a lane keeping assistance system;

4 a control circuit as found in a lane departure warning system according to an embodiment of the invention;

5 a schematic representation of a method for tracking according to an embodiment of the invention;

6 a schematic representation according to another embodiment of a method for tracking.

The accompanying figures of the drawing are intended to convey a further understanding of the embodiments of the invention. They illustrate embodiments and, together with the description, serve to explain principles and concepts of the invention. Other embodiments and many of the stated advantages will become apparent with reference to the drawings. The elements of the drawings are not necessarily shown to scale to each other.

In the figures of the drawing are the same, functionally identical and same-acting elements, features and components - unless otherwise stated - each provided with the same reference numerals.

DESCRIPTION OF EMBODIMENTS

1A illustrates a typical driving situation of a motor vehicle, in which a lane keeping assistance system 20 and / or a method for lane keeping when reversing are used. This is a motor vehicle 1 is along a track 6 moved forward to a dead end. Now it is in the situation that the dead end is too narrow to turn around. Thus, the motor vehicle has to drive backwards out of the dead end. In this situation, the lane keeping assistance system 20 help make this reverse drive safer and more comfortable for the driver. This is done by the in 1A schematically illustrated device E allows for automatic lane keeping in a reverse drive.

Thus, the driver is assisted in the reverse drive in particular when steering, since the device is designed for automatic tracking. Thus, the driver can better concentrate on observing the environment of the motor vehicle or the path to be traveled. Furthermore, the driver preferably retains control of the accelerator and brake pedals. Thus, he continues to take responsibility for the motor vehicle and can choose the right driving speed for reversing. Tracking while reversing is supported by the lane keeping assistance system or also carried out automatically. Furthermore, a combination or alternation of supported and automatic tracking is possible.

In such a dead end as they are in 1A is shown, it can easily happen during a reverse drive that the motor vehicle moves too close to a lateral boundary or a side obstacle of the dead end. Due to the fact that the steering axis of the motor vehicle is the front axle, which is in the rear when driving in the direction of travel, the motor vehicle necessarily deflects laterally when steering in reverse. Thus, the driver of a motor vehicle, when driven too close backwards to a lateral or lateral obstacle, is often forced to drive forward again to maneuver the vehicle away from the lateral boundary or sideways obstacle. With the lane keeping assistance system 20 A device E is provided which automatically keeps the lane in reverse. Thus, it is advantageously avoided, for example, that the motor vehicle travels too close to a lateral boundary or a lateral obstacle when reversing.

1B shows the driving situation 1A with a lane keeping assistance system 20 according to a further embodiment. The lane keeping assistance system 20 has a sensor S on. In the illustrated embodiment, this sensor S comprises a camera schematically indicated in the form of its field of vision 2 as well as with a sensor field schematically indicated ultrasonic sensors 3 and a GPS receiver symbolized with schematically indicated GPS signals 4 , The camera 2 , the ultrasonic sensors 3 and the GPS receiver 4 are for detecting position information or information about the rear environment of the motor vehicle and optionally or additionally on the absolute position of the motor vehicle or the relative position of the motor vehicle relative to a reference point R formed. Further, on the motor vehicle 1 a fixed point 8th present, which represents the position of the motor vehicle when tracking and is used to control the position of the motor vehicle.

2A shows a schematic architecture of the lane keeping assistance system 20 , The lane keeping assistance system 20 comprises at least one sensor S, a computing device 22 , one recording device 5 , an input and / or output device 21 , a control device 7 and an adjusting device 12 ,

The at least one sensor S detects position information about the rear environment of the motor vehicle 1 and / or the absolute position of the motor vehicle 1 and / or a relative position relative to a reference point R of the motor vehicle. This position information is sent to the computing device 22 to hand over.

The computing device 22 is designed to be from the detected position information a track to be traveled 6 to calculate.

The recording device 5 is adapted to record path data of a forward-driven lane and one with the motor vehicle 1 backward to be traveled to track based on the path data to determine. The information thus determined for a track to be traveled backwards is likewise transferred to the computing device.

