Method and assistance system for automated longitudinal adjustment, and motor vehicle

Abstract

The invention relates to a method (1) for the automatic longitudinal adjustment of a motor vehicle and to a corresponding assistance system and to a motor vehicle equipped with the assistance system or a corresponding arrangement. In the method (1), a display position for displaying the respective gap marking (4, 6) is determined by means of a head-up display on the basis of the position of the preceding vehicle (3) within a range in which the gap for longitudinal adjustment is set from the user side. According to a user input for setting the new gap after the change, the previous gap mark (4) and the new gap mark (6) are first displayed at the corresponding display position by means of the head-up display at the same time. When the longitudinal adjustment reaches a new gap, the head-up display is actuated in such a way that only a new gap mark (6) is displayed and the previous gap mark (4) is no longer displayed.

Description

Technical Field

[0001] The invention belongs to the field of vehicle technology and relates to a method for automated longitudinal control of a motor vehicle. The invention also relates to an assistance system provided for such a method and a motor vehicle equipped with the assistance system. Background Art

[0002] Currently, there are already a large number of different assistance functions in motor vehicles, which are to perform different tasks, such as informing the driver or supporting the driver in guiding the corresponding vehicle or guiding the corresponding vehicle at least partially automatically. However, the activities of these assistance functions are not always easy to understand for the driver or vehicle occupants, or at least not always easy to identify or monitor in a way that is less distracting and less distracting. This may reduce the trust in the corresponding assistance function, lead to the driver's erroneous perception of the activity or status of the assistance function and / or bring unnecessary cognitive burden to the driver or distract the driver from the surrounding traffic activities. Therefore, there is a need to better communicate the activities of the assistance functions to the driver or vehicle occupants.

[0003] For example, patent document DE 10 2013 016 242 A1 describes a method and a device for supporting a driver assistance system by displaying additional information in an enhanced manner in an image of the vehicle environment ahead. The image forms the background of the display, and the vehicle is visually indicated in the background with the relevant additional information. Warning instructions representing the driving situation ahead and / or control instructions representing necessary vehicle control interventions are output as additional information.

[0004] Patent document DE 10 2020 2014 843A1 discloses a method for presenting a virtual element in a display area of ​​a vehicle display device. A three-dimensional space is represented (or presented) in the display area and a three-dimensional coordinate in the presented three-dimensional space is determined based on a data source to position the virtual element. The virtual element is transformed into the presented three-dimensional space as a two-dimensional mapping. When a predefined speed gradient between the vehicle and the first vehicle is exceeded or fallen below, the first vehicle presented in the display area is marked by a virtual element. Summary of the invention

[0005] The object of the present invention is to realize an automated longitudinal adjustment of a vehicle having functions that are monitored in a particularly convenient and minimally distracting manner for the vehicle occupants.

[0006] This technical problem is solved by the technical solution according to the present invention. Other feasible design solutions of the present invention are disclosed in the specification and the drawings.

[0007] The method according to the invention can be applied to the automatic longitudinal regulation of a motor vehicle, or the method according to the invention is applied within the scope of the automatic longitudinal regulation or as part of the automatic longitudinal regulation or to support the automatic longitudinal regulation. Such an automatic longitudinal regulation can be performed, for example, by a vehicle-to-vehicle distance control speed controller or a device for adaptive speed regulation (ACC). In a method step of the method according to the invention, the position of the front vehicle traveling in front of the motor vehicle in the driving direction relative to the motor vehicle is continuously acquired or determined in the motor vehicle. The position of the front vehicle is also referred to as the front vehicle position here. The front vehicle position can be determined, for example, by an environmental sensor system of the motor vehicle, that is, for example, by a camera and / or a radar device and / or a similar device or based on sensor data or environmental data of such an environmental sensor system. The determination can also mean, for example, that the front vehicle position is received or retrieved by an auxiliary system provided for the method according to the invention, for example, through a corresponding interface or from a corresponding data storage. This can be performed continuously or can be performed repeatedly at regular intervals. Therefore, in subsequent method steps, the current front vehicle position, that is, for example, the last determined or latest available front vehicle position can be used respectively. The front vehicle can be a vehicle traveling in the immediate front of the motor vehicle, that is, there are no other vehicles between the motor vehicle and the front vehicle.

[0008] In another method step of the method according to the present invention, a display position of a gap mark for simulating contact with the front vehicle, especially with respect to the road surface, is determined based on the determined position of the front vehicle (e.g., also by an auxiliary system). The display position is determined correspondingly to the gap with respect to the front vehicle, which is currently set as the adjustment target of the longitudinal adjustment. In the sense of the present disclosure, this gap can be a time gap or a distance gap. In addition, a head-up display (HUD) of the motor vehicle is controlled so as to display the gap mark with respect to the front vehicle, especially with respect to the road surface contact simulation at the corresponding determined display position. In other words, the gap mark can be displayed by the head-up display so that the gap mark is visually or perspectively observed from the perspective of the motor vehicle driver, that is, from the driver's position in the motor vehicle, and is permanently displayed and maintained in a fixed or constant relative spatial position relationship. Therefore, at least when the longitudinal adjustment is adjusted to form a corresponding gap, the gap mark can also be used as a mark of the identified front vehicle. The gap marking can be displayed in particular in such a way that it appears on the road surface or in simulated contact with the road surface from the driver's perspective, i.e., the gap marking is presented or appears to be apparently placed on the road surface or to move on the road surface in the direction of travel of the motor vehicle, for example.

