Method for operating commercial vehicle driver assistance system

Abstract

The invention relates to a method for operating a driver assistance system (40) of a commercial vehicle (10) having two wheels (22, 24) pivotably mounted on a front axle (12), an environment (44) of the commercial vehicle (10) being detected by means of at least one detection device (42) of the driver assistance system (40), during a parking point (56), a parking operation (58) or a turning operation (60) of the commercial vehicle (10), one of the wheels (22, 24) is braked by a braking intervention (50) generated by a braking device (48) of the commercial vehicle (10) when a collision (64) with an object (66) which is designed separately from the commercial vehicle (10) and is located in the environment (44) is detected using the detection device (42), the wheels (22, 24) pivot due to the braking intervention (50) in order to prevent a collision (64) of the commercial vehicle (10) with the object (66).

Description

Technical Field

[0001] The invention relates to a method according to claim 1 for operating a driver assistance system for a commercial vehicle having two wheels which are pivotably mounted on a front axle. Background Art

[0002] DE 10 2016 006 466 A1 discloses a method for changing the steering angle of a motor vehicle, wherein two steering wheels of an axle of the motor vehicle are connected via a steering mechanism, which predetermines the wheel angle of the steering wheel around the vertical axis of the motor vehicle as a function of the steering angle, and wherein at least one braking intervention is performed via a motor vehicle braking device such that the braking intensity of one of the braked steering wheels is greater than that of the other steering wheel.

[0003] In addition, US Pat. No. 7,318,629 B1 discloses a turning control system for a four-wheel vehicle, wherein the vehicle has a steering wheel and two of the wheels are steered by the steering wheel. Summary of the invention

[0004] The object of the present invention is to provide a method for operating a driver assistance system of a commercial vehicle having two wheels pivotably mounted on a front axle, which makes it possible to significantly increase the safety of the commercial vehicle at particularly low cost.

[0005] This object is achieved according to the invention by a method for operating a driver assistance system for a commercial vehicle having two wheels pivotably mounted on a front axle, having the features of claim 1. Advantageous embodiments with suitable inventive developments are described in the dependent claims.

[0006] The invention relates to a method for operating a driver assistance system for a commercial vehicle having at least two wheels, which are mounted on the front axle so as to be pivotable, in particular about respective pivot axes. The commercial vehicle is designed, for example, as a public transport vehicle, in particular as a minibus or a passenger bus. Alternatively, the commercial vehicle is designed, for example, as a truck, in particular as a tractor locomotive. For example, the commercial vehicle is a tractor locomotive / articulated truck. A tractor locomotive can be, in particular, a vehicle train consisting of a tractor locomotive and a tractor semitrailer, in particular a semitrailer.

[0007] The commercial vehicle has a front axle in its manufactured state. The commercial vehicle preferably has at least one rear axle which is constructed separately from the front axle. The front axle is arranged in front of the rear axle in the vehicle longitudinal direction of the commercial vehicle. The wheels can rotate about their respective wheel rotation axes, in particular relative to the frame of the commercial vehicle. The respective wheels can in particular be respective ground-contacting members of the commercial vehicle. The wheels are preferably supported on the frame of the commercial vehicle, in particular in the vehicle vertical direction of the commercial vehicle, via the front axle. The wheels are preferably spaced apart from each other in the vehicle transverse direction of the commercial vehicle. For example, the first wheel is designed as the left wheel of the commercial vehicle, and the second wheel is designed as the right wheel of the commercial vehicle, for example.

[0008] The wheels are arranged on the front axle so as to be pivotable / swingable / rotatable about respective pivot / swing / rotation axes, especially relative to the commercial vehicle frame, in particular in order to realize the turning or changing of the commercial vehicle. The pivoting / swinging / rotation of respective wheels can generate respective steering angles, in particular to realize the turning or changing of the commercial vehicle. The respective steering angles can especially refer to respective deflections or respective rotation angles of respective wheels with respect to the longitudinal direction of the commercial vehicle. The direction of the rotation axis is preferably at least substantially inclined or perpendicular to the respective wheel rotation axis. For example, the rotation axis extends at least substantially in the vertical direction of the vehicle. For example, the direction of the rotation axis is inclined or perpendicular to the vehicle transverse direction and / or the vehicle longitudinal direction of the commercial vehicle, wherein the rotation axis can be inclined according to the castor angle and / or the camber angle of the respective wheels. For example, the respective wheel rotation axis extends at least substantially in the vehicle transverse direction.

