DE102014107302A1 - Method for the at least semi-autonomous maneuvering of a motor vehicle along a user-definable driving trajectory and driver assistance device and motor vehicle - Google Patents

Abstract

The invention relates to a method for at least semi-autonomous maneuvering of a motor vehicle (1), in which a vehicle environment is detected by a first vehicle-side detection device (3) having a first detection range (4a to 7a) with a first range Detection device (3) detected vehicle environment on a screen (14) is displayed, and specified by a vehicle user end position (18) of the motor vehicle (1) by a positional selection in the displayed on the screen (14) vehicle environment, and the vehicle user in the vehicle environment displayed on the screen (14), a driving trajectory (19, 21, 23) for the motor vehicle (1) at least in sections from its current position to the final position (18). The invention also relates to a driver assistance device (2) and a motor vehicle (1).

Description

The invention relates to a method for at least semi-autonomous maneuvering of a motor vehicle, in which a vehicle environment is detected by a first vehicle-side detection device having a first detection range with a first range. The vehicle environment detected by the first detection device is displayed on a screen and an end position of the motor vehicle desired by a vehicle user is predefined by a positional selection in the vehicle environment displayed on the screen. Furthermore, the invention relates to a driver assistance device and a motor vehicle having such a driver assistance device.

From the DE 100 45 616 A1 a method for automatically parking a motor vehicle is known. There, a video camera is used, which preferably receives the front and side in front of the vehicle surrounding area. The video camera can capture a surrounding area, for example 50 meters away from the vehicle. This vehicle environment is preferably displayed as a top view of a screen, which may also be designed as a touch-sensitive screen. By touching the screen at the location corresponding to the image of a parking space, a vehicle user selects the desired end position of his vehicle. The vehicle also includes distance sensors in addition to the video camera, which are then also used for automatic parking.

Known driver assistance devices, which are designed, in particular, as parking assistance systems, usually have ultrasonic sensors as detection units, which enable near-field detection of the surroundings of the vehicle. Combined with a camera system, an environment around the vehicle can then be completely covered. Thus, information about the surroundings of the vehicle over the entire 360 ° can be detected quasi in this regard. In the context, it is also known and allows that information about the vehicle environment can be obtained by a plurality of such cameras, for example, four cameras, which can then be displayed in a plan view or a so-called bird's eye view. In this connection, for example, gaps between detected and measured objects are also identified and determined, and an evaluation is carried out with defined calculation algorithms to determine whether they are sufficiently large for their own motor vehicle. If the motor vehicle continues to drive accordingly, the driver is also informed that it is possible to park in this detected gap, since this is sufficiently large for the own motor vehicle. In the context, it is also known that such a parking operation can be carried out semi-automatically and thus semi-autonomously or fully automatically. In a semi-automatic parking process, the driver remains sitting in the vehicle and controls only the speed by pressing the accelerator pedal. The braking and steering is carried out automatically by the driver assistance device or the associated control of the required components of the vehicle.

In a fully automatic parking process, the gas pedal and thus the speed of the vehicle is automatically controlled by the system. In the fully automatic parking process, the driver can also position himself outside the vehicle and, for example, can nevertheless have control of the parking process and thus of his vehicle via a so-called deadman switch, so that he can also cancel the automatic parking process at any time.

In addition, it is also known that a vehicle can drive fully automatically slow and can look for a parking space. In this case, obstacles are detected and if necessary, a dodge or, if this is not possible, a stop. For this purpose, then brings the driver just before the parking space, the vehicle halfway in the direction in which then detects the vehicle on the one hand, the parking space and on the other then also can park. Here, however, it is necessary for the motor vehicle to already have a specific orientation to the parking space before the driver assistance device can then take over or take over control for the automatic performance of the parking operation. In addition, then the motor vehicle should already be very close to the parking space. Furthermore, it is relatively difficult here to correctly categorize the parking space in its orientation, which means that it is difficult to detect, for example, whether there is a longitudinal parking gap or two adjacent parallel parking spaces are present.

It is an object of the present invention to provide a method for at least semi-autonomous maneuvering of a motor vehicle as well as a driver assistance device and a motor vehicle having such a driver assistance device, with which or in which a user-specific specification for carrying out the maneuvering is made possible.

This object is achieved by a method, a driver assistance device and a motor vehicle according to the independent claims.

In a method according to the invention, a motor vehicle is maneuvered at least semi-autonomously. A vehicle environment is detected with a first vehicle-side detection device having a first detection range, which has a first range. The first detection device may in particular be a camera. The vehicle environment detected by the first detection device is displayed on a screen. A desired by a vehicle user end position (in particular position and / or orientation of the vehicle) of the motor vehicle is determined by a positional selection in the vehicle environment displayed on the screen by the user. An essential idea of the invention is to be seen in the fact that the vehicle user specifies in the vehicle environment displayed on the screen a driving trajectory for the motor vehicle from its current position to the final position at least in sections. This refinement substantially improves the possibilities for a vehicle user to incorporate his individual needs more flexibly and variably as specifications for an at least semi-autonomous maneuvering operation to be subsequently performed. The user individuality is thereby increased.