The computing device 22 transfers the information about the track calculated from the position information and the track determined from the route data to the input and / or output device 21 which is adapted to display a selection of several possible tracks and to enable a selection of the desired track. In particular, the selection is displayed to and selected by a driver. The output device and input device then transmits the selection back to the computing device 22 , Which selbige selected track to the control device 7 passes.

The control device regulates the basis of the sensory detected position of the motor vehicle 1 certain position 8th' of the fixed point 8th on the motor vehicle. This sensory detected position is preferably constantly detected by the at least one sensor and transmitted to the computing device, which in turn out the position 8th' determined the fixed point and passes as a control variable to the control device. In addition, the at least one sensor can also constantly monitor the rear environment for obstacles that occur.

The adjusting device 12 is adapted to the steering angle ( 9 ) of the motor vehicle and / or a steering torque ( 9 ' ). The steering angle ( 9 ) and / or the steering torque ( 9 ' ) set the manipulated variable for the control device 7 represents.

The control device 7 is about the computing device 22 in communication with the sensor. Furthermore, she stands with the adjustment 12 in communication connection. In this way, the control device 7 the position of the fixed point as a controlled variable with the steering angle ( 9 ) and / or the steering torque ( 9 ' ) as the manipulated variable and the track to be driven as a reference variable when reversing regulate, whereupon in relation to below 4 will be discussed in more detail.

2 B shows an architecture of a lane departure warning system according to another embodiment. This embodiment provides a recording device 5 which is used to record path data 29 is trained. It has a data acquisition device for this purpose 23 with a memory 28 on. In the store 28 become the route data 29 saved. To capture the path data is a GPS receiver 4 , Wheel speed sensors 25 and steering angle sensors 26 intended.

The at least one sensor S also has a GPS receiver in this exemplary embodiment 4 , as well as a camera 2 , Ultrasonic sensors 3 , a radar sensor 24 as well as lateral ultrasonic sensors 27 on. These capture position data 30 which are in the computing device 22 be used to determine a track. The recording device 5 determined from the acquired path data 29 another track, which was driven on the forward drive. The from the route data 29 certain track and that from the position data 30 calculated tracks are sent to the input and / or output device 21 to select a track 6 surrender as above regarding 2A described. The selected track 6 is then to the control device 7 to hand over. Furthermore, the current position is steadily increasing 8th' of the fixed point 8th that of the computing device 22 from the position data 30 is derived, to the control device 7 to hand over.

Furthermore, a hand sensor 31 provided, which information to the control device 7 to provide whether hands on the steering wheel of the motor vehicle or not. Depending on it, the controller uses 7 the steering angle 9 by means of an angle interface as a manipulated variable or a steering torque 9 ' by means of a torque interface as a manipulated variable, which is described below with respect to 6 will be discussed in more detail. Ultimately then becomes a steering angle 9 or a steering torque 9 ' to the adjustment 12 pass, which according to a steering angle 9 adjusts or a steering torque 9 ' applies.

3 shows an electronic vehicle system 40 and the lane keeping assistance system 20 according to the embodiment 2A , The electronic vehicle system 40 performs a vehicle function. For example, the electronic vehicle system may be an electronic brake control system or a camera system. It can, however be any other kind of electronic vehicle system. According to this embodiment, the functionality of the computing device 22 , the recording device 5 and the control device 7 mapped in a program module, which in the electronic vehicle system 40 is stored and the respective functionality of the computing device 22 , or the recording device 5 and the control device 7 when provided by an unillustrated computing means of the electronic vehicle system 40 is performed. For example, a multitasking vehicle operating system and a vehicle bus system may be provided for this purpose, which are compatible with the electronic vehicle system and the other components of the lane keeping assistance system 20 is in communication via the vehicle bus. These further components are in the illustrated embodiment the at least one sensor S, the input unit or output unit 21 as well as the adjusting device 12 , Alternatively, of course, in addition, the components of the lane keeping assistance system 20 according to the embodiment 2 B or a selection of the components shown therein.