[0009] In the method, the environment of the commercial vehicle is detected by means of a detection device of a driver assistance system, in particular of the commercial vehicle. In other words, the environment of the commercial vehicle is ascertained and / or monitored by means of the detection device.

[0010] The environment of the commercial vehicle includes, for example, at least one road. The road may include, for example, at least one lane. A lane may be, in particular, a road section, for example marked by corresponding markings or bounded by them, on which the commercial vehicle travels in the direction of travel.

[0011] For example, the speed of the commercial vehicle, in particular the current speed, is detected by means of a second detection device of the commercial vehicle that is configured separately from the detection device. In other words, the speed of the commercial vehicle, in particular the current speed, is determined and monitored by means of the second detection device.

[0012] The detection device is designed to detect an impending collision with at least one object that is separate from the commercial vehicle and is in the environment. This means that the impending collision with the object can be detected at least partially, in particular completely, by means of the detection device. For example, at least one parameter characterizing the object can be detected by means of the detection device. Therefore, the at least one parameter characterizing the object can be detected by means of the detection device. For example, the parameter characterizing the object measured by means of the detection device is transmitted to an electronic computing device of a driver assistance system, in particular of a commercial vehicle, in particular that is separate from the detection device. For example, the impending collision with the object is determined, in particular calculated, by means of the electronic computing device based on the transmitted parameters. This means, for example, in particular by means of the electronic computing device, whether a collision with the object is imminent (i.e., it is highly likely to occur) or whether a collision with the object will not occur is ascertained, in particular predicted.

[0013] In order to be able to significantly increase the safety of the commercial vehicle at particularly low cost, it is provided that when the commercial vehicle is approaching a parking spot, a parking maneuver or a turning maneuver, when an imminent collision with at least one object in the environment which is separate from the commercial vehicle is detected, in particular determined, by means of a detection device, in particular an electronic computing device, one of the wheels is braked, in particular in a targeted manner, by a braking intervention performed by the commercial vehicle's brake device. This means that when an imminent collision with an object is detected, in particular determined, by means of a detection device, in particular an electronic computing device, one of the wheels is braked, in particular in a targeted manner, by a braking intervention performed by the brake device during approaching a parking spot, performing a parking maneuver or a turning maneuver, i.e., during approaching a parking spot, performing a parking maneuver or a turning maneuver, the commercial vehicle is braked, in particular in a targeted manner, by a braking intervention performed by the brake device. In other words, when approaching a parking spot, a parking maneuver or a turning maneuver is detected by means of the detection device, in particular by means of an electronic computing device, and when an imminent collision with an object is detected by means of the detection device, in particular an electronic computing device, one of the wheels is braked by means of a braking intervention performed by the commercial vehicle's brake device. Since the wheels are braked by the braking intervention implemented by the commercial vehicle braking device, the wheels are rotated in particular about the rotation axis due to the braking intervention in order to avoid a collision between the commercial vehicle and an object. In other words, one of the wheels is braked in particular purposefully by the braking intervention implemented by the commercial vehicle braking device in such a way that the wheels are rotated in particular about the respective rotation axis due to the braking intervention in order to avoid a collision between the commercial vehicle and an object. This means that by braking the wheels, both wheels can be rotated in particular about the respective rotation axis, thereby avoiding or preventing a collision between the commercial vehicle and an object. In other words, when a parking spot, a parking maneuver or a turning maneuver is recognized and an imminent collision with an object is detected, the steering angle at one of the wheels on the front axle of the commercial vehicle is adjusted by the braking intervention in order to prevent a collision between the commercial vehicle and the object.

