WO2019137864A1

WO2019137864A1 - Method for preventing a critical situation for a motor vehicle, wherein a distance between a motor vehicle contour and an object contour is determined, driver assistance system and motor vehicle

Info

Publication number: WO2019137864A1
Application number: PCT/EP2019/050206
Authority: WO
Inventors: Christos Maraslis; Thomas Mohr
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2018-01-12
Filing date: 2019-01-07
Publication date: 2019-07-18
Also published as: DE102018100596A1

Abstract

The invention relates to a method for preventing a critical situation for a motor vehicle (1), wherein an object contour (6) of an object (4) in the surroundings (5) of the motor vehicle (1) is captured by means of a capture device (3) of the motor vehicle (1) and is compared to a motor vehicle contour (7) of the motor vehicle (1), wherein the height (H) of a critical point (8) of the object contour (6), at which point the motor vehicle (1) would come into contact with the object (4) in the critical situation, is determined and a distance (A) between the critical point (8) and a two-dimensional motor vehicle contour (7'), which is determined in accordance with the captured height (H) on the motor vehicle (1) of the critical point (8) of the object contour (6), is determined and if the determined distance (A) falls below a distance threshold value saved in a storage medium, a control signal for a functional unit (9) of the motor vehicle (1) is generated, so that the critical situation is prevented by means of the functional unit (9).

Description

A method for preventing a critical situation for a motor vehicle, wherein a distance between a motor vehicle body and an object contour is determined,

Driver assistance system and motor vehicle

The invention relates to a method for preventing a critical situation for a motor vehicle. By means of a detection device of the motor vehicle, an object contour of an object in an environment of the motor vehicle is detected and compared with a motor vehicle contour of the motor vehicle. Furthermore, the invention is concerned with a driver assistance system and with a motor vehicle.

Collision avoiding systems are already known from the prior art, in which the collision of an object with the motor vehicle is calculated as a function of the distance and a relative speed of the motor vehicle to the contour of the motor vehicle. It is also known that odometry is used to calculate the proper motion of the motor vehicle. Furthermore, algorithms for object detection are already known, which also provide height information of the object during the detection.

In particular, the known systems are used in parking and maneuvering systems, which then determine a trajectory based on the detected object and then move the motor vehicle according to the trajectory. In particular, the prior art systems use predetermined contours for the objects. These are either saved or adjusted depending on the function. The corresponding extensions are not object-dependent and therefore not adapted to the individual case.

DE 10 2015 208 590 A1 discloses a device for determining a vehicle passable space. For this purpose, an apparatus for determining a vehicle passable space is disclosed, with at least one detection unit for detecting spatial coordinates of at least one object in one

Vehicle environment of the vehicle. The device has a determination unit which is designed to determine a space that can be traveled by the vehicle on the basis of space coordinates of the at least one object detected by the detection unit and on the basis of predetermined dimensions of the vehicle. In the prior art, in particular a three-dimensional motor vehicle contour is compared with a three-dimensional environment. This requires a high computational effort. Object of the present invention is a method to provide a driver assistance system and a motor vehicle, by means of which a critical situation for a motor vehicle with low computational complexity can be prevented.

This task is performed by a procedure, a driver assistance system as well

Motor vehicle solved according to the independent claims.

One aspect of the invention relates to a method for preventing a critical situation for a motor vehicle. By means of a detection device of the motor vehicle, an object contour of an object in an environment of the motor vehicle is detected. The

Object contour is compared with a motor vehicle contour of the motor vehicle.

A height of a critical point of the object contour at which the motor vehicle would touch the object in the critical situation is determined. It is a distance between the critical point and a two-dimensional vehicle contour, which depends on the detected height of the critical point of the object contour on

Motor vehicle is determined determined. When falling below one in one

Storage medium stored distance threshold value by the specific distance, a control signal for a functional unit of the motor vehicle is generated, so that means of the functional unit, the critical situation is prevented.

In other words, only the part of the vehicle contour is determined depending on the critical location at which the object and the motor vehicle would touch. In particular, the three-dimensional object and the three-dimensional motor vehicle are not compared with each other, but merely

two-dimensional contours. In particular, the two-dimensional motor vehicle configuration is then dependent on the detected height of the critical point. It is the two-dimensional motor vehicle to a two-dimensional outer shape of the motor vehicle

adjusted accordingly. This allows a simplified determination of the critical points with little computational effort. As a result, computing capacity can be saved within a control unit.