[0009] The display position corresponding to the gap currently set as the adjustment target may mean that the apparent distance of the gap mark displayed at the display position matches the set gap relative to the real vehicle environment or driving situation. If the gap is a time gap, at a certain point in time, the motor vehicle can reach the apparent position at its corresponding current speed after the time corresponding to the set time gap has passed, and the gap mark appears at the apparent position at this point in time due to its presentation at the determined display position. If the gap is a distance gap, the gap mark can appear at the corresponding display position at a distance from the motor vehicle corresponding to the distance gap from the driver's perspective.

[0010] The gap marking can be designed or displayed, for example, as a strip extending longitudinally transversely to the driving direction or as a bracket or similar marking partially surrounding the respective preceding vehicle or the rear of the preceding vehicle.

[0011] In a further method step of the method according to the invention, based on the acquisition of a user input for setting a changed new gap, it is determined whether the new gap is smaller or larger than the previously set gap, and the new gap is set as the adjustment target for the longitudinal adjustment. Thus, during the operation of the motor vehicle or the assistance system provided for the method according to the invention, a continuous monitoring of the corresponding user input can be performed. Such a user input can be implemented, for example, by the driver by correspondingly operating an operating element, which can be coupled to the assistance system or can be part of the assistance system. In addition, based on the acquisition of such a user input, a new display position moved according to the user input is determined on the basis of the current preceding vehicle position and / or the preceding, i.e. previously determined display position (and therefore also indirectly on the basis of the preceding vehicle position when necessary). Thus, the new display position can correspond at least qualitatively to the new gap defined by the user input or be determined based on whether the new gap is smaller or larger than the previous gap. For determining the display position, for example, a corresponding calculation algorithm can be provided, which takes into account the specific characteristics of the corresponding head-up display and the arrangement of the head-up display, especially relative to the driver's position, or contains these specific characteristics and the arrangement as preset parameters.

[0012] In a further step of the method according to the invention, the head-up display is controlled (e.g. also by the assistance system) so that in addition to the previous gap marking displayed in the previous display position, a new gap marking is displayed in a new display position in contact simulation relative to the previous gap marking, in particular as described above also in contact simulation relative to the road surface, so that the new gap marking appears in perspective from the driver's perspective in front of or behind the previous gap marking, depending on the user input. Thus, for example, from the driver's perspective, if the new gap is smaller than the previous gap, the new gap can be at least partially visible in front of the previous gap marking, i.e. on this side of the previous gap marking, and if the new gap is larger than the previous gap, the new gap can be at least partially visible behind the previous gap marking, i.e. on the other side of the previous gap marking. The previous gap marking and the new gap marking can be designed differently. As a result, the corresponding activity of the assistance system or the longitudinal adjustment can be particularly easily and intuitively communicated to the driver and visual feedback that the driver's user input has been recognized and is being implemented can be provided, which can be obtained particularly easily and with little distraction.

[0013] At least during the period when the new gap has not yet been achieved by the automatic longitudinal adjustment, i.e., has not yet been adjusted, the new display position showing the new gap mark does not necessarily have to correspond to the new gap. Similarly, in this case, neither the previous gap mark nor the new gap mark need to be displayed in a contact simulation relative to the vehicle in front. Instead, the new gap mark can at least qualitatively indicate to the driver whether the gap, i.e., the distance of the motor vehicle relative to the vehicle in front, has been increased or reduced by the longitudinal adjustment. This can be particularly easy and less distracting for the driver to identify by the visualization of the contact simulation of the new gap mark relative to the previous gap mark. For example, after setting a new gap, such as a larger gap, as a new adjustment target, even if the distance between the motor vehicle and the vehicle in front changes in order to achieve or adjust the new gap, i.e., the vehicle in front moves away from the motor vehicle in this example, the previous gap mark can also be constantly displayed at the same display position relative to the motor vehicle or from the driver's perspective.

[0014] In this process, i.e. during the automatic longitudinal adjustment to form, i.e. realize the new gap, the new gap mark does not yet have to be displayed or appear from the driver's perspective at a distance from the motor vehicle that corresponds to the new gap and correspondingly does not yet have to be necessarily correctly displayed in a contact simulation manner relative to the vehicle in front, thereby, for example, it can be advantageously ensured that the new gap mark is visible to the driver and, for example, does not exceed the display area or the like. If the display position corresponding to the new gap, especially determined on the basis of the position of the preceding vehicle, is already located in the display area of ​​the head-up display visible to the driver during the corresponding user input for defining the new gap, then the new gap mark can also be displayed at this display position during the longitudinal adjustment for realizing or adjusting the formation of the new gap. Here, the position of the preceding vehicle relative to the motor vehicle can be changed dynamically or continuously, and therefore the corresponding display position can also be re-determined dynamically or continuously accordingly. The new gap mark can also be displayed in this way, for example, at a display position corresponding to the new gap and determined on the basis of the corresponding (jeweils) current position of the preceding vehicle, once the display position required for this is located in the display area of ​​the head-up display. If necessary, the display position of the new gap marking can be continuously moved from the original new display position determined relative to the previous gap marking to a display position determined on the basis of the position of the preceding vehicle and relative to the contact simulation of the preceding vehicle. Thus, even with a restricted display area of ​​the head-up display, the driver can always understand or grasp the corresponding longitudinal adjustment process particularly easily and intuitively.

