DE102014220144A1 - Method and device for assisting a driver of a motor vehicle - Google Patents

Abstract

A method for assisting a driver of a vehicle (10) is proposed, which comprises a learning phase in which, after activation of the learning phase by the driver, a driving maneuver is carried out by the driver, in which the vehicle (10) is manually moved from a first start position (20 ') is moved along a first trajectory (45) into a target position (30). In this case, information about the first start position (20) and information about the first trajectory (45) are stored; in particular, adjusted steering wheel angles are detected and stored. According to the invention, the maximum possible steering angle of the vehicle (10), which can be set by the driver, is limited during the learning phase, so that the steering wheel angle can only have those angle values that are smaller than a predefined steering wheel angle limit value. The method further comprises an execution phase in which the driver is offered the possibility of activating a support function if it is detected that the vehicle is in a second start position (20 ') in the region of the first start position (20). Upon activation of the assist function, assisted driving maneuver is performed from the second start position to the target position along a second trajectory (45 ') based on the information stored during the learning phase. During the execution phase, the maximum possible steering wheel angle of the vehicle (10) according to the invention is not limited.

Description

State of the art

The present invention relates to a method for assisting a driver of a motor vehicle when performing a driving maneuver. Furthermore, the invention relates to a computer program product that can perform such a method. Likewise, the invention relates to a control device that can perform the method for assisting the driver of the motor vehicle, as well as a motor vehicle that includes the control unit.

Semi-automatic parking systems have already been in mass production for several years: the driver drives his vehicle along parking spaces. The parking system identifies free parking spaces by means of laterally mounted sensors (eg ultrasonic sensors). The driver stops and engages reverse gear, the parking system takes control of the steering wheel and steers the vehicle into the parking space. The driver has to accelerate himself and apply the brake. An extension of this principle are systems in which the driver no longer has to accelerate or brake himself. This also takes care of the parking system, e.g. by direct access to the Längsführungsaktuatorik the vehicle (brake, engine control). The vehicle is fully automatically controlled in the parking space.

Systems are still known in which only once is learned where a particular parking lot is located, for example, the local garage. After the teach-in process, the driver must bring the vehicle close to the previously learned parking position or target position. The parking system recognizes that a trained trajectory to the target parking space is present in a memory. If the driver activates the parking function, the system independently recognizes the current position relative to the target position and moves the vehicle fully or partially automatically from the current position to the learned parking or target position. Such systems are also known by the terms "automatic garage parking" or "home zone" from the prior art.

That's how it describes DE 10 2012 008 858 A1 a method for performing an autonomous parking operation of a motor vehicle, wherein between an outside of the motor vehicle operator and the motor vehicle is a communication link through which at least one command for activating the autonomous parking operation of the motor vehicle is transferable, wherein before the start of the autonomous parking operation of the motor vehicle, the Target position and / or last trajectory of the motor vehicle is stored in a suitable device, and the motor vehicle autonomously executes the parking operation after the first activation of the autonomous parking operation from the start position based on the data stored in the device. The determination of the target position by an occupant of the motor vehicle can be carried out in an advantageous manner, for example, by the fact that the driver first approaches the target position and this target position is stored in the system.

For the realization of such a function, while traversing the previously stored trajectory by means of a steering controller, it is attempted to follow the stored trajectory as accurately as possible, for example by adjusting stored steering wheel angles by the automatic steering. Problems in the form of larger system deviations can occur here if a very large or the maximum possible steering wheel angle was already used by the driver during the learning phase. This can occur in particular if only little space is available at least for parts of the driving maneuver, so that large steering wheel angles are necessary. For accurate control, both smaller and larger steering wheel angles must be possible with respect to the target steering wheel angle. However, if the maximum or even a very large steering wheel angle is already stored as the target steering wheel angle, this is not possible. The consequence of this is control deviations, so that the stored trajectory under certain circumstances can not be traversed exactly and the supported driving maneuver must be canceled.

Disclosure of the invention

According to the invention, a method is proposed for performing automatic parking of a vehicle on a predefined parking space by means of a parking system of the vehicle and a corresponding parking system which avoids the above-mentioned problem.

