DE102017120726A1 - Method for operating a driver assistance system for a vehicle with consideration of an intermediate stop at a stop position, 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), wherein in a training phase during which the motor vehicle (1) is moved manually by a driver from a starting position (13) to a target position (14) Solltrajektorie (11) is maneuvered, the Solltrajektorie (11) is recorded and in an operating phase of the driver assistance system (2) the motor vehicle (1) autonomously along the Solltrajektorie (11) is maneuvered, being checked in the operating phase, whether during maneuvering a Intermediate stop at a stop position (21) is required, and if the intermediate stop is required, based on the desired trajectory (11) a first Trajektoriensegment (A), which extends from the start position (13) to the stop position (21), and a second Trajektoriensegment (B), which extends from the stop position (21) to the target position (14), are determined and the motor vehicle (1) along the de s first trajectory segment (A) and the second trajectory segment (B) with the intermediate stop at the stop position (21) is maneuvered.

Description

The present invention relates to a method for operating a driver assistance system for a motor vehicle, wherein in a training phase of the driver assistance system, during which the motor vehicle is maneuvered manually by a driver from a start position to a target position along a desired trajectory, the target trajectory is recorded and in an operating phase of the driver assistance system, the motor vehicle is autonomously maneuvered along the desired trajectory. Furthermore, 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 which the motor vehicle travels during manual maneuvering and which extends from a start position to a target position 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. By means of the driver assistance systems known from the prior art, the motor vehicle is maneuvered between the start position and the 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 desired 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.

According to the prior art, the motor vehicle is autonomously maneuvered in the operating phase from the starting position to the target position along the one single target trajectory. To get out of the vehicle arise for the driver basically two options. On the one hand, the driver can leave the motor vehicle at the start position and the motor vehicle is subsequently autonomously maneuvered from the start position to the target position. On the other hand, the driver can remain seated in the motor vehicle while this is maneuvered autonomously along the desired trajectory. However, there is no possibility for the driver to leave the motor vehicle at any position between the starting position and the target position without stopping the autonomous driving maneuver.

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 training phase and autonomous maneuvering along the trajectory is performed in an operating phase, can be performed more efficiently and in a more user-friendly manner.

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 is preferred in a training phase of the driver assistance system, while the motor vehicle in particular manually by a driver from a start position to a target position along a Target trajectory is maneuvered, the target trajectory recorded. In an operating phase of the driver assistance system, the motor vehicle is preferably maneuvered autonomously along the setpoint trajectory. It is preferably provided that is checked in the operating phase, if during the maneuvering a stop at a stop position is required, and if the intermediate stop is required based on the desired trajectory preferably in a first trajectory segment, which in particular from the start position to the Stop position extends, and a second trajectory segment, which preferably extends from the stop position to the target position determined. Furthermore, the motor vehicle is preferably maneuvered along the first trajectory segment and the second trajectory segment with the intermediate stop at the stop position.

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 maneuvered manually by a driver from a start position to a target position along a desired trajectory, the desired trajectory is recorded. In an operating phase of the driver assistance system, the motor vehicle is autonomously maneuvered along the desired trajectory. In the operating phase, it is further checked whether a stop at a stop position is required during the maneuvering, and if the intermediate stop is required, based on the desired trajectory, a first trajectory segment extending from the start position to the stop position and a second trajectory segment extends from the stop position to the target position. Further, the motor vehicle is maneuvered along the first trajectory segment and the second trajectory segment with the intermediate stop at the stop position.