[0015] In another method step of the method according to the invention, when the longitudinal adjustment reaches a new gap, i.e., reaches a distance between the motor vehicle and the vehicle ahead that matches the new gap, the head-up display is controlled (e.g., also by the assistance system) so that only the new gap mark is displayed and the previous gap mark is no longer displayed. For example, the previous adjustment target can be hidden as the new adjustment target is reached or gets closer and closer. Therefore, the new gap mark replaces the only gap mark displayed before the user input and is correspondingly displayed on a display position corresponding to the new gap determined based on the current position of the vehicle ahead at that time. Therefore, the display situation existing before the user input is reached again with the new gap. Therefore, for the next setting or adjustment process for the gap, the new gap that was last set is actually the gap that is currently set at that time, and in the case of another user input for changing the gap again, the gap becomes the previous gap. By temporarily or transitionally displaying two gap marks, i.e., the corresponding previous gap mark and the new gap mark, the driver can understandably learn that his user input has been recognized and learn what effect his user input has or will have on the longitudinal adjustment of the motor vehicle particularly easily and with little distraction, i.e., with particularly low cognitive effort.

[0016] The display position of the gap marker is determined on the basis of the position of the preceding vehicle at least in the case of the corresponding gap formed by the adjustment, so that the gap marker can be placed and maintained so that it appears particularly stably and robustly in the corresponding real environment. This is because the position of the preceding vehicle can be determined and tracked, i.e. tracked, particularly accurately, reliably and stably by the environmental sensor system currently available for motor vehicles. Therefore, in particular, the position of the preceding vehicle determined in this way can be used as a spatial anchor point or reference point for determining the display position, which is known or located more accurately, stably and reliably than the corresponding environment or other environmental details. For example, map data or environmental models often do not have the same spatial accuracy or resolution as that of the preceding vehicle position that can be determined and tracked. Therefore, by using the preceding vehicle position as the starting point, i.e. anchor point or reference point, for determining the display position, a correspondingly accurate and stable and therefore correspondingly smooth and less distracting visualization of the corresponding gap marker can be achieved, thereby also realizing the functionality or activity of the longitudinal adjustment.

[0017] For example, the previous gap mark can be displayed in a simulated manner relative to the corresponding front vehicle contact. If a different gap is set by user input, a distance or distance corresponding to the new gap can be subtracted or added from the position of the vehicle in front in order to determine the apparent position at which the new gap mark should appear from the driver's perspective. Similarly, for this purpose, for example, a distance or distance corresponding to the difference between the previous gap and the new gap can be calculated and the corresponding apparent position for the new gap mark can be calculated from this. Taking into account the characteristics or display parameters of the head-up display, such a display position can be determined, which makes the new gap mark appear at a corresponding determined apparent position from the driver's perspective or, for example, from a preset observation position. In particular, when the new display position determined in this way is located outside the display area of ​​the head-up display, the new display position of the new gap mark can also be first displayed at a preset distance relative to the display position of the previous gap mark. Therefore, in addition to the symbol (in the front), the preset distance can be independent of the actual difference between the previous gap and the new gap.

[0018] If the display position of the gap mark is determined, for example, according to map data, the gap mark often appears to be usually not robust enough and the matching with the corresponding real environment details is not accurate enough. This may increase the cognitive effort of the driver to understand and may increase uncertainty. Similarly, in order to convert the corresponding abstract information about the set time gap to the corresponding local environment or in the corresponding local environment, that is, to coordinate accordingly, the alternative possible abstract display of the gap currently set, that is, for example, the display coupled with the corresponding real environment in a non-contact simulation, requires increased cognitive effort. Therefore, there are fewer driver cognitive potentials or attention for other aspects to use in the end. Therefore, through the present invention, the driver can use more attention or cognitive potential for the surrounding traffic activities and / or other vehicle functions, which can ultimately help to achieve improved safety in the operation of motor vehicles or in traffic activities.

[0019] Another advantage of the present invention is that, in the case of a plurality of possible or settable or selectable gaps, by using the position of the preceding vehicle or the previous display position as the starting point for determining the display position, these gaps or corresponding prompts or corresponding gap markings can all be displayed to the driver particularly reliably. In previous solutions, this cannot always be done reliably, for example because the display depends on the current actual speed of the motor vehicle and the FOV position, i.e. the driver's viewpoint and thus the height. In contrast, the present invention enables a consistent and coherent display, i.e. a correspondingly robust visual feedback for the operation and activity of the corresponding auxiliary system or longitudinal adjustment. Thus, for example, it can be avoided that the driver is additionally subjected to cognitive burden and distraction due to an incomplete or unavailable or temporarily interrupted presentation or the driver, for example, has to repeatedly turn his gaze and attention to the corresponding presentation. This can ultimately also be conducive to achieving improved safety in traffic activities.

