WO2012019941A1 - Procédé d'assistance d'un conducteur lors de la conduite d'un véhicule à moteur et système d'aide à la conduite - Google Patents

Procédé d'assistance d'un conducteur lors de la conduite d'un véhicule à moteur et système d'aide à la conduite Download PDF

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Publication number
WO2012019941A1
WO2012019941A1 PCT/EP2011/063273 EP2011063273W WO2012019941A1 WO 2012019941 A1 WO2012019941 A1 WO 2012019941A1 EP 2011063273 W EP2011063273 W EP 2011063273W WO 2012019941 A1 WO2012019941 A1 WO 2012019941A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
display device
parking
displayed
symbol
Prior art date
Application number
PCT/EP2011/063273
Other languages
German (de)
English (en)
Inventor
Joachim Mathes
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2012019941A1 publication Critical patent/WO2012019941A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area

Definitions

  • the invention relates to a method for assisting a driver when driving a motor vehicle.
  • the driver is assisted by means of a driver assistance system, namely by detecting environmental information about a surrounding area at least on one side of the motor vehicle by means of at least one distance sensor during a drive of the motor vehicle, as well as by displaying information on a display device of the motor vehicle based on the surrounding information ,
  • the invention additionally relates to a driver assistance system which is designed to carry out such a method.
  • Motor vehicle with respect to the parking space calculate a parking path along which then the motor vehicle can be parked in the parking space without collision.
  • further assistance is provided in a wide variety of ways.
  • the driver is only provided with steering information or information on how the steering wheel should be steered so that the parking space can be reached.
  • the steering of the motor vehicle is automatically intervened. Then the driver is only assigned to accelerate and brake.
  • Completely automatic systems can automatically intervene in a powertrain, and the driver then only has to release the parking process and can interrupt it at any time.
  • information can also be displayed to the driver during a parking operation, namely with the aid of an optical display device.
  • images can also be displayed on the display device, which are based on image data captured by a camera.
  • image data is captured by a plurality of cameras.
  • the image data is then processed into an image which shows the motor vehicle and its surroundings from the perspective of a virtual camera.
  • the picture shows a top view of the motor vehicle and the environment around it
  • the document DE 10 2005 036 732 A1 also describes a driver assistance system for supporting a parking operation of a motor vehicle.
  • the driver assistance system may measure a parking space, and a result of this measurement is automatically displayed for a preferred side of the vehicle upon input from the user.
  • Distance values for obstacles in the vehicle environment can be displayed on a display device.
  • a parking icon may also be displayed on the display indicating the fact that a suitable parking space has been found.
  • An arrow can also be displayed pointing to the left or to the right, indicating a parking space on the left or right side of the vehicle. The arrow can also point to the rear so that it becomes clear that the driver has to park backwards into the parking space.
  • Parking spaces that allow less than 5 cm of space to maneuver are either shown as inappropriate or have a red color mark.
  • parking spaces that allow space between 5 cm and 100 cm for maneuvering can be classified as scarce and have a yellow mark. Parking spaces with one
  • Rangierplatz of more than 1 m are shown as suitable parking spaces with a green color marking.
  • the document DE 10 2005 013 706 A1 describes a device for assisting a parking of a vehicle.
  • An image of a surrounding area of the motor vehicle can be detected with the aid of a camera. This image can then be displayed on a display device.
  • An image superimposition device is provided which is used to superimpose further image information on the image reproduced image is used. For example, the image may be overlaid with distance information. In this way, the driver can better assess the parking situation despite a possibly distorted image or perceive such obstacles that can not be detected on the environmental image.
  • the document DE 102 50 021 A1 discloses a method and a
  • the driver assistance system for assisting a driver of a motor vehicle when parking the motor vehicle in a parking space.
  • the driver assistance system comprises a camera with which an observation area in the surroundings of the vehicle can be recorded.
  • An image processing unit can process the captured image data.
  • a screen is provided on which images can be displayed based on the recorded image data.