[0014] This means in particular that by means of a braking intervention on one of the wheels on the front axle, a torque (in particular referred to as a steering torque) can be generated for rotating the wheel about the respective axis of rotation, thereby changing the current corresponding steering angle. As a result, the current driving direction of the commercial vehicle can be influenced or changed. This means that the commercial vehicle can be turned. Therefore, in the method, during a parking stop, a parking maneuver or a turning maneuver, the steering angle can be adjusted by means of one or more single-wheel braking interventions on the front wheels of the commercial vehicle, thereby preventing a collision with an object. In other words, the inward rotation of the wheel, in particular the front wheel, can be achieved by a unilateral braking intervention on the front axle. "Preventing a collision between a commercial vehicle and an object" can in particular mean that by changing or influencing the driving direction of the commercial vehicle and / or by changing the direction of the commercial vehicle, a collision between the commercial vehicle and an object can be prevented. Therefore, the commercial vehicle can, for example, avoid or bypass the object due to the braking intervention. The braking device can in particular be referred to as a braking system.

[0015] The object is, for example, an object, in particular another vehicle or a road shoulder which is configured separately from the commercial vehicle. Alternatively, the object is, for example, a person.

[0016] Stopping at a parking spot can refer in particular to a driving maneuver of a commercial vehicle, in particular a parking maneuver, wherein during stopping at a parking spot, the commercial vehicle approaches a parking spot and in particular stops at the parking spot, i.e. slows down until the commercial vehicle stops. A parking spot can refer in particular to a specified destination point or parking space on a predetermined driving route of the commercial vehicle. In particular when the commercial vehicle is designed, for example, as a passenger bus or minibus, the stopping spot can be, for example, a bus stop.

[0017] A parking operation can particularly refer to a commercial vehicle parking process. A parking process can particularly be referred to as a parking process. This particularly means that the commercial vehicle is parked or parked at a specified destination during a parking operation, for example.

[0018] A turning maneuver may in particular refer to a turning of a commercial vehicle. A turning may in particular refer to a change of direction of travel of a commercial vehicle at a crossroad and / or road junction, such as a left turn or a right turn. A crossroad or road junction may in particular refer to a highway intersection, in particular a lane intersection.

[0019] For example, it is provided that when an imminent collision with an object is detected during parking at a parking spot, a parking maneuver or a turning maneuver, one of the wheels is braked, in particular by a braking intervention by the commercial vehicle's brake system, in such a way that the wheel is rotated, in particular about the respective rotation axis, as a result of the braking intervention, in order to at least perform a lane correction function. In the lane correction function, the commercial vehicle, for example, maintains its lane or returns to its initial lane.

[0020] The present invention is based in particular on the following recognition and consideration: In conventional methods or conventional steering systems, in particular with hydraulic assistance, it is not possible to set the steering angle, in particular for active driver assistance systems. For example, in conventional methods or conventional steering systems, the steering drive can be equipped with, in particular, an additional electric motor, which allows active steering adjustment. However, the electric motor can usually be an additional component here, which can have an adverse effect on the costs, weight, structural space and maintenance of the commercial vehicle. Alternatively, in conventional methods, for example, a yaw moment can be generated, in particular in the non-steered axle of the commercial vehicle, by a unilateral braking intervention, in particular without adjusting the steering angle. However, for commercial vehicles, in particular very long or heavy commercial vehicles, this only results in a small change of direction of the commercial vehicle due to the yaw moment.

[0021] Therefore, in the method of the present invention, direct steering adjustment can be achieved by braking intervention, especially single-wheel braking device, that is, the steering angle can be directly adjusted. Here, the steering angle can be set by braking intervention at the pivot of each, especially the steering axis, especially by a sufficiently large or large steering rolling radius of the steering axis. The steering rolling radius can play the role of a lever arm here, and a steering torque can be generated on the steering axis by combining with the braking force on the wheel, especially on one side. In this way, the safety of commercial vehicles can be significantly improved at a low cost, especially without adding additional components. Here, for commercial vehicles that may be difficult to judge due to their size and / or have a particularly unclear field of vision, their safety can be significantly improved, especially by active safety functions, especially in parking and / or parking operations and / or turning operations. In addition, especially compared with commercial vehicles without driver assistance systems or with significantly limited driver assistance systems, the comfort of commercial vehicles can be significantly improved by the method of the present invention, especially for commercial vehicle drivers.

