Narrow position assistance system for vehicle, method for operating narrow position assistance system

Abstract

The invention relates to a narrow position assistance system for a vehicle according to the invention, which is designed to receive environmental data from an environmental sensor of the vehicle by means of a computing device, the environmental data comprising at least image data and describing an environment of the vehicle. The narrow position assistance system is further designed to detect a narrow position in the environment data by means of the computing device, the narrow position being described by at least one obstacle in the environment, the obstacle being located at least partially within a predetermined distance from the path of travel of the vehicle. Furthermore, the narrow position assistance system is designed to display the image data and the travel path projected into the image data by means of the display device. Finally, a partial projection of the vehicle at the future position can be additionally shown by means of the display device, the partial projection comprising at least one component group of the vehicle.

Description

Technical Field

[0001] The invention relates to a narrow position assistance system for a vehicle. The invention also relates to a method for operating a narrow position assistance system. Background Art

[0002] Nowadays, motor vehicles often have parking assistance systems. In the simplest case, such parking assistance systems support the vehicle driver during the vehicle maneuver with the aid of distance indication. In addition, there are also camera-based systems. Thus, the vehicle driver can be supported, for example, during reverse driving during a parking maneuver.

[0003] With the help of a reversing camera, it is usually also possible to visualize the vehicle's driving path, i.e. the area that the vehicle will pass through in the future. In this case, the driving path or its boundaries are usually projected into the camera image of the reversing camera, so that the impression is created that the road surface itself is marked or painted. Therefore, augmented reality (English technical term: AugmentedReality) is also mentioned in this case. The driver of the vehicle thus obtains a rear view with additional information about the future direction of movement of the vehicle based on the steering angle. In principle, such a system can also be used during forward driving. In particular, in confined locations, the driver can be supported when maneuvering the vehicle.

[0004] Document DE 10 2008 057 670 A1 relates to a method for supporting a vehicle driver, in particular when driving in reverse, wherein an area behind the vehicle is shown on a display unit, wherein, overlapping with the area behind the vehicle, a first guide line and a second guide line corresponding to the vehicle width are shown as a driving path dependent on the current steering angle, wherein horizontal distance lines with a highlighted display representing the center of the vehicle are output on the display unit at regular distances in the driving path.

[0005] Publication DE 102013 213216A1 relates to a method for supporting a vehicle driver in a narrow position. The method comprises a reading step, an evaluation step and a providing step. In the reading step, information about a drivable passage in a narrow position, information about the current trajectory of the vehicle in the narrow position and information about the steering torque currently applied by the driver to the vehicle steering are read. In the evaluation step, information about the passage, the trajectory and the steering torque are evaluated using known dimensions of the vehicle in order to identify that at least a part of the vehicle may damage the passage. In the providing step, when damage is identified, a control signal for a counter-torque to resist the steering torque is provided to support the driver in avoiding damage.

[0006] Document DE 10 2011 119 883 A1 relates to a method and a device for folding and unfolding vehicle exterior mirrors of a motor vehicle, wherein the vehicle exterior mirrors can be moved independently of one another from a respective unfolded functional position to a respective folded protective position. According to the invention, when a traffic sign is recognized that limits the permissible width of the vehicle to a value below the permissible maximum width and when the width of the motor vehicle with the unfolded vehicle exterior mirrors is greater than the permissible maximum width, a demand-dependent adjustment request for folding only the vehicle exterior mirrors on the front passenger side is generated by means of a traffic sign recognition device. Summary of the invention

[0007] The object of the present invention is to specify a solution in which a narrow spot assistance system of a vehicle can be improved.

[0008] This object is achieved according to the invention by a narrow spot assistance system and a method for operating a narrow spot assistance system having the features according to the independent claims. Advantageous developments of the invention are described in the dependent claims.

[0009] According to the narrow position assistance system for a vehicle of the present invention, the narrow position assistance system is designed to receive environmental data from an environmental sensor of the vehicle by means of a computing device, wherein the environmental data at least includes image data and describes the environment of the vehicle. The narrow position assistance system is also designed to detect a narrow position in the environmental data by means of a computing device, wherein the narrow position is described by at least one obstacle in the environment, and the obstacle is at least partially located within a predetermined distance from the driving path of the vehicle. In addition, the narrow position assistance system is designed to display the image data and the driving path projected into the image data by means of a display device. Finally, a partial projection of the vehicle at a future position can be additionally displayed by means of the display device, wherein the partial projection includes at least one component group of the vehicle.

