WO2009000580A1

WO2009000580A1 - Driver assistance system with start signal function

Info

Publication number: WO2009000580A1
Application number: PCT/EP2008/055240
Authority: WO
Inventors: Andre Kroehnert; Juergen Boecker
Original assignee: Robert Bosch Gmbh
Priority date: 2007-06-26
Filing date: 2008-04-29
Publication date: 2008-12-31
Also published as: DE102007029482A1; DE102007029482B4

Abstract

The invention relates to a driver assistance system for motor vehicles, having a sensor device (10, 22) for detecting a situation in which it is possible for the vehicle to start, and having a control device (30) for outputting a start signal to the driver, characterized in that the control device (30) is designed to output a haptic start signal (48), or firstly a visual start signal and then, after a time delay, an acoustic and/or haptic start signal (44, 48), in the event of a start situation being detected. In the case of a distance control system, a visual start signal consists in the flashing or animation of a target object display (40).

Description

description

title

Driver assistance system with startup function

State of the art

The invention relates to a driver assistance system for motor vehicles, having a sensor device for detecting a situation in which starting of the vehicle is possible, and a control device for outputting a starting instruction to the driver.

In particular, the invention is concerned with a driver assistance system in the form of a distance control system, also known as ACC (Adaptive Cruise Control) system, which serves to adjust the speed of the own vehicle by engaging the drive and / or brake system. that an immediately preceding vehicle is tracked at an appropriate distance. For locating the vehicle in front, a radar sensor is usually provided. Alternatively or additionally, however, it is also possible for example to provide a video system, a lidar sensor or, for short distances, an ultrasound sensor. The previously used in practice ACC systems are designed for trips at relatively high speed on highways or well-developed country roads and can be activated only above a certain minimum speed of for example 30 km / h. However, systems have also been proposed (for example DE 199 58 520 A1 or 10 2005 022 676 A1, which have a so-called stop-and-go function and also allow the own vehicle to be braked automatically into the state, for example, when driving onto a jam end. Since these systems must also respond to stationary objects, they require a more complex sensor and / or a more complex evaluation of the sensor data.

The hitherto proposed ACC systems with Stop & Go function is provided that they also control an automatic restart of the vehicle when the front vehicle is moving again. This automatic starting function should be active, in particular, when the vehicle has been standing for a relatively short time. After a long downtime of the vehicle, however, is to be feared that the driver would no longer follow the traffic so attentive and then surprised by the automatic starting process. Under these conditions, therefore, instead of an automatic start-up operation, it is provided that the driver obtains a start-up advice only by an optical or acoustic signal to cause the driver to either control the start-up operation himself or to confirm by an input operation that the automatic start-up operation has been initiated shall be. However, such an automatic starting function is regarded as problematic from a safety point of view. It would therefore be desirable to have a system that generally outputs only a start indication to the driver if the situation allows the vehicle to restart. The difficulty here is to find the right time and the right form for the approach advice. If the indication is too late, the traffic flow is unacceptably hindered. On the other hand, if the indication is given immediately after it has been established that the conditions for a new startup are met, there is a risk that the driver and possibly the other vehicle occupants will be bothered by overly frequent start-up instructions, especially since the instruction that the driver perceives them is must be relatively clear.

Disclosure of the invention

The object of the invention is to provide a driver assistance system in which the driver receives an approach advice in a manner appropriate to the situation and in a manner acceptable to the driver and to the other vehicle occupants.

This object is achieved according to the invention with the features specified in the independent claims.

In one embodiment of the invention, when a starting situation is detected, the driver first receives an optical starting instruction and then, with a time delay, an acoustic and / or haptic start-up instruction. The early visual indication hardly represents a nuisance and allows the driver to react quickly to the traffic situation, provided the driver perceives the visual information. If the driver overlooks the visual indication, he is then made more aware of the approachability at a later time by the audible or haptic indication, and in this later indication, the likelihood that he will be perceived by the driver is much greater. However, since this indication only occurs in the (rather rare) cases where the driver has overlooked the first visual indication, the level of annoyance to the vehicle occupants remains within acceptable limits.

A haptic approach, for example, in the form of a driver's perceivable slight vibration of a vehicle part such as the seat or steering wheel, a slight increase in engine speed or a temporary release of the vehicle by a temporary release of the brake, has the advantage of that it is clearly perceptible, in particular to the driver, but on the other hand is perceived as less disturbing than an acoustic indication in the form of a gong or the like.