A method is proposed for assisting a driver of a vehicle, which comprises a learning phase in which, after activation of the learning phase by the driver, a driving maneuver is carried out by the driver, in which the vehicle is moved manually from a first start position along a first trajectory to a target position becomes. In this case, information about the first start position, as well as information about the first trajectory are stored, in particular set steering wheel angle are detected and stored. According to the invention, during the learning phase, the maximum possible steering wheel angle of the vehicle, that is to say the driver's maximum adjustable steering wheel angle, is limited, so that the steering wheel angle can only have those angle values which are less than a predefined steering wheel angle limit.

The method further comprises an execution phase in which the driver is offered the option of activating a support function if it is detected that the vehicle is in a second start position in the region of the first start position. Upon activation of the assist function, assisted driving maneuver is performed from the second start position to the target position along a second trajectory based on the information stored during the learning phase. During the execution phase, the maximum possible steering wheel angle of the vehicle is not limited according to the invention.

Preferably, an offset between the second start position and the first start position can be determined. Further preferably, based on the stored history of the first trajectory and the particular offset, corrections can be calculated that must be performed on the first trajectory to determine the course of a second trajectory extending from the second starting position to the target position.

Also, by means of the parking system, the vehicle is automatically guided to drive on the second lane during the execution phase. In the method according to the invention, the limitation of the steering wheel angle is canceled in the execution phase.

Preferably, a course of an unrestricted steering wheel angle, which the vehicle steering wheel is taken during the driving of the second path, is set automatically by means of a steering controller based on the course of the limited steering wheel angle, which the vehicle steering wheel was actually hit during the passage of the first path.

The invention accordingly provides a method for assisting in carrying out driving maneuvers from a starting position to a destination position, for example a parking maneuver of a vehicle in a predetermined parking space. The target position is predetermined by a driver by traversing the trajectory between a predetermined starting position and the target position during a learning phase once with manual control.

According to the invention, therefore, a method for assisting a driver of a vehicle is proposed, comprising a learning phase in which, after activation of the learning phase by the driver, a driving maneuver is carried out in which the vehicle is manually moved by the driver from a start position to a destination position. During the learning phase according to the invention, the steering wheel angle, which the driver can adjust, is limited, so that the steering wheel angle only has those angle values that are smaller than a predefined steering wheel angle limit value. For example, the steering wheel angle limit value has a value that is smaller by 45 to 180 ° than the amount of the maximum steering angle. Usually, the amount of the maximum steering angle varies with the vehicle type. If the maximum possible steering wheel angle = A and the steering wheel angle limit value during the learning phase = B, then B = A - X, where X can be a value between 45 ° and 180 °, for example X = 120 °. Thus, it is achieved that the driver during the learning phase can only set steering wheel angle less than B to the right and / or left.

After activation of the assistance function, the vehicle moves partially or fully automatically according to the stored trajectory from its current position towards the target position. According to the invention, there is no longer any limitation of the steering wheel angle.

Under a partially automated driving maneuver is understood that the vehicle automatically takes over the steering, so the lateral control, while the driver merely accelerates and brakes by default, so performs the longitudinal control. In a fully automated driving maneuver, both the longitudinal control and the lateral control of the vehicle takes place automatically. Vehicles having such functionality are well known in the art and will not be described again in detail here.

Preferably, the maximum possible steering wheel angle is limited during the learning phase by an electronic power steering system, in particular an electronic power steering system (EPS), of the vehicle. It is particularly preferred during the learning phase when reaching a certain Grenzlenkradwinkels a correspondingly large counter-torque generated by the electronic power steering system, so that the driver gets the impression gives already reached the full steering of the steering wheel when reaching the Grenzlenkradwinkels.

With the method according to the invention is achieved in an advantageous manner that an improved accuracy of the position and orientation control of the vehicle during automated departure of a specified by the driver trajectory is achieved. Especially in driving situations in "tight" situations, which often requires the setting of large steering wheel angle, so a higher accuracy can be achieved. A high accuracy is just in such situations with little room for It is absolutely necessary to maneuver, since even small deviations from the stored trajectory could lead to collisions or abort of the supported driving maneuver. This results in an overall increase in the applicability of the function by the inventive design, as frequent crashes or even collisions are avoided by the increased accuracy.

It is to activate the assisted driving maneuver, so the initiation of the execution phase, not necessary that the vehicle is exactly at the first start position at which the learning phase was started. Instead, it is recognized that the vehicle is at a second start position in an area, in other words within no more than about 2 m from the stored, first start position. This detection can be carried out, for example, based on detection and comparison of characteristic features in the environment data acquired by the surroundings sensor system and comparison with stored information about the first start position. In addition, navigation data or GPS data can advantageously be detected and used to localize the vehicle.