This has particular advantages in that the vehicle user can recognize and assess certain conditions in the vehicle environment even better than, for example, information can be provided by at least one of the detection devices. In this context, the vehicle user side can then respond more individually to the actual conditions in the vehicle environment and, if necessary, compensated by the detection devices for not maneuvering or not recognizable possibilities for maneuvering, for example for performing a parking operation in a suitable parking space. Thus, in particular when a possible parking space has not been detected, in particular by the second detection device, for example, because the range is too short, but this is already detected and detected by the vehicle user and the first detection device and in the context by the vehicle user and the possible orientation of the parking space to the road and / or the current orientation of the vehicle are detected to respond individually. In this context, a user-specified driving trajectory can then be particularly advantageous. Because of this requirement, the motor vehicle is sent practically on the user side on the right path in view of the desire of the vehicle user. Although this parking space is thus virtually unknown to the system or the driver assistance device, it can already be guided there by the driver trajectory of the vehicle user.

On the basis of this driving trajectory, the at least semi-autonomous maneuvering operation can then be carried out by the driver assistance device, even though the driver assistance device itself has not yet detected the parking space or has not yet recorded it in detail.

Preferably, this driving trajectory is drawn or recorded by the vehicle user on the screen. Since the vehicle environment, as was detected in particular by the first detection device, is present on the screen, the path to the desired end position of the motor vehicle can also be drawn precisely in a particularly advantageous manner. Due to the conditions detected at least by the first detection device, this requirement on the vehicle user side can also be entered simply and relatively precisely.

Preferably, the entire desired Fahrtrajektorie is given by the vehicle user and in particular recorded in this full length on the screen. Since, in particular, this vehicle environment is known with regard to the range, in particular of the detection range of the first detection device, and in this context also a preferably true-to-scale reduced representation on the screen, the system can also already determine for itself, in particular calculate how long this driving trajectory is and how in this regard the movement of the motor vehicle has to be done.

Preferably, the maneuvering of the motor vehicle is started after the specification of the driving trajectory by the vehicle user and carried out at least semi-autonomously. This also allows the vehicle user side needs to be taken into account again individually, and thus the commencement of the maneuvering process takes place only when the vehicle user actually wishes.

The screen is preferably a touch-sensitive screen, so that here by means of a finger or an input element, such as a pen, the driving trajectory can also be entered very accurately and in detail and also by the touch-sensitive control panel and the evaluation of the driver assistance device provided for this very accurate detection the desired driving trajectory is achieved.

The motor vehicle also preferably has a second vehicle-side detection device with a second detection range, which has a smaller second range to the first range, wherein the second detection device for object detection in a Vehicle environment is formed. In particular, the second detection device may be a short-range detection device, such as an ultrasonic sensor device. Preferably, detection of objects in the vehicle surroundings is carried out by means of the second detection device within the second detection area thereof and a display of these detected objects is carried out on the screen. In this way, it is possible to obtain essential information in this respect in a very close region in the vicinity of the motor vehicle and to permit very precise object detection. This is the case in particular when such objects represent obstacles which are in the way along the travel trajectory and would prevent unimpeded movement of the motor vehicle. Also, with such an object detection even when driving through the driving trajectory a closer observation of the close environment of the vehicle perform, so that the safety of maneuvering is increased here. The detection precision of objects in the immediate vicinity of the motor vehicle is thereby increased.

Preferably, the desired end position of the motor vehicle is predetermined by the vehicle user on the displayed vehicle environment outside the second detection range. During the passage of the driving trajectory with the real motor vehicle, at least the section of the driving trajectory predetermined by the vehicle user with respect to obstructive objects is detected by the second detection device, wherein the section of the trajectory is detected at least by the second detection device during this maneuvering, which is before Beginning of the maneuvering by the second detection device could not be detected due to the lack of range of the detection area. This is to a particularly advantageous embodiment, since thus just in constellations in which a vehicle environment by the first detection device detected relatively rich and displayed on the screen, but then by the vehicle user on the basis of this information, an end position for the motor vehicle is desired, which Outside the detection range of the second detection device, there is a certain uncertainty with respect to the surrounding area which has not yet been detected by the second detection device with regard to obstructing objects. Thus, by virtue of a successive and continuous monitoring of the vehicle surroundings region initially not yet detectable by the second detection device during maneuvering, a particularly continuous object detection by the second detection device is carried out on the path of movement of the predefined driving trajectory up to the end position of the motor vehicle. If, during this maneuvering of the motor vehicle, a situation which at the beginning is not yet recognizable should result in at least one obstructing object at least limiting the further locomotion of the motor vehicle on the driving trajectory, then this is reliably detected and it can be reacted to. Thus, even in cases where a desired end position is indeed within the detection range of the first detection device, but outside the detection range of the second detection device, the maneuvering is still safely monitored.

