DE102014005380A1 - Method for operating a driver assistance system of a vehicle and driver assistance system - Google Patents

Abstract

The invention relates to a method for operating a driver assistance device of a vehicle (2), whereby a vehicle environment and objects located in it are detected, with a target trajectory (5) of the vehicle (2) being specified as a function of one or more detected objects and a driver of the vehicle (2) when a steering angle set by the driver by means of a steering wheel deviates from a target steering angle in relation to the target trajectory (5), a haptic feedback is output by means of a control torque automatically applied to the steering wheel. According to the invention, when the intention of a driving maneuver of the vehicle (2) is detected, the target trajectory (5) with respect to at least one reference object (4) is optically superimposed on the detected vehicle environment and / or an image of this at least partially by means of a display unit arranged in the vehicle (2) issued.

Description

The invention relates to a method for operating a driver assistance device of a vehicle, wherein a vehicle environment and in this objects are detected, wherein in dependence of one or more detected objects, a desired trajectory of the vehicle is specified and a driver of the vehicle in a deviation of one by the driver adjusted steering angle of a steering wheel from a target steering angle with respect to the desired trajectory a haptic feedback is output by means of a automatically applied to the steering wheel control torque. Moreover, the invention relates to such a driver assistance system.

• – Festlegen von Gewichtungsfaktoren in Abhängigkeit eines von dem Fahrer auf das Lenkrad aufgebrachten Lenkmomentes in Bezug zu dem Regelmoment,
• – Erfassen des Lenkmomentes und
• – Gewichten eines Sollwertes für das Regelmoment mit dem von dem Lenkmoment abhängigen Gewichtungsfaktor und Erhalten eines gewichteten Stellwertes für das einzustellende Regelmoment. Zudem ist ein Fahrerassistenzsystem beschrieben, welches das Verfahren zum Einstellen des Regelmomentes ausführt.

From the DE 10 2011 122 190 A1 For example, a method of adjusting a steering wheel torque and a driver assistance system are known. In this case, an adjusted control torque is applied to a driver-operated steering wheel. The control torque is a note that supports the driver in a driving maneuver for a necessary steering adjustment for driving a trajectory that is previously calculated for the driving maneuver on the basis of data from the vehicle environment. The method comprises the steps:

• Setting weighting factors as a function of a steering torque applied to the steering wheel by the driver in relation to the control torque,
• - Detecting the steering torque and
• - Weighting of a setpoint value for the control torque with the weighting factor dependent on the steering torque and obtaining a weighted control value for the control torque to be set. In addition, a driver assistance system is described, which performs the method for setting the control torque.

The invention has for its object to provide a comparison with the prior art improved method for operating a driver assistance system of a vehicle and such a driver assistance system.

The object is achieved with respect to the method by the claim 1 and in terms of the driver assistance system by the features specified in claim 5.

Advantageous embodiments of the invention are the subject of the dependent claims.

A method for operating a driver assistance device of a vehicle provides that a vehicle environment and in this objects are detected, wherein depending on one or more detected objects, a target trajectory of the vehicle is given and a driver of the vehicle in a deviated set by the driver Steering angle of a steering wheel from a target steering angle with respect to the desired trajectory haptic feedback is output by means of a automatically applied to the steering wheel control torque. According to the invention, the target trajectory with respect to at least one reference object is optically outputting the detected vehicle environment and / or an image of it at least partially superimposed by means of a display unit arranged in the vehicle in the case of a detected intention of a driving maneuver of the vehicle.

By means of the method, the driver of the vehicle is given both a haptic and an optical feedback with regard to the adjusted steering angle with respect to the determined target trajectory, so that the driver is assisted in his driving maneuver, in particular maneuvering maneuvers.

The solution specified by the method allows, for example, a comfortable parking, wherein the support of the driver is supplemented by the haptic feedback by means of the optical output in order to simplify the driving maneuver significantly.

Moreover, the invention relates to a driver assistance system which is provided for carrying out the method according to the invention.

Embodiments of the invention are explained in more detail below with reference to drawings.

Showing:

1 2 schematically illustrates a display area of a display unit arranged in a vehicle for assisting a driver of the vehicle in a first driving maneuver,

2 schematically the display area of the arranged in the vehicle display unit to assist the driver of the vehicle in a second driving maneuver, and

3 schematically the display area of the arranged in the vehicle display unit to assist the driver of the vehicle in a third driving maneuver.

Corresponding parts are provided in all figures with the same reference numerals.

