WO2012048971A1

WO2012048971A1 - Method for assisting a driver of a motor vehicle

Info

Publication number: WO2012048971A1
Application number: PCT/EP2011/065683
Authority: WO
Inventors: Michael Seiter; Florian Raisch
Original assignee: Robert Bosch Gmbh
Priority date: 2010-10-15
Filing date: 2011-09-09
Publication date: 2012-04-19
Also published as: DE102010042519A1

Abstract

The invention relates to a method for assisting a driver of a motor vehicle (9) during a driving maneuver, in particular during a parking maneuver into a parking space (1), in which, in a first step, the surroundings of the motor vehicle (9) are detected, in a further step, a trajectory (13) along which the motor vehicle (9) is to be moved is determined in order to carry out the driving maneuver and automatically guide the motor vehicle (9) along the trajectory (13) and, in a further step, the surroundings of the motor vehicle (9) are further detected during the execution of the driving maneuver and a check is made to see whether stationary objects or moving objects (17) are detected in the surroundings of the motor vehicle (9). If a moving object (17) is detected, the automatic guidance of the motor vehicle (9) is stopped and the control is transferred to the driver of the motor vehicle (9). The invention further relates to a device for carrying out the method.

Description

Description title

The invention is based on a method for assisting a driver of a motor vehicle

Motor vehicle in a driving maneuver, especially in a parking maneuver in a parking space, according to the preamble of claim 1. Furthermore, the invention is based on a device for carrying out the method. Methods for assisting a driver of a motor vehicle are, for example

Procedures that assist the driver when parking the vehicle or when driving on narrow streets. The present invention particularly relates to such methods that assist the driver in a parking maneuver in a parking space. In methods for assisting the driver in a parking maneuver, a distinction is made between semi-automatic methods and fully automatic methods. at

semi-automatic methods, a trajectory is calculated and the driver is given instructions on how to move the motor vehicle to park along the trajectory in the parking space. In contrast, in fully automatic systems, the parking process is completely taken over by the driver assistance system and the motor vehicle automatically parked in the parking space.

In order to move the motor vehicle into the parking space, first a path along which the motor vehicle is to be moved is calculated, a so-called trajectory. For the calculation it is necessary to determine the geometry of the parking space and the position of the parking space

Motor vehicle to know. The geometry of the parking space is detected with suitable sensors. Based on the data collected by the sensors can be a

Generate the map of the environment of the motor vehicle and calculate a suitable trajectory in the parking space. The motor vehicle is then moved along the trajectory into the parking space. However, when capturing the environment, only an instantaneous image is created so that objects that move are not detected in terms of their speed and direction. For this reason, the environment of the motor vehicle is continuously monitored even during the parking process continues with the help of the sensors.

In currently used systems, no distinction is made as to whether a dormant or a moving object is detected by the system. An object moving in the area of the parking space can thus only lead to the parking space being rejected as appropriate in current systems.

In addition, there is a risk in current systems that the driver of the motor vehicle activates the system for automatic parking and then leaves the motor vehicle, as this relies on the car being automatically parked in the parking space without his intervention. In order to prevent the driver from leaving the motor vehicle and the driving maneuver being carried out without the presence of the driver, it is known, for example from DE-A 10 2006 056 094, to deactivate the automatic assistance system in a driving maneuver, as soon as it is recognized that the driver Driver is not present. Disclosure of the invention

Advantages of the invention

The method according to the invention for assisting a driver of a motor vehicle in a driving maneuver, in particular during a parking maneuver into a parking space, comprises the following steps:

(a) detecting the surroundings of the motor vehicle, (b) determining a trajectory along which the motor vehicle is to be moved in order to carry out the driving maneuver and automatically guiding the motor vehicle along the trajectory, (c) further detecting the environment of the motor vehicle while performing the driving maneuver and checking whether objects detected in the vicinity of the motor vehicle are stationary objects or moving objects. Upon detection of a moving object, the automatic guidance of the motor vehicle is terminated and the control is transferred to the driver of the motor vehicle.

By terminating the automatic guidance of the motor vehicle and the transfer of control to the driver of the motor vehicle, the decision whether the parking space is still suitable or whether due to the moving object termination of the parking process is necessary, handed over to the driver. The driver thus has the opportunity to decide, despite the discovered moving object, the

Continue parking. This is particularly useful if the driver can recognize that the moving object traverses only the intended parking space or even briefly entered the area of the parking space and leaves the parking space after a short time.