Preferably, in the event that during maneuvering an obstructing the driving trajectory object is detected, the motor vehicle stopped. It may also be provided that in such a case of maneuvering with a detected obstructive object, a warning is issued to the vehicle user in addition to or instead of it. In particular, if reaching the desired end position of the motor vehicle is also prevented with alternative driving trajectories, a stopping of the motor vehicle and / or a warning are issued to the vehicle user. For example, this may be the case if at the beginning of the maneuvering in a vehicle user desired end position in a parking space this was not occupied, but after starting the maneuvering and moving the motor vehicle on the driver trajectory predetermined by the vehicle already another vehicle then has already parked in this parking space in the meantime or in this regard has already completed a parking process so far that its own motor vehicle can not park in it. Since this may be the case especially in those situations in which, due to the relatively large range of the first detection area at a distant parking space compared to the position of the motor vehicle at the beginning of maneuvering, this is a particularly advantageous embodiment, to avoid collisions.

Alternatively, it can be provided that, in the event that during maneuvering an obstructing for driving the trajectory object is detected, automatically an alternative driving trajectory is determined, and the motor vehicle is maneuvered on the alternative driving trajectory in the desired end position at least semi-autonomous. In such an embodiment, an intelligent system in the form of the driver assistance device is thus virtually provided, which responds to unforeseen situations which do not permit unrestricted travel on the driving trajectory, as dictated by the vehicle user. Such an alternative Fahrtrajektorie can independently by the Fahrerassistzeinrichtung on the basis of Information as they are currently detected by the first and / or second detection device, are determined. The alternative driving trajectory can be used directly for maneuvering or suggested to the driver for confirmation.

In such an embodiment, the achievement of the desired end position is then possible even without the vehicle user himself would have to be active again.

Preferably, the vehicle environment displayed on the screen is updated during maneuvering, preferably continuously updated. This is preferably done as a function of the acquired information of at least the second detection device, so that then subsequently preferably precisely detected objects can then also additionally be displayed. Thus, even during the execution of the maneuvering process, a very up-to-date map of the vehicle environment is displayed.

Parking is preferably carried out as a maneuvering of a motor vehicle into a parking space, and the type of parking space is predetermined by the vehicle user's orientation of the motor vehicle symbol displayed on the screen relative to the current position of the motor vehicle and / or the roadway displayed on the screen. This is a particularly advantageous embodiment, because the vehicle user can recognize by his individual perception, if necessary, more clearly and precisely, if a parking space, for example, a single parking space is oriented as a longitudinal parking space to the roadway or whether two side by side trained and free transverse parking spaces are available in the context , Since this recognition is possibly made more difficult by the system or the driver assistance device, possibly in the situations in which these possible parking spaces lie outside the second detection range, the precision for parking and then the final end position can be significantly increased by this user-specific specification. In this connection, parking spaces not yet recognized by the second detection device can not only be used, but also used with regard to the optimal arrangement of the motor vehicle in the parking space, in particular being used optimally with respect to the individual wishes and needs of the vehicle user. In this context, an orientation means the position of, for example, a vehicle longitudinal axis for orientation of an axis characterizing the parking space, and thus also predetermines such an orientation of the motor vehicle in the end position of the parking space, which then also takes into account the originally intended use of this parking space. Misinterpretations with regard to the orientation of the parking space and thus misinterpretations with regard to the orientation of the vehicle in the end position, as might then occur, for example, on the system side, if a corresponding assessment is only made on the basis of the system, can be avoided in this way.

In an advantageous embodiment, a parking of the motor vehicle is carried out in a parking space and performed by the vehicle user direction of the means of a motor vehicle symbol represented on the screen motor vehicle relative to the displayed on the screen current position of the motor vehicle and / or the road Vorwärteinparken or given a reverse parking. Here, too, the benefits already set out above materially come into play. For here, too, the vehicle user can optionally recognize more easily and precisely whether a forward parking of the vehicle or a reverse parking is more useful or optionally, as is customarily the case in underground garages or parking garages, is prescribed according to regulations. Since this too can not yet be detected precisely at a greater distance, and thus outside the second detection area, the situation recognized by the vehicle user is more relevant and can be used in the context as a default for the maneuvering process. In addition, individual vehicle user wishes can also be taken into account here as a result of the situation. Just when, for example, Vorwärteinparken not gladly carried out by the vehicle user, since he then must perform in the subsequent re-parking this accordingly by a reverse drive, then here may be given when parking a Rückwärteinparken, so when subsequently re-parking and removing the parking space completely Simply by driving forward again can be parked.