In the learning phase, information about the first start position is preferably detected by means of an environment sensor system of the vehicle. Alternatively or additionally, in the execution phase, current position information of the vehicle is preferably detected by means of an environment sensor system of the vehicle.

The recognition of whether the vehicle is in an area of the first start position is effected in a preferred embodiment of the method according to the invention by comparing characteristic features of the vehicle environment in the current position information with the features in the stored information.

The information on the first and second start positions and / or the current position information of the vehicle may further comprise navigation data, in particular GPS data.

In a preferred embodiment of the invention, vehicle reactions, in particular collision-avoiding vehicle reactions, are listed on the basis of the environmental data acquired during the assisted driving maneuver. In other words, in this embodiment, the environment detection is permanently active and detected during the execution phase, in particular moving objects that could cross the travel path of the vehicle and cause collisions. If such an object is detected, the fully or partially automatic driving maneuver can be interrupted, for example, until it is detected by the environmental sensor system that there is no longer a danger of collision.

In a preferred embodiment of the invention, the target position is a parking lot. It is preferably provided that, in the event that during the execution phase it is detected by the environmental sensor system that the original target position can not be reached, since, for example, the corresponding parking space is occupied, alternative parking spaces near the target position are detected by the surroundings sensor system, and Driving maneuver is completed on the basis of the detected by the environment sensors of the vehicle environment information by parking in an alternative parking lot.

The inventive method is not limited to parking operations. Also conceivable driving maneuvers include driving through bottlenecks, for example, in driveways or courtyards, or turning maneuvers in a confusing environment. The person skilled in the art can readily apply the principle according to the invention to a multiplicity of further driving situations.

The invention further relates to a computer program product, comprising a program code for carrying out the method according to one of the preceding claims, when the computer program product runs on a computer.

The invention also relates to an electronic control device for a vehicle, comprising a storage device and a control device which is connected to further components of the vehicle, wherein the control device is set up to carry out the method according to the invention.

The invention also relates to a motor vehicle comprising such a control device.

Brief description of the drawings

1 schematically shows the learning phase when using the method according to the invention when parking.

2 schematically shows the execution phase of a method according to the invention.

3 shows a vehicle which is designed for carrying out the method according to the invention.

Embodiments of the invention

The embodiment of the method according to the invention is shown in the figures. In this For example, the assisted maneuver is a parking maneuver into a transverse parking space.

1 schematically shows a driving situation in bird's eye view. Shown is the learning phase of a method according to the invention for supporting a driver of the vehicle shown 10 , The vehicle 10 is at a first starting position 20 , The driver can now activate the learning phase and the vehicle 10 along the trajectory 45 manually, ie by himself taking over the longitudinal and transverse guidance of the vehicle, to the target position 30 Taxes. According to the invention, first information about the starting position 20 detected. For this purpose, the vehicle has environment sensors 12 on, which may be formed for example as ultrasonic sensors or as a camera system. The information about the first starting position 20 are detected, for example, as image data and / or as distance data and stored in a memory unit in a control unit of the vehicle (not shown). Additionally or alternatively to the means of environment sensors 12 Captured environment information may also location information, such as GPS coordinates, from the corresponding positioning systems arranged in the vehicle, to the first start position 20 be captured and stored.

The driving maneuver, ie the trajectory 45 becomes the target position while driving 30 detected and stored in a memory unit in a control device of the vehicle (not shown). In particular, the steering wheel angle set by the driver while driving are stored. According to the invention, the maximum possible, adjustable by the driver steering wheel angle is limited to a value which is smaller by 45 to 180 ° than the amount of the maximum steering angle.

In 2 the execution phase of the method according to the invention is shown. The vehicle 10 comes at a later date in the area of the first starting position 20 back and is at a second starting position 20 ' , which is opposite the first starting position 20 has an offset d. By comparing currently through the environment sensors 12 captured environmental information with the to the first start position 20 stored information is recognized that the vehicle you 10 in the area, so close, so to about 2m, the first starting position 20 located. The driver is now offered the opportunity to activate a support function for the driving maneuver.

