DE102016117705A1 - Method for operating a driver assistance system for the at least semi-autonomous maneuvering of a motor vehicle, computing device, driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for operating a driver assistance system (2) for at least semi-autonomous maneuvering of a motor vehicle (1), wherein in the method based on sensor data of at least one vehicle-side sensor device (3) an object (8) in a surrounding area (4) of Motor vehicle (1) is detected and the recognized object (8) as for the motor vehicle (1) is traversable or not traversed classified, wherein for the driver assistance system (2) a first operating mode is provided, in which in the case of an object classified as traversable ( 8) determines whether overriding of the object (8) during maneuvering is obligatory or optional, and in the case of optional overrun a route of the motor vehicle (1) is determined such that wheels (13) of the motor vehicle (1) without contact on the object (8) are moved past, while at least one body part (14) of the motor vehicle (1) via there s object (8) is moved. The invention also relates to a computing device (7), a driver assistance system (2) and a motor vehicle (1).

Description

The invention relates to a method for operating a driver assistance system for the at least semi-autonomous maneuvering of a motor vehicle, wherein in the method based on sensor data of at least one vehicle-side sensor device, an object is detected in an environmental region of the motor vehicle and the object recognized as overridden for the motor vehicle or not traversable is classified. The invention also relates to a computing device, a driver assistance system for at least semi-autonomous maneuvering of a motor vehicle and a motor vehicle having such a driver assistance system.

It is already known from the prior art to maneuver vehicles at least semi-autonomously, for example, to park them in a parking space. In semi-autonomous maneuvering a driver assistance system of the motor vehicle takes over a steering of the motor vehicle, while a driver of the motor vehicle operates the accelerator pedal and the brake of the motor vehicle. In autonomous or fully autonomous maneuvering, the driver assistance system actuates the accelerator pedal and the brake in addition to the steering, so that the motor vehicle is automatically steered, accelerated and decelerated. In this case, such driver assistance systems usually have sensor devices which are arranged on the motor vehicle and can detect objects or obstacles in the surrounding area of the motor vehicle and their positions. In order to avoid a collision of the motor vehicle with these objects, the objects can be bypassed and / or the motor vehicle can be braked automatically.

The objects detected by the sensor device can be classified on the basis of their height as being traversable or not traversable for the motor vehicle. Such objects may be curbs or curbs, which are located for example in the parking space and must be run over during parking in the parking space. In the DE 10 2012 014 809 A1 For example, a method and apparatus for detecting a curb crossing of a motor vehicle during a maneuver with a speed of less than or equal to 10 km / h are shown. The curb crossing is recorded on the basis of a continuous evaluation of rotational speeds of each wheel of the motor vehicle. To avoid damage to wheels, especially tires, of the motor vehicle during a curb crossing, suggests DE 10 2009 003 216 A1 a driver assistance method for triggering a predetermined action in response to a detected height profile of a road surface of a motor vehicle. If a curb was detected on the basis of the height profile, then, for example, a parking trajectory for the motor vehicle can be adapted such that it leads over the curb at a predetermined angle. However, such overrunning of objects is still detrimental to the wheels of the motor vehicle and may in the long term result in damage to the wheels of the motor vehicle.

It is an object of the present invention to provide a solution, as a motor vehicle can be maneuvered particularly reliable and gently at least semi-autonomous.

This object is achieved by a method, a computing device, a driver assistance system and a motor vehicle according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

According to one embodiment of a method according to the invention for operating a driver assistance system for the at least semi-autonomous maneuvering of a motor vehicle, an object in a surrounding area of the motor vehicle is detected on the basis of sensor data of at least one vehicle-side sensor device and the detected object is classified as overrun or not traversable for the motor vehicle. In particular, a first operating mode is provided for the driver assistance system in which, in the case of an object classified as passable, it is determined by the driver assistance system whether driving over the object during maneuvering is obligatory or optional. In the case of an optional override, a travel route of the motor vehicle is determined in particular such that wheels of the motor vehicle are moved past the object without contact, while at least a body part of the motor vehicle is moved over the object.