With respect to the mentioned direction, a distinction is thus made to the above-mentioned terminology of orientation, so that different needs are covered here. With one direction is taken into account whether a front side of a vehicle is facing away from the road, as may be, for example, in a transverse parking space, or whether the front of the vehicle in the parked end position then faces the road. This can also be provided correspondingly in the event of a parking space gap, if parking is then effected in such a way that a front region of the motor vehicle is directed in the direction of the usual direction of travel on the adjacent roadway or into it directed opposite direction in the parked and desired end position. This is, as already explained above, different from the orientation, which basically determines whether the vehicle is parked parallel to the adjacent lane or across it, in which context it is then still open whether the vehicle in this regard then forward or backward is parked and thus, as then the corresponding direction.

Preferably, as a maneuvering a parking of the motor vehicle is carried out in a parking space and a on the screen in the displayed vehicle environment alleged parking space to be checked as suitable for the motor vehicle, for which a motor vehicle characterizing motor vehicle symbol, which is displayed on the screen, to scale to scale the displayed vehicle environment is displayed on this screen. Depending on the dimensions of the motor vehicle symbol and the parking space then the suitability of the parking space is determined for parking. This can be done to the effect that this motor vehicle icon is moved on the screen in the parking space and then recognized by the vehicle user himself, whether this parking space is large enough. However, it can also be provided, which is advantageous that this is then checked by the driver assistance device itself and communicated to the vehicle user. In this context, an item which stores a certain minimum amount by which the parking space has to be larger than a maximum dimension of the motor vehicle in its length and / or in its width can be stored or stored in a unit of the driver assistance device. If this is not complied with, the vehicle user can be acoustically and / or visually, in particular on the screen, signaled a suitable or unsuitable parking space. If an end position desired by the vehicle user and thus in particular a parking space at the time when the motor vehicle is not yet started are outside the second detection range of the second detection device but within the first detection range of the first detection device, relatively inaccurate information may still be available the actual dimensions of the parking space before. An above advantageous embodiment with respect to the checking of the parking space can then be given here only with a certain probability. Only in a further progress, if then the maneuvering was started and the motor vehicle approaches the parking space, can be obtained in particular by information of the second detection device a more accurate statement about the actual dimensions of the parking space and then the relevant plausibility of the suitability of the parking space for parking the parking space Motor vehicle done.

Preferably, the vehicle environment is displayed as a two-dimensional plan view of the screen. Preferably, the driver assistance device has a first detection device, which comprises a plurality of detection units such that a surrounding region of the vehicle can be detected completely in particular, and thus virtually a 360 ° view of the environment is made possible.

In an advantageous embodiment, a steerable rear axle is operated in a steerable operating mode when maneuvering the motor vehicle. It may preferably be provided here that this actual implementation of steering movements of wheels on the rear axle is made possible only in such an operating mode during maneuvering, and otherwise deactivated. This configuration can be done in specific cases, a simplification of the maneuvering, on the other hand, however, prevented that in the parked state unwanted wheels of the rear axle are present, so that in a subsequent then parking at the parking space this would be much more difficult and these rear wheels, as they would then be beaten, would bump on a curb or the like or would run over this undesirable.

It can also be provided that the screen is part of a portable device, such as a communication terminal, such as a mobile phone or a tablet computer. However, it can also be provided that this screen is arranged as a permanently installed unit in the motor vehicle, and for example, a screen of a navigation system or an infotainment system of the motor vehicle.

If the screen is not designed as a touch-sensitive control panel, it can also be provided that a driving trajectory can be entered on the screen by means of an input unit, for example a joystick or another input means, and / or a motor vehicle symbol can be brought into a desired end position and then a driving trajectory in particular sections is determined by the driver assistance device, for example, as a Bezier curve, in which case the driving trajectory is then indirectly specified by the vehicle user in the context.

Preferably, it is provided that the first detection device is a camera that records images of the vehicle environment. The second detection device preferably comprises an ultrasonic sensor device with a plurality of ultrasonic sensors. The range of the first Detection range is preferably greater than 20 m, preferably greater than 30 m, preferably greater than 40 m. The range of the detection range of the second detection device is preferably less than 10 m, preferably less than or equal to 8 m.

It may also be provided that a detection device additionally or instead has radar sensors or lasers or laser scanners.

The detection device, in particular camera, is preferably mounted in or on the vehicle or part of the vehicle. Alternatively, the detection device, in particular camera, can also be arranged outside the vehicle. It can also be used to transfer camera images from an external source. For example, this can be done by a parking garage with video surveillance. In this case, the external source is a video surveillance system of a parking garage or part thereof. Alternatively, the external source could also have information about the relative location of the vehicle at fixed points, the external source transmitting the information about the relative fixed points to the vehicle. The driver can thus orient himself at these fixed points and accordingly define a trajectory.

In embodiments with a camera can also be provided that they are designed to convert pixel coordinates in world coordinates. For this purpose, such a camera has measuring algorithms by which objects are then detected by an optical flow. As a result, the pixel representation of the camera can transform a desired end position of the motor vehicle or the driving trajectory, as predetermined on the screen by the vehicle user, into corresponding coordinates, so that planning into, for example, wheel angle and distance traveled is possible.