[0010] With the help of the narrow position assistance system according to the present invention, the driver of the vehicle can be supported before driving through a narrow position. In this case, the narrow position assistance system includes a computing device and a display device. In this case, the computing device can be configured as at least one electronic control unit of the vehicle, which includes one or more programmable processors. In addition, the computing device can have a computer-readable storage medium storing a computer program. The computer program can be executed on the computing device, for example, in order to detect narrow positions in environmental data. The display device can be configured as a display of an on-board computer, a navigation system, etc. The display device can also be configured as a head-up display in particular.

[0011] The environmental data received from the environmental sensors of the vehicle include at least image data. In other words, the vehicle can include a camera as an environmental sensor. Further environmental sensors can be, for example, ultrasonic sensors, radar sensors and / or lidar sensors. The environmental data can describe the environment of the vehicle. For example, the environmental data can describe the environment with the aid of a point cloud, an occupancy grid map and / or with the aid of a so-called object list. Thus, drivable surfaces can be extracted from the environmental data. It is also possible to determine the future distance between objects in the environment and the vehicle. Such an object can be at least one obstacle in the environment. Based on the steering angle, the future distance between at least one obstacle and the vehicle or the vehicle's travel path can be predicted.

[0012] In other words, it can be predicted whether at least one obstacle in the environment is located near the driving path or within a predetermined distance from the driving path of the vehicle. It can therefore be predicted whether the predetermined distance between the at least one obstacle and the driving path is undershot. If the predetermined distance is undershot, this can indicate a future collision when driving through a narrow spot.

[0013] If such a narrow position is detected, the driver of the vehicle can be informed by means of a display device. In this case, image data can be shown to the driver. It is possible that the vehicle's travel path is projected into the image data. In addition, a partial projection of the vehicle can be projected into the image data. In particular, the entire vehicle can be projected into the image data. However, it is also conceivable that only individual component groups of the vehicle are projected into the image data. For example, only the exterior rearview mirror and / or the front of the vehicle can also be projected into the image data.

[0014] In other words, an augmented reality (technical term in English: AugmentedReality) is provided to the vehicle driver by means of the display device. Thus, the vehicle driver can be supported by means of the augmented reality when driving through a narrow position. Furthermore, the vehicle driver can be shown vehicles in the area around the narrow position by means of the narrow position assistance system according to the invention (before driving through the narrow position). Thus, the vehicle driver can directly estimate how much space he has available when driving through the narrow position. As a result, a collision with at least one obstacle in the environment of the vehicle can be prevented.

[0015] It is advantageous here that the future position of the partial projection of the vehicle shown by means of the display device is arranged essentially within the driving path and in the area around the narrow position. In other words, the future position should be within the driving path. Thus, the steering angle and the future position can be arranged relative to each other. It can thus be ensured that the future position of the partial projection of the vehicle shown corresponds to the actual future position of the vehicle. Since the future position is arranged in the area around the narrow position, it can be ensured that the vehicle driver receives information about driving through the narrow position in a displayed manner.

[0016] Another embodiment of the narrow position assistance system provides that the narrow position assistance system is also designed to show the partial projection of the vehicle displayed by means of the display device in an animated manner. In particular, the partial projection of the vehicle can be shown in an animated manner so that the passing of the narrow position can be shown or visualized by means of the display device. The animated illustration of the partial projection when passing the narrow position provides a better spatial understanding of the situation. As a result, the driver can better assess the situation. In addition, the driver can better recognize possible dangers.

[0017] In another design mode, the narrow position assistance system is also designed to output a warning indication by means of a display device according to at least one obstacle and / or according to the narrow position. In the case where the vehicle is about to collide with at least one obstacle, a warning indication can be output. For example, if the minimum distance between the vehicle and the obstacle at the future position is lower than, a warning indication can also be output. In other words, a warning indication can be output according to the narrow position. Such a warning indication can, for example, exist in the form of a flashing symbol (warning triangle), a colored driving path (shown as red in augmented reality), a (red) colored boundary of the driving path, or a partially projected highlighted display of at least a portion of the potential collision. By outputting a warning indication, the driver can be prepared for critical situations. Therefore, the driver's attention can be improved.