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 specifies the desired trajectory in the training phase, which extends from the start position to the target position. This target trajectory is predefined within a 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 autonomously maneuvered at a later time 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 position of the motor vehicle can be determined by means of environmental sensors. Furthermore, a Simultaneous Localization and Mapping (SLAM) algorithm can be used. 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. In addition, features of the environment, which correspond to points of the trajectory, can be recorded. 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 desired trajectory and / or points of the desired trajectory can be stored. Thus, there is information in the environment map which describes the relative position of the objects to the stored desired 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 may be provided that the motor vehicle is autonomously maneuvered by means of the driver assistance system. In this case, the driver assistance system intervenes in a steering, 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 it is first checked in the operating phase, whether during the maneuvering the intermediate stop at the stop position is required. It is checked in particular whether the driver of the motor vehicle wants to get out of the motor vehicle during the autonomous maneuvering in the operating phase. At the stop position, the speed of the motor vehicle is preferably reduced to a standstill to provide the driver with the ability to exit the motor vehicle. For example, the stop position may be selected to be in an area of access of the driver's home or dwelling. If it is now recognized that this intermediate stop is required, the first trajectory segment and the second trajectory segment are determined based on the desired trajectory. In the simplest case, the desired trajectory can be divided into the first trajectory segment and the second trajectory segment. The desired trajectory may also be adjusted to determine the first trajectory segment and the second trajectory segment. Thus, coherent trajectory segments are determined, along which the motor vehicle is autonomously maneuvered in the operating phase.

For example, the motor vehicle can first be maneuvered along the first trajectory segment. Then the driver can get out of the vehicle. Following this, the motor vehicle can be maneuvered along the second trajectory segment. Thus, the Rider offered the opportunity during the operating phase to get out of the vehicle without the autonomous driving maneuver is completed. This brings with it the advantages that the driver can, for example, reach his front door more easily. This is particularly suitable in bad weather, such as rain. Furthermore, there is a shorter walk for the driver, thereby facilitating the carrying of items from the vehicle to the house. In addition, the safety can be increased because the driver can be placed in a safe area, such as a footpath. Overall, this allows a more efficient operation of the driver assistance system.

In the operating phase, the motor vehicle is preferably first maneuvered along the first trajectory segment and then along the second trajectory segment, or the motor vehicle is first maneuvered along the second trajectory segment and then along the first trajectory segment. As already explained, the target position of the target trajectory can be assigned to a parking space, a parking space or a garage. The autonomous maneuvering in the operating phase with the intermediate stop at the stop position can be used both when parking and when parking. When parking, the motor vehicle is first maneuvered along the first Trajektoriensegments and then the driver is offered the opportunity to leave the vehicle. Subsequently, the motor vehicle is then maneuvered and parked along the second trajectory segment. When parking out, the motor vehicle can first be maneuvered along the second Trajektoriensegments and the driver can be offered at the stop position the opportunity to enter the motor vehicle. Subsequently, the motor vehicle can be maneuvered along the first trajectory segment. When parking out a signal from a mobile terminal of the driver can be transmitted to the driver assistance system, as a result of which the motor vehicle is maneuvered by the driver assistance system from the target position to the starting position. After completing the maneuvering, the driver assistance system can then be handed over to the driver, who can then manually maneuver the motor vehicle.

In a further embodiment, a direction of travel for the maneuvering of the motor vehicle along the first trajectory segment and / or the second trajectory segment is determined. In the training phase, the motor vehicle can be maneuvered, for example, in the forward direction of travel along the desired trajectory. In the subsequent operating phase it can now be provided that the direction of travel with which the motor vehicle is maneuvered along the first trajectory segment and / or the second trajectory segment is adjusted. For example, the motor vehicle can be maneuvered in the forward travel direction along the first trajectory segment. After getting off the driver from the motor vehicle then the motor vehicle can be maneuvered in the reverse direction along the second Trajektoriensegments and parked. In a subsequent phase of operation, the motor vehicle can then be maneuvered from the parking lot in the forward direction along the second trajectory segment to the stop position and, after the driver has boarded, maneuvered further along the first trajectory segment in the forward direction. Overall, the choice of direction of travel can be made so that the number of changes in direction is reduced. This enables efficient operation of the assistant assistance system.

In a further embodiment, it is detected on the basis of an operator input, which is carried out by the driver of the motor vehicle, and / or autonomously on the basis of a predetermined situation, that the intermediate stop is required. In the operating phase, the driver can specify by an appropriate operator input that the intermediate stop at the stop position is required. For example, the driver or the user can make the operator input before the motor vehicle reaches the stop position. Ideally, a certain minimum distance to the stop position can be defined before reaching the operator input can be made. This minimum distance can be determined so that the driver assistance system has sufficient time to adjust the control of the vehicle so that the motor vehicle can be safely maneuvered to the stop position. The detection that the intermediate stop is required can also be triggered autonomously. For example, the detection may be triggered by the situation, for example, whether the driver's seat is occupied, the time of day or the like.

