DE102016013711A1 - Method for operating a motor vehicle, in particular a motor vehicle - Google Patents

Abstract

The invention relates to a method for operating a motor vehicle (10) in which a maneuvering operation is carried out by means of an electronic computing device, in the context of which a trajectory stored prior to the execution of the maneuvering process and extending from a starting point (20) to a destination point (22) (24) for automatically driving the motor vehicle (10) from the starting point (20) to the destination point (22) retrieved and by means of a sensor device at least one in the environment (12) of the motor vehicle (10) and on the trajectory (24) arranged obstacle (26), whereby at least one bypass trajectory (28), which differs at least partially from the retrieved trajectory (24), is automatically determined and the motor vehicle (10) is automatically driven along the bypass trajectory (28) in order thereby to drive the motor vehicle ( 10) automatically from the starting point (20) to the destination point (22) drive while avoiding the obstacle (26).

Description

The invention relates to a method for operating a motor vehicle, in particular a motor vehicle, according to the preamble of patent claim 1.

Such a method for operating a motor vehicle, in particular a motor vehicle, for example, is already the DE 10 2013 213 225 A1 to be known as known. In the method, a maneuvering operation is carried out by means of an electronic computing device, in particular of the motor vehicle, in whose context or in which a trajectory stored before the execution of the maneuvering process and extending from a starting point to a destination point for automatically driving the motor vehicle from the starting point the destination point is retrieved. For example, the trajectory is stored prior to performing the maneuvering process in a memory device, wherein the stored trajectory is retrieved from the memory device as part of the maneuvering process.

Furthermore, in the method by means of a sensor device, in particular of the motor vehicle, at least one obstacle arranged in the surroundings of the motor vehicle and on the trajectory is detected. This means that the trajectory does not actually extend in the vicinity of the motor vehicle, but by detecting the obstacle, for example, a position of the obstacle relative to the motor vehicle is determined. The determined position of the obstacle is compared, for example, with the trajectory. Based on this comparison, it is determined, for example, that the obstacle lies on the trajectory or that the motor vehicle would collide with the obstacle located in the vicinity of the motor vehicle if the motor vehicle were moved automatically along the trajectory by means of the electronic computing device.

Object of the present invention is to develop a method of the type mentioned in such a way that the maneuvering process can be carried out particularly advantageous.

This object is achieved by a method having the features of patent claim 1. Advantageous embodiments with expedient developments of the invention are specified in the remaining claims.

In order to develop a method of the type specified in the preamble of patent claim 1 in such a way that the maneuvering operation can be carried out particularly advantageously, it is inventively provided that at least one bypass trajectory different from the retrieved or previously stored trajectory is automatically determined by means of the electronic calculating device and the motor vehicle is automatically driven at least along the bypass trajectory by means of the electronic computing device to thereby automatically drive the motor vehicle from the starting point to the target point and thereby avoid the obstacle. In other words, the motor vehicle is automatically driven by means of the electronic computing device at least along the bypass trajectory, whereby the motor vehicle is automatically driven by the electronic computing device, in particular the motor vehicle, from the target point to the starting point.

It can be provided that the motor vehicle, before it is driven along the bypass trajectory, is automatically moved along at least a first part of the retrieved trajectory by means of the electronic computing device. Alternatively or additionally, it is conceivable that the motor vehicle, after it has been driven automatically along the bypass trajectory, is automatically moved along at least a second part of the retrieved trajectory by means of the electronic computing device. As a result of this automatic driving of the motor vehicle along the bypass trajectory, the first part and / or the second part of the trajectory effected by the electronic computing device, the motor vehicle as a whole is driven automatically, in particular fully automatically, from the starting point to the destination without the motor vehicle having the Obstacle collides. This means that the avoidance of the obstacle means that the motor vehicle is driven automatically by means of the electronic computing device in such a way that a collision of the motor vehicle with the obstacle does not occur.

The invention is based in particular on the following finding: It is usually provided that the motor vehicle is automatically moved along the retrieved trajectory by means of the electronic computing device when there is no obstacle on the trajectory. As a result, the motor vehicle can be driven automatically from the starting point to the destination point. The maneuvering process is thus an automatic maneuvering process.

However, if by means of the sensor device, in particular of a motor vehicle, it is detected that there is at least one obstacle in the environment and on the trajectory, the automatic maneuvering process is automatically aborted or omitted completely, in particular even if in the surroundings of the motor vehicle enough space is available to avoid the obstacle.

