DE102013220931A1 - Method and device for assisting the approach of a motor vehicle to a curb - Google Patents

Abstract

The invention relates to a method and a device for supporting the launch of a motor vehicle on a curb. A method according to the invention comprises the following steps: detecting a curb (210) located in the vicinity of the motor vehicle (200), and modifying at least one operating parameter of the motor vehicle (200) in such a way that during start-up of at least one tire of the motor vehicle (200) Curb (210) associated with this collision vibration of the motor vehicle (200) is reduced compared to an analog drive-up without this modification.

Description

The invention relates to a method and a device for supporting the launch of a motor vehicle on a curb.

Parking a motor vehicle in a parking position with tires on a curb can sometimes be a challenging task. Although skilled drivers are usually well able to adjust during a parking maneuver when driving on a curb to realize a soft start the appropriate speed by operating the clutch, brake and accelerator, this can be done in less experienced riders, but especially in current and future automated parking assistance devices, which feel no driving feeling but are controlled only based on a predetermined target speed, be problematic. As a result, under certain circumstances, the parking maneuver can be made at too high a speed in such cases, with the result that the parking maneuver is perceived as rough and bumpy.

Out EP 2 098 844 A1 a method and a device for detecting a touch of a curb by a vehicle are known, which is in conjunction with a plausibility check in a change of the driving resistance on a curb touch, said plausibility is based on at least one driving resistance independent size.

Out EP 2 594 461 A1 are known a method for detecting a parking space for a motor vehicle and a parking assistance system, wherein a suitable parking space can also be detected when the motor vehicle is parked at least partially on a curb during parking. In this case, the parking space is detected on the basis of a geometric parameter of the parking space and taking into account further environmental information, wherein the geometric parameter of the parking space is also determined as a function of this further environmental information.

Out DE 10 2010 001 922 A1 Among other things, a method and a device for parking a motor vehicle are known, wherein in a determination of the environmental situation is also detected whether a curb is present and how high, if necessary, the curb. The height of the curb over the roadway level should in this case in particular allow the assessment as to whether the curb can effectively prevent the motor vehicle from rolling away.

It is an object of the present invention to provide a method and apparatus for assisting the launching of a motor vehicle on a curb, which allows a smoother ride on the curb.

This object is achieved by the method according to the features of the independent patent claim 1 and the device according to the features of the independent claim 10.

• – Erfassen eines in der Umgebung des Kraftfahrzeuges befindlichen Bordsteins; und
• – Modifizieren wenigstens eines Betriebsparameters des Kraftfahrzeuges derart, dass während des Auffahrens wenigstens eines Reifens des Kraftfahrzeuges auf den Bordstein eine mit diesem Auffahren einhergehende Erschütterung des Kraftfahrzeuges im Vergleich zu einem analogen Auffahrvorgang ohne diese Modifikation reduziert wird.

An inventive method for supporting the driving of a motor vehicle on a curb comprises the following steps:

• - detecting a curb located in the vicinity of the motor vehicle; and
• Modifying at least one operating parameter of the motor vehicle in such a way that, during the approach of at least one tire of the motor vehicle to the curb, a concussion of the motor vehicle accompanying this approach is reduced in comparison to an analog drive-up operation without this modification.

The present invention is based in particular on the concept of initially detecting a curb located in the surroundings of a motor vehicle (eg as explained below using sensors present in the motor vehicle such as proximity or distance sensors) and then - when the curb is detected or directly forthcoming driving of the motor vehicle with at least one tire on the curb - to make an automatic suitable adjustment of one or more operating parameters of the motor vehicle in such a way that with the driving on the curb accompanying vibrations or shocks or vibrations are reduced and as a result a gentler driving on the curb eg is achieved for the purpose of a parking operation.

According to one embodiment, modifying at least one operating parameter of the motor vehicle comprises an adaptation of the suspension setting of the motor vehicle.

According to one embodiment, modifying at least one operating parameter of the motor vehicle comprises automatically adjusting the angle between at least one tire of the motor vehicle and the curb.

According to one embodiment, modifying at least one operating parameter of the motor vehicle comprises an automatic adaptation of the vehicle speed.

According to one embodiment, modifying comprises at least one operating parameter of the motor vehicle, an automatic adjustment of the tire pressure of at least one tire of the motor vehicle.

According to one embodiment, the method further comprises the step: Determining which tire of the motor vehicle first encounters the curb during an impending drive onto the curb, wherein when modifying at least one operating parameter of the motor vehicle an adjustment for this tire takes place in a different way than for the remaining tire of the motor vehicle.

According to one embodiment, when modifying at least one operating parameter of the motor vehicle, the first tire striking the curb is set to a softer suspension characteristic compared to the other tires of the motor vehicle.