[0020] The present invention also relates to an assistance system for a motor vehicle. The assistance system according to the present invention is configured to continuously and automatically acquire or determine the corresponding current relative position of the leading vehicle in front, especially the vehicle traveling in the driving direction, in the immediate vicinity. In addition, the assistance system is configured to automatically determine the display position of a gap mark for a simulated contact with the leading vehicle, especially with respect to the road surface, based on the leading vehicle position, the display position corresponding to the gap, i.e., the time gap or the distance gap, with respect to the leading vehicle, which is currently set as the adjustment target of the automatic longitudinal adjustment of the motor vehicle, and to control the head-up display so as to display the gap mark at the determined display position in a manner relative to the leading vehicle, especially with respect to the road surface contact simulation. The head-up display can be part of the assistance system or can be coupled to the assistance system in a prescribed installation position, for example, via the vehicle network of the corresponding motor vehicle.

[0021] In addition, the assistance system according to the invention is configured to automatically determine a new display position moved according to the user input based on the position of the preceding vehicle and / or the previous display position according to the acquisition of the user input for setting the changed new gap. In addition, the assistance system is configured to automatically control the head-up display so that in addition to the previous gap mark displayed at the previous display position, a new gap mark is displayed at the new display position in contact simulation relative to the previous gap mark, in particular as described above, also in contact simulation relative to the road surface, so that depending on whether the new gap is smaller or larger than the previous gap, the new gap mark appears in perspective in front of or behind the previous gap mark from the driver's perspective. In addition, the assistance system is configured to automatically control the head-up display when the longitudinal adjustment reaches or achieves the new gap, so that only the new gap mark is displayed as the only gap mark and the previous gap mark is no longer displayed at the display position determined based on the current position of the preceding vehicle and corresponding to the new gap. In other words, the assistance system according to the invention can be configured for the method according to the invention or for use in the method according to the invention. Therefore, the assistance system according to the invention can be in particular the assistance system mentioned in relation to the method according to the invention or in accordance with it.

[0022] In a possible design of the present invention, the auxiliary system is configured to operate a head-up display and / or different display devices to display a preset graphic presentation of the corresponding set gap if no vehicle position in front can be determined when the longitudinal adjustment is activated. The graphic presentation can be displayed in a non-contact analog manner in particular. Depending on the design or application, for example, a combination instrument or an infotainment screen or similar device of a motor vehicle can be used or operated as a different display device. For example, when there is no vehicle in front or the vehicle in front cannot be reliably identified within the detection range of the environmental sensor system used, a situation where no vehicle position in front can be determined may occur. The situation where the vehicle in front cannot be reliably identified may occur, for example, due to weather or environmental influences or due to damage or covering of the environmental sensor system or similar reasons. In this case, a preset, particularly environment-independent graphic presentation can be used as a backup solution. As described with respect to the method according to the present invention, the preset graphic presentation can be designed as a corresponding scale or numerical value, etc. The preset graphic presentation can be or include a two-dimensional or three-dimensional presentation, for example. The preset graphic presentation can be displayed completely independently of the environment, for example. Likewise, the preset graphic presentation can be displayed, for example, at a display position that (as mentioned with respect to the method according to the invention) is determined, for example, based on a corresponding two-dimensional or three-dimensional environment model. Such an environment model can be generated, for example, based on respectively available sensor data or environment data and / or using preset environment data or map data and / or similar data. Such an environment model can in particular contain static environment objects, such as lane pavement, road course, lane markings, side roads and / or similar environment objects. Therefore, although the preset graphic presentation may in some cases not match the corresponding real environment as accurately as the gap marking displayed at the display position determined based on the position of the preceding vehicle, it can still provide the driver with reliable visual feedback about his user input or longitudinal adjustment activities. In this way, appropriate driver involvement can be achieved or ensured in all cases.

[0023] In another possible design of the present invention, the auxiliary system is configured to respectively control the head-up display so that the two gap marks are displayed with different simplicity during the simultaneous presentation of the previous gap mark and the new gap mark. For example, the previous gap mark can be displayed relatively weakened, that is, weakened compared to the new gap mark, or conversely, the new gap mark can be displayed as weakened compared to the previous gap mark. Such weakened or reduced simplicity can be achieved by different colors and / or different, especially brighter hues and / or lower brightness and / or lower intensity and / or lower color saturation and / or smaller size and / or lower filling degree of the corresponding display surface and / or similar methods. For example, this different presentation (Darstellung) or simplicity can be maintained until the longitudinal adjustment reaches the new gap. Subsequently, only the new gap mark can be displayed. In particular, the presentation of the previous gap mark and / or the new gap mark can be changed dynamically or step by step. Therefore, the gradual realization or reaching of the new gap by the longitudinal adjustment, that is, the progress of the longitudinal adjustment is embodied and illustrated during the adjustment or at least when the adjustment target is reached for the first time. The driver can thus be provided with feedback that a user input has been recognized and how it has been implemented, which can be understood particularly easily, intuitively and with minimal distraction.