By means of the method according to the invention, such termination or failure to carry out the automatic maneuvering operation can be avoided, since not only the bypass trajectory is automatically determined, in particular calculated, by means of the electrical computing device, but the motor vehicle also automatically travels along the bypass trajectory by means of an electronic computing device hazards. Thus, by means of the method according to the invention, the motor vehicle is also automatically moved from the starting point to the destination point if it is detected by means of the sensor device that at least one obstacle is located on the trajectory.

Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or in isolation, without the scope of To leave invention.

The drawing shows in:

1 a schematic representation of a method according to the invention according to a first embodiment; and

2 a schematic representation of the method according to the invention according to a second embodiment

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

The following is based on 1 and 2 a method for operating a motor vehicle 10 explains which in 1 and 2 is shown in a schematic plan view. The car 10 is for example a motor vehicle, especially a passenger car. It will be described below with reference to 1 a first embodiment of the method is explained, in connection with 2 A second embodiment of the method will be explained.

How out 1 and 2 is recognizable, is in the area 12 of the motor vehicle 10 for example, as a house 14 trained first object as well as one as a garage 16 for the motor vehicle 10 trained second object arranged. The garage 16 For example, provides at least one parking space for the motor vehicle 10 ready, leaving the motor vehicle 10 in the parking lot and thus in the garage 16 parked or parked. They are also in the area 12 other objects in the form of plants 18 arranged. The objects mentioned represent - as will be explained in more detail below - obstacles which it is necessary to avoid a collision of the motor vehicle 10 with the obstacles to avoid.

The car 10 comprises at least one, for example, designed as an internal combustion engine or electric motor drive means by which the motor vehicle 10 is drivable. Furthermore, the motor vehicle includes 10 a sensor device, by means of which at least a part of the environment 12 can be detected. Thus, the sensor device is designed as ambient sensors. In addition, the motor vehicle includes 10 an electronic computing device, which is referred to as a control unit. The electronic computing device is designed, for example, to the drive device and, for example, a service brake of the motor vehicle 10 to drive, thereby speeding up via the drive device and via the service brake speed reductions of the motor vehicle 10 automatically be able to effect. Furthermore, the motor vehicle 10 a steering device, by means of which in the figures unrecognizable wheels of the motor vehicle 10 can be pivoted and thus steered. As a result, for example, cornering or change of direction of the motor vehicle 10 be effected. The electronic computing device is also designed, for example, to control the steering device, thereby, for example, changes in direction or cornering of the motor vehicle 10 automatically be able to effect by means of electronic computing device. The car 10 can thus be driven automatically by means of electronic computing device by the computing device drives the drive device, the service brake and steering device.

In the context of the method, a maneuvering process of the motor vehicle is by means of the electronic computing device 10 carried out. As part of the maneuvering process, a maneuvering procedure is stored prior to the maneuvering operation and from a starting point 20 to a destination point 22 extending trajectory 24 for automatically driving the motor vehicle 10 from the starting point 20 to the destination point 22 accessed. The trajectory 24 For example, it is learned and stored during a learning phase, which is performed in advance of the maneuvering process. In particular, the trajectory 24 depending on at least one performed by a person Ride of the motor vehicle 10 determined or learned and stored in particular. For example, the trajectory 24 stored in a memory device of the electronic computing device.

Captures the motor vehicle 10 For example, by means of the sensor device after the learning phase that the motor vehicle 10 on the starting point 20 the previously learned and stored trajectory 24 is so, the driver of the motor vehicle 10 or one in the interior of the motor vehicle 10 restraining person, in particular via a communication interface, offered the motor vehicle 10 by means of the electronic computing device automatically from the starting point 20 to the destination point 22 to drive. For example, if the person actuates at least one operating element of the motor vehicle 10 , as a result, the maneuvering process is carried out as an automatic maneuvering operation. In the course of the automatic maneuvering process, the motor vehicle 10 by means of the electronic computing device automatically from the starting point 20 to the destination point 22 along the trajectory 24 hazards.

Unlike the in 1 and 2 shown representations, it is conceivable that the destination point 22 in the garage 16 is located so that the automatic maneuvering process can be performed as an automatic parking operation. As part of the parking process, the motor vehicle 10 from the starting point 20 to the destination point 22 automatically driven and thus in the garage 16 parked or parked. The car 10 in particular then along the complete trajectory by means of the electronic computing device 24 automatically driven when in the area 12 no obstacle on the trajectory 24 located.

However, it is possible that there are longer periods of time between the learning phase and the execution of the maneuvering process, during which time at least one obstacle in the environment 12 and on the trajectory 24 can be arranged. Such, in the environment 12 and on the trajectory 24 arranged obstacle is in 1 and 2 shown and with 26 designated. At the obstacle 26 For example, it is a trash can or a bicycle, for example, by a person in the area 12 moved around and thereby on the trajectory 24 was arranged.