  • the image processing unit displays a parking space symbol in the current image on the screen which symbolizes an area in the current image that the motor vehicle can reach starting from its current position, taking into account the vehicle size and the maximum steering angle when parking.
  • an optical camera is required in order to be able to display an image of the surroundings of the motor vehicle on a display device.
  • multiple cameras are required to cover the entire environment around the motor vehicle.
  • the use of cameras also has drawbacks: on the one hand, the use of cameras is relatively expensive; On the other hand, the cameras must be mounted on the motor vehicle, which is associated with a change in the basic design of the motor vehicle. It is thus a big one
  • a parking space is measured with the aid of a distance sensor and a displacement sensor. From the length of the parking spaces, a graphic output is then generated, which is, for example, a graphical representation of the parking space with a drawn plan of the motor vehicle.
  • the graphical output may also include the dimension of the parking space, as well as a color or other illustration of a degree of difficulty when parking. Based on this visual display, the driver can thus only determine whether the length of the parking space is sufficiently greater than that of the motor vehicle. It is an object of the invention to provide a solution, as in a method of the type mentioned the driver while driving the motor vehicle can be supported particularly reliable, so that it is informed on the one hand about the environment of the motor vehicle and on the other hand, collisions between the
  • Motor vehicle and vehicle-external obstacles can be avoided, in particular without a camera system is used.
  • a method according to the invention is designed to assist a driver in driving a motor vehicle with the aid of a driver assistance system.
  • Ambient information about a surrounding area is detected at least on one side of the motor vehicle with the aid of at least one distance sensor during a drive of the motor vehicle.
  • On a display device in the interior of the motor vehicle information is then displayed based on the environmental information.
  • On the display device a vehicle icon is displayed, which is the
  • the effect according to the invention is therefore achieved by displaying on the display, on the one hand, a schematic symbol which symbolizes one's own motor vehicle, and, on the other hand, another symbol symbolizing the detected object external of the vehicle.
  • the driver can thus be informed about the environment of the motor vehicle with the aid of the optical display device, namely via the vehicles external objects present in the environment.
  • the driver can thus close when maneuvering the motor vehicle on the respective instantaneous distance between his motor vehicle and the vehicle external object.
  • Such an approach proves to be particularly advantageous for parking operations, because the driver can recognize the vehicle-external obstacles on the display device and can thus park even in very tight conditions.
  • the driver is thus supported in total reliable while driving his motor vehicle.
  • the display on the display device is preferably generated solely on the basis of the environmental information, which are detected by means of the at least one distance sensor.
  • the generation of the display is thus preferably without the use of image data of an optical camera.
  • the method proves to be particularly advantageous in assisting the driver when performing a parking operation. It is therefore advantageous if the information-that is to say the vehicle symbol and the at least one object symbol-is displayed while potential parking spaces located in the surrounding area are detected by the driver assistance system on the basis of FIG
  • the assistance of the parking operation may include that the driver assistance system calculates a parking path along which the motor vehicle can be parked into the parking space without collision, depending on the dimensions of the parking space and on the current relative position of the motor vehicle with respect to the parking space. Then the driver assistance system -. B. also by means of the display device - output steering instructions as the driver has to steer the steering wheel. Additionally or alternatively, the driver assistance system can also automatically engage in the steering and / or in the drive train. The driver assistance system can therefore be a parking assistance system. Just then the representation of the vehicle symbol is together with the
  • the driver can be on the
  • At least one ultrasonic sensor by means of which the
  • the environment information is recorded continuously, while the displayed information - that is, the symbols - are preferably adapted to the detected environment information in real time.
  • the environmental information is recorded continuously in time using the at least one proximity sensor and the displayed information is also continuously stored in
  • At least one symbol displayed on the display device may be a movable or dynamic symbol which is relative to another symbol on the display device, taking into account the detected
  • Movement of the motor vehicle with respect to a detected object thus preferably corresponds to the actual relative movement of the objects imaged by the symbols relative to one another, so that a total of one
  • the environment information can be detected via respective surrounding areas left and right next to the motor vehicle in each case by means of at least one distance sensor. Then, for each object located in the left and in the right environment, in each case a schematic object symbol can be displayed on the display device, which symbolizes the detected object. In this way, it is possible to provide a symmetrical display on the display device, in which the vehicle symbol can be displayed centrally or centrally. The driver can thus be informed about the objects left and right next to the motor vehicle, so that he can detect left and right located parking spaces on the display device.