[0022] When stopping at a parking spot, damage to the tires, for example caused by contact with the curb, can be prevented, in particular on the side of the commercial vehicle facing the parking spot. The service life of the respective tires of the respective wheels can thereby be extended in particular. In addition, when stopping at a parking spot, the gap between the curb and the commercial vehicle (for example designed as a bus) can be kept very small, so that passengers can get on and off the vehicle particularly easily and particularly safely. At the same time, the gap can be kept very small and tire damage can be avoided.

[0023] For commercial vehicles, in particular when they are large, manual parking and in particular maneuvering, in particular with trailers, can be very difficult for the commercial vehicle driver. This can, for example, lead to correspondingly long correction runs and / or clutch wear and / or tire wear. With the aid of the method according to the invention, the time period required to perform the parking maneuver can therefore be kept short. In addition, clutch wear and / or tire wear can be avoided or significantly reduced, so that, in particular by avoiding unnecessary correction runs, the service life of the commercial vehicle clutch and / or tire service life can be significantly extended, in particular in the case of a three-axle semitrailer assembly.

[0024] For example, for very long commercial vehicles, especially commercial vehicles with semi-trailers, when turning, the commercial vehicle driver must pay special attention to the rear axle entering the bend to avoid, for example, a collision. Therefore, the method of the present invention can be used to make the rear axle enter the bend more safely, especially to avoid collisions with objects. For very long commercial vehicles, for example, a large swing back is required when turning. Here, the method of the present invention can be used to reliably avoid collisions with objects (such as those located in front, especially on the outside of the bend) caused by the large swing back. Especially when the commercial vehicle has a very long rear overhang, for example, when turning, especially when the steering angle is large, the rear end of the commercial vehicle may swing greatly. Here, the method of the present invention can be used to reliably avoid collisions with objects, especially when the steering angle is large. Especially when the commercial vehicle has a semi-trailer, during the turning process, especially when the steering angle is particularly large, the front outer edge of the semi-trailer, especially the trailer, may greatly exceed the tractor head in the vehicle transverse direction. With the method of the present invention, collisions between the front outer edge of the semi-trailer and objects can be reliably avoided.

[0025] In summary, the method according to the invention can be used to implement assistance functions for parking at a parking spot and / or a parking maneuver and / or a turning maneuver in order to prevent a collision of the commercial vehicle with an object.

[0026] For example, the auxiliary function can be realized without adding additional components (such as a steering drive with an electric motor). This means that, for example, an active steering drive can be abandoned. This makes it possible to keep the cost of commercial vehicles very low, for example. In addition, the commercial vehicle structure space can be designed very advantageously, in particular, the commercial vehicle structure space can be kept compact. Therefore, for example, the safety of commercial vehicles can be significantly improved at a low cost. Alternatively or additionally, for example, for functions with particularly high steering torque requirements, an additional electric motor for an active steering drive can be provided, wherein the size of the additional electric motor can be set very small. By using a small electric motor, advantages can be achieved in terms of cost and / or weight and / or structural space of the commercial vehicle. In addition, the requirements for the functional safety of commercial vehicles can be met very reliably. In addition, for example, the development expenditure of commercial vehicles can be significantly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Further advantages, features and details of the invention are obtained from the following description of preferred embodiments and in conjunction with the drawings. The features and feature combinations mentioned above in the description and the features and feature combinations mentioned below in the description of the drawings and / or shown individually in the drawings can be used not only in the respectively indicated combination but also in other combinations or individually without exceeding the scope of the invention, wherein:

[0028] Figure 1 A schematic partial view of a commercial vehicle designed to carry out the method according to the invention is shown,