In one embodiment, the stop position is determined on the basis of an operator input carried out by the driver and / or autonomously on the basis of a predetermined situation during the training phase. During the training phase, the driver can save the stop position by means of a corresponding operator input. This operating input can be performed on a user interface of the motor vehicle or of the driver assistance system or by means of a mobile terminal, for example a smartphone, of the driver. The stop position can also be determined automatically or autonomously based on at least one predetermined situation. For this purpose, it can be recognized, for example, that the driver actuates the brake, so that the Motor vehicle decelerates to a standstill. Thus, during the training phase, the first trajectory segment extending from the start position to the stop position may be recorded. Further, the second trajectory segment extending from the start position to the target position may be recorded. In this case, the predetermined desired trajectory contains the first trajectory segment and the second trajectory segment. In the operating phase, the motor vehicle can then be maneuvered without a stop along the desired trajectory, if it is detected that no intermediate stop is required. Otherwise, the motor vehicle can first be maneuvered along the first trajectory segment and subsequently along the second trajectory segment.

In a further embodiment, if the driver is outside the motor vehicle, a current position of the driver is determined on the basis of sensor data of an environment sensor, and the stop position is determined on the basis of the current position of the driver. In particular, when the motor vehicle is maneuvered away from the target position or out of the parking lot, it is possible to check where the driver is in the vicinity of the motor vehicle. For this purpose, the sensor data can be received by the environmental sensor, in particular a camera. The driver's position may then be determined using a corresponding object recognition algorithm, such as a pedestrian recognition algorithm. To determine the current position of the driver, other sensor data can be used. It can also be provided that the driver is located by means of a mobile terminal, for example a mobile telephone or a vehicle key. After the current position of the driver has been determined, this can be defined as the stop position. With the aid of the driver assistance system, the target trajectory can then be divided into the first trajectory segment and the second trajectory segment on the basis of this defined stop position. Thus, the maneuvering of the motor vehicle in the operating phase can be adapted to the current position of the driver.

Furthermore, it is advantageous if in the operating phase during the maneuvering a speed of the motor vehicle is adjusted so that the motor vehicle is at the stop position in a standstill. After receiving a continuation signal then the maneuvering is continued. If the intermediate stop has been requested by the driver, the driver assistance system can safely reduce the speed of the motor vehicle when driving to the stop position so that the motor vehicle is at the stop position at a standstill. When the motor vehicle is at a standstill, the driver assistance system waits until it receives the continuation signal. This continuation signal can be transmitted, for example, by the driver by means of the mobile terminal. The continuation signal may also be provided by closing the driver's door of the motor vehicle. If the continuation signal was received, then the motor vehicle can be further maneuvered along the trajectory. It can also be provided that the motor vehicle is parked at the stop position if no continuation signal is received.

In a further embodiment, objects in a home zone assigned to the desired trajectory are detected in the training phase, a movable area within the home zone is determined on the basis of the detected objects, and the first trajectory segment and the second trajectory segment are determined within the more mobile area. In the training phase, objects in the home zone can be detected based on sensor data provided with the environment sensor. The mobile area may also be determined by other means, such as from an external map. These objects and their position can be entered, for example, in a digital environment map, which describes the home zone. The desired trajectory can also be entered in this digital environment map. Thus, within the digital environment map a mobile area can be determined, in which the motor vehicle can be maneuvered without a collision with any of the objects threatens. It is provided that the first trajectory segment and the second trajectory segment are determined within this mobile range.