According to one embodiment, after completion of the startup of the at least one tire of the motor vehicle on the curb of the previously modified operating parameters of the motor vehicle is automatically reset to its original setting.

According to one embodiment, the detection of a curb located in the vicinity of the motor vehicle is carried out using at least one sensor present in the motor vehicle.

The invention further relates to a device for assisting the approach of a motor vehicle to a curb, which is designed to carry out a method with the features described above. For preferred embodiments and advantages of the device, reference is made to the above statements in connection with the method according to the invention.

Further embodiments of the invention are described in the following description and the dependent claims.

The invention is explained in more detail below by means of exemplary embodiments and with reference to the accompanying drawings.

Show it:

1 a flowchart for explaining a typical flow of a method according to an embodiment of the invention;

2 a schematic representation to illustrate the flow of a supported according to the invention parking of a motor vehicle while driving on a curb;

3 a schematic representation for illustrating the operation of a sensor arrangement used in conjunction with an automatic parking assistance device;

4 a schematic representation for explaining a taking place in the context of an embodiment of the invention temporary adjustment of the suspension or suspension of a motor vehicle; and

5 a schematic representation for explaining a taking place according to an embodiment of the invention temporary adjustment of the angle between the front tire and curb.

In the following, a possible sequence of a method according to the invention will be described with reference to FIG 1 illustrated flowchart and with reference to the further schematic representations of 2 - 5 described.

According to 1 In a first step S10, it is first queried whether the assistance device according to the invention for activating the motor vehicle is activated on a curb. If this is the case, in accordance with step S20, the query is made as to whether a curb has been detected via existing proximity sensors. Any suitable sensors (eg radar-based, laser-assisted, video-based, etc.) can be used here, as are typically present in automatic parking assistance devices for detecting the surroundings of the motor vehicle 3 are shown only schematically. As a result of these sensors, the assistant device according to the invention has sufficient position and angle information of (in 3 With " 200 "designated) motor vehicle relative to (in 3 With " 210 curb, including the distance between the motor vehicle 200 and the curb 210 , The determination of this angle and position data is carried out according to 1 in step S30.

Subsequently, in a step S40, it is determined which tire is the first on the curb 210 will strike. If, as requested in step S50, the tire in question is in the immediate vicinity of the curb (otherwise return to step S30), appropriate adjustment of the suspension setting, the angle between the front tire and the curb and the vehicle speed will be made in the subsequent step S60 for that tire.

To illustrate these settings shows 2 only schematically a typical Expiration of a parking operation of a motor vehicle 200 on a curb 210 taking into account an existing obstacle 220 , At the position labeled "A", a temporary adjustment of the suspension characteristics or adjustments is made so that the curb 210 Ride-on tires allow greater shock absorption. Furthermore, in the position marked "B", there is a temporary adjustment of the angle between the front tire and the curb 210 at the time of tire contact with the curb 210 , so that a simpler or best possible driving the tire on the curb 210 is possible. In addition, takes place during the acceleration of the motor vehicle 200 on the curb 210 a temporary adjustment of the vehicle speed, which in particular the deceleration or acceleration of the motor vehicle 200 just before the tire hits the curb 210 may include.

In a further embodiment (not shown) may be in equipment of the motor vehicle 200 with a device for active tire pressure adjustment also a temporary reduction of the tire pressure of the curbing on the curb tires, whereby a suspension effect comparable to the above-described effect can be achieved. This adjustment of tire pressure may be made alternatively or in addition to the above-described transient adjustments of suspension characteristics, the angle between front tire and curb, and / or vehicle speed.

In the following step S70 it is determined whether the approach of the respective tire on the curb 210 is completed. If so, in step S80, the suspension setting, the angle between the tire and curb and the vehicle speed are reset to the default settings. Then it is determined in step S90, whether a total of the driving of the motor vehicle 200 on the curb 210 is completed. If this is the case, deactivation of the assistance device according to the invention takes place (step S100 ) as well as the return to step S10.

4 serves to explain in more detail in step S60 of the basis of 1 described method, temporary adjustment of the vehicle suspension. This suspension adjustment is activated when the (front or rear) tire is in close proximity to the curb 210 located. The distance between tire and curb 210 can detect, using existing sensors (eg with the help of proximity sensors, which identify curbs and other obstacles, and a steering angle sensor, which the future direction of the motor vehicle 200 indicates). Conventional active spring damping suspension systems can be controlled by changing the damping coefficient (wherein changing the spring characteristic is usually not possible). If air damping systems are used, it is also possible to adjust the current position of the individual tires.

As in 4 indicated, is to realize a light and gentle ascent to the curb 210 the first on the curb 210 Impact tires adjusted to a relatively soft suspension or suspension characteristics, so that a sufficient shock absorption when driving on the curb can take place. The other three tires are set to a comparatively hard suspension setting to mitigate any vibrations (oscillations). In the case of air suspension, the first to the curb 210 incident tires are additionally raised. After successful completion of the start of the tire on the curb 210 The suspension settings are reset to the normal default settings.