[0029] Figure 2 A schematic top view of a commercial vehicle designed to perform the method of the present invention is shown, for indicating parking at a parking spot,

[0030] Figure 3 A schematic top view of a commercial vehicle designed to carry out the method according to the invention is shown for illustrating a parking operation,

[0031] Figure 4 A schematic top view of a commercial vehicle designed to perform the method according to the invention is shown to illustrate a cornering operation,

[0032] Figure 5 A schematic top view of a commercial vehicle designed to perform the method according to the invention is shown to illustrate a cornering operation,

[0033] Figure 6 A schematic top view of a commercial vehicle designed to perform the method according to the invention is shown to illustrate a cornering operation,

[0034] Figure 7 A schematic top view of a commercial vehicle designed to carry out the method according to the invention is shown in order to illustrate a cornering maneuver.

[0035] In the figures, identical or functionally identical components are provided with the same reference symbols. DETAILED DESCRIPTION

[0036] Figure 1 A commercial vehicle 10 is shown in a partially sectional schematic diagram, which is designed as a public transport vehicle (especially a bus) or a truck (especially a semitrailer / saddle tractor head). The commercial vehicle 10 has a front axle 12 and a rear axle 16 spaced apart from the front axle 12 in the longitudinal direction 14 of the vehicle.

[0037] Two wheels 22, 24 are mounted on the front axle 12 and can rotate about respective rotation axes 18, 20, in particular relative to the frame or body of the commercial vehicle 10. This means that the first wheel 22 can rotate about its first rotation axis 18 and the second wheel 24 can rotate about its second rotation axis 20. The wheels 22, 24 are thus designed as front wheels of the commercial vehicle 10. The wheels 22, 24 can rotate about their respective wheel rotation axes, in particular relative to the frame or body. Figure 1 In the exemplary embodiment shown, further wheels 26 , 28 , 30 , 32 are arranged on the rear axle 16 in addition to the wheels 22 , 24 , which wheels may be referred to in particular as rear wheels.

[0038] The commercial vehicle 10 has a steering handle 34 which is provided for, in particular, manually realizing a turn or a change of direction of the commercial vehicle 10. The steering handle 34 is Figure 1 In the embodiment shown, the steering wheel is designed, which can be rotated by the driver of the commercial vehicle 10 about a rotation axis 36, in particular relative to the frame or body of the commercial vehicle 10. The steering handle 34 is rotated in Figure 1 38. The steering handle 34 is preferably connected to the wheels 22, 24, in particular mechanically, in such a way that the wheels 22, 24 can be rotated about the respective axis of rotation 18, 20, in particular by turning the steering handle 34 manually. In this way, the respective wheel 22, 24 can be rotated about the respective axis of rotation 18, 20, for example, from a respective first position to a respective second position that is different from the respective first position. In this way, a respective steering angle of the respective wheel 22, 24 can be generated, which can be referred to in particular as a wheel steering angle.

[0039] The commercial vehicle 10 has at least one driver assistance system 40 . The commercial vehicle 10 is designed to carry out a method for operating the driver assistance system 40 .

[0040] The commercial vehicle 10 or the driver assistance system 40 has at least one detection device 42, by means of which an environment 44 of the commercial vehicle 10 can be or will be detected. For example, the commercial vehicle 10 or the driver assistance system 40 has at least one electronic computing device 46. For example, at least one parameter characterizing the environment 44 is detected by means of the detection device 42, and the parameter is transmitted from the detection device 42 to the electronic computing device 46. For example, the environment 44 of the commercial vehicle 10 is monitored by means of the electronic computing device 46 based on the parameter characterizing the environment 44 of the commercial vehicle 10 transmitted to the electronic computing device 46. Figure 1 In the illustrated embodiment, a plurality of detection devices 42 are provided, which are designed to detect an environment 44. For example, one of the detection devices 42 is designed as an optical detection device 42, in particular a camera. For example, one of the detection devices 42 is designed as a radar sensor, in particular a long-range radar sensor.