The invention also makes it possible for vehicle users to specify relatively complicated driving trajectories for approaching a desired end position.

Furthermore, the invention also relates to a driver assistance device which is designed for the at least semi-autonomous maneuvering of a motor vehicle and which has a first vehicle-side detection device with a first detection range with a first range for detecting a vehicle environment. In particular, the driver assistance device furthermore comprises a second vehicle-side detection device having a second detection range with a second range, which is smaller for the first range, for object detection in a vehicle environment. The vehicle environment detected by the first detection device is displayed on a screen of the driver assistance device. A desired by a vehicle user end position of the motor vehicle can be predetermined by a positional selection in the displayed on the screen vehicle environment by the vehicle user. An essential idea of the invention can be seen in the fact that in the vehicle environment displayed on the screen, a driving trajectory for the motor vehicle can be predetermined at least in sections by the vehicle user from its current position to the final position. The achievable advantages have already been mentioned for the process according to the invention.

Advantageous embodiments of the method according to the invention are also to be regarded as advantageous embodiments of the driver assistance device according to the invention. In this case, the detection devices and / or further units of the driver assistance device are designed alone or in interaction to enable them to carry out the respective method steps.

Furthermore, the invention also relates to a motor vehicle with a driver assistance device or an advantageous embodiment thereof.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respectively specified combination but also in other combinations or in isolation, without the frame to leave the invention. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained.

Embodiments of the invention are explained in more detail below with reference to schematic drawings. Show it:

1 a plan view of an embodiment of a motor vehicle according to the invention;

2 a representation of a vehicle environment on a screen of the driver assistance device of the motor vehicle according to 1 ;

3 another exemplary representation of a vehicle environment on the screen; and

4 a further exemplary representation of a vehicle environment on the screen of the driver assistance device.

In the figures, identical or functionally identical elements are provided with the same reference numerals.

In 1 is a motor vehicle in a plan view 1 shown which a driver assistance device 2 having. The driver assistance device 2 is for performing an at least semi-autonomous maneuvering of the motor vehicle 1 educated. The driver assistance device 2 comprises a first vehicle-side detection device 3 in the embodiment, a plurality of cameras 4 . 5 . 6 and 7 having. The number of cameras 4 to 7 is merely exemplary and it may also be several or fewer cameras. The cameras 4 to 7 are for pictorial detection of the environment of the motor vehicle 1 educated. They are in the exemplary embodiment on the motor vehicle 1 arranged that nearly the entire area around the motor vehicle 1 can be detected around. This is the camera 4 so oriented that they have a detection area 4a , the camera 5 a detection area 5a , the camera 6 a detection area 6a and the camera 7 a detection area 7a exhibit. They are, as shown schematically in plan view 1 is shown, designed so that the detection areas 5a to 7a to the motor vehicle 1 allow almost complete coverage. The preferred ranges of these detection ranges 4a to 7a starting from the respective cameras 4 to 7 is preferably at least 10 m, in particular at least 20 m, in particular at least 30 m, in particular at least 40 m, and in particular at least 50 m. Through the detection areas 4a to 7a in sum, a first detection range of the first detection device 3 created, the relatively wide-ranging can capture the environment of the vehicle. Through these detection areas 4a to 7a Thus, the first detection area is designed with a relatively large range.

In addition, the motor vehicle includes 1 a likewise vehicle-side second detection device 8th in the exemplary embodiment at a front region of the motor vehicle 1 , in particular a front bumper 9 , a plurality of sensors, in particular ultrasonic sensors 10 , exhibit. The ultrasonic sensors 10 each have a detection area 10a on, which have a smaller range than, for example, the detection area 7a , Through these detection areas 10a the ultrasonic sensors 10 is a second detection range of this second detection device 8th educated.

The second detection device 8th In addition, preferably also includes in a rear area of the motor vehicle 1 , in particular on a rear bumper 11 Also preferred are a plurality of ultrasonic sensors 12 , the corresponding short-range detection areas than the detection areas 4a to 7a exhibit. For clarity, these are the detection areas 10a corresponding detection areas of the rear ultrasonic sensors 12 not shown.

The driver assistance device 2 also includes a control unit 13 which is used to control the driver assistance device 2 and in the context for processing the information as determined by the first detection device 3 and the second detection device 8th be detected, trained. In addition, it is then preferably designed for controlling the respective vehicle-side components, with which then the basic function of semi-autonomous maneuvering takes place. This applies, for example, the operation of the brake and the implementation of a turning of the wheels and thus the steering of the wheels.

The car 1 also includes a screen 14 who is stationary in the motor vehicle 1 may be installed or arranged as a non-destructible detachable screen, which may thus also be designed as a portable unit.

On this screen 14 the vehicle environment as it passes through the first detection device 3 is detected, and in particular also the vehicle environment, as by the second detection device 8th is detected, this then in particular for accurate object detection within the second range of the detection areas 10a is trained.