In this case, provision is made in particular for a further desired trajectory, which extends from the starting position to the target position, to be determined within the mobile area and for the motor vehicle to be maneuvered in the operating phase along the further desired trajectory, if it is detected that no intermediate stop is required. It may be the case that the stop position is not on the direct connection between the starting position and the target position. The target trajectory given by the driver may, for example, lead from the start position to the stop position and from the stop position to the target position. If it is now recognized that no intermediate stop at the stop position is required, the further target trajectory can be determined by means of the driver assistance system, which leads directly from the start position to the target position. For example, this additional target trajectory can describe the shortest connection between the start position and the target position. This enables efficient operation of the driver assistance system.

According to an alternative embodiment, a further setpoint trajectory is recorded in the training phase and the motor vehicle is maneuvered in the operating phase along the further setpoint trajectory if it is detected that no intermediate stop is required. In the training phase, on the one hand, the desired trajectory can be recorded, which leads from the start position to the stop position and from the stop position to the target position. In addition, the additional target trajectory can be recorded, which leads directly from the start position to the target position. At the beginning of the operating phase it can be checked whether the intermediate stop at the stop position is required. If this is the case, the motor vehicle can be maneuvered along the desired trajectory or along the first trajectory segment and the second trajectory segment. If no intermediate stop is required, the motor vehicle can be maneuvered directly along the further target trajectory without stopping.

In a further embodiment, it is checked whether a further intermediate stop at a further stop position is required and / or a third trajectory segment is determined on the basis of the desired trajectory. The inventive method can be extended accordingly for multiple stop positions or any number of stops. Thus, the operation of the driver assistance system in the operating phase for various stop positions at which passengers can get off and / or get on and / or at which objects can be unloaded, can be extended. Further, the method may be extended to any number of points of interest and / or trajectory segments. It can also be provided that the setpoint trajectory is automatically divided into a plurality of trajectory segments by means of the driver assistance system. As already explained, the classification based on the stop position, which is specified by the user, can be determined. Furthermore, the division into the trajectory segments can be based on the current position of the user. It can also be provided that a plurality of trajectory segments are determined, which can be linked together accordingly. Thus, depending on the current driving situation and / or the current environment scenario, the respective trajectory segments can be selected and linked together. In this way, the flexibility can be increased.

In a further embodiment, an opening signal for opening a remotely controllable gate is transmitted in the operating phase, if the remotely controllable gate is detected. Within the home zone, at least one remotely controllable gate can be present, by means of which the motor vehicle is maneuvered. This may be, for example, a garden gate, a garage door or the like. If the motor vehicle approaches the remotely controllable gate in the operating phase, an opening signal for opening the gate can be transmitted by means of a corresponding transmitting device of the driver assistance system. This is analogous to known remote controls for the gate. Once the motor vehicle has passed through the gate, this gate can close automatically. It may also be the case that a corresponding closing signal is transmitted from the transmitting device to the remote controllable gate, wherein the gate is closed after receiving the closing signal. Thus, in the operational phase, no manual operator input is required from the driver, so that the remote controllable door can be opened and / or closed.

In this case, provision is made in particular for a position of the remotely controllable door and / or the opening signal for opening the remotely controllable door to be stored in the training phase. In the training phase, the user or the driver can make a corresponding operator input, if the remote controllable gate is present. The operator input can also be used to define a position which is assigned to this remotely controllable door. Alternatively, it can be provided that the remote controlled gate is automatically detected by the environment sensor of the driver assistance system. The opening signal, as a result of which the door is opened, must be coded accordingly so that it can be ensured that it can only be opened by authorized driver assistance systems or vehicles. This coding can be specified or entered by the driver in the training phase.

Alternatively, it may be provided that the remotely controllable gate has a corresponding detection device with which the motor vehicle can be detected. By way of example, this detection device can comprise a camera by means of which the motor vehicle can be picked up. In addition, the detection device can use a corresponding object recognition algorithm with which the motor vehicle can be detected. It is provided in particular that the license plate of the motor vehicle is detected. If the motor vehicle has been detected, the remote controllable gate can be opened automatically.

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, can the driver assistance system having 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 target trajectory can be recorded and the objects in the home zone can be stored. In addition, the first trajectory segment and the second trajectory segment can be determined by means of the control device. In addition, by means of the control device, a steering, a drive motor and / or a braking system can be controlled during the autonomous maneuvering. Furthermore, the driver assistance system may include a satellite-based positioning system. Finally, the driver assistance system may have a transmitter for transmitting the opening signal for the remotely controllable gate.

