Vehicle with at least one driver assistance system

Abstract

The invention relates to a vehicle (1) with at least one driver assistance system for carrying out movement processes of the vehicle (1). The invention provides that, during a movement process of the vehicle (1) carried out by a driver assistance system, the vehicle (1) is represented in an environment model (7) as a virtual vehicle (8) on a display device (3) in the interior (2) of the vehicle (1). Here, the virtual vehicle (8) in the environment model (7) on the display device (3) is characterized as a control element (15) that can be operated by a user (5). The respective movement process of the vehicle (1) carried out by a driver assistance system can at least be initiated by an operating action performed by the user (5) for the virtual vehicle (8) in the environment model (7) of the vehicle (1) displayed on the display device (3).

Description

[0001] The invention relates to a vehicle with at least one driver assistance system for carrying out movement processes of the vehicle.

[0002] Driver assistance systems are increasingly being used in vehicles to support or relieve the driver in certain driving situations. Such driver assistance systems are now used in vehicles in a wide variety of forms, for example, as electronic stability programs such as ESP or ESC, emergency braking assistants, lane keeping assistants, overtaking assistants, distance assistants, turning assistants, or parking assistants.

[0003] In connection with the operation of vehicle functions, a method for controlling a hologram display in a vehicle is known from DE 10 2017 220 341 A1. By selecting a vehicle user in a mode with automatic steering wheel control, a hologram image corresponding to the keys or buttons on the steering wheel is generated, which can be used to operate or control the steering wheel.

[0004] Furthermore, US Pat. No. 11,697,346 B1 describes a head-up display (HUD) system for a vehicle with lane position monitoring. This HUD system identifies lane markings and objects within the vehicle's surroundings. While the vehicle is moving, the vehicle's position within a lane of a roadway is determined. If a relevant deviation within the lane occurs, a lane position alarm is visually displayed using a light source of the HUD system and projected onto the interior surface of the vehicle's windshield.

[0005] The invention is based on the object of specifying a vehicle with at least one driver assistance system in which certain movement processes of the vehicle can be carried out intuitively for a user in a simple and reliable manner.

[0006] This object is achieved according to the invention by a vehicle with at least one driver assistance system having the features recited in patent claim 1.

[0007] Advantageous developments of the vehicle according to the invention with at least one driver assistance system are part of the further patent claims.

[0008] In the vehicle according to the invention with at least one driver assistance system, when the vehicle is moved by a driver assistance system, the vehicle is displayed in an environment model as a virtual vehicle on a display device in the interior of the vehicle. The virtual vehicle is identified in the environment model on the display device as a user-operable control element. The respective vehicle movement performed by a driver assistance system can at least be initiated by an operating action performed by the user for the virtual vehicle in the environment model of the vehicle displayed on the display device, i.e. the vehicle movement is at least activated by the user's operating action for the virtual vehicle.

[0009] The virtual vehicle can therefore be used by the user as a physical object in the form of a control element and can therefore be used and employed in particular to activate and preferably also to control the movement of the vehicle carried out by the driver assistance system. The model of the vehicle's surroundings with the virtual vehicle is displayed as an overall representation in real time, preferably in a three-dimensional representation, both when the vehicle is stationary and during a movement of the vehicle carried out by a driver assistance system. The user's view or the user's viewing angle of the overall representation of the preferably three-dimensional model of the surroundings can be changed by rotating it and / or changing its position and / or inclination and can thus be adapted by the user to the respective situation, particularly during the movement of the vehicle.This also allows for a pre-selection of the user's view of the overall representation of the environment model, depending on the respective driver assistance system used to execute vehicle movement processes. For example, when the vehicle is reversing, a different viewing angle for the user of the overall representation of the environment model can be specified than when the vehicle is moving forward. Furthermore, for example, when the vehicle is reversing out of a parking space and is performed by a driver assistance system, the vehicle's underbody can also be displayed, particularly if appropriate sensors are present in the vehicle's underbody.