In particular, on the screen 14 a top view of the detected vehicle environment displayed. The screen 14 is designed in particular as a touch-sensitive control panel. This allows a person, especially a vehicle user, by touching the screen 14 generating information on specific sites at the user's

Preferably, when the driver assistance device 2 is at least designed to perform a semi-autonomous parking operation, a desired end position can be specified as a parking position by the vehicle user and also a leading driving trajectory user-specified.

By this configuration is not the system side and thus driver assistance device side given a parking space and there moving the vehicle 1 through the system or the driver assistance device 2 determined and predetermined, but this is specified by the user.

For further explanation in the context of an exemplary representation in 2 directed. This illustration shows a view of a vehicle environment as represented by the driver assistance device 2 was captured and how it is on the screen 14 is shown.

In particular, here is a situation in which the motor vehicle 1 which is in the representation of the vehicle environment on the screen 14 as a motor vehicle symbol 1' , in particular to scale to the objects of the displayed vehicle environment, is shown on a roadway 15 shown. The first detection device 3 detects this vehicle environment, and the corresponding will be on the screen 14 displayed.

The vehicle user then recognizes that there are two transverse parking spaces at an appropriate distance 16 and 17 would be free. The distance from the motor vehicle 1 with its current position to these possible transverse parking spaces 16 and 17 is greater than the second range of the detection areas 10a However, it is within the range of the first detection area and in particular the detection area 7a , Thus, this vehicle environment is also with the parking spaces 16 and 17 detected. Due to the relatively distant parking spaces 16 and 17 can through the sensors 10 the second detection device 8th a recognition of these parking spaces 16 and 17 not done yet. Due to the recognition of these parking spaces 16 and 17 however, by the vehicle user this can already then at this time and the given location of the motor vehicle 1 be recognized. In addition, the vehicle user also recognizes that these are transverse parking spaces 16 and 17 is.

Would like the vehicle user now that the motor vehicle 1 at least semi-autonomous in the transverse parking space 17 is parked, so he can by touching the screen 14 the motor vehicle symbol 1' from the actual location of the motor vehicle shown 1 on the screen 14 Move, in the desired end position 18 how it is then in 2 is shown. In this context, the vehicle user can also find the orientation of the motor vehicle symbol 1' pretending, which means that a position of a vehicle longitudinal axis A relative to a direction axis B of the roadway 15 is specified. In the transverse parking space shown here 17 the orientation of the axes A and B is substantially perpendicular to each other. In addition, the vehicle user can by touching the screen 14 and corresponding turning of the motor vehicle symbol 1' also the direction in which the motor vehicle 1 in the parking space 17 be parked, pretend. This means that the vehicle user can also indicate with this direction whether the motor vehicle 1 forward or backward into the desired parking space 17 should be parked. In the example shown in FIG 2 is desired that the motor vehicle 1 parked in a direction corresponding to forward parking and thus a front bumper 9 the roadway 15 turned away and a rear bumper 11 the roadway 15 is facing. Accordingly, the vehicle user has the motor vehicle symbol 1' on the screen 14 moved and brought in the appropriate orientation and appropriate direction.

In a particularly advantageous manner, it is provided that the vehicle user also has a driving trajectory 19 starting from the current detected positional state of the motor vehicle 1 as it is in 2 is shown by way of example, to the desired end position 18 at least in sections, in particular completely, can pretend. He can also do this by touching the screen 14 this driving trajectory 19 with a finger or an input element, such as a pen, pretend and draw. This can preferably be a freehand trajectory at least in sections.

Thus, although presently through the second detection device 8th starting from the current actual position of the motor vehicle 1 the parking space 16 not yet recognized and in particular can not be measured, is the driver assistance device 2 now already a lying in the corresponding distance parking space 17 specified. By the vehicle user is the motor vehicle 1 thus in semi-autonomous parking in this parking space 17 this, though through the driver assistance facility 2 not yet clearly recognized and recorded, known, and by the driving trajectory 19 becomes the motor vehicle 1 also sent on the right path.

For carrying out the subsequent parking operation, it may then preferably be provided that the user starts the parking process. In particular, at the beginning of the parking process then automatically continues the environment of the motor vehicle 1 recorded and successive, in particular continuously, even then the particular additional information, such as further approaching the parking space 17 along the driving trajectory 19 by the second detection device 8th be captured on the screen 14 displayed. This allows along the way and thus the driving trajectory 19 possibly obstructing objects are accurately recognized and responded to. For example, in the context, when an object along the driving trajectory 19 for the further movement of the motor vehicle 1 disabling detection, a warning tone and / or an optical warning display on the screen 14 issued and / or stopping the motor vehicle 1 done automatically. It is particularly preferred if, in such a situation, when an object which is a hindrance has been detected, automatically an alternative driving trajectory by the driver assistance device 2 an attempt is made to determine, and if such is possible, automatically performing further movement of the motor vehicle 1 be carried out along the alternative driving trajectory, and then by the in 2 predetermined parking with the desired end position 18 to reach. In this context, a particularly continuous and thus continuous updating of the detected vehicle environment on the screen 14 performed when performing the parking operation. Even the vehicle user can thus perceive continuously and extremely current changes in the vehicle environment.