  • the object symbols are displayed true to scale and / or true to position on the display device. Then the object symbols are shown in the same scale as the vehicle symbol, and the driver can be particularly accurate on the basis of the display on the respective distances between the motor vehicle and the vehicle external
  • At least one potential parking space can also be detected by the driver assistance system. Then this parking space can be displayed on the display device, namely in particular true to scale and / or true to position with respect to the vehicle symbol. Also to the parking space can a corresponding symbol, such as a rectangular symbol. In this way, the parking space is highlighted on the display device and the driver informed accordingly finding a parking space.
  • the vehicle icon may be displayed stationary on the display while the at least one object icon may be displayed as a moving icon.
  • the object symbols can move on the display device for at least a predetermined time interval, while the vehicle symbol preferably remains immobile. In this way, the driver can always inform himself about the same surrounding area with respect to the motor vehicle.
  • the vehicle symbol can be displayed centrally with respect to a left and a right edge of the display device, namely preferably centrally on the display device. In this way it succeeds on the
  • Display device to represent object symbols to all vehicle external objects, which are located in the environment around the motor vehicle.
  • the vehicle symbol can be displayed stationary or stationary on the display device for at least one predetermined time interval.
  • This predetermined time interval may be that during which potential parking spaces located in the surrounding area by the driver assistance system on the basis of
  • Measuring the parking spaces usually during a passage of the motor vehicle at the parking spaces, namely on a number of other vehicles, between which there is possibly a potential parking space.
  • the vehicle symbol on the display device so stationary or immovable - in particular in the center - shown and the object symbols are moved while the motor vehicle is driven to potential parking spaces or on a number of other vehicles.
  • the speed of movement of the vehicle symbol on the display device so stationary or immovable - in particular in the center - shown and the object symbols are moved while the motor vehicle is driven to potential parking spaces or on a number of other vehicles.
  • the driver assistance system can be set for at least one side of the motor vehicle extending along a direction of travel of the vehicle imaginary boundary line to which a collision-free maneuvering of the motor vehicle is possible. Then, the boundary line next to the vehicle icon can be displayed on the display device. In this way, the driver can
  • a measured parking space is interpreted by the driver assistance system as a parking space suitable for parking
  • the finding of this parking space can be signaled by means of the display device.
  • This may for example be such that the appropriate parking space is highlighted on the display device by means of a symbol.
  • Such a symbol then symbolizes the parking space and signals the driver that a suitable parking track can be calculated and that the driver can initiate the parking process.
  • the driver can trigger the parking process, namely, for example, by making a corresponding input to an input device of the driver assistance system or by inserting the decrease.
  • Main extension direction coincides with the direction of extension of the road - is detected between two vehicles, which are offset with respect to each other in the direction of the respective transverse axes.
  • different parking paths can be calculated by the driver assistance system, which can lead the motor vehicle in various end positions in the transverse direction relative to the two, the parking space directly limiting vehicles.
  • a parking track can bring the motor vehicle, for example, in a line with a first, the parking space limiting vehicle, while another parking the vehicle in can bring a line with the second, the parking space limiting vehicle. It is provided in one embodiment that in such a case, the driver the
  • End position of the motor vehicle in the parking space can select, namely
  • the various end positions in the parking space can also be displayed on the display device, for example by means of a corresponding symbol.
  • this potential obstacle can be displayed on the display device with the help of a
  • Such an obstacle may be, for example, a pedestrian or even a higher curb. In such a case, the driver can then decide for himself whether he wants to park in the parking space or not.
  • Such an obstacle can be displayed as an icon, for example, by means of an exclamation mark, which can be displayed on the display device within the detected parking space.
  • the parking process can be started by the driver assistance system and this start of the parking process can be signaled by means of the display device. Then, the driver is informed by means of the display device that the parking process is properly continued and the motor vehicle is parked in the parking space.