[0010] Preferably, the operating action carried out by the user for the virtual vehicle in the environment model displayed on the display device can not only initiate or activate a respective movement process of the vehicle carried out by a driver assistance system, but the movement process of the vehicle can also be controlled preferably in real time in accordance with the displacement of the virtual vehicle in the environment model displayed on the display device.

[0011] This real-time control of the vehicle's movement performed by the driver assistance system is particularly possible when the vehicle is moving at low speed as part of the vehicle's movement process performed by a driver assistance system, or when the vehicle performs minor maneuvers as part of the vehicle's movement process performed by a driver assistance system, or when a user makes minor adjustments or corrections to a vehicle's movement process performed by a driver assistance system. This means that the corresponding displacement of the virtual vehicle as a control element or the corresponding movement of the virtual vehicle as a control element as part of a user's control action can be synchronized with the (real) movement of the vehicle.For example, in the context of a parking process of the vehicle carried out by a driver assistance system, as a movement process of the vehicle, the movement of the vehicle into a parking space can be controlled in real time via the corresponding operation of the virtual vehicle.

[0012] In response to the changed situation within the framework of the movement process of the vehicle carried out by a driver assistance system due to the displacement of the virtual vehicle as a control element and the resulting movement of the vehicle in real time, the environment model is then also displayed in an adapted manner on the display device in the interior of the vehicle.

[0013] If a synchronous coordination between the movement of the virtual vehicle by the user and the resulting (real) movement of the vehicle in real time is not possible, because the required movement of the vehicle cannot follow a movement of the virtual vehicle as a control element, an inhibition or a resistance force against the control action intended or carried out by the user for the virtual vehicle can also be implemented as haptic feedback for the user.

[0014] In a preferred development of the invention, the operating action for the virtual vehicle in the vehicle's environment model displayed on the display device takes the form of a tapping movement by the user on the virtual vehicle identified as the operating element, or in the form of a grasping movement by the user on the virtual vehicle identified as the operating element. This means that the user actively interacts with the virtual vehicle displayed as the operating element in the vehicle's environment model by tapping the virtual vehicle or by grasping the virtual vehicle and can then, if necessary, move the virtual vehicle in the vehicle's environment model following the resulting activation.

[0015] For example, in the context of a parking process of the vehicle carried out by a driver assistance system as a movement process of the vehicle, the parking process can be started after the activation of the virtual vehicle by the operating action for the virtual vehicle as follows: by the user tapping on a parking space shown in the environment model of the vehicle as the target parking space, by verbally selecting a parking space shown in the environment model of the vehicle as the target parking space, for example by stating the number of a parking space shown and numbered in the environment model of the vehicle as the target parking space or by pulling or pushing the virtual vehicle into a parking space shown in the environment model of the vehicle as the target parking space, whereby the parking process can also be carried out synchronously in real time according to the movement of the virtual vehicle in the environment model.

[0016] The data required to generate the environment model is preferably obtained through the interaction of several of the vehicle's sensor systems, in particular using ultrasound systems and / or optical systems such as cameras and / or radar systems such as lidar systems and / or laser systems and / or thermal imaging cameras, etc. This also allows the outlines of surrounding objects and other vehicles in the vicinity of the vehicle to be recognized. The data collected from other vehicles is compared with existing vehicle descriptions in a database, thus determining the actual vehicle models of the other vehicles and using these to model the environment model.If vehicle models are not available in the database, or if the assignment of other vehicles to specific vehicle models is uncertain, the other vehicles are represented in the environment model to scale based on the dimensions of the other vehicles recorded by the vehicle's sensor systems. All exterior and interior dimensions of the own vehicle are precisely known, as are the dimensions of all individual components of the own vehicle and their movements, so that these can be used to accurately represent the virtual vehicle in the vehicle's environment model.