[0024] In another possible design of the present invention, the auxiliary system is arranged to respectively control the head-up display so as to gradually hide the previous gap mark as the new gap is realized or reached by longitudinal adjustment. In other words, the display of the previous gap mark is not suddenly or jumpily closed or disabled. Instead, the display of the previous gap mark can be gradually hidden, for example, by weakening the intensity and / or brightness and / or color saturation and / or by reducing the size and / or by continuously reducing the filling degree of the corresponding display surface and / or by a similar manner. Thus, the driver can particularly easily, intuitively and with little distraction identify which gap mark is the new gap mark and when or whether the new gap mark has been reached or reached at all time points. Thus, for example, it can be avoided that, for example, when the driver does not or does not continuously turn his eyes or his attention to the corresponding presentation during or after his user input, the driver is confused or unclear whether the only displayed gap mark is a new gap mark or a previous gap mark, i.e., whether the user input has been identified and implemented. Likewise, a sudden closing or deactivation of the previous gap marking, ie, a corresponding sudden change in the presentation, may distract people, which can also be avoided by the proposed design of the present invention. That is, the driver can be avoided from being distracted or startled accordingly, thereby further improving safety.

[0025] In another possible embodiment of the present invention, the assistance system is configured to, based on the acquisition of a first manipulation of an operating element designated for setting the gap, i.e., based on a corresponding first user input or a first user operation action, first switch to an adjustment mode without a gap change, i.e., without a change in the adjustment target of the longitudinal adjustment. The assistance system is also configured to, in this adjustment mode, manipulate a head-up display to display a preset indicator for the possibility of adjusting or changing the gap. It can thus be clearly indicated that the gap can be changed, in particular, by further user input. This can occur based on the acquisition of a second manipulation or further manipulation of the operating element, which is acquired as a user input for setting a changed new gap as mentioned in relation to the method according to the present invention and the assistance system according to the present invention. In this way, for example, a gap change caused by an unintentional misoperation or misoperation can be avoided or the possibility of such a gap change can at least be reduced, thereby avoiding the resulting distraction or uneasiness of the driver or at least reducing the possibility of distraction or uneasiness.

[0026] In another possible design of the present invention, the assistance system is configured to determine all corresponding possible gaps and provide these gaps for selection. For example, in principle, a certain scale or adjustment range can be set, but in specific cases, only a part of them or a specific option can actually be used. For example, a particularly small or short gap can be possible, settable or selectable by the user only when the vehicle speed is lower than a preset speed. Therefore, the possible, settable or allowed gaps in the corresponding situation can be determined continuously or regularly and repeatedly. It can be avoided that the driver attempts to set a gap that is not allowed, that is, impossible in the corresponding situation. The unallowable gap may, for example, cause the driver to spend more cognitive effort to monitor the reaction of the assistance system or the longitudinal adjustment system and understand that its intention may not be realized and / or the driver has to spend additional effort and additional attention to set different, possible or allowed gaps, which may also cause or aggravate the driver's attention to be more distracted from the surrounding traffic activities. Therefore, the design proposed by the present invention can achieve or ensure that the driver can set the gap that can actually be achieved at that time with minimal cognitive effort and minimal operating effort.

[0027] In another possible embodiment of the invention, the assistance system is configured to control the head-up display in response to the acquisition of the first actuation of the operating element designated for setting the gap, i.e., in particular with the switch to the adjustment mode mentioned elsewhere, so as to simultaneously display all possible gaps that can be set accordingly. In other words, here, in the same or similar manner as described elsewhere, a first user input can first be acquired, which first user input may occur before the user input for actually setting or selecting the changed new gap. In this way, the driver can grasp the possible settable gaps in the respective case particularly early and quickly. As a result, the driver can then make his selection and set the desired gap particularly quickly and specifically.

[0028] In an alternative possible design of the present invention, the auxiliary system is configured to operate the head-up display so that the corresponding possible gap that can be set is displayed only after the user input for setting the changed new gap is obtained. In other words, according to the corresponding user input, not only can the changed gap be set or selected or at least pre-set or pre-selected, but also the possible gap that can be set or selected in the corresponding situation can be displayed. This may be useful in combination with the first switching to the adjustment mode described elsewhere or can be used to provide the driver with a particularly simple, easy-to-understand and less distracting visual feedback about its user input and send a signal to the driver indicating that he has other setting options. Only when the driver is actually ready to set or select the desired gap, the display of different possible gaps may cause potential additional visual distraction. At this point in time, since the driver has been mentally prepared, the distraction and cognitive effort for understanding and processing the displayed possible gap can be reduced. Therefore, the overall coverage or distraction of other displayed information, that is, the so-called visual clutter caused by the possible gap, can be reduced or minimized in time.

[0029] Independently of other designs, the possible gaps available in the respective case, i.e. settable, can be displayed differently from the previous gap markings, in particular also differently from the correspondingly selected or set or preselected or preset new gaps. For example, other possible gaps can be displayed with reduced simplicity as described elsewhere.