In a particularly preferred embodiment of the method for operating a driver assistance system for the at least semi-autonomous maneuvering of a motor vehicle, an object in an environmental region of the motor vehicle is detected on the basis of sensor data of at least one vehicle-side sensor device, and the detected object classified as overridden or not traversable by the motor vehicle. In addition, a first operating mode is provided for the driver assistance system in which, in the case of an object classified as passable, it is determined by the driver assistance system whether overriding of the object during maneuvering is obligatory or optional. In the case of the optional override, a travel route of the motor vehicle is determined such that wheels of the motor vehicle are moved past the object without contact, while at least one body part of the motor vehicle is moved over the object.

By means of the method, therefore, a driver assistance system can be realized by means of which the motor vehicle can be maneuvered at least semi-autonomously, in particular fully autonomously or fully automatically. For example, the motor vehicle can be at least semi-autonomously parked in a parking space and / or be parked out of the parking space. In this case, the surrounding area of the motor vehicle is detected by means of the at least one vehicle-side sensor device. On the basis of the sensor data of the at least one vehicle-side sensor device, the object can be detected in the surrounding area of the motor vehicle and a position of the object relative to the motor vehicle can be determined. The vehicle-side sensor device can be designed as a distance sensor device which can detect objects in the surrounding area and their positions by means of transit time methods. Such a distance sensor device may be, for example, an ultrasound sensor, a radar sensor or a lidar sensor. The sensor device can also be designed as a camera, wherein the objects and their positions can be detected on the basis of captured from the surrounding area images of the camera. It can be provided that the position, that is to say a distance and an orientation of the object relative to the motor vehicle, is determined once on the basis of the sensor data, for example as an initial position. During maneuvering, the current position of the object can be determined based on the initial position and on the basis of odometry data of the motor vehicle.

In addition, the object is classified as wheeled or not traversable for wheels of the motor vehicle. For this purpose, for example, a height of the object, that is to say an extension of the object perpendicular to a road surface of the motor vehicle, can be detected on the basis of the sensor data. The object can then be assessed as passable for the motor vehicle if the height of the object falls below a predetermined height limit value. Otherwise, the object is classified as not traversable for the motor vehicle and thus considered the object as an obstacle for the motor vehicle. The altitude limit corresponds to at most a so-called ground clearance of the motor vehicle, which describes a distance of a body of the motor vehicle to a roadway of the motor vehicle. If the object has been classified as not traversable for the motor vehicle, then the motor vehicle can be controlled by the driver assistance system for driving around the object and / or the motor vehicle can be braked automatically by the driver assistance system.

Particularly preferably, the object is additionally classified on the basis of the sensor data of the at least one vehicle-side sensor device as an elongated object, in particular a curb. For this purpose, it can be determined, for example, whether detection points in the sensor data, which in the case of a distance sensor device describe reflections on the object, lie over a predetermined minimum length on a straight line. If so, the object is identified as an elongated, curb-like object. The object is thus first classified as traversable or not traversable. In particular, an object classified as passable is then classified in more detail, namely as a drive-over curb or an undefinable, drive-over object.

In addition, it is now provided that objects which have been classified as passable, are not necessarily run over by the wheels of the motor vehicle. For this purpose, it is determined in the first operating mode of the driver assistance system whether the crossing of the object is obligatory or unavoidable or optional or avoidable. In particular, the passing over of the object is evaluated as optional, if a distance covered by the object passing over at least one wheel of the motor vehicle on the object falls below a predetermined threshold value. Otherwise, driving over the object will be assessed as mandatory. In other words, this means that a passing over of the object is optional or optional if only a short distance on the object, ie a distance below the threshold, would be covered by the wheels of the motor vehicle. This distance traveled by the wheels on the object can be determined predictively. For example, a driving trajectory or expected trajectory of the motor vehicle can be determined, and a length of a part of the trajectory leading over the object can be determined.

In the optional case, the travel route of the motor vehicle is determined or modified or rescheduled so that the wheels of the motor vehicle are not moved over the object, but, in particular at a predetermined minimum distance, are moved past the object. The body part of the motor vehicle, for example a side region of a vehicle chassis and / or a bumper of the motor vehicle, is thereby moved over the object. In other words, this means that the body part and the curb overlap at least partially, while the wheels are moved past the object. Under the passing of the wheels on the object is here to understand a positioning of the wheels in front of the object by an automatic braking of the motor vehicle. In the obligatory case, the wheels are over the object moves, so the object is run over. This means that the route is determined by the object leader.