  • a not yet reached end position of the motor vehicle can be displayed in the parking space.
  • the driver can join this
  • Embodiment still recognize before the completion of the parking operation on the display device, in which end position the motor vehicle is parked.
  • the vehicle icon may be displayed on the display as a moving icon. Additionally or alternatively, the at least one object symbol can also be displayed as a movable symbol. However, it proves to be particularly advantageous if only the vehicle symbol or the at least one object symbol is displayed as a movable symbol, while the respective other symbol is displayed as a stationary or immovable symbol. If the vehicle symbol is displayed as a moving symbol during the parking operation, the vehicle symbol moves on the display device during the parking operation Parking procedure along the calculated roadway. The vehicle symbol then preferably moves in a still image, which was generated immediately before the time of initiating the parking operation. The vehicle symbol is preferably moved in accordance with the real movement of the motor vehicle. If, however, the vehicle symbol is displayed stationary, the image of the environment of the
  • the driver assistance system can calculate a parking path for a parking operation along which the motor vehicle is parked in a parking space.
  • a parking track can then also be displayed on the display device.
  • This parking track can be represented for example in the form of a line along which the vehicle symbol on the display device in the
  • Parking space is performed. In this way, it is possible to inform the driver about the course of the calculated parking path and the driver can already in advance, or in advance close to the future direction of movement of the motor vehicle back.
  • Driver assistance system to measure a distance to a vehicle external object. If this distance then falls below a predetermined limit, this undershooting can be signaled by means of the display device.
  • Embodiment proves to be particularly advantageous when vehicles external objects are detected, located on the other side of the
  • an icon may also be on the
  • Display device are displayed, which symbolizes this off-vehicle obstacle to scale and positionally true with respect to the vehicle symbol. It can thus be avoided collisions.
  • An inventive driver assistance system for a motor vehicle is for
  • Driver assistance system includes at least one distance sensor for detecting environmental information about a surrounding area of the motor vehicle during a journey.
  • the driver assistance system also includes a display device for displaying information based on the environmental information.
  • a vehicle symbol which symbolizes the motor vehicle
  • at least one object symbol can be displayed, which symbolizes an object located in the surrounding area and detected based on the environmental information.
  • a motor vehicle according to the invention comprises an inventive
  • Embodiments and their advantages apply correspondingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.
  • Fig. 1 is a schematic representation of a plan view of a motor vehicle with a driver assistance system according to an embodiment of the
  • FIGS. 2 to 13 show, in schematic illustration, exemplary optical displays, such as are displayed in the interior of the motor vehicle during a measurement of a parking space and during a parking operation of the motor vehicle on an optical display device, such as a display.
  • FIG. 1 motor vehicle 1 An illustrated in Fig. 1 motor vehicle 1 is in the embodiment a
  • the motor vehicle 1 comprises a driver assistance system 2, which is used to assist the driver of the motor vehicle 1 when driving the vehicle
  • Motor vehicle 1 is formed.
  • the driver assistance system 2 is used to assist the driver when parking the motor vehicle 1 in a parking space, namely both a longitudinal parking space and in a transverse parking space or an obliquely oriented to the street parking space.
  • a L jossparklücke is such a parking space whose main extension direction coincides with the extension direction of the road or the carriageway, while a transverse parking space is one whose
  • An oblique parking space is such a parking space whose main extension direction is at an angle between 0 ° and 90 ° to the extension direction of the road.
  • the driver assistance system 2 can support the driver when parking in all these parking spaces.
  • the driver assistance system 2 for the measurement of parking spaces, the driver assistance system 2 in
  • Embodiment two ultrasonic sensors 3, 4, which are distance sensors.
  • the ultrasonic sensor 3 is arranged on a left side edge of the motor vehicle 1 or in the left edge region of a front bumper; the second ultrasonic sensor 4 is mounted symmetrically on the opposite side of the motor vehicle 1.