Usually, it is provided in the context of the maneuvering process that the motor vehicle only along the learned, stored and then retrieved trajectory 24 may be moved automatically. Usually there is no possibility during the maneuvering process and especially during the motor vehicle 10 is automatically driven when performing the maneuvering, obstacles such as the obstacle 26 dodge. Then the execution of the maneuvering process or the execution of the maneuvering process is stopped or interrupted, in particular, until the obstacle 26 from the trajectory 24 was removed. The maneuvering operation is conventionally omitted even then or is conventionally interrupted even when in the environment 12 actually enough space is available to the motor vehicle 10 around the obstacle 26 driving around. This can lead to impairment of comfort and ease of use.

In order to carry out the maneuvering process in a particularly advantageous manner and thereby to be able to realize a particularly high level of comfort and user friendliness, it is provided within the scope of the method that at least one of the retrieved and previously learned trajectories is at least partially determined by means of the electronic computing device 24 different bypass trajectory 28 is determined automatically. Furthermore, it is provided in the context of the method that the motor vehicle automatically by means of the electronic computing device at least along the bypass trajectory 28 is driven to thereby the motor vehicle 10 automatically from the starting point 20 to the destination point 22 to drive while keeping the obstacle 26 to drive around. The obstacle 26 is detected, for example, before or while the motor vehicle 10 as part of the maneuvering process by means of the electronic computing device automatically along the trajectory 24 is driven. Will the obstacle 26 recorded, so it is not intended to cancel the maneuvering process or interrupt until the obstacle 26 from the trajectory 24 was removed, but the motor vehicle 10 becomes along the bypass trajectory 28 driven without the bypass trajectory 28 or one the bypass trajectory 28 comprehensive, further trajectory must be re-taught. Thus, for example, the driver of the motor vehicle 10 on the trajectory 24 Do not remove obstacles that have been arranged.

For example, the obstacle 26 recorded and the bypass trajectory 28 calculated so is the driver of the motor vehicle 10 for example, the bypass trajectory 28 proposed. The driver confirms the proposed bypass trajectory 28 For example, such that the driver actuates an operating element, so the motor vehicle 10 along the bypass trajectory 28 automatically driven to thereby the motor vehicle 10 in total from the starting point 20 to the destination point 22 to drive automatically. The bypass trajectory 28 is thus a possible Umfahrweg, along which the motor vehicle 10 can be automatically driven by the electronic computing device, without causing collisions of the motor vehicle 10 with the obstacle 26 or with other obstacles in the area 12 comes.

Especially after confirmation of the bypass trajectory 28 becomes the bypass trajectory 28 stored, for example, so that the stored bypass trajectory 28 for example, as information in similar cases or situations can be used to avoid obstacles without confirmation by the driver.

Out 1 is recognizable that the bypass trajectory 28 at one in front of the obstacle 26 arranged first position S1 of the trajectory 24 from the trajectory 24 branches. Furthermore, the bypass trajectory opens 28 after the first place S1 and after the obstacle 26 arranged second point S2 in the trajectory 24 , Thus, the motor vehicle 10 - while automatically using the electronic computing device from the starting point 20 to the destination point 22 is driven - initially along a first part 30 the trajectory 24 hazards. After covering the first part 30 becomes the motor vehicle 10 by means of the electronic computing device automatically along the bypass trajectory 28 hazards. After covering the bypass trajectory 28 becomes the motor vehicle 10 by means of the electronic computing device automatically along a second part 32 the trajectory 24 driven so that the motor vehicle 10 in total from the starting point 20 to the destination point 22 automatically driven by the electronic computing device.

2 illustrates a second embodiment of the method. In this case, for example, depending on at least one of the maneuvering anticipatory drive of the motor vehicle 10 a driving range B for the motor vehicle 10 determined, whereby the bypass trajectory 28 extends within the driving range B. The aforementioned trip, which is used to determine the driving range B, is for example by a person or by the driver of the motor vehicle 10 carried out. Such performed by a person driving the motor vehicle 10 is a passive phase during which the driver autonomously the motor vehicle 10 drives, for example, to the garage or in the garage 16 , During such a passive phase, for example, the motor vehicle draws 10 at least one guideway analogous to the aforementioned learning phase. This route and in particular a plurality of such routes then give, for example, the driving area B, which represents a passable space in which the motor vehicle 10 In principle, it can be driven without causing collisions of the motor vehicle 10 with in the area 12 arranged obstacles comes. This drivable space, for example, is not part of the originally trained trajectory 24 ,

