DE102017114605A1 - Method for operating a driver assistance system for a motor vehicle with determination of a trajectory based on an environment scenario, driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for operating a driver assistance system (2) for a motor vehicle (1), in which in a training phase of the driver assistance system (2) while the motor vehicle (1) by a driver manually in a home zone (25) along a desired trajectory (11) is maneuvered, the target trajectory (11) is recorded, and in an operating phase of the driver assistance system (2) the motor vehicle (1) in the home zone (25) is maneuvered at least semi-autonomous, wherein in the operating phase, a current time is determined determining a typical environmental scenario for the current time and for the home zone (25), the typical environmental scenario being based on an event in the home zone (25) for the current time and / or on at least one trajectory recorded in a previous operational phase a time corresponding to the current time is determined based on the typical environment an optimized trajectory (22) is determined and the motor vehicle (1) is maneuvered along the optimized trajectory (22).

Description

The present invention relates to a method for operating a driver assistance system for a motor vehicle, in which in a training phase of the driver assistance system during which the motor vehicle is manually maneuvered by a driver in a home zone along a desired trajectory, the desired trajectory is recorded, and in an operating phase of the driver assistance system the motor vehicle in the home zone is at least semi-autonomously maneuvered. Moreover, the present invention relates to a driver assistance system for a motor vehicle. Finally, the present invention relates to a motor vehicle.

Driver assistance systems are known from the prior art, by means of which the motor vehicle can be maneuvered along a previously recorded desired trajectory. To record the desired trajectory, the driver assistance system can initially be operated in a training phase. In the training phase, the motor vehicle is manually maneuvered by a driver of the motor vehicle in a home zone. The target trajectory traveled by the motor vehicle during manual maneuvering is recorded by the driver assistance system. It is further provided that during manual maneuvering objects in the vicinity of the motor vehicle are detected and object features that describe these objects are stored.

In a subsequent operating phase of the driver assistance system, the motor vehicle can then be maneuvered semi-autonomously or autonomously in the home zone. In the driver assistance systems known from the prior art, the motor vehicle is maneuvered between a start position and a target position along the desired trajectory. For example, the motor vehicle can be maneuvered along the stored desired trajectory if it is detected that the motor vehicle has reached the start position of the trajectory. In the at least semi-autonomous maneuvering of the motor vehicle, the previously stored object features can be used as landmarks. In this way, the driver of the motor vehicle can be supported for example in parking maneuvers in the home zone. Here, the driver can be supported for example in the daily parking of the motor vehicle in a garage of his house or in a parking lot at his workplace.

It may be the case that change the environmental conditions between the training phase and the operating phase. For example, an environment scenario in the home zone may change. This environment scenario may be due to socio-temporal conditions, such as the presence of obstacles, the current traffic situation, the behavior of other road users or the like. In addition, the environmental scenario can be influenced by the current weather conditions. For example, this can lead to obstacles in the form of other road users or objects being on the recorded desired trajectory. In this case, an evasive maneuver is to be performed by the driver assistance system in order to avoid a collision with the obstacle. In this case, the trajectory that is determined by the driver assistance system for performing the evasive maneuver is often not optimal. For example, this evasive maneuver may involve too many maneuvers and the trajectory may be unnecessarily long. Furthermore, it may be the case that the tires are unnecessarily worn because steering movements are performed at a standstill. Finally, the evasive maneuver that is performed may cause the driver to feel uncomfortable or unsafe.

In this context describes the DE 10 2014 018 192 A1 a method for controlling a vehicle, in which from driving data of the vehicle, a target trajectory is determined, which is used as the basis for the vehicle during automatic driving. In a changed environment of the vehicle, a trajectory determined from current driving data of the vehicle is compared with a setpoint trajectory and a deviation between the new trajectory and the setpoint trajectory is determined. Depending on the deviation, a new desired trajectory is set.

In addition, the describes DE 10 2013 015 348 A1 a method for operating a vehicle, in particular for approaching a parking lot in a non-visible or off-road parking zone by the vehicle. In this case, provision may be made for a plurality of trajectories to be determined and stored in a learning mode on the basis of environmental data or driving data. In one operating mode, one of the determined trajectories can then be selected.