  • the ultrasonic sensors 3, 4 can provide environmental information about a
  • the environment information is in the form of
  • Ultrasonic sensors 3, 4 the environment information or the distance data continuously, ie continuously detect time. Continuous detection of the environmental information here means that the ultrasonic sensors 3, 4 periodically emit ultrasonic signals and ultrasonic signals affected by objects
  • the frequency of the periodic emission of the ultrasonic signals can be so great that overall a continuous or continuous detection of
  • the driver assistance system 2 serves to support a parking operation of the motor vehicle 1.
  • the purpose of this support is that the driver assistance system 2 can first use the environmental information to measure or detect a parking space in order then to calculate a suitable parking path.
  • the motor vehicle 1 can then be parked in the measured parking space, namely collision-free.
  • Parking spaces occurs during a passage of the motor vehicle 1 at the parking spaces.
  • the motor vehicle 1 can be moved either forward or backward. If a suitable parking space is found or if a measured parking space is interpreted by the control device 8 as a parking space suitable for parking, the driver is informed and he can release the parking procedure.
  • the further assistance may also include that the control device 8 in a
  • Steering device of the motor vehicle 1 automatically engages to steer the steerable wheels of the motor vehicle 1 driver independently, so that the motor vehicle 1 is parked along the calculated parking path in the parking space.
  • the steering device of the motor vehicle 1 automatically engages to steer the steerable wheels of the motor vehicle 1 driver independently, so that the motor vehicle 1 is parked along the calculated parking path in the parking space.
  • Control device 8 also actuate a drive train of the motor vehicle 1 automatically or driver independent to give or decelerate gas. In this case, the driver then only needs to release the parking procedure and if necessary to interrupt it.
  • the driver receives a variety of information from
  • Driver assistance system 2 output and the driver can also make a variety of inputs, for example, on an operating device of the
  • Driver assistance system 2 There is essentially an interactive communication between the driver assistance system 2 and the driver. In the present case, the interest is directed in particular to the output of the information from the driver assistance system 2 to the driver.
  • the driver assistance system 2 includes an optical display device 9.
  • the display device 9 may be a stationary or stationary mounted in the interior of the motor vehicle 1 device; For example, it can be firmly integrated into an instrument panel or center console. Alternatively, this display device 9 may also be a detachably mounted and mobile or portable device.
  • Display 9 may be an LCD display; she can alternatively also
  • Be image projector by means of which information can be projected onto a windshield 10 of the motor vehicle 1 (head-up display).
  • the display device 9 is electrically coupled to the control device 8 and is controlled by the control device 8.
  • the control device 8 can therefore specify which information is to be displayed on the display device 9. There are shown on the display device 9 information 1 1, which on the
  • the control device 8 may include, for example, a signal processor, as well as a microcontroller and a memory 12.
  • a variety of data may be stored.
  • 12 symbols can be stored in memory 12, which can be displayed on the display device 9. It can, for example, a
  • Vehicle symbol to be stored which symbolizes the motor vehicle 1 schematically.
  • Such a vehicle symbol can be, for example, a rectangle or a plan view of the motor vehicle 1.
  • the information displayed 1 1 are generated in the embodiment alone based on the environmental information of the ultrasonic sensors 3, 4.
  • a camera system is dispensed with or the information 1 1 is independent of
  • FIGS. 2 to 13 show a schematic representation of the display device 9 with the information 1 1, as they are displayed during a measurement of parking spaces and during a parking operation of the motor vehicle 1 on the display device 9.
  • FIGS. 2 to 13 thus show, in principle, a time sequence of optical displays, as they are displayed on the display device 9 during parking.
  • the information 11 is generated solely on the basis of the environmental information of the ultrasonic sensors 3, 4. Because the
  • Environment information can be continuously collected, the displayed
  • Information 1 1 can also be adapted dynamically or in real time. This means that the displayed information 1 1 are displayed realistically.
  • the surrounding area 5 is imaged both on the left and on the right side 6, 7 of the motor vehicle 1.
  • the motor vehicle 1 moves forward along a series of other motor vehicles; the motor vehicle 1 drives on the row of other motor vehicles and optionally on formed between the other motor vehicles
  • a display as shown in FIG. 2 is displayed on the display 9.