From the method results in the advantage that a damaging for the wheels of the motor vehicle passing over objects can be reduced, since the driving over of the objects is always avoided when the driving over is optional.

In a development of the invention, in addition to the first operating mode, a second and a third operating mode are provided for the driver assistance system in the case of an object classified as passable, wherein in the second operating mode the driving route is adapted such that the motor vehicle is at a predetermined distance from the object is moved past, and wherein in the third operating mode, the object is ignored and the route is determined by the object leading. In particular, one of the operating modes for the driver assistance system is selected and the driver assistance system in the installed state in the motor vehicle is operated permanently in the selected operating mode during an operating period of the driver assistance system.

For example, a driver assistance system can be provided by a manufacturer or developer of the driver assistance system, which can treat objects classified as vehicles that can be moved over in three different ways. For this purpose, the driver assistance system is delivered with three selectable operating modes, for example to a manufacturer of the motor vehicle. The manufacturer of the motor vehicle can then select and permanently specify one of the three operating modes, in particular once. This may mean, for example, that the selection of the operating mode can only be changed by the manufacturer, but not by a later customer of the motor vehicle.

In the second operating mode, an object, even if it has been evaluated by the driver assistance system as traversable, not run over. The object is considered here as an obstacle for the motor vehicle, which can damage the motor vehicle in a collision with the object. Therefore, the motor vehicle is moved past the obstacle in such a way by the driver assistance system operated in the second operating mode or braked in front of the obstacle that neither the wheels touch the obstacle nor overlap the body part with the obstacle during the maneuvering. The second mode of operation can always be specified by the manufacturer of the motor vehicle when it is intended to avoid overrunning of objects, regardless of their height. In the third mode of operation, the objects are ignored and treated as if they were not present in the environment. The objects are thus run over by the driver assistance system at any time, even if this is not absolutely necessary.

Prescribing three selectable operating modes allows for different requirements from different car manufacturers. In this case, the first operating mode is particularly preferably selected permanently for the driver assistance system. Compared to the second operating mode, the first operating mode has the advantage that the motor vehicle, for example, when maneuvering requires a particularly small footprint, since a space limited by the object Rangierraum can be optimally utilized by the motor vehicle. The motor vehicle can approach particularly close to the object when maneuvering. The motor vehicle is decelerated in good time before the wheels abut or touch the object, and the at least one body part is placed over the object or with the object overlapping. In the case of the second selected operating mode, a predetermined distance or safety distance between the motor vehicle and the object, ie also between the body part and the object, would have to be maintained. Compared to the third operating mode, the first operating mode has the advantage that an object is only run over when this is necessary. In contrast to the third mode of operation, in which the object is not further classified in terms of a need for override, in the first mode of operation the need for override is determined and the route of the motor vehicle adapted to the particular need.

In one embodiment of the invention, a travel trajectory for the motor vehicle is predestined to provide the travel route and the motor vehicle is moved along the travel trajectory. In other words, this means that trajectory planning is performed. In particular, an operating mode-specific driving trajectory can be determined. In other words, the driving trajectory can be determined depending on the selected operating mode. In the first selected operating mode, in the optional case, the driving trajectory is predicted or an already planned driving trajectory changed or adapted such that the wheels of the motor vehicle are maneuvered past the object and the body part is moved overlapping with the object, while the motor vehicle along the Driving trajectory moves. In the obligatory case, an already planned driving trajectory leading over the object is maintained or the driving trajectory is determined by the object leading. In the case of the second selected operating mode, the driving trajectory is determined such that the motor vehicle with a predetermined safety distance to the object and without overlapping the object is moved past. In the case of the third selected operating mode, the driving trajectory is determined independently of the presence of the object. The driving trajectory is determined based on a position of the object relative to the motor vehicle.

As an alternative to trajectory planning, a direction of travel of the motor vehicle is adapted adaptively during the maneuvering of the motor vehicle in order to provide the travel route. According to this embodiment, therefore, no trajectory planning takes place. The motor vehicle moves in the surrounding area, wherein the route is predetermined by the current direction of travel of the motor vehicle. The direction of travel is then changed if the motor vehicle moves towards an obstacle while driving. In the case of the first selected operating mode, the direction of travel is thus changed so that drive-over objects in the surrounding area, if possible, are bypassed only with the wheels. In the case of the second selected operating mode, the direction of travel is changed such that drive-over objects in the surrounding area are bypassed with the entire vehicle chassis. In the case of the third selected operating mode, the direction of travel is not changed and the overrun object overrun. The adaptive heading adjustment ("exploration mode", "sniffing mode", "exploration mode") can be provided, for example, if the motor vehicle is in parking lot search in a parking garage having multiple parking spaces.