[0030] The invention also relates to a motor vehicle which is provided for automated longitudinal adjustment of the motor vehicle and has a head-up display. The motor vehicle according to the invention is provided for carrying out the method according to the invention, in particular automatically or partially automatically, and / or is equipped with an assistance system according to the invention. Thus, the motor vehicle according to the invention can in particular be a motor vehicle as mentioned with respect to the method according to the invention and / or with respect to the assistance system according to the invention or correspond thereto. Thus, the motor vehicle according to the invention can also have some or all of the properties or features mentioned in these aspects, for example an environmental sensor system, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features of the present invention can be derived from the following description of the drawings and from the drawings. The features and feature combinations mentioned above in the specification and the features and feature combinations shown separately in the following description of the drawings and / or in the drawings can be used not only in the respectively given combination, but also in other different combinations or alone, as long as it does not depart from the scope of the present invention.

[0032] In the attached picture:

[0033] Figure 1 A schematic flow chart showing an exemplary section of a method for longitudinal control operation of a motor vehicle;

[0034] Figure 2 A schematic diagram showing a traffic scene at a first point in time from the perspective of a motor vehicle driver;

[0035] Figure 3 A schematic diagram showing a traffic scene at a second later time point from a perspective;

[0036] Figure 4 A schematic diagram showing a traffic scene at a later third time point from a perspective; and

[0037] Figure 5 A schematic diagram for explaining an alternative presentation of a gap currently set as an adjustment target for longitudinal adjustment is shown.

[0038] In the figures, identical or functionally identical elements are provided with the same reference symbols. DETAILED DESCRIPTION

[0039] In a vehicle with automatic longitudinal adjustment, the gap, i.e. the time gap and / or the distance gap relative to the vehicle ahead, can usually be set by the corresponding driver. The corresponding gap adjustment can usually be communicated to the driver through a two-dimensional or three-dimensional environment model or a preset graphic. But in this case, in order to convert the corresponding presentation to the real driving situation, the driver may need to pay a lot of cognitive effort. Although the contact simulation presentation of the gap adjustment can reduce the cognitive effort of the corresponding driver or observer in information processing. But in many cases, all possible gaps cannot be reliably displayed using the previous method, so that it is impossible to display the operation coherently. In addition, the gap adjustment may be activated in any driving situation and is therefore particularly activated when the data accuracy related to the corresponding environment is limited or insufficient. Therefore, the virtual presentation or display cannot always be stably and robustly placed in the corresponding environment or virtually displayed in the form of contact simulation, which may lead to confusing and distracting displays. But this problem can be dealt with.

[0040] to this end, Figure 1 An exemplary schematic flow chart for a corresponding method is shown Figure 1 The method is described in more detail below with reference to other figures.

[0041] In method step S1 , an automated longitudinal control, ie, for example, an ACC system, can be activated in the corresponding motor vehicle. In method step S2 , the currently set play can be determined and set as a control target for the longitudinal control.

[0042] In method step S3, environmental data of an environmental sensor system of the motor vehicle can be acquired. This step should be understood in particular for or by the longitudinal control, since during operation of the motor vehicle, for example, corresponding environmental data can also be acquired continuously before or in parallel with the remaining method steps.

[0043] In method step S4, it is possible to query or check whether a vehicle ahead is identified or has been identified based on the acquired environmental data. Figure 2 An exemplary schematic diagram of a traffic scene at a first point in time is shown from the perspective of a motor vehicle in which the method described here is carried out. Ahead of the motor vehicle is a front vehicle 3. The distance to the front vehicle 3 can be adjusted by longitudinal adjustment. In other words, a clearance relative to the front vehicle 3 set as an adjustment target can be determined or maintained.

[0044] If a preceding vehicle 3 has been identified, which or its position can serve as a control target for the longitudinal control, the corresponding preceding vehicle position, ie the position of the identified preceding vehicle 3 relative to the own motor vehicle, for example, can be determined in method step S5 .

[0045] In method step S6, a display position for a corresponding marking on or in the head-up display of the motor vehicle can be determined based on the determined position of the vehicle ahead. Such markings are, for example, located on Figure 2 4 as a preceding gap marker 4. With this preceding gap marker 4, a contact simulation marking can be made for the identified preceding vehicle 3, for example, at its lower edge on the rear side, so that this preceding gap marker 4 follows the preceding vehicle 3. A corresponding contact simulation display of the preceding gap marker 4 can then be made or activated in method step S7.

[0046] In method step S8, the user input can be monitored. If no such user input is detected at a certain point in time or in a certain time step or checking step, the monitoring can be continued, as shown here by the circular path. The corresponding user input can be realized, for example, by actuating an operating button associated or coupled with the longitudinal adjustment or the clearance adjustment. Such an operating button can be arranged, for example, on the steering wheel of the motor vehicle. This allows operation or manipulation that is as simple and distracting as possible.

[0047] If such a user input is obtained, it can be checked again in method step S9, for example, whether the preceding vehicle 3 is identified at that time or whether a preceding vehicle 3 is identified. If so, the current preceding vehicle position of the preceding vehicle can be determined in method step S10. At the same time, the adjustment mode indicator 5 can be displayed, for example, in method step S11. This makes it clear that the gap, i.e. the time and / or spatial distance relative to the preceding vehicle 3, can now be changed by the driver. At the same time, corresponding further user inputs for changing the set gap, i.e. for selecting or adjusting the formation of a new gap, can be monitored.