  • a vehicle symbol 13 is shown, which symbolizes the motor vehicle 1.
  • This vehicle symbol 13 may be a rectangle or a plan view of the motor vehicle 1.
  • object symbols 14, which each symbolize an object external of the vehicle, which is detected by the driver assistance system 2 based on the environmental information, are also shown on the display device 9.
  • the motor vehicle 1 moves forward and drives past the row of other motor vehicles (object symbols 14), those objects which are located substantially at the height of the motor vehicle 1 or next to the motor vehicle 1 can currently be detected by the ultrasonic sensors 3, 4 , It can thus be detected on the basis of the detected by the ultrasonic sensors 3, 4 environmental information those objects that are either already behind the motor vehicle 1 or but located next to the motor vehicle 1.
  • further ultrasonic sensors can be used on the front bumper.
  • the driver assistance system 2 can manage without further ultrasonic sensors.
  • an object symbol 14 can nevertheless be displayed in front of the vehicle symbol 13, without an object external to the vehicle actually being detected for this object symbol 14. Such an object symbol 14 can then be verified and adapted during the further travel of the motor vehicle 1.
  • the vehicle symbol 13 is preferably shown stationary or immovable centrally between a left and a right edge 15, 16 of the display device 9.
  • the vehicle symbol 13 is thus a stationary symbol.
  • the object symbols 14 are displayed as moving symbols and are moved on the display device 9 while the motor vehicle 1 passes, namely according to the arrow representation 17.
  • the speed of movement of the object symbols 14 with respect to the fixed vehicle symbol 13 then preferably corresponds to the actual speed of the motor vehicle 1 during the passage.
  • a "rolling" series of object symbols 14 is displayed on the display device 9, each of which is an external vehicle object or a stationary one
  • the object symbols 14 are shown only on the right side of the vehicle symbol 13. But there may also be object icons 14 on the left side of the vehicle symbol 13.
  • Vehicle symbol 13 are shown, since the environmental information on both the left side 6 and on the right side 7 of the motor vehicle 1 are detected.
  • the control device 8 can also determine an imaginary boundary line running along the direction of travel of the motor vehicle 1, up to which a collision-free maneuvering of the motor vehicle 1 is made possible. This boundary can be set for both the left and the right side 6, 7. Appropriate
  • Boundary lines 18, 19 can also be displayed on the display device 9 next to the vehicle symbol 13. That way, the driver gets over it informed how far he can steer with the motor vehicle 1 collision-free to the left and to the right.
  • the display according to FIG. 2 is displayed during a time interval during which parking spaces are measured by the driver assistance system 2.
  • the ultrasonic sensors 3, 4 thus continuously detect the
  • Measurement of the parking spaces can also be displayed on the display device 9, namely with corresponding symbols 20, for example.
  • the object icons 14 are displayed to scale and positionally on the display device 9. This is made possible by the fact that during the passing of the motor vehicle 1 to the other
  • the environmental information is continuously detected by the ultrasonic sensors 3, 4 and the dimensions of the other vehicles can be determined based on the environmental information. So it will both the
  • the row of the object symbols 14 is moved on the display device during the passage of the motor vehicle 1, namely as indicated by the arrow 17.
  • Parking spaces are also displayed on the display device 9, which are located between the other motor vehicles.
  • a parking space 21 can be detected and displayed on the display device 9 while the motor vehicle 1 is passing by.
  • the parking space 21 is directly bounded by two object symbols 14.
  • the parking space 21 can for example be displayed in such a way that simply no other symbol is displayed at this point. But it is also possible to display a parking space symbol, which symbolizes the parking space 21.
  • the parking space 21 is displayed on the display while the motor vehicle 1 is moving. In FIGS. 3 to 6, however, the vehicle symbol 13 becomes stationary or
  • FIGS. 3 to 6 show various possibilities for the representation of the curb symbol 22.