In a particularly advantageous embodiment of the invention, an at least semi-autonomous parking maneuver of the motor vehicle in a parking space and / or from a parking space is provided by the driver assistance system. This means that a driver of the motor vehicle can be assisted in parking operations. The driver can be supported both in the longitudinal parking as well as the transverse parking. Thus, for example, a so-called parking trajectory along which the motor vehicle is moved into the parking space can be predestined as the travel route. In the first operating mode, the parking trajectory is planned so that the body part may be moved over the object if it is optional to drive over the object. The object may be located in the parking space, for example. The object can also be located outside the parking space in a maneuvering area required by the motor vehicle. The fact that at least the body part in the first operating mode of the driver assistance system may be moved over the object in the parking operation, there is the advantage that during the parking process, a particularly small footprint is required while the wheels of the motor vehicle can be spared.

In a further development of the invention, to provide a parking operation in the first operating mode of the driver assistance system, driving over the object based on a position of the object in the parking space is assessed as obligatory or optional, a parking position of the motor vehicle in the parking space is determined as a function of the evaluation and Driving route determined depending on the parking position. It can be provided that, in the case of compulsory driving over a first parking position is determined for the motor vehicle, in which at least one wheel of the motor vehicle is parked on the object in the parking space, and in the case of optional override a second parking position is determined, in which the wheels are placed at a distance from the object and the body part is placed at least partially overlapping with the object.

In this case, the object may be a transition in a parking space, by which a first area is separated from a second area which is elevated in relation to the first area. The first area has in particular a level of the road surface of the motor vehicle. The second area may, for example, be a step in the parking space bounded by the transition in the form of a curb. Based on the position of the curb in the parking space or on the basis of the occupied by the second area portion of an area of the parking space can be determined whether the motor vehicle must be at least partially turned off at the level or not. If the motor vehicle in the parking position at least partially on the object, so for example, the stage must be placed and thus driving over the object is mandatory, the route in the form of a parking trajectory can be determined so that the motor vehicle parked in the first parking position becomes. In the first parking position, in particular, at least two wheels of the motor vehicle are placed on the step. If the driving over of the object is optional, the travel route in the form of the parking trajectory can be determined in such a way that the motor vehicle is parked in the second parking position after the parking procedure has been carried out. For example, the wheels may be placed in the first region at a predetermined minimum distance from the transition, and the body part may be placed at least partially overlapping with the second region. The minimum distance is chosen in particular so that the wheels are not present at the object or touch the object. The motor vehicle can therefore be placed with the wheels particularly close to the object without the object damaging the wheels.

It can be provided that one based on the sensor data of the at least one, designed as a distance sensor device Sensor device determined position of the object is checked using a transmitted to at least one wheel of the motor vehicle and detected by a torque sensor device of the motor vehicle torque. The position of the object can be determined, for example, by transit time method of the distance sensor device. In addition, it can be detected, in particular in a motor vehicle with an automatic longitudinal control, that a wheel is applied to the object and thus an increased torque is necessary for driving over the object. This torque increase can be detected by the torque sensor device. The invention is based on the finding that a position of the object which is inaccurately determined by the distance sensor device can be checked and possibly corrected by detecting the current position of the motor vehicle at the time of the torque increase. The checked and possibly corrected position can then be taken into account, for example, in the further trajectory planning, so that, in the case of an optional override, a renewed queuing of the wheels on the object can advantageously be avoided.

It proves to be advantageous if, for the first operating mode in the case of obligatory driving over an angle is specified and the route is determined such that the object is run over by the wheels of the motor vehicle at least at the predetermined angle. For example, it may be specified that it is not allowed to drive over an object at an acute angle, for example an angle smaller than 60 °. On the other hand, only he is allowed to drive over the object at an angle greater than 60 °, in particular an obtuse angle. For this purpose, a current wheel angle can be determined for each individual wheel of the motor vehicle in order to predict or calculate a collision with the curb. Then, the route, so for example, the driving trajectory, be determined so that the curb is run over only at an obtuse angle. If it is not possible to drive over with the specified minimum angle, the curb will not be run over. For example, a parking space with such a curb the driver can not be offered for a parking operation.