In another embodiment of the invention, therefore, upon detection of a starting situation without delay or with only a slight delay, if appropriate simultaneously with the visual indication, a haptic starting instruction is output. According to yet another embodiment, the visual start-up advice is issued in such a way that it can hardly be overlooked by the driver. ACC systems typically include a visual indicator which serves to inform the driver that the location system, e.g. B. the radar sensor, a preceding vehicle has detected as a target object. This display device is usually arranged in a position well visible to the driver on the dashboard and is formed by a signal light, which is relatively large area and usually represents the silhouette of a preceding vehicle in a stylized form. Now, if this display device is used in addition to its actual function for the output of the optical Anfahrhinweises, resulting on the one hand the advantage that no additional display device is required for the Anfahrhinweis. So that the starting hint can be distinguished from the target object display, it is provided according to the invention that the display image changes in time in the case of a starting hint, for example flashes. This also has the advantage that the perceptibility of the hint is improved because the human eye reacts much more sensitively to time-varying stimuli than to static stimuli.

If the display device for the target object display is in an LCD display or the like, instead of a flashing display can also be thought that the display image, so the silhouette of the vehicle is animated. For example, the display image can then represent a moving (approaching) vehicle, with which the Meaning of the signal is intuitively detected and at the same time by the movement stimulus of attention value is increased.

This embodiment is particularly attractive in vehicles which have a so-called head-up display, with which the display image, including the

Target object display is projected into the windshield. Since this projected image is visible only to the driver but not to the rest of the vehicle occupants, there is the additional advantage that the Anfahrhinweis on

"discreet" manner and the passengers will not notice that the driver has received a notice.

Of course, the above-mentioned embodiments of the invention can also be combined with each other.

Advantageous embodiments and further developments are specified in the subclaims.

In the embodiment in which first an optical indication and then an acoustic or haptic indication is given, the acoustic or haptic indication can also be repeated at certain time intervals, preferably with increased intensity, if the driver does not react to the first indication. The delay time for this indication can be set by the driver or automatically adapt to the typical reaction time of the driver in the sense of a self-learning system. It is also conceivable that the acoustic or haptic indication if the frequency with which this indication was triggered within a certain period of time exceeds a certain value, which indicates that the driver needs a longer reaction time. Likewise, the driver can also be given the opportunity to disable the audible or haptic hint function.

The triggering event for the starting instruction need not always be a signal from the sensor device indicating that the vehicle in front has set in motion. For example, in the case that the sensor device includes a video camera, a system for traffic light detection may be provided which detects the state of a traffic signal system by electronic image analysis, so that the Anfahrhinweis can be triggered as soon as the traffic light turns green.

Brief description of the drawings

An embodiment of the invention is illustrated in the drawings and explained in more detail in the following description.

The sole drawing figure shows a block diagram of a driver assistance system according to the invention.

Embodiment of the invention The driver assistance system (ACC system) for a motor vehicle shown in the drawing comprises an espionage device with a radar sensor 10 installed in the front of the vehicle and locating vehicles and other objects in advance, an electronic data processing system 12 and actuators 14, 16 for engagement with the drive system or the braking system of the vehicle. Further sensory components 18 provide supplemental data needed for the control, in particular the speed V of the "own" vehicle, ie the vehicle equipped with the ACC system. In the example shown, the sensor device also includes a video system 22 with which a video image is taken from the front of the vehicle.

The data processing system 12 includes a plurality of functional modules, which may be configured as software modules or even specialized hardware.

An input module 24 is used to evaluate the data supplied by the radar sensor 10. In particular, the detected objects are identified here by evaluation of the received radar signals, and the distances, relative speeds and azimuth angles of these objects are tracked in their temporal evolution and forwarded to the downstream modules.

Based on this data, a detection module 26 checks whether at least one preceding vehicle is present in the lane traveled by the driver's own vehicle and detects the immediately preceding vehicle, ie the one with the smallest distance, as the target object for the distance control. The data of the detected target object are then transferred to a controller 28, which makes the actual distance and speed control based on these data and the speed V of the own vehicle. For example, this controller calculates a (positive or negative) target acceleration, which is required so that the vehicle detected as the target object is tracked at a predetermined time interval (time gap). Based on this desired acceleration, the controller then determines the output signals for the actuation of the actuators 14, 16.

The ACC system considered here is capable of automatically braking the own vehicle to a standstill when it is determined by means of the radar sensor 10 that the preceding vehicle is stopping. However, it does not have an automatic starting function. Instead, in a situation in which the front vehicle sets in motion again, only a starting instruction to the driver are issued.

As a further functional module, the data processing system 12 therefore contains a control device 30, which serves to detect so-called "starting situations", ie situations in which the prerequisites for a renewed startup of the own vehicle are given. In particular, there is a starting situation when, after the vehicle has been automatically braked to a standstill, the front vehicle starts to move again and the sensor device otherwise does not detect any obstacles in the immediate forerun of its own vehicle. Another example of a starting situation is that the own vehicle stops in front of a red traffic light and then turns the traffic light to green. In order to recognize this situation, the video system 22 is followed by an evaluation device 32, which is designed, in particular, to detect the status of traffic lights (traffic lights). If this evaluation determines that the traffic light turns green, it provides a signal to the controller 30, which interprets this as a starting situation, if no obstacles are located in advance.