It is an object of the present invention to provide a solution, such as an operation of a driver assistance system, in which a trajectory is recorded in a learning phase and in an operating phase an at least semi-autonomous maneuvering along the trajectory is performed more efficient and user-friendly.

This object is achieved by a method by a driver assistance system and by a motor vehicle with the features according to the respective independent claims. Advantageous developments of the present Invention are the subject of the dependent claims.

According to one embodiment of a method for operating a driver assistance system for a motor vehicle, in a training phase of the driver assistance system during which the motor vehicle is preferably maneuvered manually by a driver in a home zone along a desired trajectory, the desired trajectory is recorded. In addition, in an operating phase of the driver assistance system, the motor vehicle is preferably maneuvered at least semi-autonomously in the home zone. Furthermore, a current time is preferably determined in the operating phase, and preferably an environment scenario typical for the current time and for the home zone is determined. The typical environmental scenario is preferably determined based on an event in the home zone for the current time and / or on the basis of at least one trajectory recorded in a preceding operating phase, which was recorded at a time corresponding to the current time. Furthermore, an optimized trajectory along which the motor vehicle is maneuvered, in particular at least semi-autonomously, is determined in the operating phase, in particular based on the typical environmental scenario and the target trajectory.

An inventive method is used to operate a driver assistance system for a motor vehicle. Here, in a training phase of the driver assistance system during which the motor vehicle is manually maneuvered by a driver in a home zone along a desired trajectory, the desired trajectory is recorded. In an operating phase of the driver assistance system, the motor vehicle in the home zone is at least semi-autonomously maneuvered. In addition, in the operating phase, a current time is determined, a typical for the current time and for the Heimatzone environmental scenario determined, the typical environmental scenario based on an event in the home zone for the current time and / or based on at least one recorded in a previous phase of operation trajectory , which was recorded at a time corresponding to the current time, is determined based on the typical environmental scenario and the target trajectory an optimized trajectory and maneuvered the motor vehicle along the optimized trajectory.

With the aid of the method, the driver assistance system of the motor vehicle is initially trained in the training phase or a learning phase. In the subsequent operating phase or the subsequent operating phases, the motor vehicle can then be maneuvered on the basis of the training with the aid of the driver assistance system. For example, the method can be used to park the motor vehicle in a garage or a parking space of the driver. The method can also be used to park the motor vehicle at a parking space at the driver's workplace. It is provided that the driver in the training phase predefines the desired trajectory, which extends from a start position to a target position. This target trajectory is predefined within the home zone, which may be located on a private property and / or on a public thoroughfare. In this home zone, the motor vehicle can be maneuvered at least semi-autonomously at a later point in the operating phase. In the training phase, the motor vehicle is operated manually exclusively by the driver. In the training phase, the target trajectory that the driver prescribes through manual maneuvering is recorded using the driver assistance system. For this purpose, for example, the set steering angle and / or the revolutions of at least one wheel of the motor vehicle can be continuously recorded. In addition, the start position and the target position of the target trajectory can be stored. It can also be provided that the start position, the target position and / or the target trajectory are determined by means of a satellite-supported position determination system.

In addition, in the training phase, a plurality of objects in the surrounding area of the motor vehicle or the home zone is preferably detected and stored. For this purpose, corresponding environmental sensors of the driver assistance system or of the motor vehicle can be used. The environmental sensors may be, for example, ultrasonic sensors, radar sensors, lidar sensors or laser scanners. Preferably, the environmental sensors are cameras. The recognized objects and their positions can be stored, for example, in a digital environment map describing the home zone. In this environment map also the trajectory and / or points of the trajectory can be stored. Thus, there is information in the environment map which describes the relative position of the objects to the stored trajectory. Thus, the stored objects in the subsequent operating phase of the driver assistance system can be used as landmarks for orientation. In the operating phase it can be provided that the motor vehicle is maneuvered semi-autonomously by means of the driver assistance system. The driver assistance system intervenes in the steering and the driver of the motor vehicle continues to actuate the accelerator pedal and the brake pedal. Preferably, the motor vehicle is fully autonomously maneuvered along the trajectory. In this case, the driver assistance system also takes over the intervention in a drive motor and a brake system of the motor vehicle.