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 in einer Trainingsphase des Fahrerassistenzsystems manuell von einem Fahrer entlang einer Solltrajektorie manövriert wird;
• 3 eine Solltrajektorie, entlang welcher das Kraftfahrzeug in einer Betriebsphase des Fahrerassistenzsystems autonom manövriert wird;
• 4 ein erstes Trajektoriensegment und ein zweites Trajektoriensegment, welche anhand der Solltrajektorie bestimmt wurden;
• 5 ein schematisches Ablaufdiagramm eines Verfahrens zum Durchführen einer Trainingsphase des Fahrerassistenzsystems;
• 6 ein schematisches Ablaufdiagramm eines Verfahrens zum Durchführen einer Betriebsphase des Fahrerassistenzsystems;
• 7 ein erstes Trajektoriensegment und ein zweites Trajektoriensegment gemäß einer weiteren Ausführungsform sowie eine weitere Solltrajektorie; und
• 8 ein erstes Trajektoriensegment und ein zweites Trajektoriensegment sowie eine weitere Solltrajektorie gemäß einer weiteren Ausführungsform.

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 by a driver along a desired trajectory in a training phase of the driver assistance system;
• 3 a target trajectory along which the motor vehicle is autonomously maneuvered in an operating phase of the driver assistance system;
• 4 a first trajectory segment and a second trajectory segment, which were determined based on the desired trajectory;
• 5 a schematic flow diagram of a method for performing a training phase of the driver assistance system;
• 6 a schematic flow diagram of a method for performing an operating phase of the driver assistance system;
• 7 a first trajectory segment and a second trajectory segment according to a further embodiment as well as a further desired trajectory; and
• 8th a first trajectory segment and a second trajectory segment and a further desired trajectory according to a further embodiment.

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 environment sensor 4 , In the present embodiment, the driver assistance system comprises 2 four environment sensors 4 distributed to the motor vehicle 1 are arranged. In the present case is one of the environment sensors 4 in a rear area 5 of the motor vehicle 1 arranged, one of the environmental sensors 4 is in a front area 7 of the motor vehicle 1 arranged and the remaining two environment sensors 4 are in a respective page area 6 , Especially in an area of the side mirrors, the motor vehicle 1 arranged. The environment sensors 4 are designed here as cameras. The number and arrangement of environment sensors 4 is purely exemplary to understand.

With the environment sensors 4 or the cameras can objects 10 (please refer 2 ) in a surrounding area 8th of the motor vehicle 1 be recorded. For this purpose, images or image sequences which contain the objects can be provided with the cameras 10 in the surrounding area 8th describe. These images can then be transferred from the respective cameras 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, the 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 position 13 to a target position 14 , In the present case is the target position 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 19 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, object features are determined by the images provided with the cameras 18 the objects 10 and / or features of the environment surrounding the motor vehicle 1 surrounds, recognizes and stores. The object features 18 can be stored in a digital environment map. In addition, the target trajectory 11 or the points 12 the desired trajectory 11 saved. The target trajectory 11 or their points 12 can use the motion sensor 9 and / or determined by means of a SLAM algorithm.

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 close to the starting position 13 or any point of the stored target trajectory 11 can, the motor vehicle 1 in an operating phase of the driver assistance system 2 autonomous along the desired trajectory 11 to the target position 14 in the garage 15 be maneuvered.

4 shows another target trajectory 11 along which the motor vehicle 1 can be maneuvered in the operating phase. This will be a stop at a stop position 21 considered. This stop position 21 is a door 22 a house 23 or assigned to an apartment of the driver. At the stop position 21 the driver or the user can be offered the opportunity from the motor vehicle 1 get out and / or in the vehicle 1 enter. Using the driver assistance system 2 or by means of the control unit 3 are determined by the desired trajectory 11 a first trajectory segment A and a second trajectory segment B determined.