4 shows a control loop 50 the control device 7 , This has the track as a reference variable 6 , as the manipulated variable the steering angle 9 and / or the steering torque 9 ' and as a controlled variable the position 8th' of the fixed point 8th on. The track 6 is initially with the position 8th' adjusted. This results in a deviation 10 which in the regulator 11 in a new steering angle 9 or a new steering torque 9 ' is derived. The new steering angle 9 or the new steering torque 9 ' is then to the adjustment 12 passed, which together with the motor vehicle 1 and the at least one sensor S forms a controlled system. Here, the new steering angle leads 9 or the new steering torque 9 ' to a change in the position of the motor vehicle 1 which detects via the at least one sensor S based on position information and therefrom by means of the computing device 22 a position 8th' of the fixed point 8th on the motor vehicle 1 is determined. This position 8th' will then be back on a feedback with the track 6 at the input of the control loop 50 compared, and the control cycle starts again.

5 shows a schematic flow diagram of a method for lane keeping of a motor vehicle 1 according to an embodiment of the invention. The method comprises a step a of sensory detection of the rear environment and the position of the motor vehicle 1 on. Further, a step b of determining one with a fixed point 8th of the motor vehicle 1 backwards to be driven lane 6 intended. Furthermore, the method includes a step c of regulating the position determined on the basis of the sensory detected position of the vehicle 8th' of the fixed point 8th as a controlled variable by means of an automatically by an adjustment 12 adjustable steering angle 9 and / or automatically by the adjustment 12 applicable steering torque 9 ' as a manipulated variable and the backward to be driven lane 6 as a reference variable when reversing.

According to the illustrated embodiment, step a is performed first, that is, first the rear environment and the position of the motor vehicle 1 detected by sensors. In a second step b then becomes the backward to be traveled lane 6 certainly. Finally, in a third step c, the position of the motor vehicle is regulated. In this case, the step a can either be determined absolutely by means of GPS position detection and stored or retrieved map data and optionally or additionally determined on the basis of the sensory detected rearward environment and the distance to a reference point R relative to the reference point R. Further, the step b may also include determining a backward-to-be-traveled lane 6 based on the position information thus acquired 30 be determined. For this purpose, preferably a computing device 22 provided, which is adapted to the detected position information 30 a track to be traveled 6 to calculate. Alternatively or additionally, a backward with a fixed point 8th of the motor vehicle 1 to be driven lane 6 also on the basis of a recorded forward driving track 6 , which is recorded during a forward drive to be determined. These are preferably a GPS position detection 4 and / or wheel speed sensors 25 and / or steering angle sensors 26 provided the track 6 based on route data 29 capture, with the path data 29 by means of a recording device 23 be recorded and from it a trace 6 is determined.

6 shows a further embodiment of a method for lane keeping of a motor vehicle 1 in which a first step a1 is provided. This includes the recording of route data 29 a track driven forward 6 in the manner described above. In the following step a is then analogous to in relation to 5 described method, the rear environment and the position of the motor vehicle 1 detected by sensors. This is followed by step b of determining one with the fixed point 8th of the motor vehicle 1 backwards to be driven lane 6 on the basis of the path data previously recorded in step a1 29 a track driven forward 6 ,

Notwithstanding in relation to 5 described method includes the method according to the embodiment of 6 a branching step b1. This one can be different Embodiments have different functions.

In a first embodiment, the branching step b1 provides the provision of a selection before a reverse drive, in particular when engaging the reverse gear, to select a destination point of the reverse travel and / or one of a plurality of determined possible lanes 6 The driver of the motor vehicle 1 For example, at this step, one of two possible backward tracks 6 choose. In the subsequent step c1 or c2, in the case of a selection of a first track in step c1, the reference to FIG 5 described control with the first track 6 performed as a reference variable. In case of selection of the second track 6 on the other hand, the regulation will be with the second lane 6 performed as a reference variable. Of course, there may be other alternatives c3 to cx, if several possible tracks 6 have been calculated or recorded and / or if a possible target point by the driver of the motor vehicle 1 is selected.

In an alternative embodiment, the branching step b1 issues a query to a hand sensor 31 The step thus comprises detecting the concern of the hands of the driver on the steering wheel of the motor vehicle, wherein in the case of detected present hands in the subsequent step c1 an automatic steering assistance with a steering torque 9 ' is used as a control variable and in the case of detected non-adjacent hands in step c2 an automated steering takes place, wherein in step c2, a steering angle 9 serves as a manipulated variable.