  • the control device 8 continuously checks whether the detected parking space 21 is a parking space suitable for parking or not. If the parking space 21 is suitable for the parking operation of the motor vehicle 1, then the driver is informed accordingly. For example, here an acoustic signal can be output, by means of which the finding of the appropriate parking space is signaled. However, this signaling is carried out in particular - in addition or as an alternative - with the aid of the display device 9. For example, as shown in FIG. 7, a character "R" on the
  • Vehicle symbol 13 are displayed, with which the driver is requested to insert the decrease. If a suitable parking space 21 is found, then the movable object symbols 14 and the movable parking space 21 on the
  • Display device can be stopped, and the vehicle symbol 13 can be moved with respect to the object symbols 14. If the motor vehicle 1 is stopped, then the vehicle symbol 13 can be stopped, as shown in Fig. 7.
  • the character "R" can also be displayed only when the driver has already engaged the reverse gear.
  • the control device 8 then calculates a parking path along which the
  • Motor vehicle 1 can be parked in the parking space 21.
  • the end position of the motor vehicle 1 in the parking space is thus known.
  • This end position can be displayed on the display device 9 even before the parking process is initiated, namely with a corresponding symbol 23, which may be a rectangle, as shown in FIG. Referring to FIG. 10, before the initiation of the
  • Exclamation mark 24, 25 will be displayed.
  • the exclamation marks 24, 25 are also displayed true to position; in Fig. 10 is on the display device 9 a
  • Exclamation mark 24 is displayed on the left side of the vehicle symbol 13 and thus symbolizes a located on the left side 6 of the motor vehicle 1 obstacle.
  • the second exclamation mark 25 is located in the parking space 21 and symbolizes a potential obstacle in the parking space.
  • the driver can now decide whether he wants to initiate the parking process anyway or not.
  • an object icon 14 may also be displayed as an unusual icon, namely with the help of a question mark. This means that this object symbol 14 does not symbolize another motor vehicle, but another, unspecified vehicle-external object. Again, the driver must decide for himself whether he wants to initiate the parking process or not.
  • the object symbols 14 with respect to the vehicle symbol 13 are displayed realistically - true to scale and true to position.
  • object symbols 14 correspondingly offset from one another are displayed for these motor vehicles.
  • FIG. 11 The object symbols 14 are displayed offset on the display device 9 in the direction of the respective transverse axes.
  • several end positions for the motor vehicle 1 are possible in the parking space 21 in principle.
  • two symbols 23 a, 23 b are displayed in this case, each symbolizing a different end position in the parking space 21. The driver can now choose with which of the other motor vehicles the motor vehicle 1 is to be brought into line during the parking process.
  • the vehicle symbol 13 can also be displayed as a movable symbol, while the object symbols 14 can be displayed stationary. Alternatively, however, it may also be provided that the vehicle symbol 13 is fixed and the object symbols 14 are displayed in a movable manner.
  • FIGS. 8 and 9 show a chronological sequence of displays as they are displayed on the display device 9 during parking in the parking space 21. In this case, the vehicle icon 13 is moved, and the object icons 14 are displayed stationary. The vehicle symbol 13 is moved into the parking space 21 located between the object symbols 14, namely realistically and in real time or dynamically. The driver thus perceives a continuous movement of the vehicle symbol 13, which corresponds to the movement of the motor vehicle 1 into the parking space.
  • a symbol 26 for the steering angle can also be displayed on the vehicle symbol 13.
  • the steering direction is displayed, in which the driver is to steer the steering wheel in order to guide the motor vehicle 1 in the parking space. If the control device 8 actuates the steering of the motor vehicle 1 automatically, then only the direction in which the steerable wheels are taken automatically is symbolized by the pictogram 26.