[0017] In order to make the virtual vehicle in the vehicle's surroundings model easily and concisely recognizable for the user, in a preferred development of the invention the virtual vehicle is visually highlighted in the vehicle's surroundings model shown on the display device and visually identified as an operating element. For this purpose, the virtual vehicle is preferably located in the center of the vehicle's surroundings model shown on the display device in the interior of the vehicle and is visually different from the rest of the surroundings model for faster recognition by the user. For example, the virtual vehicle can have a different brightness and / or a different flatness and / or a different color and / or have similar contrast agents.Likewise, the virtual vehicle is visually identified as a control element for the user; for example, the virtual vehicle can pulsate, be marked with movement arrows, have a solid axis and / or have similar identifying features.

[0018] In a further preferred development of the invention, the display device for displaying the environment model is designed on an operating element of the vehicle or on an operating surface of the vehicle or on a display surface of the vehicle. Examples of such operating elements of the vehicle for displaying the environment model include the gearshift knob of the vehicle or the impact absorber of the steering wheel of the vehicle. Examples of such operating elements of the vehicle for displaying the environment model include an operating surface provided on the center console of the vehicle or the instrument panel of the vehicle. Examples of such display surfaces of the vehicle for displaying the environment model include a display or a driver information system of the vehicle.

[0019] In a further preferred development of the invention, the display device for displaying the environment model is designed as a hologram. This hologram of the environment model with the virtual vehicle, which is visible at least to the driver of the vehicle, is formed, for example, centrally in the interior of the vehicle in the area of ​​the vehicle's instrument panel. The hologram displays the environment model with the virtual vehicle, whereby the user can view the environment model with the virtual vehicle in a top view from all sides. Adjacent vehicles and surrounding objects, such as trees, garbage cans, curbs, bicycle racks, or lines defining parking spaces, are also displayed in the hologram.

[0020] Various implementations are possible for the hologram to be created in the vehicle interior. For example, a holographic plate can be suspended from the ceiling of the vehicle near the user's head, and the virtual image of the hologram can be generated via a laser beam and mirror in an operating area that is easily accessible to the user. Alternatively, the hologram can be created above a horizontally aligned display or using a display that creates a floating 3D illusion in its depth. Another option for creating the hologram is a hologram propeller that is aligned in the user's direct line of sight and rotates outside the user's operating area, possibly covered by a glass pane.

[0021] As movement processes of the vehicle carried out by a driver assistance system of the vehicle, driving processes of the vehicle and / or parking processes of the vehicle, i.e. parking processes of the vehicle and parking out of the vehicle and / or maneuvering processes of the vehicle can be initiated and, if necessary, also controlled using the virtual vehicle as a control element.

[0022] In addition, the movement processes of a motorized transport device coupled to the vehicle via a trailer coupling or tow bar can also be initiated and, if necessary, controlled in a similar manner. In particular, maneuvering processes of a motorized transport device coupled to the vehicle can be initiated and, if necessary, controlled. A load carrier, a vehicle trailer, a bicycle rack, a boat trailer, a horse trailer, or a caravan can be provided as a motorized transport device coupled to the vehicle.

[0023] In a driving process of the vehicle carried out by a driver assistance system of the vehicle as a movement process of the vehicle, a displacement of the virtual vehicle carried out by the user in the preferably three-dimensional environment model of the vehicle shown on the display device, for example, a displacement of the current lane of the vehicle takes place in real time, for example in a driver assistance system used as part of autonomous driving of the vehicle or in a driver assistance system used as a distance assistant of the vehicle.