According to an advantageous embodiment, the motor vehicle can be divided into at least two, in particular three, planes, and the distance between the critical point and one of the at least two levels, which is selected as a function of the detected height of the critical point, determined. In particular, this can result in a simplified motor vehicle contour which matches the outer contour of the vehicle Motor vehicle adapted to be provided. For example, a lower contour considered in a vertical direction of the motor vehicle, which is dependent on the position of the wheels, may be determined, a second vehicle contour, which for example includes the motor vehicle from the hood to the trunk as a contour, and a third contour, which for example, ranging from the windshield to the rear window, be determined. In particular, therefore, three different levels can be determined, so that the critical situation can be determined individually depending on the particular specific motor vehicle contour, without requiring increased computing capacity. For example, if an object in the environment is to be determined, it may be that in an altitude range between, for example, 0 centimeters to 10 centimeters, the object does not coincide with the object

Motor vehicle, or collided with the motor vehicle outer contour. For this purpose, the vehicle contour could be placed around the wheels of the motor vehicle in order to protect them accordingly or to plan a trajectory. In an altitude range of 20 centimeters to 70 centimeters, the object would, for example, with the

Motor vehicle collide. This causes the motor vehicle contour is placed on the maximum outer contour of the motor vehicle. For example, in a height range over 1 meter, the object would collide with the windshield.

Since, in particular, the driver's cab is located in this area, the driver's cabin is already at the maximum outside contour of the motor vehicle from the height range

20 centimeters to 70 centimeters included. As a result of the division into at least two, in particular three planes, a simplified model of the motor vehicle is thus realized via two-dimensional motor vehicle contours. These can be easily and quickly determined by a control unit of the motor vehicle and compared accordingly with the critical location of the object, so that a critical situation can be prevented with little computational effort.

It is also advantageous if the point at which a motor vehicle component of the motor vehicle occupies the smallest distance to the object is determined as the critical point. For example, as a motor vehicle component, a wheel and / or a front-side and / or a rear-side bumper and / or a windshield and / or a rear window may be mentioned. In particular, the critical point is thus the point at which the motor vehicle with the motor vehicle component would first touch the object. By determining the critical point can thus be prevented that any contact of the motor vehicle is prevented with the object. As a result, a reliable prevention of the critical situation between the motor vehicle and the object can be realized. It is also advantageous if the height of the critical point of the object contour is determined relative to a floor on which the motor vehicle is located. In particular, this allows objects which are located on the ground to be determined.

In particular, the object contour and the critical point resulting therefrom can be determined from the ground, so that objects which are located on the ground can advantageously be detected. As a result, the critical situation between objects which are located on the ground, can be advantageously prevented.

According to a further advantageous embodiment, the height of the critical point of the object contour can be determined relative to a predetermined point on the motor vehicle. In other words, objects that are not on the ground, but for example, extend from a ceiling and do not touch the ground and protrude in the direction of the motor vehicle, can be mitbestimmt and

in particular the height to the motor vehicle are taken into account. As a result, an object which does not project down the floor, for example, from a ceiling, for example supply pipes in a parking garage, can also reliably

be taken into account, so that also a critical situation between such

Objects and the motor vehicle can be prevented.

It has also proven to be advantageous if external environment information of the environment is taken into account in determining the height of the critical point. For example, environmental information of a 3D map, which also includes the height of objects as environmental information, can be taken into account in the method. For this purpose, the 3D map can be stored inside the vehicle, for example on a navigation system of the motor vehicle. It is likewise possible that the 3D map is stored on an external computing unit, for example a server device, and can be called up by means of a communication device of the motor vehicle. In particular, the height of the object or the height of the critical location of the object can be reliably and redundantly determined thereby, which makes it even more reliable to prevent the critical situation.