  • the fact that the ultrasonic sensors 3, 4 and / or further ultrasonic sensors continuously measure the distances between the motor vehicle 1 and the objects external to the vehicle can be signaled by means of a symbol 27. If a critical minimum is exceeded, the color of the symbol 27 can be changed. For example, a yellow icon 27 can be changed to a red icon 27 if the distance between the motor vehicle 1 and an object external to the vehicle falls below a predetermined limit. In this way, the driver is warned of an impending collision, and he can interrupt the parking process or the parking process is automatically interrupted by the controller 8.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention apporte une solution démontrant que le conducteur d'un véhicule à moteur (1) peut utiliser un système (2) d'aide à la conduite particulièrement fiable pour se garer dans une place de stationnement, sans nécessiter pour autant un système de caméra optique. Lors d'un procédé selon l'invention, des informations environnement sur une zone environnementale (5) au moins d'un côté (6, 7) du véhicule à moteur (1) sont détectées à l'aide d'au moins un capteur de distance (3, 4) pendant un parcours du véhicule à moteur (1). Des informations (11) qui sont affichées sur un dispositif d'affichage (9) du véhicule à moteur (1), reposent sur des informations environnement. Un symbole véhicule (13) qui est représenté sur le dispositif d'affichage, symbolise le véhicule à moteur (1). En plus d'au moins un objet qui est situé dans la zone environnementale (5) et qui est détecté à l'aide des informations environnement, un symbole objet (14) est affiché, ledit symbole symbolisant l'objet détecté. En outre, un système (2) d'aide à la conduite est créé pour la mise en oeuvre d'un tel procédé.
PCT/EP2011/063273 2010-08-12 2011-08-02 Procédé d'assistance d'un conducteur lors de la conduite d'un véhicule à moteur et système d'aide à la conduite WO2012019941A1 (fr)

Applications Claiming Priority (2)

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DE102010034142A DE102010034142A1 (de) 2010-08-12 2010-08-12 Verfahren zum Unterstützen eines Fahrers beim Führen eines Kraftfahrzeugs und Fahrerassistenzsystem
DE102010034142.8 2010-08-12

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CN104574354A (zh) * 2013-09-26 2015-04-29 张国飙 基于边缘探测的停车位监测方法
CN110281921A (zh) * 2018-03-14 2019-09-27 奥迪股份公司 机动车的用于显示增强现实的驾驶员辅助系统以及方法
CN110809780A (zh) * 2017-06-30 2020-02-18 康诺特电子有限公司 用于生成机动车辆及机动车辆的环境区域的至少一个合并的视角观察图像的方法、相机系统以及机动车辆
US10713509B1 (en) 2019-01-24 2020-07-14 Ford Global Technologies, Llc Parking assist system with parking spot occupancy readout

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DE102014110851A1 (de) 2014-07-31 2016-02-04 Valeo Schalter Und Sensoren Gmbh Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Einparken, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102014111128A1 (de) 2014-08-05 2016-02-11 Valeo Schalter Und Sensoren Gmbh Bereitstellen von Fahrhinweisen während eines Parkmanövers
CN111746520B (zh) * 2020-06-29 2022-03-11 广州橙行智动汽车科技有限公司 一种基于泊车的信息处理方法和车辆

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EP1403659A1 (fr) 2002-09-28 2004-03-31 Valeo Schalter und Sensoren GmbH Assistance de stationnement à l'aide de notifications graphiques et acoustiques
DE10250021A1 (de) 2002-10-25 2004-05-13 Donnelly Hohe Gmbh & Co. Kg Verfahren zum Betrieb eines Darstellungssystems in einem Fahrzeug zum Auffinden eines Parkplatzes
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CN104574354A (zh) * 2013-09-26 2015-04-29 张国飙 基于边缘探测的停车位监测方法
CN110809780A (zh) * 2017-06-30 2020-02-18 康诺特电子有限公司 用于生成机动车辆及机动车辆的环境区域的至少一个合并的视角观察图像的方法、相机系统以及机动车辆
CN110809780B (zh) * 2017-06-30 2024-01-12 康诺特电子有限公司 生成合并的视角观察图像的方法、相机系统以及机动车辆
CN110281921A (zh) * 2018-03-14 2019-09-27 奥迪股份公司 机动车的用于显示增强现实的驾驶员辅助系统以及方法
US10713509B1 (en) 2019-01-24 2020-07-14 Ford Global Technologies, Llc Parking assist system with parking spot occupancy readout

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