As will be apparent to one of ordinary skill in the art, it will be understood that both embodiments described above may use branching steps b1 to select a track 6 or for detecting adjacent or non-adjacent hands combined. On a representation of such a combined branch was omitted for clarity.

Although the present invention has been fully described above with reference to preferred embodiments, it is not limited thereto but is modifiable in a variety of ways.

The input and output device can be designed, for example, as a touchscreen. In this case, for example, a desired destination point can be marked on a two-dimensional map in order to specify a desired destination point. Furthermore, several suggested tracks can be selected for selection on the touchscreen, which can be displayed in 2D or also in a 3D representation. The 2D representation can be made on a map view, wherein the 3D representation can be superimposed, for example, on a camera image showing the rear environment of the motor vehicle.

Furthermore, in addition to the detection of position data of the rear environment, a lateral sensor system may also be provided, in particular at the front of the motor vehicle, in order to ensure, during steering, that there is no lateral limitation or a lateral obstacle in the way as a result of the shearing when reversing.

The lane-keeping assistance system is preferred 20 for reversing over longer distances or along a longer track, z. B. of several car lengths or more than ten meters, z. B. 10 meters to 100 meters, and / or for reversing at higher speeds, which are above the idle speed in reverse, for example at 10 km / h to 40 km / h, designed and particularly suitable. Of course, even higher speeds are conceivable. Under reversing is thus in particular no maneuvering, such as when parking in reverse, to understand in which typically in a small space is trying to bring a motor vehicle in a specific position or parking space. Lower of a longer lane is thus understood to mean, for example, a lane with a length extending beyond the length of a route traveled during reverse parking. Furthermore, the longer track preferably follows a z. B. deposited in a navigation system road, alley or a path or a sensory detected road marking, road boundary, limitation of a driveway or the like.

LIST OF REFERENCE NUMBERS

1

motor vehicle

2

camera

3

ultrasonic sensors

4

GPS receiver

5

recording device

6

track

7

control device

8th

fixed point

8th'

Position of the anchor point

9

steering angle

9 '

steering torque

10

deviation

11

regulator

12

adjustment

20

Driver assistance system

21

Input / output device

22

computing device

23

recording device

24

radar sensor

25

wheel speed sensors

26

Steering angle sensors

27

lateral ultrasonic sensors

28

Storage

29

path data

30

location information

31

hand sensor

40

electronic vehicle system

50

loop

a1, a, b, b1, c, c1, c2

steps

e

Facility

S

sensor

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 102011002911 [0003]

Claims (15)