If the control device 30 recognizes a starting situation, it initially issues a signal to a display control 34, which in turn drives an optical display device 36. The display device 36 may be integrated, for example, in a head-up display of the vehicle.

In the example shown, the display device 36 comprises a light display which represents a stylized vehicle rear and serves, among other things, as a target display 38, d. h., indicating that the radar sensor has detected a target object. In addition, the display device comprises a light indicator 40 in the form of a stylized lane section with horizontal distance bars, the number of which gives information about the time interval currently selected by the driver for the distance control.

In the normal ACC operation, while driving, the target display 38 lights up only under the condition that the Detection module 24 has detected a target object. In the device proposed here, however, the target display 38 also serves to output an optical starting instruction. When the controller 30 detects a starting situation, the display controller 34 causes the target display 38 to flash, discreetly but clearly indicating to the driver that he should start again. In a modified embodiment, the display controller 34 and the display device 36 may also be designed so that the stylized vehicle is moved in a start-up advice, as if it would go over the stylized roadway (indicator 40).

Simultaneously with the display control 34, the control device 30 activates a delay circuit 42 which, after a certain delay time (preferably adjustable in advance by the driver), triggers a more emphatic start-up instruction, unless the driver has responded to the visual start-up information.

In the drawing, two different channels are shown for this more emphatic Anfahrhinweis, namely on the one hand, an acoustic Anfahrhinweis 44, which is output via a speaker 46, and on the other a haptic Anfahrhinweis 48. This haptic Anfahrhinweis can for example be that the steering wheel, a Part of the vehicle seat or the accelerator pedal is vibrated or that the idle speed of the engine is temporarily varied so that the driver based on the changed engine noise and the changed Motor vibration receives a haptic signal. In the example shown here, the haptic Anfahrhinweis 48 is that a temporary release of the brake is caused by the controller 28 and the actuator 16, which (in a vehicle with automatic transmission and hydraulic torque converter) causes the vehicle for a short time moved forward so that the driver feels a slight jolt or a starting movement.

In the drawing, both channels, namely the acoustic approach advice and the haptic start hint are shown primarily for illustrative purposes. In practice, however, it will usually suffice to implement one of these two channels. Since the haptic approach advice 48, in particular if it consists in a change in engine speed or in a slight starting pressure, is generally not perceived as annoying, if this channel is implemented, in a modified embodiment, on the use of the optical display device 36 for a visual Anfahrhinweis be waived. The haptic approach advice would then be triggered directly by the controller 30 without significant delay.

Claims

claims

1. Driver assistance system for motor vehicles, with a sensor device (10, 22) for detecting a

Situation in which a start of the vehicle is possible, and a control device (30) for outputting a Hinfahrhinweises to the driver, characterized in that the control device (30) is designed to detect an approach situation initially a visual Anfahrhinweis and then with time Delay an acoustic and / or haptic start hint (44, 48) output.

2. Driver assistance system for motor vehicles, with a sensor device (10, 22) for detecting a

Situation in which starting of the vehicle is possible, and a control device (30) for outputting a starting instruction to the driver, in particular according to Claim 1, characterized in that the control device (28) is designed to output a haptic starting signal (48) ,

3. Driver assistance system according to claim 1 or 2, characterized in that the haptic start hint (48) consists in a change in the engine speed of the vehicle.

4. driver assistance system according to claim 1 or 2, comprising a controller (28) which engages in the drive and braking system of the vehicle, characterized in that the Anfahrhinweis (48) is that via the controller a short-term movement of the vehicle to a small distance is caused.

5. driver assistance system for motor vehicles, with a sensor device (10, 22) for detecting a present in front of the vehicle target object and for detecting a situation in which a start of the vehicle is possible, a clearly visible to the driver optical target display (38) for display in that a target object is detected, and a control device (30, 34) for outputting a starting instruction to the driver, in particular according to one of the preceding claims, characterized in that the control device (30, 34) is designed to output an optical starting instruction, which consists in a blinking or an animation of the target object display (38).

6. Driver assistance system according to one of the preceding claims, characterized in that a

Delay time for the delayed output of the acoustic and / or haptic Anfahrhinweises (44, 48) in advance by the driver is adjustable.

7. Driver assistance system according to one of claims 1 to 5, characterized in that the control device (30) is adapted to the delay time for the delayed output of the acoustic and / or haptic Starting hint to vary depending on the driver's reaction to previous optical approach instructions.

8. Driver assistance system according to one of the preceding claims, characterized in that the

Sensor device comprises a video system (22) and an evaluation device (32) for detecting the state of a traffic light system and in that the control device (30) evaluates a starting situation of a signal of the evaluation device (32) that indicates a change of the traffic light system from red to green ,