5 is used to explain in more detail in step S60 of 1 adaptation of the angle between front tire and curb. This setting will be according to 2 activated if the relevant front tire is in the immediate vicinity of the curb 210 is located (position "B" of 2 ). The distance between tire and curb 210 is also done here using existing sensors (as described above).

According to the schematic representation of 5 Angle adjustment of the angle between front tire and curb takes place in such a way that in particular the following aspects are considered or a suitable compromise is chosen: Firstly, the temporary angular adjustment of the angle between the front tire and curb takes into account as far as possible avoiding damage to the tires or rims (eg by scratching or other damage). Furthermore, the said angle adjustment takes place while minimizing sideways movement as far as possible (which is the case when the tire strikes the curb 210 is substantially proportional to a lateral shock when the tire hits the curb). In the concrete example of 5 is for those with " 553 "designated tire position yaw rate of the motor vehicle 200 much higher (corresponding to a much harder hitting the motor vehicle 200 on the curb 210 ) in the Compared to " 551 Depending on the geometry of the respective tire / rim combination and, if necessary, on tests, the determination of the optimum angle between the tire and the curb taking into account the above criteria will be made the curb 210 is ascended, the angle between tires and curb 210 reset so that the respective track is followed for the parking.

The in step S60 of 1 also made, temporary adjustment of the vehicle speed is also activated when the (front or rear) tire in the immediate vicinity of the curb 210 located. Determining the distance between tire and curb 210 is also done here using existing sensors (as described above). The adjustment of the vehicle speed can be done either by means of the engine system (adjusting the engine torque) or the braking system (by applying a braking torque). The optimum speed when driving onto the curb 210 can also be determined by tests carried out under real conditions. Usually, different vehicle speeds are selected depending on whether it is on the curb 210 ascending tire is about a front tire or a rear tire. Furthermore, the setting of the vehicle speed preferably takes place taking into account the curb height and the angle between the front tire and the rear tire to the curb 210 , Once the tire successfully on the curb 210 the vehicle speed is reset to the default settings during normal operation.

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• EP 2098844 A1 [0003]
• EP 2594461 A1 [0004]
• DE 102010001922 A1 [0005]

Claims (10)

Method for assisting the approach of a motor vehicle to a curb, characterized in that the method comprises the following steps: detecting one in the surroundings of the motor vehicle ( 200 ) curb ( 210 ); and modifying at least one operating parameter of the motor vehicle ( 200 ) such that during the startup of at least one tire of the motor vehicle ( 200 ) on the curb ( 210 ) associated with this collision vibration of the motor vehicle ( 200 ) is reduced compared to an analog drive-up process without this modification. Method according to claim 1, characterized in that modifying at least one operating parameter of the motor vehicle ( 200 ) an adaptation of the suspension setting of the motor vehicle ( 200 ). Method according to Claim 1 or 2, characterized in that the modification of at least one operating parameter of the motor vehicle ( 200 ) an automatic adjustment of the angle between at least one tire of the motor vehicle ( 200 ) and the curb ( 210 ). Method according to one of claims 1 to 3, characterized in that the modification of at least one operating parameter of the motor vehicle ( 200 ) includes an automatic adjustment of the vehicle speed. Method according to one of the preceding claims, characterized in that modifying at least one operating parameter of the motor vehicle ( 200 ) an automatic adaptation of the tire pressure of at least one tire of the motor vehicle ( 200 ). Method according to one of the preceding claims, characterized in that the method further comprises the step of determining which tire of the motor vehicle ( 200 ) in the event of an imminent departure on the curb ( 210 ) first on the curb ( 210 ) meets; wherein when modifying at least one operating parameter of the motor vehicle ( 200 ) a setting for this tire ( 201 ) other than for the other tires ( 202 . 203 . 204 ) of the motor vehicle ( 200 ). A method according to claim 6, characterized in that when modifying at least one operating parameter of the motor vehicle ( 200 ) first on the curb ( 210 ) tires ( 201 ) compared to the other tires ( 202 . 203 . 204 ) of the motor vehicle ( 200 ) softer suspension characteristics is set. Method according to one of the preceding claims, characterized in that after completion of the startup of the at least one tire of the motor vehicle ( 200 ) on the curb ( 210 ) the previously modified operating parameters of the motor vehicle ( 200 ) is automatically reset to its original setting. Method according to one of the preceding claims, characterized in that the detection of a in the environment of the motor vehicle ( 200 ) curb ( 210 ) using at least one in the motor vehicle ( 200 ) existing sensor takes place. Device for assisting the approach of a motor vehicle to a curb, characterized in that it is designed to carry out a method according to one of the preceding claims.

Images