In the operating phase, the motor vehicle 1 from the starting position 13 to the stop position 21 maneuvered along the trajectory segment A. Before reaching the stop position 21 is the speed of the motor vehicle 1 reduces, so that the motor vehicle 1 at the stop position 21 at standstill. Thereafter, the driver or the user from the motor vehicle 1 get out. Following this, the motor vehicle 1 by means of the driver assistance system 2 autonomously maneuvered along the trajectory segment B and into the garage 15 parked. Using the driver assistance system 2 can the motor vehicle 1 also from the garage 15 be parked out. This case can be the motor vehicle 1 first along the trajectory segment B to the stop position 21 be maneuvered. At the stop position 21 then the driver can get into the vehicle. Following this, the motor vehicle 1 be autonomously maneuvered along the trajectory segment A. After reaching the starting position 13 can then the driver assistance system 2 the control of the motor vehicle 1 handed over to the driver.

The stop position 21 can be determined by the driver during the training phase. For example, if during the training phase the stop position 21 is reached, the driver can make an appropriate operator input. Thus, the driver can stop position 21 as an interesting place (POI - point of interest). The stop position 21 can then be saved to the digital environment map.

5 shows a schematic flow diagram of a method for operating the driver assistance system 2 in the training phase. In one step S1 the procedure is started. In one step S2 is checked if a stop position 21 was defined by the driver. If this is the case, it will be in one step S3 the first trajectory segment A, which is different from the starting position 13 to the stop position 21 extends, stored. In addition, the recording of the second trajectory segment B is started. If the query in step S2 shows that no stop position 21 has been defined, becomes the complete setpoint trajectory 11 in one step S4 recorded. Finally, the process becomes one step S5 completed.

6 shows a schematic flow diagram of a method for operating the driver assistance system 2 in the operating phase. In one step S6 the procedure is started. In the operating phase, the driver assistance system 2 allow the user to pre-select whether to stop at the stop position 21 is required. This is done in one step S7 checks whether a stopover was requested by an operator input. In this case, the required operator input from the driver before reaching the stop position 21 be performed. If the stopover is required, the motor vehicle 1 by means of the driver assistance system 2 maneuvered along the trajectory segment A, the speed of the motor vehicle 1 is reduced so that this at the stop position 21 at standstill (step S8 ). In one step S9 waited for the driver assistance system 2 at standstill of the motor vehicle 1 upon receiving a continuation signal. In one step S10 becomes the maneuvering of the motor vehicle 1 continued, if by the driver assistance system 2 the continuation signal was received. This continuation signal can be transmitted by the driver by means of a mobile terminal. Alternatively, the continuation signal may be received if the vehicle door is closed. After receiving the continuation signal then the motor vehicle 1 autonomously along the trajectory segment B the garage 15 maneuvered. If the query in step S7 shows that no intermediate stop is required, the motor vehicle 1 by means of the driver assistance system 2 in one step S11 directly along the target trajectory 11 Maneuvered without stopping. Finally, the process becomes one step S12 completed.

7 shows another home zone in 19, in which the door 22 of the House 23 not on the target trajectory 11 located. Here, target trajectory leads 11 from the starting position 13 to the stop position 21 and from there to the target position 14 , Compared to 4 describes this target trajectory 11 not the direct connection between the starting position 13 and the target position 14 , The direct connection between the starting position 13 and the target position 14 is replaced by another target trajectory 20 described. It may be provided that both the desired trajectory 11 as well as the further target trajectory 20 be trained. For example, in a first training phase, the desired trajectory 11 be specified manually by the driver. In another training phase, the further target trajectory 20 be specified by the driver. In the subsequent operating phase, the query as to whether an intermediate stop is required can be carried out at the beginning of the operating phase. Thus, it can be decided whether the motor vehicle either along the desired trajectory 11 or along the further target trajectory 20 maneuvered.

Another possibility is that the driver assistance system 2 a mobile area within the home zone 19 knows. This mobile area can be based on the objects recorded in the training phase 10 or object features 18 be determined. In this case, in the training phase, the target trajectory 11 or the first trajectory segment A and the second trajectory segment B are specified. With the aid of the driver assistance system, a further desired trajectory can then be provided 20 to be determined which directly from the starting position 13 to the target position 14 runs.