It has also proved to be advantageous if a distance between a polygonal motor vehicle door is determined as a two-dimensional motor vehicle body and the height of the critical point. As the motor vehicle, from a

Seen bird's eye view, in particular has a polygonal outer contour can by using the polygonal motor vehicle as two-dimensional

Motor vehicle ko ntur a simplified model of the motor vehicle ko ntur be created. For example, the polygonal motor vehicle may be rectangular or octagonal. In particular, this further reduces the computing power, so that the method can be carried out even more advantageously.

According to a further advantageous embodiment, the polygonal

Motor vehicle ko ntur, depending on the height of the critical point to at least another motor vehicle component contour, in particular to a contour of a side mirror of the motor vehicle and / or a luggage carrier on the motor vehicle and / or a

Spare wheels, to be extended. For this purpose, for example, sensors on

Be arranged motor vehicle, which additional vehicle components, such as the luggage rack or the spare wheel, detect, so that this can be taken into account with the motor vehicle ko ntur. In particular, it may then be provided, for example, that the polygonal vehicle contour is extended by a motor vehicle component contour, for example a triangular vehicle contour for a side mirror, and is taken into account when determining the critical point. As a result, a critical situation between the motor vehicle and the object can be prevented.

It is also advantageous if the control signal to a warning device as

Function unit is sent and a warning signal is generated for a driver of the motor vehicle. The warning signal may be, for example, an audible and / or haptic and / or visual warning signal. The warning signal can vary accordingly depending on the distance. For example, at a wide distance at which the critical situation does not yet occur, an acoustic signal in its frequency of occurrence, for example a beep, with a low frequency occur. The closer the motor vehicle component is to the object, and thus the vehicle contour approaches the critical point, the more frequently the warning signal can be generated. This allows the driver of the

Automotive intuitively estimate the distance, and thereby predicting when the critical situation between the motor vehicle and the object would occur.

It is also advantageous if the motor vehicle is operated at least semi-autonomously and the control signal to a responsible for semi-autonomous ferry operation

Function unit is sent and the motor vehicle is at least semi-autonomous decelerated when falling below the stored distance threshold to prevent the critical situation. For example, the functional unit may then be act an acceleration device or to a braking device of the motor vehicle, which is controlled by the control signal, so that the motor vehicle when falling below the stored

Distance threshold is slowed down. Furthermore, it can be provided that the motor vehicle is in fully autonomous ferry operation and also here at

Fall below the stored distance threshold value the motor vehicle

is fully automatically slowed down. This can be in the at least semi-autonomous

Ferry operation, especially in fully autonomous ferry operation, reliably prevent the critical situation between the object and the motor vehicle.

According to a further advantageous embodiment, the motor vehicle can be operated at least semi-autonomously and the control signal is sent to a functional unit responsible for the semi-autonomous ferry operation and a trajectory for the motor vehicle in at least semi-autonomous ferry operation when falling below the stored distance threshold value, along which the motor vehicle is at least moved semi-autonomously, so that the critical situation is prevented. In other words, should it be recognized that a critical situation would take place between the motor vehicle and the object, then a trajectory can be determined which, for example, passes the object, so that the critical situation is prevented. The trajectory is thus

in particular by an alternative path of movement for the motor vehicle past the object, so that the critical situation between the motor vehicle and the object is prevented. This can reliably solve the critical situation between the

Motor vehicle and the object can be prevented.

It is also advantageous if the motor vehicle is parked at least semi-autonomously and the distance between the critical point and the two-dimensional motor vehicle body is determined during the parking process. In other words, the method can be used in a parking assistance system. Especially at

Parking spaces approach the motor vehicle objects in which a touch is to be prevented. Furthermore, especially in parking maneuvers a

Approach, especially at a small distance, to the objects desired, so that little parking space is needed within the parking lot. In particular, this makes it possible to provide a parking assistant with little computing power.

According to a further advantageous embodiment, at least one

be considered motor vehicle-specific outer contour in the vehicle contour. It can be a changing motor vehicle of a cab with at the

Outer contour of the motor vehicle are taken into account. The driver's cab can, in particular in a vertical direction of the motor vehicle, be narrowed towards the top. The motor vehicle body can be adapted via a factor at the respective support points of the driving cab, for example the respective pillars of the driving cab. In particular, the distance between the motor vehicle component and the object can be determined even more individually, so that the critical situation between the motor vehicle and the object can be prevented even more reliably.