According to an essential aspect of the present invention, it is provided that a current time is determined in the operating phase. This current time may, for example, describe the time of day, time and / or date. For this current time and for the home zone then the typical environment scenario is determined. Specifically, this environment scenario may describe if there may be obstacles in the home zone and / or where those obstacles may be in the home zone. This can be determined from a trajectory recorded in a previous phase of operation. This trajectory may have been recorded at a time corresponding to the current time. This means that it can be the same time, the same time of day and / or the same day of the week. In particular, if this trajectory describes an evasive maneuver, it can be recognized that at the time in the home zone a typical traffic scenario exists and / or an obstacle is present. In addition, an event in the home zone can be determined for the current time and the typical environmental scenario can then be determined depending on the event. The event may be a public event in the home zone. The event may also describe that obstacles or objects may be in the home zone. In addition, the event may describe a typical behavior of other road users and / or a typical traffic volume for the current time. The event may also describe the opening hours of a facility.

Based on the typical environment scenario and the target trajectory determined in the training phase, the optimized trajectory is then determined. This means that the target trajectory is adjusted as a function of the typical environmental scenario for the current time. In principle, it can be checked whether the setpoint trajectory is to be adjusted as a function of the ambient scenario. If so, the optimized trajectory can be determined based on the desired trajectory. The optimized trajectory may have a changed course compared to the desired trajectory. Based on the typical environment scenario, it can be recognized that other road users and / or objects are obstacles in the area of the target trajectory. In this case, it may be possible, for example, that the motor vehicle can not be maneuvered along the previously recorded desired trajectory. The optimized trajectory can now be determined that this leads past an expected obstacle. Thus, the driver assistance system can be operated overall efficient and user-friendly.

Preferably, the typical environmental scenario describes a presence of at least one obstacle in the home zone and / or an anticipated position of the at least one obstacle in the home zone. As already explained, this environmental scenario can describe the probability of an obstacle in the home zone and the position in the home zone where an obstacle can be located. Based on the environmental scenario, the spatial dimensions of the obstacle can also be estimated. Based on this information, the optimized trajectory can then be determined so that it deviates from an area where an obstacle can be located. The optimized trajectory can also be determined so that when maneuvering along the optimized trajectory a possible obstacle in the home zone can be correspondingly avoided. For this purpose, a path guidance and / or a velocity profile of the optimized trajectory can be determined. During the operating phase, it is also possible to check, using the environmental sensors, if there are any obstacles in the home zone. Thus, the driver assistance system is virtually prepared for possible obstacles in the home zone and can perform appropriate evasive maneuvers.

In one embodiment, the determined current time describes a current time of day, a current day of the week, and / or a current date. The current time at which the operating phase is performed may describe the current time or a time range associated with the current time. Furthermore, the current time can describe whether it is day or night. The current time can also be assigned to a specific day of the week or a specific date. For example, the current time can describe whether it is a weekday or a workday. The current time can also describe that it is a public holiday or a non-working day. Based on the current time can be predicted whether and / or at what position obstacles may be located in the home zone. For the current time then the expected environmental scenario can be determined.

In a further embodiment, at least one information is received which describes the event in the home zone for the current time, and the typical environment scenario is determined based on the at least one information. It is provided in particular that the at least one information a current traffic situation in the home zone, a behavior of other road users in the home zone, a Event in the home zone and / or in the home zone existing obstacles describes. The at least one piece of information may, for example, be received by an information service providing up-to-date traffic information. The information may be received, for example, via the Internet, via vehicle-to-vehicle communication or the like. In addition, information about current events or events for the current time can be received. This information may also describe that, for example, areas of the home zone that are associated with a public road are blocked or that there is a construction site there. The at least one information also be stored in a memory of the driver assistance system. For example, the information may describe when a school located in the home zone area opens or closes. Thus it can be deduced when school buses or students can be present in the home zone area. The information may also describe when road users usually visit a work station, a shopping mall and / or a car park in the area of the home zone. The information can also describe when obstacles in the home zone area may be present. For example, the information may describe when the garbage disposal empties the garbage cans. Thus, it can be assumed that at this time a garbage can in the home zone can be located. If this information is taken into account when determining the typical environment scenario and thus the optimized trajectory, the driver assistance system can be operated efficiently in the operating phase.