Lane keeping assistance system ( 20 ) for a motor vehicle ( 1 ), with a device (E) for automatic lane keeping in a reverse drive, which a determination device ( 5 ; S, 22 ) for determining a rearward lane ( 6 ) and a steering device ( 12 . 7 ) for steering assistance or for automatic steering of the motor vehicle ( 1 ) when reversing using the particular lane ( 6 ) having. Lane keeping assistance system according to claim 1, wherein the steering device ( 12 . 7 ) at least one adjusting device ( 12 ) for adjusting the steering angle ( 9 ) of the motor vehicle and / or for applying a steering torque ( 9 ' ) having. Lane keeping assistance system according to one of the preceding claims, wherein the determination device ( 5 ; S, 22 ) a recording device ( 5 ) for recording route data ( 29 ) of a track driven forward and for determining one with the motor vehicle ( 1 ) backward to be driven lane ( 6 ) based on the route data ( 29 ) having. Lane keeping assistance system according to one of the preceding claims, wherein the determination device ( 5 ; S, 22 ) at least one sensor (S) for detecting position information about the rear environment of the motor vehicle ( 1 ) and / or the absolute position of the motor vehicle ( 1 ) and / or via the relative to at least one reference point (R) determined position of the motor vehicle ( 1 ) having. Lane keeping assistance system according to claim 4, wherein the determining device ( 5 ; S, 22 ) a computing device ( 22 ) for calculating a lane to be traveled ( 6 ) from the detected position information ( 30 ) having. Lane keeping assistance system according to claim 5, wherein the device (E) has an output device ( 21 ), which contains a selection of several possible tracks ( 6 ) and an input device ( 21 ), which allows selection of the desired track. Lane keeping assistance system according to one of claims 4 to 6, wherein the steering device ( 12 . 7 ) a control device ( 7 ) for controlling a sensed position of the motor vehicle ( 1 ) certain position ( 8th' ) of a fixed point ( 8th ) on the motor vehicle ( 1 ) having. Lane keeping assistance system according to claim 7, wherein the control device ( 7 ) with the sensor (S) and the adjusting device ( 12 ) can be brought into communicative connection and for regulating the position ( 8th' ) of the fixed point ( 8th ) as a controlled variable with the steering angle ( 9 ) and / or the steering torque ( 9 ' ) as manipulated variable and the track to be traveled ( 6 ) is designed as a reference variable when reversing. Lane keeping assistance system according to one of the preceding claims 7 or 8, wherein the control device ( 7 ) with the recording device ( 5 ) can be brought into communicative connection, wherein the recording device ( 5 ) a data acquisition device ( 23 ) and a GPS receiver ( 4 ) with position detection and map data linking in a memory ( 28 ) and / or wheel speed sensors ( 25 ) and / or steering angle sensors ( 26 ) having. Lane keeping assistance system according to one of the preceding claims 4 to 9, wherein the sensor (S) at least one camera ( 2 ), Ultrasonic sensor ( 3 ), Radar sensor ( 24 ) and / or GPS receiver ( 4 ) having. Lane keeping assistance system according to one of the preceding claims 7 to 10, wherein a hand sensor ( 31 ) on the steering wheel of the motor vehicle ( 1 ) is provided for detecting hands resting on the steering wheel. Method for lane keeping a motor vehicle ( 1 ), in particular using a lane departure warning system according to one of claims 1 to 11, in which a trajectory is determined for a reverse drive and the vehicle is automatically moved during the reverse travel along the determined trajectory. Method according to claim 12, comprising the following steps: sensory detection of the rear environment and the position of the motor vehicle ( 1 ); Determining one with a fixed point ( 8th ) of the motor vehicle ( 1 ) backward to be driven lane ( 6 ); Rules based on the sensory detected position of the motor vehicle ( 1 ) certain position ( 8th' ) of the fixed point ( 8th ) as a controlled variable by means of an automatically by an adjustment ( 12 ) adjustable steering angle ( 9 ) and / or an automatically by the adjusting device mountable steering torque ( 9 ' ) as manipulated variable and the track to be reversed ( 6 ) as a reference variable when reversing. Method according to claim 12 or 13, with at least one further of the following steps: determining the position of the motor vehicle ( 1 ) and / or backwards with a fixed point ( 8th ) of the motor vehicle ( 1 ) to be driven lane ( 6 ) absolutely by GPS position detection ( 4 ) and stored or retrieved map data and / or relatively based on the sensory detected rearward environment and the distance to a reference point (R); Determining a backward with a fixed point ( 8th ) of the motor vehicle ( 1 ) to be traveled track ( 6 ) on the basis of a recorded forward track ( 6 ), which is recorded during a forward drive, in particular by means of GPS position detection ( 4 ) and / or wheel speed sensors ( 25 ) and / or steering angle sensors ( 26 ) and by means of a recording device ( 5 ) is recorded; Providing the selection of a target point of the reverse drive and / or one of a plurality of determined possible rearward tracks ( 6 ) against a reverse drive, especially when reverse gear is engaged; Detecting the concern of the hands of a person on the steering wheel of the motor vehicle, wherein in the case of detected adjacent hands an automatic steering assistance is carried out and / or in the case of detected non-applied hands an automated steering. Method according to one of claims 12 to 14, wherein the method in the presence of a termination criterion, in particular a detection of hands on the steering wheel in case of inherited automated steering, increased manual torque on the steering wheel in the case of assisted steering, an actuation of clutch or brake, an inserting a Forward speed, a keystroke on the input unit, the presence of insufficient position, sensor or path data, a sensory detection of the emergence of an obstacle, or the like, is canceled.

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