The invention also relates to a computing device for a driver assistance system of a motor vehicle, which is designed to carry out the method according to the invention or a preferred embodiment thereof. The functionality of the driver assistance system can be provided by the computing device. For this purpose, the computing device is in particular designed to receive and evaluate the sensor data of the vehicle-side sensor device. In the computing device, the first operating mode is implemented, in which the necessity of driving over the object during maneuvering is evaluated. For this purpose, the computing device can make the evaluation based on the position of the object. Based on this, the travel route can be adapted by the computing device, for example, specifying a driving trajectory for the motor vehicle. In particular, the three operating modes are implemented in the computing device, with one of the operating modes, in particular once, selected, set and permanently specified for the driver assistance system. Depending on the customer's request, the optimum operating mode for the customer can thus be selected and provided.

An inventive driver assistance system for the at least semi-autonomous maneuvering of a motor vehicle comprises at least one sensor device for detecting sensor data from a surrounding area of the motor vehicle and a computing device according to the invention. The sensor device is designed in particular as a distance sensor device, for example a lidar sensor, a radar sensor or an ultrasound sensor. The sensor device is designed for attachment to the motor vehicle. The driver assistance system includes the first operating mode or is operable in the first operating mode.

A motor vehicle according to the invention comprises a driver assistance system according to the invention. The motor vehicle is designed in particular as a passenger car.

The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the computing device according to the invention, to the driver assistance system according to the invention and to the motor vehicle according to the invention.

With indications "before", "behind", "longitudinally", "transversely", "forward", "backwards", etc. are given for a standing in front of the motor vehicle and in the longitudinal direction (x-direction) of the motor vehicle observer positions and Orientations indicated.

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. There are also versions of the invention as embraced and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separate combinations of features from the explained embodiments. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim. Moreover, embodiments and combinations of features, in particular by the embodiments set out above, are to be regarded as disclosed, which go beyond or deviate from the combinations of features set out in the back references of the claims.

Showing:

1 a schematic representation of an embodiment of a motor vehicle according to the invention;

2 the motor vehicle when parking in a Längsparklücke with an embodiment of a driver assistance system according to the invention in a first operating mode;

1 the motor vehicle when parking in a transverse parking space with the driver assistance system in the first operating mode;

2 the motor vehicle when parking in a Längsparklücke with the driver assistance system in a second operating mode;

3 the motor vehicle when parking in a longitudinal parking space with a further embodiment of a driver assistance system according to the invention in a first operating mode;

4 the motor vehicle with the driver assistance system according to 5 in a second mode of operation;

5 the motor vehicle when parking in a transverse parking space with the driver assistance system in a first operating mode;

6 the motor vehicle with the driver assistance system according to 7 in a second mode of operation;

7 the motor vehicle in a parking position in a transverse parking space with the driver assistance system in the first operating mode;

8th the motor vehicle when parking out of a transverse parking space with the driver assistance system in the first mode of operation;

11a . 11b the motor vehicle when driving over the object in an allowable angle; and

12a . 12b the motor vehicle when driving over the object in an unauthorized angle.

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

1 shows a motor vehicle 1 according to the present invention. The car 1 is designed in the present case as a passenger car. The car 1 includes a driver assistance system 2 , which is designed to the motor vehicle 1 at least semi-autonomous maneuvering. This can be done by the driver assistance system 2 in a steering and fully autonomous maneuvering in a drive and braking system of the motor vehicle 1 intervention. The driver assistance system 2 has at least one sensor device 3 which is designed to receive sensor data from a surrounding area 4 of the motor vehicle 1 capture. In the present case, the driver assistance system 2 eight sensor devices 3 on, which are designed here as ultrasonic sensors. The sensor devices 3 but can also be radar sensors and / or Lidarsensoren. Here are four ultrasonic sensors 3 in a front area 5 of the motor vehicle 1 arranged and serve, sensor data from the surrounding area 4 in front of the motor vehicle 1 capture. Four more ultrasonic sensors 3 are in a stern area 6 of the motor vehicle 1 arranged and serve to sensor data from a surrounding area 4 behind the motor vehicle 1 capture.