A further aspect of the invention relates to a driver assistance system which is designed to carry out a previously mentioned method or an advantageous embodiment thereof.

Yet another aspect of the invention relates to a motor vehicle having a

Driver assistance system. The motor vehicle is designed in particular as a passenger car.

Advantageous embodiments of the method are advantageous

Embodiments of the driver assistance system and the motor vehicle

to watch. For this purpose, the driver assistance system and the motor vehicle have representational features which make it possible to carry out the method or an advantageous embodiment thereof.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, are not only in the respectively indicated combination but also in others

Combinations or alone, without departing from the scope of the invention. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim. There are also versions and

Feature combinations, in particular by the above-mentioned embodiments, as disclosed above that set out in the back references of the claims

Characteristic combinations go beyond or deviate.

The invention will now be described with reference to preferred embodiments and to

With reference to the accompanying drawings explained in more detail.

Showing:

1 shows a schematic view of an embodiment of a motor vehicle with a driver assistance system in a first situation;

Fig. 2 is a further schematic view of an embodiment of the

Motor vehicle with a driver assistance system in another

Situation; and

Fig. 3 is a further schematic view of an embodiment of the

Motor vehicle with a driver assistance system in yet another situation.

In the figures, the same and functionally identical elements are the same

Provided with reference numerals.

1 shows a motor vehicle 1 according to one embodiment of the invention with a driver assistance system 2 in a first situation. In particular, in FIG. 1 a, the motor vehicle 1 can be seen from behind or from the front along a longitudinal axis of the motor vehicle 1. In Fig. 1 b, the motor vehicle 1 according to FIG. 1 a can be seen in a plan view.

The motor vehicle 1 has a detection device 3, which is designed to determine an object 4 in the environment 5 of the motor vehicle 1. In particular, an object contour 6 of the object 4 is detected by means of the detection device 3. The object contour 6 is compared with a motor vehicle door 7 of the motor vehicle 1.

By means of a control device of the driver assistance system 2, in particular a critical point 8 of the object contour 6 at which the motor vehicle 1 would touch the object 4 in the critical situation is determined. There is a distance A (FIG. 3) between the critical point 8 and a two-dimensional motor vehicle ko ntur 7 ', which is dependent on a detected height H of the object contour 6 and the critical point 8 of the object contour 6, determined. When falling below a distance threshold value stored in a storage medium by the specific distance A, a control signal for a functional unit 9 of the motor vehicle 1 is generated so that the critical situation is prevented by means of the functional unit 9.

The functional unit 9 can be, for example, a warning device for a driver of the motor vehicle 1, so that a warning signal, for example as a haptic and / or audible and / or visual warning signal, is generated, so that the driver is warned of the critical situation. Also possible is that should

Motor vehicle 1, for example, semi-autonomously operated, that the control signal is sent to a responsible for the semi-autonomous ferry operating unit 9 and the motor vehicle 1 at least semi-autonomous falls below the

stored distance threshold for preventing the critical situation is braked. The functional unit 9 can then be, for example, an acceleration device and / or a braking device of the motor vehicle 1.

1 a further shows that the motor vehicle body 7 can be divided into at least two, in particular three planes E 1, E 2, E 3, and the distance A between the critical point 8 and one of the at least two planes E 1, E 2, E 3, which is selected depending on the detected height H of the critical point 8 is determined. In the present example, the height H of the critical point 8 relates to the plane E1, so that in particular the motor vehicle door 7 is selected, in particular as a function of the plane E1.

In particular, it is provided that the critical point 8 is determined as the point at which a motor vehicle component 1 ', in this case, for example, a tire of the

Motor vehicle 1, the object 4 is the smallest distance A occupy.

Fig. 1 b shows the motor vehicle 1 of FIG. 1 a in a plan view. The

two-dimensional motor vehicle contour T has been placed according to the height H around the contour of the motor vehicle component 1 ', in particular that of the tires.

In particular, it is thus possible that, for example, a hood of the

Motor vehicle could drive over the object 4, without the control signal would be generated. In particular, it can be seen in FIG. 1 b that the two-dimensional motor vehicle contour T is polygonal, in particular rectangular. In particular, the distance A between the polygonal vehicle contour 7 'is then determined as a two-dimensional motor vehicle contour 7' and the height H of the critical point 8.