[0018] It may also be advantageous if the warning indication output by means of the display device includes a visual change in the displayed partial projection of the vehicle. In other words, the warning indication can be designed so that the partial projection of the vehicle and / or a part of the partial projection of the vehicle changes visually. For example, if the entire vehicle is projected into the image data as a partial projection of the vehicle and a collision of the vehicle's exterior rearview mirror with at least one obstacle representing a narrow position is imminent, the exterior rearview mirror can be highlighted in color, for example, within the scope of the partial projection of the vehicle. It is also conceivable that a part of the partial projection of the vehicle, i.e., the exterior rearview mirror projected into the image data, for example, flashes. Additionally or alternatively, it is conceivable that a warning sound is also output.

[0019] By means of the visual change of the shown partial projection, the driver can be warned against a critical situation. The visual change of the shown partial projection can increase the driver's awareness. In addition, the warning indication including the visual change of the shown partial projection is particularly intuitively understandable to the vehicle driver.

[0020] It may also be advantageous if the warning indication output by means of the display device includes a changing color representation of the outer boundary of the driving path. For example, if at least one obstacle representing a narrow position is located on the right side of the vehicle and a collision is also imminent, and / or a small distance between the vehicle and at least one obstacle can be expected, the driving path or the right-hand driving path boundary can have a changing color representation. Usually, if a collision is not imminent, the driving path is projected into the image data in green. In the case of an imminent collision or a small distance, the boundary of the driving path or the entire driving path can be projected into the image data in red. This intuitive representation can lead to a better understanding of the situation by the vehicle driver.

[0021] It may also be particularly advantageous if the partial projection of the vehicle shown by means of the display device includes at least one exterior mirror as at least one component group of the vehicle. In a narrow position, it may or often happen that a collision first occurs between an exterior mirror of the vehicle and at least one object representing the narrow position. It is therefore advantageous if the exterior mirror is projected in particular into the image data. This gives the vehicle driver an early impression of whether he is likely to scratch and / or damage an exterior mirror of the vehicle when driving through a narrow position.

[0022] In this case, it may also be advantageous if the narrow position assistance system is also designed to receive the mirror position of at least one exterior rearview mirror and to implement a warning indication output by means of a display device as a function of the mirror position. For example, it is conceivable that it is possible to drive through a narrow position without collision with a folded exterior rearview mirror, but it is not possible to drive through a narrow position without collision with an unfolded exterior rearview mirror. By receiving the mirror position, information about the current orientation or arrangement or positioning of at least one exterior rearview mirror of the vehicle can be provided. In this case, it is possible that the warning indication includes, for example, a request for folding the rearview mirror and / or information about automatically folding the rearview mirror. Overall, safety when driving through narrow positions can be improved. Finally, the driver of the vehicle can be provided with an improved impression of the situation in a narrow position. In addition, information and / or indications about a possible (necessary) adaptation of the mirror position during driving through a narrow position can be provided to the driver of the vehicle.

[0023] Finally, it may also be advantageous in this case if the narrow position assistance system is also designed to receive the mirror position of at least one exterior mirror and to output a suggestion for adjusting at least one exterior mirror as a function of the mirror position and / or as a function of at least one obstacle and / or as a function of the narrow position by means of a display device. Thus, as already explained, it may be possible to suggest to the vehicle driver to fold up at least one exterior mirror of the vehicle. This ensures that the narrow position can be driven through without collision. It is particularly advantageous here that driving through the narrow position is only possible when the exterior mirrors are folded.

[0024] The method for operating a narrow position assistance system for a vehicle according to the invention comprises receiving environmental data from an environmental sensor of the vehicle, wherein the environmental data comprises at least image data and describes the environment of the vehicle. In addition, the method for operating a narrow position assistance system comprises detecting a narrow position in the environmental data, wherein the narrow position is described by at least one obstacle in the environment, which obstacle is at least partially located within a predetermined distance from the driving path of the vehicle. Finally, the method for operating a narrow position assistance system comprises showing the image data and the driving path projected into the image data. In this case, a partial projection of the vehicle at the future position is shown, wherein the partial projection comprises at least one component group of the vehicle.

[0025] Furthermore, the invention comprises a computing device for a vehicle, which is designed to carry out the method according to the invention and its advantageous embodiments. For example, the computing device can be designed as an electronic control unit including one or more programmable processors.

[0026] The computer-readable storage medium according to the invention comprises commands which, when executed by a computing device, cause the computing device to carry out the method according to the invention and its advantageous embodiments.

[0027] A further aspect of the invention relates to a computer program which comprises commands which, when the program is executed by a computing device, cause the computing device to carry out the method according to the invention and its advantageous embodiments.