[0048] For example, the adjustment mode indicator 5 can be displayed first according to a first user input without changing the set gap. For example, according to a further user input, i.e., for example, when the operating button is actuated again, a corresponding further marking can be displayed spatially behind or in front of the previous gap marking 4 in perspective according to the user input. This can signal that a corresponding increase or decrease in the gap is implemented.

[0049] If a new gap is set by the corresponding user or driver via a corresponding user input or the further user input, a display position for the corresponding gap marking corresponding to the new gap can be determined in method step S12. For this purpose, Figure 3 Show Figure 21 is an exemplary schematic diagram of a traffic scene in a corresponding later second time point. The previous gap mark 4 and the new gap mark 6 moved relative to it according to the user input are shown simultaneously. The previous gap mark 4 can be displayed according to the previously set gap so that it continues to appear constantly at the corresponding distance from the motor vehicle. However, since a larger gap is set by user input in this example and this larger gap is set or used as the adjustment target of the longitudinal adjustment in method step S13 in parallel, the previous gap mark 4 does not have to be represented in a contact simulation at the front vehicle 3 or relative to the front vehicle 3. With the acquisition of the user input for setting the new gap, the previous gap mark 4 or its display position can be fixed or decoupled from the front vehicle 3 or the front vehicle position. Therefore, for example, when the new gap is set to be larger, the front vehicle 3 can be away from the previous gap mark 4.

[0050] Since the newly set gap has not yet been reached by longitudinal adjustment, the new gap mark 6 is presented with reduced simplicity compared to the previous gap mark 4. At least during the period when the new gap has not yet been reached, that is, the adjustment has not yet been formed, the display position of the new gap mark 6 can be determined, for example, relative to the display position of the previous gap mark as the case may be. Here, the new gap mark 6 can be shown in contact simulation relative to the previous gap mark 4 or appear from the driver's perspective. The display position for the new gap mark 6 can also be determined, for example, so that the new gap mark 6 appears from the driver's perspective at the distance from the motor vehicle that matches the new gap. In particular, in this case, the display position of the new gap mark can be determined on the basis of the corresponding current position of the preceding vehicle and is continuously updated accordingly. In particular, in the first case, a corresponding change indicator 7 can be displayed simultaneously to indicate the longitudinal adjustment activity for reaching the newly set gap. The change indicator can, for example, be an arrow to show the change of the gap, wherein the orientation or arrow direction can depend on whether the newly set gap is greater than or less than the previously set gap.

[0051] While the longitudinal adjustment is forming a newly set gap based on the previous gap adjustment, both the previous gap mark 4 and the new gap mark 6 can be displayed simultaneously in method step S14 as shown here. During this period, it can be checked in method step S15 whether the new gap, i.e. the newly set adjustment target, has been reached. As long as this is not the case, i.e. while the longitudinal adjustment is still busy setting or reaching the new adjustment target, i.e. the newly set gap, according to the corresponding user input, the presentation of the gap marks 4, 6 or at least the presentation of the previous gap mark 4 can be adjusted in a particularly dynamic or gradual manner. For this purpose, Figure 4The schematic diagram of the traffic scene at a third time point further later is shown as an example. Here, the process of reaching the newly set gap by longitudinal adjustment has been further advanced, and the presentation of the previous gap mark 4 is adjusted accordingly. For example, the size of the previous gap mark 4 is reduced compared to the second time point and compared to the new gap mark 6.

[0052] If it is determined in method step S15 that a new gap, ie, an adjustment target, is reached, the previous gap marking 4 can be completely hidden, ie, deactivated, in particular step by step, in method step S16. As a result, the new gap marking 6 can be presented here correspondingly more concisely, ie, in particular as Figure 2 is presented like the previous gap mark 4 displayed at the first time point in .

[0053] If no preceding vehicle 3 has been identified in method step S4, then accordingly no corresponding preceding vehicle position can be used as a starting point for determining the display position. Therefore, in this case, the preceding gap marking 4 can alternatively be first displayed or represented in an alternative presentation in method step S17. Such an alternative presentation 8 is exemplarily and schematically shown in Figure 5 In Figure 5 , an environment model 9 is shown, i.e., for example, a schematic diagram or a schematic representation of the environment, in particular the road in front of the motor vehicle, which is being traveled. A plurality of possible gaps 10 that can be set in the respective case can also be shown. The previous gap marking 4 that shows or indicates the currently set gap can be highlighted, for example, by increased simplicity or additional masking elements, such as arrows or the like.

[0054] Although not explicitly shown here for the sake of clarity, the possible gap 10 that can be set in the respective case can in principle be determined during the method and also displayed via the head-up display, i.e. in the Figures 2 to 4 is displayed in the view shown in .

[0055] For example, if no preceding vehicle 3 has been identified in method step S9 either, a jump can be made from there to method step S17 . In this case, the new gap set according to the corresponding user input can be displayed as a new gap marking 6 by corresponding presentation or highlighting.

[0056] By using the respective preceding vehicle 3 as an anchor as proposed here, a correspondingly robust database can be used to determine the display positions of the gap markings 4, 6 on or in the head-up display, which enables a correspondingly robust and stable display of these gap markings 4, 6 by the head-up display. Likewise, the remaining selectable or settable possible gaps 10 can also be reliably displayed in each case.