Furthermore, it is possible that, in particular, external environmental information of the

Environment 5 are considered in the determination of the height H of the critical point 8. For example, this environment information of a 3D map can be taken into account, so that the height H of the object 4 is already stored within the 3D map and taken into account in preventing the critical situation.

It can further be provided that the motor vehicle 1 can be parked at least semi-autonomously and the distance A between the critical point 8 and the two-dimensional motor vehicle contour T is determined during the parking process. Since, in particular during the parking process, the motor vehicle is very close to the object 4

In order to save parking space, it has proven to be very advantageous to use the method according to the invention in parking situations. In this case, for example, the driver assistance system 2 can be designed as a parking assistance system.

Fig. 2 shows the motor vehicle 1 in another situation. In Fig. 2a is the

Motor vehicle 1, as shown in Fig. 1 a, viewed along a longitudinal axis shown. The object 4 is higher in the present example than in FIG. 1. In other words, the height H of the object 4 in FIG. 2 is higher than the height H of the object 4 in FIG. 1. In particular, in the present example, the height H of the critical point 8 of the object contour 6 is determined relative to a floor 10 on which the motor vehicle 1 is located. In particular, it can be provided that a further

Motor vehicle component contour 1 1 is taken into account. For example, in the present example, a motor vehicle component contour 1 1 of a side mirror 12 of the motor vehicle 1 is taken into account. Likewise, for example, the motor vehicle component contour 1 1 of a luggage carrier on the motor vehicle 1 or a spare wheel on the motor vehicle. 1

be taken into account. In particular, then, as shown in Fig. 2b, the

polygonal vehicle contour T to the motor vehicle component contour 1 1 are extended. In the present example, for example, the second plane E2 would be affected, so that in particular the two-dimensional motor vehicle contour T of the plane E2 would be selected. Fig. 2b shows how the two-dimensional motor vehicle knockout 7 'order the entire motor vehicle 1 is placed two-dimensionally, since in particular the second plane E2 is affected by the height H of the critical point 8.

In particular, provision can be made for the motor vehicle 1 to be operated at least semi-autonomously, in particular fully autonomously, and a control signal for preventing the critical situation to be sent to a functional unit 9 responsible for the semi-autonomous ferry operation, and then for a value falling below the stored one Distance threshold is determined by the distance A, a trajectory along which the motor vehicle 1 is moved at least semi-autonomous, so as to prevent the critical situation. In other words, a further trajectory can be determined in order to avoid the object 4 and thus to prevent a critical situation between the object 4.

Fig. 3 shows the motor vehicle 1 in another situation. In the present example, the motor vehicle 1, for example, in a parking garage as environment 5. An object 4, which may for example be a supply pipe in the parking garage, depends on a ceiling 13 of the parking garage down. A height H of the critical point of the object contour 6 can be determined in particular here relative to a predetermined point on the motor vehicle 1. In the present example, the object 4 would first touch the plane E3 of the motor vehicle 1. In particular, for example, in the plane E3 a cab of the motor vehicle 1 may be affected, so that the critical point 8 would first touch a point of the motor vehicle 1 on the level 3. In particular, then, as shown in Fig. 3b, the polygonal two-dimensional motor vehicle ko ntur 7 ', selected such that it corresponds to the contour of the plane E3. In other words, in this case, the vehicle contour T would be from a windshield to a

Trunk of the motor vehicle 1 rich. In particular, this makes it possible for the motor vehicle 1 to travel underneath the object 4 at least in some areas, for example with an engine hood of the motor vehicle 1. Furthermore, it can be provided in particular that a motor vehicle-specific outer contour, such as that of the driver's cab, is taken into account in the two-dimensional motor vehicle contour T. In particular, for example, then, since the cab, especially in a vertical direction of the motor vehicle 1, is narrowing towards the top, this "narrowing" is taken into account in the determination of the distance A.