[0028] The preferred embodiments and advantages mentioned with reference to the narrow position assistance system according to the invention apply accordingly to the method according to the invention. Furthermore, the preferred embodiments and advantages mentioned with reference to the narrow position assistance system according to the invention also apply to the computing device according to the invention, the computer program according to the invention and the computer-readable storage medium according to the invention.

[0029] Further features of the invention are obtained from the claims, the drawings and the description of the drawings. Without departing from the scope of the invention, the features and feature combinations mentioned above in the description and the features and feature combinations mentioned later in the description of the drawings and / or shown only in the drawings can be used not only in the respectively specified combination but also in other combinations or alone. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will now be explained with the aid of preferred exemplary embodiments and with reference to the accompanying drawings.

[0031] Figure 1 shows a schematic diagram of a vehicle including a narrow position assistance system,

[0032] Figure 2ashows a schematic diagram of a vehicle when navigating a narrow spot, and

[0033] Figure 2b Shown in accordance with Figure 2a Schematic representation of the display system of the Narrow Space Assist when maneuvering through narrow spaces.

[0034] In the figures, identical or functionally identical elements are provided with the same reference symbols. DETAILED DESCRIPTION

[0035] Figure 1 The schematic diagram of a vehicle 1 , shown here as a passenger car, is shown in a top view. The vehicle 1 comprises a narrow spot assistance system 2 . The narrow spot assistance system 2 in turn comprises a computing device 3 , a display device 4 and an environment sensor 5 .

[0036] In addition, the narrow space assistance system also includes a camera 6 as an additional surroundings sensor. Figure 1 An exterior rear view mirror 7 is also schematically shown.

[0037] The computing device 3 can receive environmental data from an environmental sensor 5. The environmental data of the environmental sensor 5 of the vehicle 1 in turn include image data of a camera 6. The environmental data can describe an environment 8 of the vehicle 1. With the aid of the computing device, narrow locations 9 can be detected in the environmental data of the environmental sensor 5 or the camera 6. The image data of the camera 6 can be displayed with the aid of the display device 4. In addition, the driving path 10 can be projected into the image data. In other words, the image of the camera 6 can be displayed with the aid of the display device 4, wherein in addition, the driving path 10 can be projected into the image, i.e., into the image of the camera 6.

[0038] The mirror position, ie the orientation of the exterior mirror 7, can influence the driving path 10. For example, the driving path 10 can be narrower when the exterior mirror 7 is folded. The computing device 3 can receive the mirror position of the exterior mirror 7. As a result, the correct driving path 10 can always be determined.

[0039] In addition, a partial projection 11 of the vehicle 1 can be projected into the image by means of the display device 4. The partial projection 11 can be, for example, a group of components of the vehicle 1. Thus, in the image data, only the exterior mirror 7 can be shown, for example, as a partial projection 11 of the vehicle 1. However, it is also possible to project the entire vehicle 1 into the image data as a partial projection 11 (see Figure 2b ).

[0040] Figure 2a 1 shows a schematic diagram of a vehicle 1 when driving through a narrow location 9. The narrow location 9 can be characterized by at least one obstacle 12 in the environment 8 of the vehicle 1. The at least one obstacle 12 can be, for example, a guardrail, a tree, a stone, a road boundary wall (e.g. Figure 2aAs shown) etc. Figure 2a In FIG. 1 , the travel path 10 is shown simply as hatched. In this case, the travel path 10 includes the two exterior mirrors 7 of the vehicle 1 . In the area 13 , it can be seen that a collision of the vehicle 1 with at least one obstacle 12 is about to occur. By folding in the right exterior mirror 7 , the travel path 10 can be reduced in its width. Figure 2a This is indicated by the omission of the densely hatched area 10 ′. This makes it possible for the vehicle 1 to pass through a narrow spot 9 .

[0041] The boundary of driving path 10 is Figure 2a It is indicated by the dot-dash lines 1011 and 101r.

[0042] Figure 2b 1 shows a schematic diagram of a display device 4, wherein image data of a camera 6 are displayed by means of the display device 4. Furthermore, the travel path 10 of the vehicle 1 can be projected into the image data 14. It is also conceivable that only the boundaries 1011 and 101r of the travel path 10 are projected into the image data 14 (e.g. Figure 2b Furthermore, a partial projection 11 of the vehicle 1 at a future position, in particular at a narrow spot 9 , can additionally be shown in the image data 14 .