Furthermore, it is advantageous if the at least one trajectory recorded in the preceding operating phase deviates at least in regions from the desired trajectory. If the driver assistance system has already been operated in several operating phases, the respective trajectories traveled by the motor vehicle may have been recorded in these preceding operating phases. When recording this trajectory, the current time can also be saved. Furthermore, the events in the home zone, which were determined on the basis of the at least one information, can be stored for the trajectories. In particular, these trajectories were recorded if they deviate from the specified target trajectory. Thus, it can be concluded that an obstacle was located in the home zone or in the region of the desired trajectory, by which this deviation from the desired trajectory is justified. For example, a plurality of recorded trajectories can be collected during operation of the driver assistance system in several successive operating phases. Based on this plurality of trajectories, the environmental scenario for the current time can then be determined. For example, it can be seen that for trajectories recorded on Tuesday mornings, an evasive maneuver was made to evade an obstacle in the form of a garbage bin. Here can be recognized, for example, that on Tuesday morning usually a garbage can in the home zone is present, since this is emptied on this day of the week and at this time from the garbage disposal. In addition, it can be seen from the recorded trajectories that at a certain time a vehicle is parked at a certain position in the home zone which has been evaded. Thus, driver assistance system can be provided, which can resort to previous information.

It can also be provided that the optimized trajectory is selected from a plurality of predetermined trajectories which are respectively assigned to different times and / or environmental scenarios. In principle, it may be the case that predetermined trajectories are available for different times and / or environmental scenarios. These predetermined trajectories may include respective attributes describing the time and / or the event. In the operating phase, the typical environmental scenario can then be determined and for this purpose the trajectory can be selected with the appropriate or the most suitable attribute. In principle, provision may also be made for one of the recorded trajectories to be adapted or optimized for determining the desired trajectory. This allows a simple and reliable determination of the optimized trajectory.

Furthermore, it is advantageous if, during the operating phase, an evasive maneuver carried out by the driver assistance system, which leads to a deviating trajectory deviating from the optimized trajectory, records the avoidance trajectory and determines the recorded trajectory for the subsequent operating phase on the basis of the avoidance trajectory becomes. During the operating phase, it may be the case that the motor vehicle can not be maneuvered along the optimized trajectory. This is the case, for example, when maneuvering along the optimized trajectory would threaten a collision with an obstacle. Here it can be detected on the basis of environmental sensors of the driver assistance system that an obstacle is located in the future driving route of the motor vehicle. During operation of the driver assistance system, the avoidance trajectory can be determined which guides the motor vehicle around the obstacle and then back to the desired trajectory. This deviation is caused by a Engaged intervention of the driver assistance system in the transverse guide and / or the longitudinal guidance of the motor vehicle. If this intervention is detected, the evasive trajectory traveled by the motor vehicle can be stored. In addition to this avoidance trajectory, the current time and / or events for the home zone can be stored as attributes. As already explained, these events can be determined based on the at least one received information. Based on this avoidance trajectory, a recorded trajectory can then be determined and used for future driving maneuvers. Since this avoidance trajectory has usually not been determined optimally, it can be optimized accordingly to determine the recorded trajectory. In this way, the operation of the driver assistance system can improve over time.

In a further embodiment, the optimized trajectory is determined on the basis of the recorded trajectory and on the basis of at least one predetermined optimization criterion, the predetermined optimization criterion being a minimum length of the optimized trajectory and / or a maximum speed for maneuvering along the optimized trajectory and / or maximum traffic safety and / or describes a minimum fuel consumption and / or a minimum tire wear and / or a maximum comfort. To determine the optimized trajectory, a corresponding optimization method, such as an Euler-Lagrange approach or other methods may be used. Here, the current time and / or the specific events for the home zone can be used as input variables. In this way, the motor vehicle can be maneuvered optimally in the home zone by means of the driver assistance system.

Furthermore, it is advantageous if in the training phase a plurality of objects in the home zone is detected and the optimized trajectory is determined based on the detected objects. As already explained, a plurality of objects in the home zone can be determined in the training phase. These objects can then be stored in the digital environment map. Based on these objects, a mobile area can then be determined within the home zone, in which the motor vehicle can be maneuvered without collision. Taking into account this drivable range, the optimized trajectory can then be determined.