In particular, by using the two-dimensional motor vehicle contour T, it is thus possible that with little computing power, the critical point 8 at the Object contour 6 and a distance A between the critical point 8 and the motor vehicle 1 can be determined. In particular, when the stored distance threshold value is undershot by the distance A, the functional unit 9 of the motor vehicle 1 can then be correspondingly activated, so that a critical situation, in other words touching the motor vehicle 1 at the critical point 8, is prevented. In particular, by using the two-dimensional motor vehicle contour T, a simplified method compared to a three-dimensional determination of the critical situation is possible.

Claims

claims

1. A method for preventing a critical situation for a motor vehicle (1), wherein by means of a detection device (3) of the motor vehicle (1) an object contour (6) of an object (4) in an environment (5) of the motor vehicle (1) is detected and compared with a motor vehicle door (7) of the motor vehicle (1),

characterized in that

a height (H) of a critical point (8) of the object contour (6) at which the motor vehicle (1) would touch the object (4) in the critical situation is determined and a distance (A) between the critical point (8 ) and a two-dimensional motor vehicle motor (7 '), which is determined as a function of the detected height (H) of the critical point (8) of the object contour (6) on the motor vehicle (1) is determined, and in falling below one in a

Storage medium stored distance threshold value by the specific distance (A) a control signal for a functional unit (9) of the motor vehicle (1) is generated, so that by means of the functional unit (9), the critical situation is prevented.

2. The method according to claim 1,

characterized in that

the motor vehicle (7) is divided into at least two, in particular three, planes (E1, E2, E3) and the distance (A) between the critical point (8) and one of the at least two planes (E1, E2, E3) , which is determined depending on the detected height (H) of the critical point (8) is determined.

3. The method according to any one of the preceding claims,

characterized in that

the point at which a motor vehicle component (1 ') of the motor vehicle (1) to the object (4) occupies the smallest distance (A) is determined as the critical point (8).

4. The method according to any one of the preceding claims,

characterized in that the height (H) of the critical point (8) of the object contour (6) relative to a floor (10) on which the motor vehicle (1) is located is determined.

5. Method according to one of the preceding claims,

characterized in that

the height (H) of the critical point (8) of the object contour (6) relative to a predetermined point on the motor vehicle (1) is determined.

6. The method according to any one of the preceding claims,

characterized in that

External environment information of the environment (5) are taken into account in determining the height (H) of the critical point (8).

7. The method according to any one of the preceding claims,

characterized in that

the distance (A) between a polygonal motor vehicle (7 ') is determined as a two-dimensional motor vehicle contour (7') and the height (H) of the critical point (8).

8. The method according to claim 7,

characterized in that

the polygonal vehicle contour (7 '), depending on the height (H) of the critical point (8), at least one further motor vehicle component contour (1 1), in particular a contour of a side mirror (12) of the motor vehicle (1) and / or a Carrier on the motor vehicle (1) and / or a spare wheel of the motor vehicle (1) is extended.

9. The method according to any one of the preceding claims,

characterized in that

the control signal is sent to a warning device as a functional unit (9) and a warning signal for a driver of the motor vehicle (1) is generated.

10. The method according to any one of the preceding claims,

characterized in that the motor vehicle (1) is operated at least semi-autonomously and the control signal is sent to a functional unit (9) responsible for the semi-autonomous ferry service, and the motor vehicle (1) is at least semi-autonomous during the

Falling below the stored distance threshold for preventing the critical situation is braked.

1 1. A method according to any one of claims 1 to 9,

characterized in that

the motor vehicle (1) is operated at least semi-autonomously and the control signal is sent to a functional unit (9) responsible for the semi-autonomous ferry operation and for the motor vehicle (1) in the at least semi-autonomous

Fährbetrieb falls below the stored distance threshold value trajectory is determined along which the motor vehicle (1) is moved at least semi-autonomous, so that the critical situation is prevented.

12. The method according to any one of the preceding claims,

characterized in that

the motor vehicle (1) is parked at least semi-autonomously and during the parking process the distance (A) between the critical point (8) and the two-dimensional motor vehicle body (7 ') is determined.

13. The method according to any one of the preceding claims,

characterized in that

at least one motor vehicle-specific outer contour in the two-dimensional motor vehicle (7 ') is taken into account.

14. Driver assistance system (2), which is adapted to carry out a method according to one of claims 1 to 13.

15. Motor vehicle (1) with a driver assistance system (2) according to claim 14.