[0043] Here, Figure 2b Schematically shows Figure 2a The narrow space assistance system 2 can be designed to output a warning indication 15 by means of the display device 4. The warning indication 15 can be, for example, a visual change of the displayed partial projection 11 of the vehicle 1. The visual change Figure 2b In addition, the warning indication 15 output by means of the display device 4 may include a changing color representation of the outer boundary of the driving path 10. Figure 2b In FIG. 1 , the changing color representation of the outer boundary 101 r of the driving path 10 , in contrast to the outer boundary 101 l of the driving path 10 , is shown by a dashed line.

[0044] Even when Figure 2b In the case where the schematic diagram of the display device 4 shows a static situation, the narrow spot assistance system 2 can generally also be designed to animate the partial projection 11 of the vehicle 1 displayed by means of the display device 4. In this case, it is particularly conceivable that the partial projection 11 is animated so that the driver of the vehicle 1 has the impression that the partial projection 11 of the vehicle 1 is driving through the narrow spot 9.

Claims

1. A narrow position assistance system (2) for a vehicle (1), the narrow position assistance system being designed to: - receiving, by means of a computing device (3), environmental data from an environmental sensor (5) of the vehicle (1), the environmental data comprising at least image data and describing an environment (8) of the vehicle (1), - detecting narrow locations (9) in the environmental data by means of the computing device (1), wherein: The narrow location (9) is described by at least one obstacle (12) in the environment (8), the obstacle being at least partially located within a predetermined distance from a travel path (10) of the vehicle (1), and - displaying the image data and the travel path (10) projected into the image data by means of a display device (4), It is characterized in that - additionally showing a partial projection (11) of the vehicle in a future position by means of the display device (4), wherein the partial projection (11) includes at least one component group of the vehicle (1).

2. The narrow position assistance system (2) according to claim 1, characterized in that The future position of the partial projection (11) of the vehicle (1) shown by means of the display device (4) is arranged substantially within the driving path (10) and in the area around the narrow spot (9).

3. The narrow position assistance system (2) according to claim 2, characterized in that: The narrow spot assistance system (2) is further designed to display in an animated manner a partial projection (11) of the vehicle (1) displayed by means of the display device (4).

4. The narrow position assistance system (2) according to any one of the preceding claims, characterized in that The narrow spot assistance system (2) is further designed to output a warning indication (15) by means of the display device (4) depending on the at least one obstacle (12) and / or depending on the narrow spot (9).

5. The narrow position assistance system (2) according to claim 4, characterized in that The warning indication (15) output by means of the display device (4) comprises a visual change of a displayed partial projection (11) of the vehicle (1).

6. The narrow position assistance system (2) according to claim 4 or 5, characterized in that The warning indication (15) outputted by means of the display device (4) comprises a changing color representation of an outer boundary (101l, 101r) of the driving path (10).

7. The narrow position assistance system (2) according to any one of the preceding claims, characterized in that The partial projection (11) of the vehicle (1) displayed by means of the display device (4) comprises at least one exterior mirror (7) as at least one component group of the vehicle (1).

8. The narrow position assistance system (2) according to claim 7, characterized in that The narrow position assistance system (2) is also designed to receive the mirror position of the at least one exterior rearview mirror (7) and to output a warning indication (15) by means of the display device (4) based on the mirror position.

9. The narrow position assistance system (2) according to claim 7 or 8, characterized in that The narrow position assistance system (2) is also designed to receive the mirror position of the at least one exterior rearview mirror (7) and to output, by means of the display device (4), a recommendation for adjusting the at least one exterior rearview mirror (7) according to the mirror position and / or according to the at least one obstacle (12) and / or according to the narrow position (9).

10. A method for operating a narrow position assistance system (2) of a vehicle (1), comprising the following steps: - receiving environmental data from an environmental sensor (5) of the vehicle (1), wherein the environmental data comprises at least image data and describes an environment (8) of the vehicle (1), - detecting a narrow location (9) in the environmental data, wherein the narrow location (9) is described by at least one obstacle (12) in the environment (8), the obstacle being at least partially located within a predetermined distance from a travel path (10) of the vehicle (1), and - showing the image data and the travel path (10) projected into the image data, It is characterized in that - a partial projection (111) of the vehicle (1) at the future position is shown, wherein The partial projection (11) includes at least one component group of the vehicle (1).

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