The sensor data can be a computing device 7 of the driver assistance system 2 to be provided. The computing device 7 can be integrated, for example, in a vehicle-mounted control unit. The computing device 7 serves to the sensor data of the sensor device 3 evaluate and based on the sensor data objects 8th in the surrounding area 4 to recognize. In addition, the computing device 7 designed to be the recognized object 8th as for the motor vehicle 1 passable or not passable. This can be done by the computing device 7 a height of the object 8th with respect to a roadway of the motor vehicle 1 be captured and the object 8th as for the motor vehicle 1 be classified as passable, if the height falls below a predetermined altitude limit. Otherwise, the object becomes 8th as not traversable for the motor vehicle 1 rated and the object 8th considered as an obstacle. For example, the obstacle can be bypassed automatically and / or the motor vehicle 1 be braked automatically before the obstacle.

In addition, the driver assistance system 2 several operating modes, which of the computing device 7 can be provided or in the computing device 7 can be implemented. Particularly preferably, a first operating mode is provided, in which it is evaluated whether the vehicle is being driven over and on a travel route of the motor vehicle 1 located object 8th optional or optional. If the object 8th For example, only over a short distance, for example a few centimeters (eg 10 cm to 20 cm) would have to be run over, the overrun is rated as optional. If the drive over has been evaluated as optional, the route is determined or changed in such a way that wheels 13 of the motor vehicle 1 non-contact to the object 8th be moved past and a body part 14 of the motor vehicle 1 For example, a bumper or a side portion of a vehicle chassis, over the object 8th and with the object 8th is moved overlapping.

Based on 2 and 3 is the operation of the driver assistance system 2 visualized in the first operating mode. 2 and 3 show the motor vehicle 1 , which by the designed as a parking assistant driver assistance system 2 at least semi-autonomous backwards into a parking space 9 is parked. 2 shows the motor vehicle 1 when parking in a trained as a longitudinal parking space parking space 9 . 3 shows the motor vehicle 1 when parking in a trained as a transverse parking space parking space 9 , The parking space 9 is through two other vehicles 10 limited. It is also located in the surrounding area 4 , in particular in a maneuvering area of the motor vehicle 1 , the object 8th , which was rated here as passable and additionally as a curb 12 was classified. To perform the parking operation in the parking space 9 can do this by the computing device 7 a route in the form of a driving trajectory 11a determined or predicted, along which the motor vehicle 1 in the parking space 9 to be moved. The driving trajectory 11a is determined so that the wheels 13 of the motor vehicle 1 when performing the parking on the curb classified as traversable 12 be moved past while the body part 14 over the curb 12 is moved. This means the wheels 13 the curb 12 not used during maneuvering, but so close to the curb 12 be moved that the body part 14 For example, the bumper, with the curb 12 overlaps or the curb 12 surmounted.

In 4 is the motor vehicle 1 during the parking process in the form of a longitudinal parking space parking space 9 shown, the driver assistance system 2 is operated in a second operating mode. Here is, though the curb 12 from the computing device 7 was rated as passable, the curb 12 as an obstacle to the motor vehicle 1 viewed in the form of a tall object. The driving trajectory 11b is thus determined so that the entire motor vehicle 1 So also the body part 14 , in a predetermined minimum distance 15 at the curb 12 is passed. The parking procedure according to 4 has an increased space requirement compared to the parking operation according to 2 on. Preferably, therefore, the driver assistance system 2 , in particular permanently operated in the first operating mode. The driver assistance system 2 However, it can also be operated in the second operating mode, for example by a customer request. Also, a third mode of operation of the driver assistance system 2 be provided, in which the object evaluated as passable 8th is run over at any time, so for example, the object 8th is not considered in a prediction of a driving trajectory.

In 5 . 6 . 7 and 8th is the motor vehicle 1 shown in a parking space search for a parking operation. According to 5 and 6 becomes a parking space designed as a longitudinal parking space 9 recognized. According to 7 and 8th is designed as a transverse parking space parking space 9 recognized. The parking space 9 assigns the object 8th in the form of a curb 12 on which a transition between a first area 16 and one opposite the first area 16 elevated second area 17 represents. The one through the second area 17 occupied proportion of a depth of the parking space here exceeds a predetermined value for the depth and is therefore so large that motor vehicle 1 at least in certain areas on the second area 17 must be turned off and thus driving over the object 8th through the wheels 13 of the motor vehicle 1 is mandatory. The depth, which extends in the longitudinal parking space along a vehicle transverse direction y and the transverse parking space along a vehicle longitudinal direction x, for example, based on geometric dimensions of the other vehicles 10 be determined.