Furthermore, it is preferably provided that a speed profile for the at least semi-autonomous maneuvering of the motor vehicle along the optimized trajectory is determined on the basis of the current time and / or the specific ambient scenario. The optimized trajectory can be determined not only in terms of its course, but also in terms of the velocity profile. In this case, a higher speed than a predetermined normal speed can be selected if the current environment scenario describes that the home zone is free of obstacles and / or that it can not be expected with other road users. If the environment scenario detects that there may be more obstacles in the home zone, the speed can be reduced accordingly. It can also be provided that the speed profile is determined such that the speed of the motor vehicle is reduced to a predetermined stop positions to a standstill. This is useful, for example, when children can be in the home zone. This allows overall safe and reliable operation of the driver assistance system.

An inventive driver assistance system for a motor vehicle is designed for performing a method according to the invention and the advantageous embodiments thereof. The driver assistance system may include at least one surroundings sensor, for example a camera, with which the objects in the surrounding area of the motor vehicle can be detected. In addition, the driver assistance system may include a motion sensor with which the movement of the motor vehicle in the training phase can be recorded. In addition, the driver assistance system may have an electronic control unit by means of which the trajectory can be recorded and the objects in the home zone can be stored. In addition, the optimized trajectory can be determined by means of the control unit. In addition, by means of the control device, a steering, a drive motor and / or a brake system during the at least semi-autonomous maneuvering can be controlled. Furthermore, the driver assistance system may include a satellite-based positioning system. Finally, the driver assistance system may include a receiver for receiving the at least one information describing the events in the home zone.

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 driver assistance system according to the invention and to the motor vehicle according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and feature combinations 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, without departing from the scope of the invention , Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments 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 the feature combinations set out in the back references of the claims or deviate therefrom.

The invention will now be described with reference to preferred embodiments and with reference to the accompanying drawings.

• 1 ein Kraftfahrzeug gemäß einer Ausführungsform der Erfindung, welches ein Fahrerassistenzsystem aufweist;
• 2 das Kraftfahrzeug, welches manuell entlang einer Solltrajektorie manövriert wird, wobei das Fahrerassistenzsystem in einem Trainingsbetrieb betrieben wird;
• 3 die aufgezeichnete Solltrajektorie, entlang welcher das Kraftfahrzeug in einer Betriebsphase manövriert werden kann;
• 4 eine Ausweich-Trajektorie, auf Grundlage eines Vorhandenseins eines Hindernisses im Bereich der Solltrajektorie bestimmt wird;
• 5 eine angepasste Trajektorie, welche auf Grundlage der Ausweich-Trajektorie gemäß 4 bestimmt wird;
• 6 eine optimierte Trajektorie, welche auf Grundlage der angepassten Trajektorie gemäß 5 bestimmt wird;
• 7 eine optimierte Trajektorie gemäß einer weiteren Ausführungsform;
• 8 ein schematisches Ablaufdiagramm eines Verfahrens zum Bestimmen der optimierten Trajektorie; und
• 9 ein schematisches Ablaufdiagramm eines weiteren Verfahrens zum Bestimmen der optimierten Trajektorie.

Showing:

• 1 a motor vehicle according to an embodiment of the invention, which has a driver assistance system;
• 2 the motor vehicle, which is manually maneuvered along a desired trajectory, the driver assistance system being operated in a training mode;
• 3 the recorded target trajectory along which the motor vehicle can be maneuvered in an operating phase;
• 4 an alternate trajectory determined based on an existence of an obstacle in the range of the target trajectory;
• 5 an adapted trajectory based on the avoidance trajectory according to 4 is determined;
• 6 an optimized trajectory based on the adapted trajectory according to 5 is determined;
• 7 an optimized trajectory according to another embodiment;
• 8th a schematic flow diagram of a method for determining the optimized trajectory; and
• 9 a schematic flow diagram of another method for determining the optimized trajectory.

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

1 shows a motor vehicle 1 according to an embodiment of the present invention in a plan view. The car 1 is designed in the present case as a passenger car. The car 1 includes a driver assistance system 2 , The driver assistance system 2 again comprises an electronic control unit 3 , In addition, the driver assistance system includes 2 at least one camera 4 , In the present embodiment, the driver assistance system comprises 2 four cameras 4 distributed to the motor vehicle 1 are arranged. Present is one of the cameras 4 in a rear area 5 of the motor vehicle 1 arranged one of the cameras 4 is in a front area 7 of the motor vehicle 1 arranged and the remaining two cameras 4 are in a respective page area 6 , Especially in an area of the side mirrors, the motor vehicle 1 arranged. The number and arrangement of the cameras 4 is purely exemplary to understand.