[0041] Figure 2The commercial vehicle 10 is shown in a schematic top view in order to illustrate the parking spot 56 . Figure 3 The commercial vehicle 10 is shown in a schematic top view in order to illustrate a parking maneuver 58 . Figure 4 , Figure 5 , Figure 6 and Figure 7 The commercial vehicle 10 is shown in a schematic top view in order to illustrate the corresponding turning maneuver 60. Figure 2 and Figure 4-7 A road 62 is shown in each case, on which a commercial vehicle 10 is located.

[0042] In order to be able to significantly increase the safety of the commercial vehicle 10 at particularly low cost, it is provided that during the parking stop 56, parking maneuver 58 or turning maneuver 60 of the commercial vehicle 10, when an imminent collision 64 with an object 66 which is separate from the commercial vehicle 10 and is located in the environment 44 is detected by means of the detection device 42, in particular by means of the electronic computing device 46, a braking intervention 50 is implemented by means of the braking device 48 of the commercial vehicle 10, in particular one of the wheels 22, 24 is braked in a targeted manner, so that the wheel 22, 24 is rotated / pivoted / swiveled due to the braking intervention 50, in order to prevent the collision 64 of the commercial vehicle 10 with the object 66. This means that a braking force 51, in particular a one-sided braking force, is generated by means of the braking device 48 on one of the wheels 22, 24, which, in combination with a lever arm 52 assigned to the respective wheel 22, 24, causes the wheel 22, 24 to rotate, in particular about the respective axis of rotation 18, 22.

[0043] exist Figure 1 In the exemplary embodiment shown, the second wheel 24 is braked by the braking intervention 50. The wheels 22, 24 are preferably connected to one another, in particular mechanically, in such a way that by the braking intervention 50 one of the wheels 24 (for example the second wheel 24) is rotated, thereby causing the other wheel 22 (for example the first wheel 22) to rotate. In other words, by means of the braking force 51 and the lever arm 52, a torque, in particular referred to as a steering torque, can be generated on the front axle 12, so that the wheels 22, 24 rotate / pivot / swing. By means of the rotation of the wheels 22, 24, a final front axle steering angle 54 can be generated, by means of which a change in the driving direction of the commercial vehicle 10 can be achieved, which is in particular referred to as a change of direction or a change of driving direction. A change of direction can in particular refer to a direction adjustment.

[0044] By means of the change of direction, an impending collision 64 of the commercial vehicle 10 with an object 66 can be avoided. In the method, the steering angle can therefore be adjusted by at least one single-wheel braking intervention, in particular a plurality of single-wheel braking interventions, on the front axle 12, so that at least one lane correction function is implemented. This means that the direction of travel of the commercial vehicle 10 can be controlled by means of the driver assistance system 40 or by means of the brake device 48. This can in particular increase the safety of the commercial vehicle 10. Thus, for example, accidents of the commercial vehicle 10 can be avoided. In addition, for example, the provision of electric motors for rotating / pivoting / swinging the wheels 22, 24 can be dispensed with, so that the outlay and costs of the commercial vehicle 10 can be kept low.

[0045] The lever arm 52 may in particular be the steering roll radius of the front axle 12. The steering roll radius may in particular be referred to as the steering radius. The respective steering angle may in particular be actively influenced by the brake intervention 50 depending on the function of the driver assistance system 40. The braking force 51 may in particular be the force acting between the respective wheel 22, 24 and the road 62, which is generated by the brake intervention 50.

[0046] For example, an impending collision 64 can be determined by means of the electronic computing device 46. This means that, for example, at least one parameter characterizing the impending collision 64 can be determined by means of the detection device 42 and transmitted to the electronic computing device 46, wherein the impending collision 64 with the object 66 can be determined, in particular calculated, by means of the electronic computing device 46 based on the transmitted parameter.