[0024] During a parking maneuver performed by a driver assistance system of the vehicle, the vehicle is moved into a parking space by a user moving the virtual vehicle in the preferably three-dimensional model of the vehicle's surroundings displayed on the display device. During the parking maneuver, the virtual vehicle is preferably additionally represented in the parking space by an image of the virtual vehicle. A measurement of the parking space and thus of the target parking space can be performed by determining the geometric data of the other parked vehicles adjacent to the parking space and the structural surroundings of the parking space.The target parking space can be presented to the user in various ways in the environment model, for example, by numbering the respective parking space or, preferably, by (additionally) displaying the virtual vehicle in the parking space. For this purpose, the virtual vehicle located in the parking space, which is sufficiently large for the vehicle, can be visually displayed differently than the virtual vehicle that can be moved by sliding, for example, by using a more transparent color scheme or a different color tone.If necessary, after the parking process, the vehicle located in the parking space and thus in the target parking space can be slightly changed and thus corrected in its positioning in the parking space by a corresponding shift of the virtual vehicle in the environment model, for example to make it easier to get out of the vehicle or to enable or facilitate loading or unloading the vehicle.

[0025] Preferably, during a parking maneuver of the vehicle performed by a driver assistance system, the parking space is measured based on data from the vehicles adjacent to the parking space and / or based on data from the surrounding objects adjacent to the parking space. It is advantageous if the data from other parked vehicles adjacent to a parking space, which are identified, for example, by means of corresponding sensor systems of the vehicle, are stored in a retrievable data storage device. For example, the geometric dimensions or other geometric characteristics of the other parked vehicles adjacent to a parking space are of interest.This data can be easily determined, especially if the other parked vehicles adjacent to a parking space belong to the same group of vehicles (a so-called "club system") as the user's own vehicle, for example, if they belong to the same vehicle manufacturer as the user's own vehicle. If the relevant data of the other parked vehicles adjacent to a parking space is known and these vehicles belong to the same group of vehicles (the same "club system"), the other parked vehicles adjacent to a parking space can be repositioned, even if the parking space is not actually large enough for the user's own vehicle, in order to create a parking space for the user's own vehicle, provided there is sufficient space. In this case, the virtual vehicle in the vehicle's surrounding model can also be positioned in a parking space that is not large enough.The other parked vehicles adjacent to the parking space can be visually highlighted, for example by being marked in color, and the possibility of repositioning the other parked vehicles adjacent to the parking space can be indicated by appropriate symbols, for example by arrows.

[0026] The driver assistance system according to the invention can be executed by a control module of a vehicle provided for this purpose or can be implemented for execution in a control module of a vehicle provided for this purpose. Furthermore, the control module can also have at least one control unit for processing the data provided by the driver assistance system or the data required by the driver assistance system.

[0027] With the proposed vehicle featuring at least one driver assistance system, certain vehicle movements can advantageously be initiated and controlled simply by a user. Furthermore, the respective vehicle movement can be monitored and controlled by the user during the vehicle movement and, if necessary, corrected by a user's simple actions.

[0028] In the following, an embodiment of the invention is described with reference to the drawing with the Fig. 1 and Fig. 2 explained.

[0029] Showing: Fig. 1 a schematic representation of a parking process of a vehicle initiated by a user by means of an operating action. Fig. 2 a schematic representation of a vehicle parking process initiated by a user using an alternative operation.

[0030] In the following exemplary embodiments, these are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual features of the invention to be considered independently of one another, which also further develop the invention independently of one another and thus are to be regarded as individual or in a combination other than the one shown as a part of the invention. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0031] In the figures, functionally identical elements are each provided with the same reference signs.

[0032] In the one in the Fig. 1, a hologram 6, which is visible at least to the driver of the vehicle 1 as user 5, is generated as a display device 3 in the interior 2 of a vehicle 1 in the area of ​​the instrument panel 4 of the vehicle 1. Alternatively, the hologram 6 can also be generated on a physical object in the interior 2 of the vehicle 1, for example on a gear knob of the vehicle 1. This physical object serves for the "haptic grasp" of the hologram 6, i.e. the user 5 does not grasp the hologram 6, but rather the physical object which, in the eyes of the user 5, represents the hologram, whereby the user 5 receives clear feedback when interacting with the hologram 6.