[0057] Overall, the described example shows how a contact simulation display for the clearance adjustment can be implemented particularly advantageously within the scope of the longitudinal adjustment of the motor vehicle.

[0058] Reference numerals list

[0059] 1 Flowchart

[0060] 2 lanes

[0061] 3 Vehicles ahead

[0062] 4 before the gap mark

[0063] 5 Adjustment mode indicator

[0064] 6 New clearance markers

[0065] 7Change Indicator

[0066] 8 alternative presentations

[0067] 9 Environmental Model

[0068] 10 Possible gaps

[0069] S1-S17 Method Steps

Claims

1. A method (1) for automated longitudinal control of a motor vehicle, wherein: Automatically - in a motor vehicle, continuously determining the position of a preceding vehicle (3) travelling ahead of the motor vehicle in the direction of travel relative to the preceding vehicle of the motor vehicle, - determining a display position of a gap marking (4) for contact simulation with respect to the preceding vehicle (3) based on the preceding vehicle position, the display position corresponding to the gap with respect to the preceding vehicle (3) currently set as the adjustment target for the longitudinal adjustment, and controlling the head-up display of the motor vehicle to display the gap marking (4) in the determined display position in a manner simulating contact with respect to the preceding vehicle (3), - according to the acquisition of the user input for setting the changed new gap, setting the new gap as the adjustment target of the longitudinal adjustment, and determining the new display position moved according to the user input based on the preceding vehicle position and / or the previous display position, - actuating the head-up display so that, in addition to the previous gap marking (4) displayed in the previous display position, a new gap marking (6) is displayed in a new display position in contact with the previous gap marking (4), so that, depending on whether the new gap is smaller or larger than the previous gap, the new gap marking (6) appears in perspective in front of or behind the previous gap marking (4) from the driver's perspective, and When the longitudinal adjustment reaches a new gap, the head-up display is controlled so that only the new gap marking (6) is displayed as the only gap marking (4, 6) at a display position determined based on the current position of the vehicle ahead and corresponding to the new gap, and the previous gap marking (4) is no longer displayed.

2. An auxiliary system for a motor vehicle, wherein: The auxiliary system is set up to automatically - continuously determining the respective current relative position of the preceding vehicle (3) travelling ahead in the direction of travel, - determining a display position of a gap marking (4) for contact simulation with respect to the vehicle ahead (3) on the basis of the position of the preceding vehicle, the display position corresponding to the gap with respect to the vehicle ahead (3) currently set as the adjustment target for the automated longitudinal adjustment of the motor vehicle, and actuating the head-up display in order to display the gap marking (4) in the determined display position in a manner simulating contact with respect to the vehicle ahead (3), - based on obtaining a user input for setting a new gap after the change, determining a new display position moved according to the user input based on the preceding vehicle position and / or the previous display position, - actuating the head-up display so that, in addition to the previous gap marking (4) displayed in the previous display position, a new gap marking (6) is displayed in a new display position in contact with the previous gap marking (4), so that, depending on whether the new gap is smaller or larger than the previous gap, the new gap marking (6) appears in perspective in front of or behind the previous gap marking (4) from the driver's perspective, and When the longitudinal adjustment reaches a new gap, the head-up display is controlled so that only the new gap marking (6) is displayed as the only gap marking (4, 6) at a display position determined based on the current position of the vehicle ahead and corresponding to the new gap, and the previous gap marking (4) is no longer displayed.

3. The assistance system according to claim 2, It is characterized in that The assistance system is provided to actuate a head-up display and / or a different display device in order to display a predefined graphic representation (8) of the respectively set gap, in particular in a contactless analog manner, if no preceding vehicle position can be determined when longitudinal control is activated.

4. The assistance system according to claim 2 or 3, It is characterized in that The assistance system is configured to respectively actuate the head-up display in order to display the previous clearance marking (4) and the new clearance marking (6) with different simplicity during the simultaneous presentation of the two clearance markings (4, 6).

5. The assistance system according to any one of claims 2 to 4, It is characterized in that The assistance system is provided to respectively actuate the head-up display in order to gradually conceal the previous clearance marking (4) as a new clearance is achieved by the longitudinal adjustment.

6. The assistance system according to any one of claims 2 to 5, It is characterized in that The assistance system is configured to, upon detection of a first actuation of an operating element designated for setting the play, initially switch to an adjustment mode without a change in play and to control the head-up display in this adjustment mode in order to display a predefined indicator (5) for the possibility of adjusting the play.

7. The assistance system according to any one of claims 2 to 6, It is characterized in that The assistance system is provided to determine all correspondingly possible gaps (10) and to make them available for selection.

8. The assistance system according to claim 7, It is characterized in that The assistance system is provided for controlling the head-up display in response to the detection of a first actuation of an operating element designated for setting a clearance in order to simultaneously display all possible clearances (10) that can be set in each case.

9. The assistance system according to claim 7, It is characterized in that The assistance system is configured to control the head-up display in order to display the possible gaps (10) that can be set in each case only after receiving a user input for setting a new, changed gap. 10 . A motor vehicle which is provided for automated longitudinal adjustment and has a head-up display, which is provided for carrying out the method ( 1 ) according to claim 1 and / or has an assistance system according to any one of claims 2 to 9.

Images