[0047] For example, it is provided that the wheels 22, 24 are mechanically connected to a steering handle 34 that is rotatable about a rotation axis 36 and is provided for manually realizing a turn or a change of direction of the commercial vehicle 10, in particular, in such a way that one of the wheels 22, 24 (for example, the second wheel 24) is rotated due to the brake intervention 50, which causes the steering handle 34 to rotate about the rotation axis 36. This means that by, in particular, manually rotating the steering handle 34, the wheels 22, 24 can be rotated / pivoted / swiveled, and the rotation / pivoting / swiveling of the wheels 22, 24 can in turn cause the steering handle 34 to rotate. Therefore, the rotation of the wheels 22, 24 and the rotation of the steering handle 34 can be realized by the brake intervention 50. Therefore, the driver can be given intuitive feedback. As a result, the safety of the commercial vehicle 10 can be significantly improved.

[0048] Preferably, provision is made that, when an imminent collision 64 with an object 66 is detected by means of the detection device 42, the driver of the commercial vehicle 10 is warned haptically by means of the steering handle 34 connected to the wheels 22, 24, by braking by means of a second braking intervention 68 performed by the brake device 48 of the commercial vehicle 10. In this way, for example, the steering handle 34 connected to the wheels 22, 24 is rotated about the axis of rotation 36 of the steering handle 34 to achieve a haptic warning. In this way, the driver can be warned very safely, so that the driver can, in particular, actively steer the commercial vehicle 10 by means of the steering handle 34, for example manually, in order to avoid, for example, an imminent collision 64 with the object 66. In this way, the safety of the commercial vehicle 10 can be significantly increased. For example, the haptic warning prompts the driver to concentrate again or to be very focused and to avoid the collision 64 with the object 66 on his own, so that, for example, active intervention by means of the driver assistance system 40 is not even necessary. In particular, an intuitive and effective haptic warning can be generated by means of the steering handle 34, preferably without additional electronic devices.

[0049] The haptic warning may be, for example, a particularly brief steering pulse, ie, for example, a twitch of the steering handle 34. The steering pulse is preferably triggered by the second braking intervention 68. The steering handle 34 does not necessarily have to be turned by the steering pulse.

[0050] With the haptic warning, for example, other warning devices, such as seat vibration motors in vehicle seats, can be omitted. This can significantly reduce the costs, especially the manufacturing costs and / or development costs and / or weight and / or installation space of the commercial vehicle 10, for example.

[0051] Second braking intervention 68 may be performed, for example, before braking intervention 50 and / or after braking intervention 50 and / or during braking intervention 50 (ie, for example superimposed on braking intervention 50 ).

[0052] Furthermore, the direct effect of the braking intervention 50 on the steering of the commercial vehicle 10 (in particular the rotation of the steering handle 34) is not disturbed by the steering servo-assist function, in particular because the forces are transmitted from below by the respective wheels 22, 24 into the steering, in particular into the steering handle 34.

[0053] In addition, the intensity with which the steering device (particularly the rotation of the steering handle 34) is affected can or will be limited in such a way that the driver can easily override the rotation of the steering handle 34 and change direction, particularly when the driver does not wish to change direction. In other words, the change direction can preferably be overridden by the driver, particularly by the hand force exerted by the driver on the steering handle 34.

[0054] Preferably, provision is made for a steering servo-assist function to be provided in the case of an override. This is, for example, because the force input is effected via the steering handle 34. The method or driver assistance system 40 can thus be incorporated, for example, particularly cost-effectively into a steering servo-assist system, particularly as standard, without, on the one hand, affecting the wheel-side steering intervention of the servo-assist system, and, on the other hand, particularly usually by the servo-assist function, reinforcing the steering intervention by the driver, so that the wheel-side steering intervention can be easily overridden by the driver. The steering effect of the assistance function can thus be very effectively demonstrated, particularly without the need for additional electronic actuation intervention possibilities.

[0055] The object 66 is, for example, another vehicle, in particular a motor vehicle, which is designed to be separate from the commercial vehicle 10, ie different from the commercial vehicle 10. Alternatively, the object 66 may be, for example, a person or a road shoulder 70.