When the control is handed over to the driver, it is possible to continue to display the planned trajectory to the driver, so that he can automatically move the motor vehicle along the planned trajectory to continue the driving maneuver. Alternatively, it is of course also possible not to show the driver the planned trajectory, so that he has to decide automatically how he has to move the motor vehicle further to complete the driving maneuver. However, it is preferred to also indicate the planned trajectory when the control is transferred to the driver and to further assist the driver in carrying out the driving maneuver, by giving the driver instructions on how to move the motor vehicle in order to follow the trajectory ,

For detecting the environment of the motor vehicle sensors are usually used on the motor vehicle. These are generally in the front and in the rear of the vehicle. In addition, it is also possible to provide additional sensors on the sides of the motor vehicle. Sensors that can be used to detect the environment are, for example, ultrasonic sensors, infrared sensors, radar sensors or LIDAR sensors and optical sensors. As optical sensors in the context of the present invention, cameras are called whose captured images with a Image processing software are evaluated. Particularly preferred as sensors for detecting the environment of the motor vehicle are ultrasonic sensors.

The sensors for detecting the environment are usually positioned in the front and in the rear bumper of the motor vehicle. Due to the installation position, however, only one area is detected in front of the motor vehicle and behind the motor vehicle. The areas next to the motor vehicle can not be detected by the sensors due to their installation position. However, the detection range in the front and rear of the motor vehicle includes not only the area immediately before

Motor vehicle is located, but also extends - depending on the

Range of the sensors - a little way to the left and right over the sides of the

Motor vehicle addition.

In particular, to also detect the area next to the motor vehicle, sensors are positioned in the front bumper, which are to the left and to the right

Have coverage.

With the aid of the sensors, the distance to objects in the surroundings of the motor vehicle is determined by sending a signal from the sensors, which is reflected by an object. From the duration of the signal, the distance to the object can be determined. The direction to the object results from the measured distances of at least two sensors. In the case of optical sensors, in particular cameras, image processing software is used for the evaluation and determination of the distance.

From the data collected with the sensors, an environment map can be created. In the map of the surroundings, the outlines of objects that, for example, define a parking space are recorded. On the basis of the limitations given by the objects, it is possible to determine whether the parking space is suitable for parking the motor vehicle therein. If this is the case, a trajectory along which the motor vehicle is to be moved is determined in order to carry out the driving maneuver, in particular the parking maneuver.

To create the environment map and to calculate the trajectory is usually a control device of a driver assistance system, for example, a control unit of a

Parking assistance system used. The control unit is detected by the sensors Transfer data so that the controller determines the map of the area. Alternatively, it is also possible to provide the sensors with suitable processors so that the sensors can already calculate the environment map with each other. From the data of

Surrounding map is then determined by suitable software, which is stored in the control unit, the trajectory.

According to the invention during the execution of the driving maneuver continues the

Detected environment of the motor vehicle. When the environment is detected, it is checked if the environment map changes. When changing the map of the surroundings, it is possible to infer a moving object. As soon as such a moving object is detected, the automatic guidance of the motor vehicle is terminated and the control is again transferred to the driver of the motor vehicle.

In order to inform the driver that he has to take over the control again, it is advantageous to detect a moving object, a warning signal to the driver

issue. As a warning signal, an optical, an acoustic or haptic signal or a combination thereof can be issued. In particular, a warning light is suitable as an optical signal. An audible warning signal may include, for example, a horn, a whistle, or a beep.

However, it is preferred that the warning signal given to the driver is a haptic signal. Advantage of a haptic signal is that only the driver of the motor vehicle is warned and no unnecessary noise is generated, which could irritate, for example, the front passenger. As a haptic signal is suitable, for example, an additional resistance or vibration on the accelerator pedal of the motor vehicle. It is also possible to apply as a haptic signal, for example, a vibration on the steering wheel or the driver's seat. However, particularly preferred is an additional resistance or vibration on the accelerator pedal of the motor vehicle. In order to avoid damage, for example in case of a malfunction, it is necessary for the driver to be in the vehicle during the entire driving maneuver. This allows the driver to be in case of an impending

Danger situation can control intervene. It is thus possible, for example, for the driver to be able to interrupt the driving maneuver in the event of an imminent collision, for example with an object which has not been detected by the sensors in time or not in a timely manner. Furthermore, it is also necessary that the driver is in the vehicle and on the

Driver's seat is seated when, in the event of detection of a moving object, the control is returned to the driver.

To ensure that the driver during the entire maneuver in the

Motor vehicle is present and occupies the driver's seat, it is possible, for example, to monitor whether the driver operates the accelerator pedal during the driving maneuver. In this case, the driving maneuver is performed only as long as the driver operates the accelerator pedal. Once the driver stops the pedal, the driving maneuver is canceled. Another advantage of performing the driving maneuver only as long as the driver operates the accelerator pedal is that the haptic warning is also perceived by the driver, for example due to increased resistance of the accelerator pedal or due to vibration of the accelerator pedal. Should the driving maneuver be carried out even if the driver does not operate the accelerator pedal, this would mean that a haptic warning, which is given to you by vibration of the accelerator pedal, is not perceived by the driver.