8th shows trajectory segments A, B and another target trajectory 20 according to a further embodiment. In this case, the first trajectory segment A corresponds to the first trajectory segment A according to FIG 7 , In the example according to 7 it is provided in the second Trajektoriensegment B that the motor vehicle 1 first in the reverse direction is moved and then forward direction in the garage 15 maneuvered. In the example of 8th but it is envisaged that the motor vehicle 1 starting from the stop position 21 in the reverse direction to the target position 14 or in the garage 15 maneuvered. Thus, the number of driving maneuvers performed in the operating phase can be reduced.

Claims (15)

Method for operating a driver assistance system (2) for a motor vehicle (1), in which, during a training phase of the driver assistance system (2), the motor vehicle (1) is moved manually by a driver from a starting position (13) to a target position (14) a target 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) is autonomously maneuvered along the desired trajectory (11), characterized in that it is checked in the operating phase, whether during maneuvering Intermediate stop at a stop position (21) is required, and if the intermediate stop is required, based on the desired trajectory (11) a first Trajektoriensegment (A), which extends from the start position (13) to the stop position (21), and a second Trajektoriensegment (B), which extends from the stop position (21) to the target position (14), and the motor vehicle (1) along the first trajectory segment (A) and the second trajectory segment (B) with the intermediate stop at the stop position (21 ) is maneuvered. Method according to Claim 1 , characterized in that the motor vehicle (1) is first maneuvered along the first trajectory segment (A) and then along the second trajectory segment (B) or that the motor vehicle (1) along the second Trajektoriensegments (B) and then along the first Trajektoriensegments (A) maneuvered. Method according to Claim 1 or 2 , characterized in that a direction of travel for the maneuvering of the motor vehicle (1) along the first Trajektoriensegments (A) and / or the second Trajektoriensegments (B) is determined. Method according to one of the preceding claims, characterized in that on the basis of an operating input, which is performed by the driver of the motor vehicle (1), and / or autonomously detected by a predetermined situation that the intermediate stop is required. Method according to one of the preceding claims, characterized in that the stop position (21) is determined on the basis of an operator input carried out by the driver and / or autonomously on the basis of a predetermined situation during the training phase. Method according to one of the preceding claims, characterized in that if the driver is in the operating phase outside the motor vehicle (1), based on sensor data of an environment sensor (4) a current position of the driver is determined and the stop position (21) based on the current Position of the driver is determined. Method according to one of the preceding claims, characterized in that in the operating phase during the maneuvering a speed of the motor vehicle (1) is adjusted such that the motor vehicle (1) is at a standstill at the stop position, wherein the maneuvering of the motor vehicle (1 ) is continued after receiving a continuation signal. Method according to one of the preceding claims, characterized in that in the training phase objects (10) in a desired trajectory (11) associated home zone (19) are detected based on the detected objects (10) determines a mobile area within the home zone (19) and the first trajectory segment (A) and the second trajectory segment (B) within the more mobile range are determined. Method according to Claim 8 , characterized in that within the mobile range, a further target trajectory (20), which leads from the start position (13) to the target position (14), is determined and the motor vehicle (1) in the operating phase along the further target trajectory (20) maneuvered if it is detected that no intermediate stop is required. Method according to one of Claims 1 to 8th , characterized in that in the training phase, a further target trajectory (20) is recorded and the motor vehicle (1) in the operating phase along the further target trajectory (20) is maneuvered if it is detected that no intermediate stop is required. Method according to one of the preceding claims, characterized in that it is checked whether a further intermediate stop at a further stop position is required and / or that based on the desired trajectory (11), a third trajectory segment is determined. Method according to one of the preceding claims, characterized in that in the operating phase, an opening signal for opening a remotely controllable gate is sent out if the remotely controlled gate detected and / or stored in an environment map of the driver assistance system (2). Method according to Claim 12 , characterized in that in the training phase, a position of the remotely controllable door and / or the opening signal for opening the remotely controllable door is stored. 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 14 ,

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