According to 5 and 7 becomes the driver assistance system 2 of the motor vehicle 1 operated in the first operating mode. The object 8th is therefore run over, with the driving trajectory 11a is determined so that the motor vehicle 1' in a parking position at least partially on the second area 17 is positioned. According to 6 and 8th becomes the driver assistance system 2 operated in the second operating mode. As the motor vehicle 1 when parking the curb 12 would have driven over, but this by the driver assistance system 2 is prohibited in the first operating mode, the motor vehicle 1 not in the parking space 9 parked.

9 shows the motor vehicle 1 , which by means of the driver assistance system 2 at least semi-autonomous forward into the parking space 9 was parked. The driver assistance system 2 is operated here in the first operating mode. The driving over in the parking space 9 located curb 12 is here considered optional, as the proportion of the second range 17 at the depth of the parking space 9 falls below the predetermined value for the depth. Therefore, the driving trajectory 11a so given that the front wheels 13 of the motor vehicle 1 in the first area 16 spaced to the curb 12 are positioned and the body part 14 , here the front bumper, with the curb 12 and the second area 17 is positioned overlapping.

10 shows the motor vehicle 1 when Vorwärtsausparken from the formed as a transverse parking space parking space 9 , The driver assistance system 2 is again operated in the first operating mode. The crossing of a corner 18 in the curb 12 when moving out of the parking space 9 here is optional, since the corner 18 would only be run over a short distance or distance. Therefore, the driving trajectory becomes 11a planned so that, as based on the motor vehicle 1' shown the wheels 13 not over the corner 18 be moved and the body part 14 in the form of a side area of the vehicle chassis over the corner 18 is moved. In other words, only the side area of the vehicle chassis overlaps with the corner 18 when driving around the corner 18 ,

If, for example, driving over the object 8th has been assessed as compulsory, it may, as in 11a and 11b shown the driving trajectory 11a be determined so that the wheels 13 each at least below a predetermined critical angle over the object 8th to be moved. The critical angle can be, for example, 60 °. In 11a is the motor vehicle 1 when reversing over the curb 12 For example, when Rückwärteinparken in a transverse parking space shown. The curb 12 is here by the right rear wheel 13 at a first angle α1 over which is greater than the critical angle. In 11b is the motor vehicle 1 also when reversing over the curb 12 For example, when reverse parking in a Längsparklücke shown. The curb 12 is here by the right front wheel 13 overrun at a second angle α2, which is also greater than the critical angle. By the first and the second angle α1, α2 can be ensured that the wheels 13 when driving over the object 8th not be damaged.

In 12a is the motor vehicle 1 when reversing over the curb 12 For example, when reverse parking in a Längsparklücke shown. The curb 12 is here by the right rear wheel 13 run over at a third angle β1, which is smaller than the critical angle. In 12b is the motor vehicle 1 when driving forward over the curb 12 For example, when Vorwärteinparken in a Längsparklücke shown. The curb 12 is here by the right front wheel 13 overrun at a fourth angle β2, which is also smaller than the critical angle. These angles β1, β2 are particularly damaging to the wheels 13 of the motor vehicle 1 , Therefore, the in 12a and 12b shown maneuver of the driver assistance system 2 prevented.

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 102012014809 A1 [0003]
• DE 102009003216 A1 [0003]

Claims (15)