In addition to detecting whether the driver still occupies the driver's seat by pressing the accelerator pedal, it is alternatively also possible to provide an interior monitor to check whether the driver's seat is occupied. As soon as the driver's seat is no longer occupied, the driving maneuver is ended. To check whether the driver's seat is occupied, for example, a sensor in the seat, with which it can be detected whether the seat is occupied. However, due to the simple recognition of the occupancy of the driver's seat, it is not possible to check whether the driver is also following the automatically executed driving maneuver. An increased attention of the driver is usually achieved in that the driver has to exercise an activity, for example, press the accelerator pedal.

An apparatus for carrying out the method according to the invention comprises means for detecting the surroundings of the motor vehicle, means for calculating a trajectory for carrying out the driving maneuver and for automatically guiding the motor vehicle, means for checking whether detected objects are stationary or moving and for terminating the automatic guidance of the motor vehicle and to transfer the control to the driver upon detection of a moving object. As means for detecting the environment of the motor vehicle, for example

Distance sensors, as already described above, used. suitable

Distance sensors are for example ultrasonic sensors, radar sensors, infrared sensors and LIDAR sensors as well as optical sensors.

Means for calculating a trajectory for performing the driving maneuver and for automatically guiding the motor vehicle include, for example, at least one

Control unit. The control device for automatically guiding the motor vehicle is for

Example, a control unit of an electronic stability program, are controlled with the brakes of the motor vehicle. Such a control device usually contains a processor with which software programs can be processed. The corresponding programs with which an environment map can be created from the data acquired by the sensors and the trajectory can be calculated, for example, stored in a suitable memory of the control unit.

Control devices that can be used to carry out the method are, for example, control devices, such as those in parking assistance systems or for the electronic

Stability program can be used. It is also possible, for example, to exchange data between different control units and to use several control units for different tasks.

In a preferred embodiment, additional means for warning the driver when detecting a moving object are included. This may be, for example, suitable drives with which a vibration of a pedal can be generated. Also, as means for warning the driver, for example, suitable tone generators or warning lights may be employed.

To know if the driver is present during the maneuver is

preferably further comprises means for detecting whether the driver's seat is occupied. This may be, for example, an occupancy sensor which is positioned, for example, in the seat surface of the driver's seat. Alternatively and preferably, however, it is to provide a sensor with which it is detected whether the accelerator pedal of the motor vehicle is actuated. Brief description of the drawings

An embodiment of the invention is illustrated in the drawing and will be explained in more detail in the following description.

The single FIGURE shows a schematic representation of a vehicle entering a parking space.

Embodiments of the invention

A parking space 1 is bounded by a front boundary 3, a rear boundary 5 and a lateral boundary 7. The front boundary 3 and the rear

Limit 5 may be, for example, parked motor vehicles. Any other limitation of a parking space is possible. For example, the front

Boundary 3 or the rear boundary 5 also plants, for example trees,

Planter or similar limiting elements. The lateral boundary 7 may be, for example, a curb, a wall, or even a corner.

During a first pass of a motor vehicle 9 at the parking space 1, the environment of the motor vehicle 9 is detected with suitable sensors 1 1 and determined from the data obtained in the area map. In the area map, for example, the parking space 1 limiting objects are shown.

The sensors 11 are, for example, distance sensors, for example ultrasonic sensors, infrared sensors, radar sensors or LIDAR sensors. The sensors 11 can also be optical sensors, for example cameras. To detect the environment, a signal is sent by the sensors 1 1, which is reflected by an object. The reflected echo is received by the sensor again. From the runtime can then determine the distance to an object. This allows the outline of objects to be captured and used to create the environment map from the outlines. When using optical sensors, such as cameras, an image processing is used to detect the environment of the motor vehicle 9.

On the basis of the map of the environment, which was created from the data acquired with the sensors 1 1, a suitable trajectory 13 is calculated along which the motor vehicle 9 moves is to carry out the planned driving maneuver, here a parking maneuver. The trajectory 13 is usually the path that is covered by the center of the rear axle of the motor vehicle 9. In order to calculate the trajectory, usually a control unit 15 is used. The control unit 15 is preferably connected to the sensors 1 1, so that the data detected by the sensors 1 1 data can be processed by the control unit 15. The

Control unit 15 is further connected to a servomotor for the steering and to the brakes, so that the longitudinal guidance and the transverse guidance of the motor vehicle 9 can be controlled by the control unit 15. With the help of the steering motor, the steering of the motor vehicle 9 can be carried out automatically. By controlling the brakes, the vehicle can be braked. In addition, it is advantageous if the

Control unit 15 can also communicate with the transmission, for example, in a mehrzügigen driving maneuver a gear change, for example, from the forward in the

To allow reverse or reverse.