With the cameras 4 can objects 10 in a surrounding area 8th of the motor vehicle 1 be recorded. This can be done with the cameras 4 Pictures or image sequences are provided which the objects 10 in the surrounding area 8th describe. These pictures can then be taken from the respective cameras 4 to the control unit 3 be transmitted. With the aid of a corresponding object recognition algorithm, the control unit can then 3 the objects 10 in the surrounding area 8th be recognized.

In addition, the driver assistance system includes 2 a motion sensor 9 , by means of which a movement of the motor vehicle 1 can be recorded. With the motion sensor 9 For example, continuously a steering angle and / or revolutions of at least one wheel of the motor vehicle 1 be determined. Also the motion sensor 9 is for data transmission to the controller 3 connected. In addition, the motion sensor can 9 a receiver for a satellite-based positioning system. With this, the position of the motor vehicle 1 be determined continuously.

2 shows the motor vehicle 1 , where the driver assistance system 2 is operated in a training phase. In the training phase that will motor vehicle 1 from a driver of the motor vehicle 1 manually along a desired trajectory 11 maneuvered. This target trajectory 11 , which several points 12 includes extends from a starting point 13 to a destination point 14 , In the present case is the destination point 14 inside a garage 15 , while the motor vehicle 1 while maneuvering on multiple objects 10 passing maneuvers. Present are in the surrounding area 8th or in a home zone 25 objects 10 in the form of plants 16 a pedestrian 17 as well as the garage 15 available. During the maneuvering of the motor vehicle 1 in the training phase are based on the pictures taken with the cameras 4 be provided, object features 18 the objects 10 detected and saved. In addition, the target trajectory 11 or the points 12 the trajectory 11 saved. The target trajectory 11 or their points 12 can use the motion sensor 9 be determined.

3 shows the motor vehicle 1 , where the driver assistance system 2 is operated in an operating phase, which follows the training phase. Here is schematically a desired trajectory 11 shown, which was determined in the previous training phase. Once it has been realized that the motor vehicle 1 at the starting position 13 the stored desired trajectory 11 can, the motor vehicle 1 along the target trajectory 11 to the destination point 14 in the garage 15 be maneuvered. This is true in the event that there is no obstacle 19 on the target trajectory 11 located.

4 shows an example where there is an obstacle 19 on the target trajectory 11 located. This obstacle 19 can with the cameras 4 of the motor vehicle 1 be recognized. To a collision between the motor vehicle 1 and the obstacle 19 to avoid is by means of the driver assistance system 2 an alternate trajectory 20 certainly. When maneuvering the motor vehicle 1 along the avoidance trajectory 20 brakes the motor vehicle 1 in front of the obstacle 19 first off and then moved in the reverse direction. Subsequently, the motor vehicle 1 in the forward direction of the obstacle 19 maneuvered past it to the setpoint trajectory 11 reached again. Here it can be seen that the evasive trajectory 20 was not optimally chosen, since this includes a change of direction and the length of the avoidance trajectory 20 is unnecessarily long. In addition, the tires of the motor vehicle 1 unnecessarily worn, since an actuation of the steering is performed at a standstill. Furthermore, the maneuvering leads along the avoidance trajectory 20 to make the driver feel uncomfortable or unsafe.

The present case takes into account that the presence of the obstacle 19 by an environment scenario for the home zone 25 can be justified. Such an environmental scenario may be due to socio-temporal conditions, such as different traffic situations and / or different social behavior of the road users. For example, other road users, such as other vehicles or pedestrians, in the home zone 25 to be available. Furthermore, obstacles can be 19 For example, garbage cans or parked vehicles, be present at certain times. These environmental scenarios depend on the current time.