It is also advantageous that it is possible, on the basis of the representation of the motor vehicle symbol that is true to scale to the displayed objects 1' the suitability of a desired parking space 17 with regard to the size and thus also on the dimensions to be checked in advance and / or, if this is not yet possible at the time when the parking operation has not been started, such is carried out at least after the start of the parking operation. As a result, it is then possible to determine at the earliest possible point in time whether the parking space is already at hand before the parking operation is carried out or at least during the parking process 17 is at all suitable, the motor vehicle 1 to park there. In this context, the driver assistance device 2 determine a specific reference quantity based on predetermined reference determination values. Thus, it may be specified in the context that the parking space in the width and / or the length at least 1.25 times the respective dimensions of the motor vehicle 1 in width and / or length.

Preferably, it can be provided that the motor vehicle 1 a steered rear axle, wherein thus the at least two wheels arranged on the rear axle thus relative to the longitudinal axis A of the motor vehicle 1 can be adjusted. It can be provided that this mode of operation of the active steering of the wheels of the rear axle is activated only in such a maneuvering, in particular in such a performing a parking operation.

In 3 is another embodiment of a two-dimensional plan view of a through the at least first detection device 3 detected vehicle environment of the motor vehicle 1 shown. Here is the driver assistance facility 2 again in particular by the first detection device 3 with their corresponding first range also a parking space 20 , which is formed in the case as a longitudinal parking gap, displayed. Again, it is especially provided that this Längsparklücke 20 outside the detection range of the second detection device 8th in relation to the current position of the motor vehicle 1 is. Again, then by the vehicle user, in turn, if necessary, in turn, the type of parking space, namely a Längsparklücke 20 , can be detected, and thus here again by moving the vehicle symbol 1' with a corresponding orientation and a corresponding direction in this Längsparklücke 20 the desired end position can be specified. Again, this can be done by a driving trajectory 21 , the vehicle user side preferably completely predetermined and freehand trajectory on the screen 14 is drawn, the Dhininbewegen the motor vehicle 1 be predetermined by an at least semi-autonomous parking operation.

In 4 is in a further exemplary plan view in particular by the first detection device 3 detected vehicle environment on the screen 14 shown. Again, the current position of the motor vehicle 1 by displaying the motor vehicle symbol 1' preferably shown to scale. Would like the vehicle user that the motor vehicle 1 then into one by preferably until now only by the first detection device 3 recorded oblique parking space 22 Park, so he can the motor vehicle symbol 1' turn into this free space on the screen 14 move it in. Again, he can again set the direction and direction, as well as in 4 already indicated. For this purpose, he then again preferably gives a desired driving trajectory by means of a freehand trajectory 23 before, so again here the driver assistance device 2 although in particular this clearance with the possible parking space 22 by the second detection device 8th not yet recorded, almost a corresponding parking space 22 with a desired trajectory 23 is given.

In addition to the already mentioned specific embodiments of the detection devices 3 and 8th Furthermore, with cameras and ultrasonic sensors, laser or radar sensors can also be designed as detection units.

The illustrated detection devices 3 and 8th are mounted in or on the vehicle or Part of the vehicle. Alternatively, a detection device can also be arranged outside the vehicle or be transmitted from an external source, such as a video surveillance system of a parking garage.

Especially when in a vehicle environment, captured by the first detection area and on the screen 14 can already be displayed, a free space has been detected, as a parking space for the motor vehicle 1 could be suitable or suitable, but this outside the second detection range of the second detection device 8th is still possible by the vehicle user, a corresponding Manövrierwunsch be given in a corresponding space and also the way in which the motor vehicle 1 should move there, be specified by the vehicle user himself. Especially in these cases, this is particularly advantageous since the driver assistance system or the driver assistance device is thus identified by the additional possibilities recognized by the vehicle user 2 early and thus before the detection of a suitable parking space by the second detection device 8th already informed that a corresponding possible suitable parking space is available and how the motor vehicle 1 could or should move there.

This Dorthinbewegen the motor vehicle 1 along the travel trajectory given by the user is then preferably continuously monitored during passage through to avoid collisions with objects.

As shown in the examples, thus, even if the motor vehicle 1 is in very unfavorable position to a possible parking space and in particular the parking space can not yet be detected as such or as suitable by the driver assistance device, a Dorthinbewegen and parking are possible. Another advantage is also that in case of several parking spaces, which are close together, by the driver early a preference of a parking space can be placed.

