WO2012048971A1 - Procédé d'assistance à un conducteur d'un véhicule automobile - Google Patents

Procédé d'assistance à un conducteur d'un véhicule automobile Download PDF

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Publication number
WO2012048971A1
WO2012048971A1 PCT/EP2011/065683 EP2011065683W WO2012048971A1 WO 2012048971 A1 WO2012048971 A1 WO 2012048971A1 EP 2011065683 W EP2011065683 W EP 2011065683W WO 2012048971 A1 WO2012048971 A1 WO 2012048971A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
driver
driving maneuver
trajectory
sensors
Prior art date
Application number
PCT/EP2011/065683
Other languages
German (de)
English (en)
Inventor
Michael Seiter
Florian Raisch
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2012048971A1 publication Critical patent/WO2012048971A1/fr

Links

Classifications

    • 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
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking

Definitions

  • the invention is based on a method for assisting a driver of a motor vehicle
  • the present invention particularly relates to such methods that assist the driver in a parking maneuver in a parking space.
  • methods for assisting the driver in a parking maneuver a distinction is made between semi-automatic methods and fully 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.
  • the parking process is completely taken over by the driver assistance system and the motor vehicle automatically parked in the parking space.
  • the geometry of the parking space is detected with suitable sensors. Based on the data collected by the sensors can be a
  • 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:
  • the driver 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
  • the control 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 ,
  • 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
  • sensors are positioned in the front bumper, which are to the left and to the right
  • 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.
  • an environment map can be created.
  • the outlines of objects that, for example, define a parking space are recorded.
  • a control device of a driver assistance system for example, a control unit of a
  • the control unit is detected by the sensors Transfer data so that the controller determines the map of the area.
  • 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.
  • 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.
  • warning signal an optical, an acoustic or haptic signal or a combination thereof can be issued.
  • a warning light is suitable as an optical signal.
  • An audible warning signal may include, for example, a horn, a whistle, or a beep.
  • 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.
  • 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.
  • 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.
  • the driver's seat 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.
  • means for detecting the environment of the motor vehicle for example
  • 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
  • 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.
  • 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.
  • 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.
  • suitable tone generators or warning lights may be employed as means for warning the driver.
  • 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.
  • the single FIGURE shows a schematic representation of a vehicle entering a parking space.
  • a parking space 1 is bounded by a front boundary 3, a rear boundary 5 and a lateral boundary 7.
  • Limit 5 may be, for example, parked motor vehicles. Any other limitation of a parking space is possible.
  • the front end of the vehicle is a fixed position.
  • the front end of the vehicle is a fixed position.
  • Boundary 3 or the rear boundary 5 also plants, for example trees,
  • the lateral boundary 7 may be, for example, a curb, a wall, or even a corner.
  • the environment of the motor vehicle 9 is detected with suitable sensors 1 1 and determined from the data obtained in the area map.
  • 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.
  • optical sensors such as cameras, an image processing is used to detect the environment of the motor vehicle 9.
  • 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.
  • 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.
  • 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 Herzogen driving maneuver a gear change, for example, from the forward in the
  • 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.
  • 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
  • the output device is, for example, a monitor, for example a monitor of a navigation system.
  • occupancy detection sensors 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.
  • the accelerator pedal 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.
  • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé d'assistance à un conducteur de véhicule automobile (9) lors d'une manœuvre de conduite, en particulier lors d'une manœuvre d'insertion dans une place de stationnement (1), selon lequel lors d'une première étape, les alentours du véhicule automobile (9) sont détectés, lors d'une autre étape, une trajectoire (13) le long de laquelle le véhicule automobile (9) sera déplacé est déterminée pour effectuer la manœuvre de conduite et le guidage automatique du véhicule automobile (9) le long de la trajectoire (13) et lors d'une autre étape, les alentours du véhicule automobile (9) sont également détectés pendant l'exécution de la manœuvre de conduite et il est vérifié si les objets détectés dans les alentours du véhicule automobile (9) sont des objets à l'arrêt ou des objets en mouvement (17). Lorsqu'un objet en mouvement (17) est identifié, le guidage automatique du véhicule automobile (9) prend fin et la direction est transférée au conducteur du véhicule automobile (9). L'invention concerne également un dispositif pour mettre en œuvre le procédé.
PCT/EP2011/065683 2010-10-15 2011-09-09 Procédé d'assistance à un conducteur d'un véhicule automobile WO2012048971A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201010042519 DE102010042519A1 (de) 2010-10-15 2010-10-15 Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs
DE102010042519.2 2010-10-15

Publications (1)

Publication Number Publication Date
WO2012048971A1 true WO2012048971A1 (fr) 2012-04-19

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ID=44645703

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/065683 WO2012048971A1 (fr) 2010-10-15 2011-09-09 Procédé d'assistance à un conducteur d'un véhicule automobile

Country Status (2)

Country Link
DE (1) DE102010042519A1 (fr)
WO (1) WO2012048971A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012203235A1 (de) * 2012-03-01 2013-09-05 Robert Bosch Gmbh Verfahren zum automatischen Durchführen eines Fahrmanövers

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6356828B1 (en) * 1996-10-09 2002-03-12 Honda Giken Kogyo Kabushiki Kaisha Automatic steering system for vehicle
JP2007125981A (ja) * 2005-11-02 2007-05-24 Equos Research Co Ltd 駐車制御装置
DE102006056094A1 (de) 2006-11-28 2008-05-29 Robert Bosch Gmbh Fahrerassistenzsystem mit Anwesenheitsüberwachung
EP2050640A2 (fr) * 2007-10-17 2009-04-22 Robert Bosch Gmbh Dispositif de commande et procédé d'aide au stationnement
EP2163448A1 (fr) * 2008-09-16 2010-03-17 Valeo Schalter und Sensoren GmbH Dispositif d'assistance à la conduite pour l'assistance d'un conducteur de véhicule lors du démarrage à partir d'une place de stationnement

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6356828B1 (en) * 1996-10-09 2002-03-12 Honda Giken Kogyo Kabushiki Kaisha Automatic steering system for vehicle
JP2007125981A (ja) * 2005-11-02 2007-05-24 Equos Research Co Ltd 駐車制御装置
DE102006056094A1 (de) 2006-11-28 2008-05-29 Robert Bosch Gmbh Fahrerassistenzsystem mit Anwesenheitsüberwachung
EP2050640A2 (fr) * 2007-10-17 2009-04-22 Robert Bosch Gmbh Dispositif de commande et procédé d'aide au stationnement
EP2163448A1 (fr) * 2008-09-16 2010-03-17 Valeo Schalter und Sensoren GmbH Dispositif d'assistance à la conduite pour l'assistance d'un conducteur de véhicule lors du démarrage à partir d'une place de stationnement

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Publication number Publication date
DE102010042519A1 (de) 2012-04-19

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