In the present case, the current time is to be determined in the operating phase. This current time may, for example, describe the current time, a date or a day of the week. At this current time will be one for the home zone 25 typical environmental scenario. In particular, this environmental scenario can describe whether there are obstacles 19 in the form of objects or other road users in the home zone 25 can be located. To determine the typical environment scenario, at least one piece of information may be received which events in the home zone 25 describes. This information can be received from various sources, such as transport services, the Internet, a radio station, or the like. The driver assistance system 2 has a corresponding receiver for receiving the at least one information. Alternatively or additionally, the at least one information on a memory of the driver assistance system 2 be deposited. This information can describe the socio-temporal events. For example, this information can describe the current traffic situation, congestion information and opening times of workplaces, schools, shopping centers or the like. This information can also describe obstacles 19 in the home zone 25 can be located. For example, it may be at the obstacles 19 to trade in garbage cans or parked vehicles.

During operation of the driver assistance system 2 are each in the operating phase with the driver assistance system 2 given trajectories recorded. In addition to the recorded trajectories attributes are stored, which are the current time and / or the events in the home zone 25 describe. In particular, the trajectories are recorded if, as in the example of 4 an evasive maneuver is performed. It is provided in particular that the recorded trajectory based on the alternate trajectory 20 is determined. This can be the alternate trajectory 20 be optimized accordingly.

5 shows an adapted trajectory 21 based on the avoidance trajectory 20 was determined. The unnecessary changes of direction in the evasive maneuver were removed. Here was the trajectory 21 chosen so that the number of maneuvers is reduced, the tire wear is minimized and the length of the trajectory 21 was reduced.

6 shows an optimized trajectory 22 based on the adapted trajectory 21 according to 5 was determined. Here were the objects 10 , which were detected during the training phase, taken into account. Thus, within the home zone 25 a mobile area can be determined, in which the motor vehicle 1 can be maneuvered without collision. This was the optimized trajectory 22 determined so that it has no sharp bends. If the motor vehicle 1 along the optimized trajectory 22 maneuvering, can prevent the driver of the motor vehicle 1 feels insecure or uncomfortable.

7 shows another example of an optimized trajectory 22 , Here it is considered that the trajectory along which the motor vehicle 1 maneuvered, depending on the day of the week. If, for example, in the home zone 25 a school is located, and the current time corresponds to the weekday Sunday, the motor vehicle 1 along the target trajectory 11 be maneuvered, since not with obstacles 19 in the range of the target trajectory 11 is to be expected. It can also be provided that the motor vehicle 1 is moved at a higher speed than a normal speed, as it can be assumed that there are no students in the home zone 25 are located. However, if the operating mode is performed on Tuesday at 3 o'clock in the afternoon, an increased traffic volume is to be expected. In addition, it is expected that students as obstacles 19 in the area of the home zone 25 are present because the school closes at this time. In this case, a velocity profile for the optimized trajectory 22 be chosen so that the speed is less than the normal speed. In addition, safety stops at stop positions 24 be taken into account, in which the motor vehicle 1 is stopped. Thus, the pedestrians or students enough time can be made available to the motor vehicle 1 perceive. In the area of optimized trajectory 22 can also have areas 23 be given, in which the motor vehicle 1 can be maneuvered to the obstacle 19 dodge.

8th shows a schematic flow diagram of a method for determining an optimized trajectory 22 , In one step S1 the procedure is started. In the previous training phase, the target trajectory became 11 specified by the driver and the detected objects 10 were saved in the training phase. In one step S2 becomes the motor vehicle 1 relative to the recorded target trajectory 11 localized. In one step S3 becomes the motor vehicle 1 along the target trajectory 11 by means of the driver assistance system 2 semi-autonomous maneuvering. In one step S4 It checks if there is an obstacle 19 in the driving tube of the motor vehicle 1 located. If this is the case, it will be in one step S5 an evasive maneuver performed. After that, the process goes back to the step S2 continued.

If the check in the step S4 has revealed that no obstacle 19 located in the driving tube is in one step S6 Check if the maneuvering along the target trajectory 11 is completed. If this is not the case, the procedure is again in the step S2 continued. Returns the query in the step S6 that maneuvering along the desired trajectory 11 has been completed, the procedure becomes a step S7 continued. This determines whether an obstacle during maneuvering 19 was dodged. If so, the alternate trajectory becomes 20 along which the motor vehicle 1 maneuvering, along with attributes indicating the current time and / or events in the home zone 25 describe, stored. In one step S9 then becomes the optimized trajectory 22 based on the avoidance trajectory 20 certainly. Finally, the process is ended in a step S10.