1 shows a display area 1 with two display areas 1.1 . 1.2 a display unit that is in one in a first viewport 1.1 shown vehicle 2 is arranged. In particular, the display unit is one in the vehicle 2 arranged central display unit, which in a field of view of a driver of the vehicle 2 is arranged. Alternatively or additionally, the display unit may be a head-up display.

In the first viewport 1.1 is the vehicle 2 presented in a bird's eye view in its vehicle environment, wherein in a second display area 1.2 a detected rearward vehicle environment of the vehicle 2 is shown.

For detecting the vehicle environment includes the vehicle 2 a sensor, in turn, a number of in and / or on the vehicle 2 arranged image acquisition units comprises.

Signals detected by the sensors are supplied to an evaluation unit, which evaluates and processes the signals, so that determined image data can be output in the display area of the display unit.

The display unit and the evaluation unit are components of a non-driver assistance system of the vehicle 2 where the driver of the vehicle 2 is haptically and visually supported by the driver assistance system during a driving maneuver, in particular a maneuvering maneuver.

As further components, the driver assistance system comprises a detection unit for detecting a current steering angle set by the driver by means of a steering wheel and an actuator for applying a control torque to the steering wheel.

Drives the vehicle 2 in particular backwards with a current driving speed of less than 30 km / h, the sensor system for detecting the vehicle environment for continuous detection is activated.

The detected signals are evaluated and processed in the evaluation unit, wherein it is detected by means of certain signals that the driver of the vehicle 2 as the first driving maneuver intends to enter a designated parking area 3.1 in a parking lot 3 to park. In particular, a right boundary line of the parking area 3.1 as a reference object 4 determined and highlighted in color on the display areas 1.1 . 1.2 displayed.

By means of the detected signals of the sensor system becomes a position of the vehicle 2 in relation to the parking area 3.1 and a desired trajectory 5 determined. This target trajectory 5 gives a driving course for the vehicle 2 before, to optimally in the designated parking area 3.1 retract.

The driver makes a steering intervention, wherein provided a steering angle set by the driver a target steering angle with respect to the desired trajectory 5 corresponds, the driver experiences a haptic feedback by the driver is the feeling that the steering wheel engages. In this case, a steering intervention in the direction of the target steering angle is easier to carry out, since a resulting from a steering resistance torque is reduced by means of the controllable actuator.

If the driver tries to turn the steering wheel further, so that the instantaneous steering angle does not correspond to the nominal steering angle, a control torque is generated which gives the driver an impression that a steering intervention is more difficult, ie the steering resistance is increased.

Alternatively, a substantial match of a driving course based on the current steering angle set by the driver with respect to the determined target trajectory 5 For example, be prepared by a recognized line tangent to the determined target trajectory 5 results. In addition, a distance can be taken into account, so that another, z. B. by 30 cm to the recognized line spaced line forms the tangent.

In addition, it can be provided that to the right boundary line as a reference object 4 also a left boundary line of the parking area 3.1 is recognized as another reference object and the desired trajectory 5 in relation to the parking area 3.1 would lead to the middle of it.

The increased steering resistance in a steering intervention against the target steering angle is chosen so high that the driver has to spend noticeably more power to turn the steering wheel further. However, the steering resistance is not so high that the steering wheel can only be turned with a comparatively high effort.

As soon as the driver turns the steering wheel in the opposite direction and the current steering angle exceeds the target steering angle, the increased steering resistance is reduced immediately.

Alternatively, it can be provided that the increased steering resistance is maintained over a certain period of time or even increased, for example when an adjacent parking area 3.2 is occupied and / or threatens a collision with a vehicle on an adjacent area. Also, the steering resistance can be increased, the farther the desired steering angle is exceeded.

In another embodiment, it is provided that after reaching a meaningful steering angle, ie after setting a steering angle which largely corresponds to the target steering angle, then also a counter-torque in the form of an increased steering resistance to the steering of the vehicle 2 is exercised when the driver turns back the steering wheel.

In addition, as described above, it is provided to reduce a steering resistance when the driver operates the steering wheel in the direction of the target steering angle and has almost reached it.

By means of the increased and the reduced steering resistance as a function of a currently set steering angle with respect to the target steering angle with respect to the desired trajectory 5 arises for the driver of the vehicle 2 The impression that the steering wheel locks in a meaningful position.

The feeling of engagement may be more or less pronounced, the reduced and also the increased steering resistance being designed so that they are clearly perceptible by the driver, but are not perceived as disturbing and / or exaggerated.

In addition, the moments, d. H. the increased and the reduced steering resistance, in each case preferably not so pronounced that the steering wheel moves automatically, and this can also be provided.