If the driver activates the assistance function, according to the invention the driving maneuver previously stored in the learning phase is used to transfer the vehicle 10 in the target position 30 automatically performed. This is the vehicle 10 from the second starting position 20 ' semi-automatic or fully automatic along the trajectory 45 ' based on the trajectory stored during the learning phase 45 and the offset d between the first starting position 20 and the second starting position 20 ' is calculated. The steering wheel angle stored during the learning phase is adjusted. There is no limitation of the steering wheel angle more, so that a control to a steering wheel angle near the threshold set in the learning phase, which is smaller by 45 to 180 ° than the amount of maximum steering angle is easily possible.

In 3 is schematically a trained as a car vehicle 10 illustrated, which is adapted to perform the inventive method. For this purpose, the vehicle has different environment sensors 12 on, which are formed for example as ultrasonic sensors and / or camera systems. The vehicle 10 includes a controller 60 with a storage device 70 and a control device 75 that with other components of the vehicle 10 , such as the steering 90 and the powertrain 80 , as well as the Electronic Power Steering (EPS) system 95 of the vehicle 10 connected is. The control unit 60 Receives measurement data of the environment sensors 12 and processes them to environment information. During the learning phase, the driver adjustable steering wheel angle of the EPS system 95 limited to a certain limit angle, which is smaller by 45 to 180 ° than the amount of the maximum steering angle. During the execution phase, the steering wheel angle is no longer through the EPS system 95 limited.

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 102012008858 A1 [0004]

Claims (12)

Method for assisting a driver of a vehicle ( 10 ), comprising a learning phase in which, after activation of the learning phase by the driver, a driving maneuver is carried out in which the vehicle ( 10 ) from a first starting position ( 20 ) by the driver along a first trajectory ( 45 ) into a target position ( 30 ), with information about the starting position ( 20 ), as well as information about the first trajectory ( 45 ), also comprising an execution phase, whereby the driver is offered the possibility of activating a support function if it is detected that the vehicle ( 10 ) in a second starting position ( 20 ' ) in the area of the first starting position ( 20 ), after activation of the assistance function, a supported driving maneuver from the second starting position ( 20 ' ) to the target position ( 30 ) along a second trajectory ( 45 ' ) is performed based on the stored information, characterized in that during the learning phase, the maximum possible steering wheel angle of the vehicle is limited, so that the steering wheel angle can only have those angle values that are smaller than a predefined steering wheel angle limit, and that during the execution phase of the maximum possible steering wheel angle of the vehicle is not limited. A method according to claim 1, characterized in that the amount of the predefined Lenkradwinkelgrenzwerts by 45 to 180 ° smaller than the amount of the maximum steering angle. Method according to one of claims 1 or 2, characterized in that the steering wheel angle is limited during the learning phase by an electronic power steering system, in particular an electronic power steering system of the vehicle. A method according to claim 3, characterized in that during the learning phase when reaching predefined Lenkradwinkelgrenzwerts a countersteering torque is generated by the electronic power steering system. Method according to one of claims 1 to 4, characterized in that in the learning phase information about the starting position ( 20 ) by means of an environment sensor system ( 12 ) of the vehicle ( 10 ) and / or a navigation system, in particular a GPS-based navigation system. Method according to one of claims 1 to 5, characterized in that in the execution phase, the second start position ( 20 ' ) of the vehicle ( 10 ) by means of an environment sensor system ( 12 ) of the vehicle ( 10 ) and / or a navigation system, in particular a GPS-based navigation system. Method according to one of claims 1 to 6, characterized in that it is detected whether the vehicle ( 10 ) in an area of the starting position ( 20 ) by comparing characteristic features of the vehicle environment in the current position information with the features in the stored information. Method according to one of the preceding claims, characterized in that the supported driving maneuver is carried out partially or fully automatically. Method according to one of the preceding claims, characterized in that vehicle reactions, in particular collision-avoiding vehicle reactions, are listed on the basis of the environmental data acquired during the assisted driving maneuver. A computer program product comprising a program code for carrying out the method according to one of the preceding claims, when the computer program product runs on a computer. Control unit ( 60 ) for a vehicle ( 10 ), comprising a memory device ( 70 ) and a control device ( 75 ) with the steering system ( 90 . 95 ) of the vehicle ( 10 ), the control unit ( 60 ) is configured to carry out the method according to one of claims 1 to 9. Motor vehicle ( 10 ) comprising at least one environmental sensor ( 12 ) and a control unit ( 60 ) according to claim 10.

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