9 shows a schematic flow diagram of another method for determining the optimized trajectory 22 , It is assumed that a plurality of recorded trajectories already exists. The process is done in one step S11 started. In one step S12 the current time is determined and it is checked whether this current time corresponds to a time, which is deposited as an attribute to one of the recorded trajectory. If this is the case, it will be in one step S13 the appropriate recorded trajectory selected. Subsequently, the motor vehicle 1 along the selected trajectory by means of the driver assistance system 2 maneuvered.

Analogous to the method according to 8th gets in one step S14 the car 1 localized relative to the selected trajectory and in one step S15 maneuvered along this trajectory. In one step S16 the query takes place, whether an obstacle 19 is present in the driving tube. If this is the case, it will be in one step S17 an evasive maneuver performed. If this is not the case, in one step S18 checks if maneuvering along the trajectory has ended. In one step S19 It checks for an evasive maneuver to avoid an obstacle 19 carried out has been. If this is the case, it will be in one step S20 the alternate trajectory 20 stored together with the attributes. In one step S21 becomes the optimized trajectory 22 using the alternate trajectory 20 certainly. Finally, the method in the step S22 completed.

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 102014018192 A1 [0005]
• DE 102013015348 A1 [0006]

Claims (14)

Method for operating a driver assistance system (2) for a motor vehicle (1), during which the motor vehicle (1) maneuvers manually by a driver in a home zone (25) along a setpoint trajectory (11) during a training phase of the driver assistance system (2) is, the target trajectory (11) is recorded, and in an operating phase of the driver assistance system (2) the motor vehicle (1) in the home zone (25) is at least semi-autonomously maneuvered, characterized in that in the operating phase, a current time is determined a typical environmental scenario is determined based on an event in the home zone (25) for the current time and / or based on at least one trajectory recorded in a previous operating phase was recorded at the current time corresponding time, determined by the typical environment Scenarios and the desired trajectory (11) an optimized trajectory (22) is determined and the motor vehicle (1) along the optimized trajectory (22) is maneuvered. Method according to Claim 1 , characterized in that the typical environmental scenario describes a presence of at least one obstacle (19) in the home zone (25) and / or an anticipated position of the at least one obstacle (25) in the home zone. Method according to Claim 1 or 2 , characterized in that the determined current time describes a current time of day, a current day of the week and / or a current date. Method according to one of the preceding claims, characterized in that at least one information is received, which describes the event in the home zone (25) for the current time and the typical environment scenario is determined based on the at least one information. Method according to Claim 4 , characterized in that the at least one information a current traffic situation in the home zone (25), behavior of other road users in the home zone (25), an event in the home zone (25) and / or in the home zone (25) existing obstacles (19) describes. Method according to one of the preceding claims, characterized in that the at least one recorded in the previous operating phase trajectory at least partially deviates from the desired trajectory (11). Method according to Claim 6 , characterized in that in the operating phase in an evasive maneuver performed by the driver assistance system (2), which leads to a deviating trajectory (20) deviating from the optimized trajectory (22), the avoidance trajectory (20) is recorded and based on Avoid trajectory (20) the recorded trajectory for a subsequent phase of operation is determined. Method according to Claim 7 , characterized in that in addition to the avoidance trajectory (20) information about a current time and / or at least one event in the home zone (25) are stored. Method according to one of Claims 7 or 8th , characterized in that the optimized trajectory (22) is determined on the basis of the recorded trajectory and on the basis of at least one predetermined optimization criterion. Method according to Claim 9 characterized in that the predetermined optimization criterion describes a minimum length of the optimized trajectory (22), a maximum speed for manoeuvering along the optimized trajectory (22), maximum road safety, minimum fuel consumption, minimum tire wear, and / or maximum comfort , Method according to one of the preceding claims, characterized in that in the training phase a plurality of objects (10) in the home zone (25) are detected and the optimized trajectory (22) is determined based on the detected objects (10). Method according to one of the preceding claims, characterized in that based on the current time and / or the determined environment scenario, a speed profile for the at least semi-autonomous maneuvering of the motor vehicle (1) along the optimized trajectory (22) is determined. Driver assistance system (2) for a motor vehicle (1), which is designed to carry out a method according to one of the preceding claims. Motor vehicle (1) with a driver assistance system (2) according to Claim 13 ,

Images