2 shows the display area 1 the display unit to assist the driver in a second driving maneuver.

By means of the evaluation unit is based on the detected signals of the sensors a trailer hitch 6 detected as a reference object for performing the second driving maneuver and a target trajectory 5 of the vehicle 2 in terms of the trailer hitch 6 determined.

The determined target trajectory 5 of the vehicle 2 in terms of the trailer hitch 6 is determined such that a trailer hitch of the vehicle 2 under the recognized trailer hitch 6 is positioned.

Here, too, depending on the set current steering angle, a steering resistance is increased or decreased as haptic feedback in order to assist the driver in maneuvering.

In 3 is the display area 1 regarding a third driving maneuver of the vehicle 2 shown.

According to the present embodiment according to 3 becomes a house wall 7 as a reference object 4 for determining the desired trajectory 5 detected on the basis of the detected signals of the sensors for detecting the vehicle environment.

In this case, the steering resistance is increased when the driver intends to position the steering wheel in a straight-ahead position. In this experiment, the steering resistance is increased as soon as a determined on the basis of the adjusted steering angle trajectory to a contact of the vehicle 2 with a house wall 7 as a reference object 4 would lead.

When using the method, depending on a driving maneuver to be performed, various objects in the vehicle environment, such as stones, house walls 7 , other vehicles, cyclists and pedestrians, as reference objects 4 for determining the desired trajectory 5 serve.

Depending on the intended driving maneuver, a plurality of suitable steering angles, ie adjusted steering angles, are detected and the steering resistances are applied with respect to the respective steering angle, thereby the driver of the vehicle has 2 the impression that the steering wheel locks in several positions.

Preferably, the appropriate steering angles are tracked and corrected during vehicle motion, thereby changing the steering angles at which the moments are applied during vehicle motion. This gives the driver the impression, for example, when parking, to be guided.

It is also conceivable that an optical feedback is output to the driver, as soon as a suitable steering angle is set, with as optical feedback particularly preferred the respective reference object 4 flashes.

For example, the boundary line of a parking area 3.1 . 3.2 , the trailer hitch 6 and / or the house wall 7 light up or flash when the driver has one in relation to the target trajectory 5 has set suitable steering angle.

In addition, at a suitable set steering angle, an acoustic feedback, such as a beep, to the driver of the vehicle 2 be issued.

LIST OF REFERENCE NUMBERS

1

display area

1.1

first display area

1.2

second display area

2

vehicle

3

parking spot

3.1

parking area

3.2

adjacent parking area

4

Underlying

5

target trajectory

6

trailer hitch

7

housewall

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 102011122190 A1 [0002]

Claims (5)

Method for operating a driver assistance device of a vehicle ( 2 ), wherein a vehicle environment and objects located therein are detected, wherein a desired trajectory (in dependence of one or more detected objects ( 5 ) of the vehicle ( 2 ) and a driver of the vehicle ( 2 ) in the event of a deviation of a steering angle set by the driver by means of a steering wheel from a desired steering angle with respect to the desired trajectory ( 5 ) a haptic feedback is output by means of a control torque automatically applied to the steering wheel, characterized in that when a detected intention of a driving maneuver of the vehicle ( 2 ) the desired trajectory ( 5 ) with regard to at least one reference object ( 4 ) the detected vehicle environment and / or an image of this at least partially superimposed by means of an in-vehicle ( 2 ) are optically output. Method according to claim 1, characterized in that the at least one reference object ( 4 ) is highlighted. Method according to claim 1 or 2, characterized in that the output of the haptic feedback and the optical output of the desired trajectory ( 5 ) at a current driving speed of the vehicle ( 2 ) of less than 30 km / h. Method according to one of the preceding claims, characterized in that, when the steering angle set by the driver matches the target steering angle, the at least one reference object ( 4 ) is highlighted signaling and / or a beep is output as an acoustic feedback. Driver assistance system for a vehicle ( 2 ), comprising a sensor for detecting the surroundings of the vehicle ( 2 ), an evaluation unit coupled to the environment detection for determining a desired trajectory ( 5 ), a detection unit coupled to the detection unit for detecting a current set by a driver steering wheel angle of a steering wheel and an actuator for applying a control torque to the steering wheel, characterized in that on the basis of detected signals of the sensor an intention of a driving maneuver of the vehicle ( 2 ) can be determined and a display unit is provided, by means of which the target trajectory ( 5 ) with regard to at least one covered reference object ( 4 ) the detected vehicle environment and / or an image of this at least partially overlapping optically can be output or is. Furthermore, the invention relates to such a driver assistance system.

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