Environment of the motor vehicle 9 monitored by means of the sensors 1 1. In this case, it is possible that a moving object 17, which has moved into the detection area during the driving maneuver, is detected by the sensors 11. The moving object 17 can be, for example, a pedestrian or a cyclist, another moving motor vehicle or also any moving object, for example a thrown game device.

As soon as a moving object 17 is detected, according to the invention

automatic driving maneuvers aborted and the control to the driver of the

Motor vehicle 9 passed. The driver is thus given the opportunity to decide for himself whether it is possible to continue the driving maneuver or whether it is necessary to cancel the driving maneuver. If the driving maneuver can be continued, this can be done automatically by the driver. For this purpose, it is preferable for the driver to be shown the trajectory to be traveled. This can be done for example via any one

Output device in the dashboard. The output device is, for example, a monitor, for example a monitor of a navigation system.

In order to give the driver of the motor vehicle 9 assistance in parking, it is advantageous if steps necessary for driving the trajectory 13 are indicated. So For example, the driver may be shown how to steer the motor vehicle to continue following the trajectory.

In order to be able to give the driver the control of the motor vehicle 9, it is necessary that this is located in the motor vehicle 9 and occupies the driver's seat.

For example, to ensure that the driving maneuver is performed only when the driver's seat is occupied, it is possible to use suitable occupancy detection sensors. These may for example be designed as pressure sensors in the driver's seat.

Alternatively and preferably, however, it is necessary to ensure the presence of the driver by the fact that the accelerator pedal must be actuated during the driving maneuver. As soon as the accelerator pedal is no longer actuated, the driving maneuver is aborted. The operation of the accelerator pedal can also be detected by appropriate appropriate sensors.

Another advantage associated with the fact that the driving maneuver is performed only when the accelerator pedal is operated is that it is possible to provide warning signals to the driver via the accelerator pedal, for example, by causing the accelerator pedal to vibrate. Alternatively, it is also possible to impart an increased resistance to the accelerator pedal, so that the driver has to apply a greater force in order to continue to operate the accelerator pedal. The warning informs the driver that, for example, a moving object has entered the detection range of the sensors 11 and now the control is returned to the driver so that he can decide how to proceed.

In addition to the embodiment shown here, the inventive method is also suitable for assisting a driver of a motor vehicle in all other driving maneuvers that require a presence of the driver, for example, when parking in a

Transverse parking space or maneuvering on narrow roads and paths.

Claims

Claims 1. A method for assisting a driver of a motor vehicle (9) in a

Driving maneuvers, in particular during a parking maneuver in a parking space (1), comprising the following steps:

(a) detecting the surroundings of the motor vehicle (9),

(b) determining a trajectory (13) along which the motor vehicle (9) is to be moved in order to carry out the driving maneuver and automatically guide the motor vehicle (9) along the trajectory (13), (c) further detecting the surroundings of the motor vehicle (9 ) during the execution of the driving maneuver and checking whether objects detected in the surroundings of the motor vehicle (9) are stationary objects or moving objects (17), characterized in that upon detection of a moving object (17) the automatic guiding of the motor vehicle (9) is finished and the control to the driver of

Motor vehicle (9) is handed over.

2. The method according to claim 1, characterized in that upon detection of a moving object (17) a warning signal is output to the driver.

3. The method according to claim 2, characterized in that the warning signal is a haptic signal.

4. The method according to claim 3, characterized in that the haptic signal by an additional resistance or vibration on the accelerator pedal of the motor vehicle

(9) is generated.

5. The method according to any one of claims 1 to 4, characterized in that the driving maneuver is canceled as soon as the driver no longer actuates the accelerator pedal.

6. The method according to any one of claims 1 to 5, characterized in that the driving maneuver is performed only when the driver's seat is occupied.

7. Apparatus for carrying out the method according to one of claims 1 to 6, comprising means (1 1) for detecting the environment of the motor vehicle (9), means for

Calculation of a trajectory (13) for carrying out the driving maneuver and for automatically guiding the motor vehicle (9), means for checking whether detected objects (17) are stationary or moving and for terminating the automatic guidance of the motor vehicle (9) and for transferring the vehicle Control to the driver upon detection of a moving object (17).

8. The device according to claim 7, characterized in that means for warning the driver when detecting a moving object (17) are included.

9. Apparatus according to claim 7 or 8, characterized in that means for detecting whether the driver's seat is occupied, are included.

10. Device according to one of claims 7 to 9, characterized in that the means for detecting the environment of the motor vehicle (9) distance sensors (1 1).

1 1. Device according to one of claims 7 to 10, characterized in that the means for calculating a trajectory (13) for carrying out the driving maneuver and for automatically guiding the motor vehicle (9) comprise at least one control device (15).

12. Device according to one of claims 7 to 1 1, characterized in that the control unit (15) for automatically guiding the motor vehicle (9) is a control unit of an electronic stability program, are controlled by the brakes of the motor vehicle (9).