The maneuvering process is an active phase, in particular an active driving phase, since the motor vehicle 10 is driven automatically during the maneuvering process by means of the electronic computing device. Occurs during the active driving phase, an obstacle such as the obstacle 26 on the trajectory 24 the electronic computing device accesses the previously ascertainable passable space, the bypass trajectory 28 to calculate as avoidance trajectory and to start this independently. The detour trajectory extends 28 within the driving range B and is detected on the bypass trajectory 28 there is no obstacle, it can be assumed that - if the motor vehicle 10 by means of the electronic computing device automatically along the bypass trajectory 28 is moved - it does not cause collisions of the motor vehicle 10 with in the area 12 arranged obstacles comes.

It has proven to be particularly advantageous if the planned bypass from a time before driving on the bypass trajectory 28 lying time in the interior of the motor vehicle 10 , in particular on a display arranged in the interior, is displayed visually. As a result, for example, the driver of the motor vehicle 10 the planned bypass visually communicates. Out 1 and 2 it can be seen that in the embodiments the trajectory 24 is left at the point S1, then the bypass trajectory 28 to drive on or off. Thus, it is preferably provided that the planned bypass the driver from a time just before leaving the trajectory 24 is displayed visually, for example, to avoid surprises of the driver.

In both embodiments, a release for driving the bypass trajectory could 28 and thus to avoid the obstacle 26 by the driver of the motor vehicle 10 or initiated by the method or by the electronic computing device itself. A conceivable embodiment would also be to distinguish between a release by the electronic computing device or by the method and a release by the driver additional data such. B. a distance, in particular the bypass trajectory 28 , from the learned trajectory 24 , a length of the bypass trajectory 28 and / or a number of bypasses already enabled by the driver. In the aforementioned length of the bypass trajectory 28 it is a distance or a path, the or of the motor vehicle when driving along the Umfahrungstrajektorie 28 is covered. Because the bypass trajectory 28 not taught, but determined, is the bypass trajectory 28 a freely planned trajectory. By using such a freely-planned trajectory, the maneuvering process can be carried out particularly advantageously, since the maneuvering process then becomes an obstacle on the trajectory 24 is arranged, not completely canceled or not interrupted as long as the obstacle of the trajectory 24 was removed.

LIST OF REFERENCE NUMBERS

10

motor vehicle

12

Surroundings

14

House

16

garage

18

plant

20

starting point

22

Endpoint

24

trajectory

26

obstacle

28

Umfahrungstrajektorie

30

first part

32

second part

B

driving range

S1

first place

S2

second place

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 102013213225 A1 [0002]

Claims (6)

Method for operating a motor vehicle ( 10 ), in which by means of an electronic computing device, a maneuvering operation is carried out, in the context of which a stored prior to the execution of the maneuvering process and from a starting point ( 20 ) to a destination ( 22 ) extending trajectory ( 24 ) for automatically driving the motor vehicle ( 10 ) from the starting point ( 20 ) to the destination point ( 22 ) and by means of a sensor device at least one in the environment ( 12 ) of the motor vehicle ( 10 ) and on the trajectory ( 24 ) arranged obstacle ( 26 ) is detected, characterized in that by means of the electronic computing device at least one at least partially from the retrieved trajectory ( 24 ) different bypass trajectory ( 28 ) and the motor vehicle ( 10 ) automatically along the bypass trajectory ( 28 ) is driven to thereby the motor vehicle ( 10 ) automatically from the starting point ( 20 ) to the destination point ( 22 ) while driving the obstacle ( 26 ) to drive around. Method according to claim 1, characterized in that the bypass trajectory ( 28 ) at one in front of the obstacle ( 26 ) arranged first point (S1) of the trajectory ( 24 ) branches off from this. Method according to claim 1 or 2, characterized in that the bypass trajectory ( 28 ) at one after the obstacle ( 26 ) arranged second point (S2) of the trajectory ( 24 ) flows into this. Method according to one of the preceding claims, characterized in that in dependence on at least one maneuvering operation of the motor vehicle ( 10 ) a driving range (B) for the motor vehicle ( 10 ), whereby the bypass trajectory ( 28 ) extends within the driving range (B). Method according to one of the preceding claims, characterized in that the motor vehicle ( 10 ) during the maneuvering process by means of the electronic computing device automatically along at least a part ( 30 . 32 ) of the retrieved trajectory ( 24 ) is driven. Method according to one of the preceding claims, characterized in that the planned bypass is displayed visually in the interior of the motor vehicle from a point in time prior to driving on the bypass trajectory.

Images