[0033] In particular, the hologram 6 depicts a preferably three-dimensional environment model 7 containing the vehicle 1 as a virtual vehicle 8 and the surroundings of the vehicle 1, with environment objects 16. The environment model 7 also depicts, in particular, parking spaces 9 which can be used by the vehicle 1 as part of an intended parking maneuver as a movement process of the vehicle 1 and which are delimited by certain environment objects 16, for example by structural environment objects 16. Other vehicles 10 are already parked in certain of these parking spaces 9, which vehicles are detected by sensor systems of the vehicle 1, in particular with regard to their geometric dimensions, and which are then depicted in the environment model 7 according to these dimensions.

[0034] In a parking space 11 in the parking spaces 9, detected by sensor systems of vehicle 1, an image 12 of the virtual vehicle 8 represented in the environment model 7 is shown. The image 12 of the virtual vehicle 8 is positioned in accordance with its known dimensions at the position in the parking space 11 in the environment model 7 that is preferably selected according to certain criteria. The geometric data of vehicle 1 are compared by sensor systems of vehicle 1 and updated accordingly and displayed in the environment model 7, for example, if a trailer hitch is connected to vehicle 1.

[0035] The parking process of the vehicle 1 itself is initiated by an operating action of the user 5 by means of the operating element 15, according to the embodiment of the Fig. 1, for example, by a tapping movement of the user 5 with one of his fingers 13 of the hand 14 onto the image 12 of the virtual vehicle 8 in the parking space 11, which functions as the control element 15. The hand 14 of the user 5 and the individual fingers 13 of the user 5 are identified during the tapping movement of the user 5 via cameras provided in the interior 2 of the vehicle 1, for example for implementing gesture control. The direction of view of the user 5 is also evaluated via eye tracking, with the camera provided for this purpose being located directly behind the hologram 6 in the line of sight of the user 5 to the hologram 6. The position of the finger 13 or the hand 14 of the user 5 in space identified by the gesture recognition is compared with the representation in the environment model 7 of the hologram 6.If there is an overlap with regard to the position of the finger 13 (gesture), the position of the image 12 of the virtual vehicle 8 shown in the hologram and the confirmation by eye tracking, for example, a haptic feedback, for example by means of an air flow, and / or a visual feedback is generated, for example by means of a coloring of the virtual vehicle 8. This reflects back to the user that he has selected the image 12 of the virtual vehicle 8 as the desired object and thus as the control element 15 for the parking process of the vehicle 1.

[0036] After the parking process of the vehicle 1 has been initiated in this way, the parking process of the vehicle 1 itself is carried out independently by means of a parking assistant of the vehicle 1 as a driver assistance system of the vehicle 1.

[0037] In the Fig. In the embodiment shown in Figure 2, a hologram 6, which is visible at least to the driver of the vehicle 1 as user 5, is also generated as a display device 3 in the interior 2 of a vehicle 1 in the area of ​​the instrument panel 4 of the vehicle 1.

[0038] Analogous to the Fig. 1, a preferably three-dimensional environment model 7 containing the vehicle 1 as a virtual vehicle 8 and the surroundings of the vehicle 1 with parking spaces 9 and surrounding objects 16, such as structural surrounding objects 16, is shown in the hologram 6. A parking space 11 located between other vehicles 10 is also shown in the environment model 7.

[0039] The parking process of the vehicle 1 itself is initiated by an operating action of the user 5 by means of the operating element 15, according to the embodiment of the Fig.2 for example by a grasping movement of the user 5 with his fingers 13 of the hand 14 onto the virtual vehicle 8 acting as the control element 15. The virtual vehicle 8 is then initiated by the grasping movement of the user 5 and the displacement of the virtual vehicle 8 onto the parking space 11 identified as the target parking space and the parking process of the vehicle 1 is then activated when the virtual vehicle 8 is released in the parking space 11 serving as the target parking space.