Method for operating a driver assistance system ( 2 ) for the at least semi-autonomous maneuvering of a motor vehicle ( 1 ), wherein in the method based on sensor data of at least one vehicle-side sensor device ( 3 ) an object ( 8th ) in a surrounding area ( 4 ) of the motor vehicle ( 1 ) and the recognized object ( 8th ) than for the motor vehicle ( 1 ) is classified as passable or not passable, characterized in that for the driver assistance system ( 2 ) a first operating mode is provided in which in the case of an object classified as passable ( 8th ) determines whether a passing of the object ( 8th ) is compulsory or optional during maneuvering and, in the case of optional crossing, a route of the motor vehicle ( 1 ) is determined such that wheels ( 13 ) of the motor vehicle ( 1 ) contactlessly on the object ( 8th ) are moved past, while at least one body part ( 14 ) of the motor vehicle ( 1 ) over the object ( 8th ) is moved. A method according to claim 1, characterized in that the driving over of the object ( 8th ) is evaluated as optional, if one when driving over the object ( 8th ) by at least one wheel ( 13 ) of the motor vehicle ( 1 ) on the object ( 8th ) traveled distance falls below a predetermined threshold, and otherwise the passing of the object ( 8th ) is considered compulsory. A method according to claim 1 or 2, characterized in that for the driver assistance system ( 2 ) in the case of an object classified as passable ( 8th ) in addition to the first operating mode, a second and a third operating mode are provided, wherein in the second operating mode, the travel route is adapted such that the motor vehicle ( 1 ) at a predetermined distance ( 15 ) on the object ( 8th ) is moved past, and wherein in the third operating mode the object ( 8th ) is ignored and one over the object ( 8th ) leading route is determined. Method according to one of the preceding claims, characterized in that one of the operating modes for the driver assistance system ( 2 ) and the driver assistance system ( 2 ) in the installed state in the motor vehicle ( 1 ) during an operating period of the driver assistance system ( 2 ) is operated permanently in the selected operating mode. Method according to one of the preceding claims, characterized in that, for providing the travel route, a driving trajectory is predicted ( 11a . 11b ) for the motor vehicle ( 1 ) and the motor vehicle ( 1 ) along the travel trajectory ( 11a . 11b ) is moved. Method according to one of claims 1 to 4, characterized in that for providing the route a direction of travel of the motor vehicle ( 1 ) adaptively during the maneuvering of the motor vehicle ( 1 ) is adjusted. Method according to one of the preceding claims, characterized in that the object ( 8th ) on the basis of the sensor data of the at least one vehicle-side sensor device ( 3 ) additionally as an elongated object, in particular a curb ( 12 ), is classified. Method according to one of the preceding claims, characterized in that by the driver assistance system ( 2 ) an at least semi-autonomous parking maneuver of the motor vehicle ( 1 ) in a parking space ( 9 ) and / or from a parking space ( 9 ) provided. A method according to claim 8, characterized in that for providing a parking operation in the first operating mode of the driver assistance system ( 2 ) driving over the object ( 8th ) based on a position of the object ( 8th ) in the parking space ( 9 ) is assessed as compulsory or optional, a parked position of the motor vehicle ( 1 ) in the parking space ( 9 ) is determined depending on the rating and the route is determined depending on the parking position. A method according to claim 9, characterized in that in the case of obligatory driving over a first parking position for the motor vehicle ( 1 ) is determined, in which at least one wheel ( 13 ) of the motor vehicle ( 1 ) on the object ( 8th ) in the parking space ( 13 ), and in the case of an optional override a second parking position is determined in which the wheels ( 13 ) spaced from the object ( 8th ) are placed and the body part ( 14 ) at least in regions with the object ( 8th ) is placed overlapping. Method according to one of the preceding claims, characterized in that a based on the sensor data of the at least one, designed as a distance sensor device sensor device ( 3 ) certain position of the object ( 8th ) in the environment area ( 4 ) based on at least one wheel ( 13 ) of the motor vehicle ( 1 ) and a torque sensor device of the motor vehicle ( 1 ) detected torque is checked. Method according to one of the preceding claims, characterized in that for the first operating mode in the case of obligatory driving over a limit angle is set and the route is adjusted so that the object of the wheels ( 13 ) of the motor vehicle ( 1 ) is overrun at least in the predetermined critical angle. Computing device ( 7 ) for a driver assistance system ( 2 ) of a motor vehicle ( 1 ) which is adapted to perform a method according to any one of the preceding claims. Driver assistance system ( 2 ) for the at least semi-autonomous maneuvering of a motor vehicle ( 1 ), with a sensor device ( 3 ) for collecting sensor data from a surrounding area ( 4 ) of the motor vehicle ( 1 ) and a computing device ( 7 ) according to claim 13. Motor vehicle ( 1 ) with a driver assistance system ( 2 ) according to claim 14.

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