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• DE 10045616 A1 [0002]

Claims (15)

Method for the at least semi-autonomous maneuvering of a motor vehicle ( 1 ) in which a vehicle environment is detected by a first vehicle-side detection device ( 3 ) with a first detection area ( 4a to 7a ) is detected with a first range, wherein that of the first detection device ( 3 ) detected vehicle environment on a screen ( 14 ) and an end position desired by a vehicle user ( 18 ) of the motor vehicle ( 1 ) by a positional selection in the on the screen ( 14 specified vehicle environment, characterized in that the vehicle user in the on-screen ( 14 ) displayed a driving trajectory ( 19 . 21 . 23 ) for the motor vehicle ( 1 ) from its current position to the final position ( 18 ) pretends at least in sections. Method according to Claim 1, characterized in that the driving trajectory ( 19 . 21 . 23 ) on the screen ( 14 ) is recorded by the vehicle user. Method according to claim 1 or 2, characterized in that the maneuvering of the motor vehicle ( 1 ) according to the specification of the driving trajectory ( 19 . 21 . 23 ) is started by the vehicle user and is performed at least semi-autonomously. Method according to one of the preceding claims, characterized in that a second vehicle-side detection device ( 8th ) with a second detection area ( 10a ) is formed with a second range, which is smaller for the first range, for object detection in a vehicle environment, and wherein preferably by means of the second detection device ( 8th ) within its second detection range ( 10a ) Objects in the vehicle environment are detected and displayed on the screen ( 14 ) with. Method according to claims 3 and 4, characterized in that the desired end position ( 18 ) outside the second detection area ( 10a ) and during driving through the driving trajectory ( 19 . 21 . 23 ) of the motor vehicle ( 1 ) at least the second detection device ( 8th ) at least the section of the driving trajectory ( 19 . 21 . 23 ) with regard to obstructive objects that could not be detected prior to maneuvering. A method according to claim 5, characterized in that in case of maneuvering for driving through the Fahrtrajektorie ( 19 . 21 . 23 ) obstructing object is detected the motor vehicle ( 1 ) is stopped and / or a warning is issued to the vehicle user, in particular when an achievement of the desired end position of the motor vehicle ( 1 ) is also prevented with alternative driving trajectories. A method according to claim 5, characterized in that in case of maneuvering for driving through the Fahrtrajektorie ( 19 . 21 . 23 ) obstructing object is detected and automatically an alternative driving trajectory is determined, and the motor vehicle ( 1 ) on the alternative driving trajectory into the desired end position ( 18 ) is maneuvered at least semi-autonomously. Method according to one of claims 5 to 7, characterized in that on the screen ( 14 ) is updated during the maneuvering, in particular is updated depending on the detected information of at least the second detection device. Method according to one of the preceding claims, characterized in that maneuvering a parking in a parking space ( 16 . 17 ) and by an orientation of the vehicle by means of a motor vehicle symbol ( 1' ) on the screen ( 14 ) illustrated motor vehicle ( 1 ) relative to the on screen ( 14 ) displayed current position of the motor vehicle ( 1 ) and / or the roadway ( 15 ) the type of parking space ( 16 . 17 ) is given. Method according to one of the preceding claims, characterized in that maneuvering a parking in a parking space ( 16 . 17 ) and by a direction of the vehicle user by means of a motor vehicle symbol ( 1' ) on the screen ( 14 ) illustrated motor vehicle ( 1 ) relative to the on screen ( 14 ) displayed current position of the motor vehicle ( 1 ) and / or the roadway ( 15 ) Vorwärteinparken or Rückwärteinparken is specified. Method according to one of the preceding claims, characterized in that maneuvering a parking in a parking space ( 16 . 17 ) and one on the screen ( 14 ) in the displayed vehicle environment alleged parking space ( 16 . 17 ) as suitable for the motor vehicle ( 1 ) is checked by a motor vehicle ( 1 ) characterizing motor vehicle symbol ( 1' ) to scale to the scale of the displayed vehicle environment on the screen ( 14 ) and depending on the dimensions of the motor vehicle symbol ( 1' ) and the parking space ( 16 . 17 ) the suitability of the parking space ( 16 . 17 ) is determined to park. Method according to one of the preceding claims, characterized in that the vehicle environment as a two-dimensional plan view on the screen ( 14 ) is shown. Method according to one of the preceding claims, characterized in that the motor vehicle ( 1 ) has a steered rear axle, wherein the steerable operating mode is activated during maneuvering. Driver assistance device ( 2 ) which at least semi-autonomous maneuvering of a motor vehicle ( 1 ), and which a first vehicle-side detection device ( 3 ) with a first detection area ( 4a to 7a ) having a first range for detecting a vehicle environment, wherein that of the first detection device ( 3 ) detected vehicle environment on a screen ( 14 ) and an end position desired by a vehicle user ( 18 ) of the motor vehicle ( 1 ) by a positional selection in the on the screen ( 14 ) is predetermined, characterized in that in the on the screen ( 14 ) displayed a driving trajectory ( 19 . 21 . 23 ) for the motor vehicle ( 1 ) from its current position to the final position ( 18 ) is predetermined at least in sections by the vehicle user. Motor vehicle ( 1 ) with a driver assistance device ( 2 ) according to claim 14.

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