[0040] After this initiation and activation of the parking process of the vehicle 1, the parking process of the vehicle 1 itself is carried out independently by means of a parking assistant of the vehicle 1 as a driver assistance system of the vehicle 1. List of reference symbols 1 vehicle 2 Interior 3 Display device 4 Instrument panel 5 users 6 Hologram 7 Environment model 8 virtual vehicle 9 parking spaces 10 other vehicles 11 parking space 12 Image of the virtual vehicle 13 fingers 14 hands 15 Control element 16 environmental objects QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2017 220 341 A1

[0003] US 11,697,346 B1

[0004]

Claims

[1] Vehicle (1) with at least one driver assistance system for carrying out movement processes of the vehicle (1), characterized by that during a movement process of the vehicle (1) carried out by a driver assistance system, the vehicle (1) is represented in an environment model (7) as a virtual vehicle (8) on a display device (3) in the interior (2) of the vehicle (1), that the virtual vehicle (8) is identified in the environment model (7) on the display device (3) as an operating element (15) that can be operated by a user (5), and that the respective movement process of the vehicle (1) carried out by a driver assistance system can at least be initiated by an operating action carried out by the user (5) for the virtual vehicle (8) in the environment model (7) of the vehicle (1) shown on the display device (3). [2] Vehicle (1) according to claim 1, characterized bythat during the respective movement process of the vehicle (1) carried out by a driver assistance system, the movement process of the vehicle (1) can be controlled in real time by an operating action carried out by the user (5) for the virtual vehicle (8) in the environment model (7) shown on the display device (3). [3] Vehicle (1) according to claim 1 or 2, characterized by that the operating action for the virtual vehicle (8) in the environment model (7) of the vehicle (1) shown on the display device (3) is designed as a tapping movement of the user (5) on the virtual vehicle (8) marked as the operating element (15) or as a grasping movement of the user (5) on the virtual vehicle (8) marked as the operating element (15). [4] Vehicle (1) according to one of claims 1 to 3, characterized bythat the virtual vehicle (8) is optically highlighted in the environment model (7) of the vehicle (1) shown on the display device (3) and is optically identified as an operating element (15). [5] Vehicle (1) according to one of claims 1 to 4, characterized by that the display device (3) is designed to display the environment model (7) on an operating element of the vehicle (1) or on an operating surface of the vehicle (1) or on a display surface of the vehicle (1). [6] Vehicle (1) according to one of claims 1 to 5, characterized by that the display device (3) for displaying the environment model (7) is designed as a hologram (6). [7] Vehicle (1) according to claim 6, characterized bythat the hologram (6) is formed on a holographic plate provided in the region of the head of the user (5) or is formed above a horizontally oriented display or is formed by means of a hologram propeller. [8] Vehicle (1) according to one of claims 1 to 7, characterized by that during a driving process of the vehicle (1) carried out by a driver assistance system, as a movement process of the vehicle (1), a shift of the current lane of the vehicle (1) takes place by a shift of the virtual vehicle (8) by the user (5) in the three-dimensional environment model (7) of the vehicle (1) shown on the display device (3). [9] Vehicle (1) according to one of claims 1 to 7, characterized bythat during a parking process of the vehicle (1) carried out by a driver assistance system, the movement process of the vehicle (1) is carried out by a displacement of the virtual vehicle (8) by the user (5) and involves parking the vehicle (1) in a parking space (11), in which an image (12) of the virtual vehicle (8) is displayed in the environment model (7) during the parking process in the parking space (11). [10] Vehicle (1) according to claim 9, characterized by that during a parking process of the vehicle (1) carried out by a driver assistance system, a parking space (11) is measured as a movement process of the vehicle (1) on the basis of data of the vehicles (10) adjacent to the parking space (11) and / or on the basis of data of the surrounding objects (16) adjacent to the parking space (11).

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