[0056] like Figure 2 As shown, in another embodiment of the present invention, it is provided that during the process of stopping at a parking spot 56, a steering assistance to drive to the shoulder of the road 70 is achieved by the brake intervention 50. This means that the driver assistance system 40 includes, for example, a steering assistance to drive to the shoulder of the road 70 of the parking spot for stopping at the parking spot 56. In other words, the commercial vehicle 10 is purposefully turned to a predetermined position, in particular a position called a parking space, which is, for example, located at the parking spot by the brake intervention 50. Therefore, the steering during the stopping at the parking spot 56 can be achieved by the brake intervention 50. It is thus possible to avoid hitting the shoulder of the road 70. In addition, the commercial vehicle 10, which is designed in particular as a bus, can be driven into the parking spot very reliably. In addition, the comfort of the commercial vehicle 10 can be significantly improved, because, for example, it is possible to drive to the shoulder of the road 70 particularly cost-effectively, in particular particularly accurately and / or particularly safely.

[0057] Thus, for example, an impending collision 64 with a road shoulder 70 as object 66 can be detected by means of the detection device 42 . Figure 2 A movement trajectory 72 of commercial vehicle 10 is shown, wherein movement trajectory 72 is purposefully adjusted or influenced due to braking intervention 50 in order to avoid collision 64 with object 66 or to purposefully drive toward a curb 70 or a parking spot. A movement trajectory may be, in particular, a trajectory curve.

[0058] like Figure 3 As shown, in another design, it is provided that the commercial vehicle 10 performs at least one maneuvering / adjusting operation 74 during the parking maneuver 58. The maneuvering / adjusting operation 74, for example, at least includes reversing of the commercial vehicle 10, in particular turning backward. Therefore, the driver assistance system 40 can include a maneuvering function, for example. The maneuvering / adjusting operation 74 can be referred to as a maneuvering process, in particular.

[0059] By means of the brake intervention 50, the commercial vehicle 10 can be steered during the parking maneuver 58, in particular during the maneuvering maneuver 74. In this case, the driver can be in the commercial vehicle 10, in particular in the driving seat, or the driver can be absent from the commercial vehicle 10, i.e. the commercial vehicle 10 can perform the parking maneuver 58, in particular the maneuvering / maneuvering maneuver 74, for example by remote control.

[0060] exist Figure 3 In the exemplary embodiment shown, a collision 64 with another vehicle as a corresponding object 66 can be avoided by the brake intervention 50 during the parking maneuver 58, in particular the maneuvering / adjusting maneuver 74. Although the yaw moment generated by the brake intervention 50 acting on the commercial vehicle 10 can counteract the steering effect generated by the rotation of the wheels 22, 24, the steering effect achieved by the brake intervention 50 can still be very strong in the adjustment function. This can, for example, achieve a very small turning diameter of the commercial vehicle 10. By turning the steering handle 34 by the brake intervention 50, in particular during the maneuvering / adjusting maneuver 74, the driver can be provided with target value information for executing the maneuvering / adjusting maneuver 74.

[0061] During the turning maneuver 60, the commercial vehicle 10 preferably executes a turn 76. Figure 4 As shown, during the turning maneuver 60, in particular during the bend 76, an impending collision 64 with an object 66, for example a road shoulder 70, is detected by means of the detection device 42, wherein during the bend 76, the object 66 is located on the inner side 78 of the bend of the commercial vehicle 10 with respect to the movement path 72 of the commercial vehicle 10. As a result, a collision 64 with the object 66 located on the inner side 78 of the bend can be avoided very reliably.

[0062] like Figure 5 As shown, alternatively or additionally, an impending collision 64 with an object 66 (e.g. another vehicle) can be detected by means of the detection device 42, wherein during the turn 76, the object 66 is located outside the curve 80 of the commercial vehicle 10 with respect to the movement trajectory 72 of the commercial vehicle 10. As a result, a collision 64 of the commercial vehicle 10 with the object 66 located outside the curve 80 can be avoided in a very safe manner.

[0063] Thus, for example, driver assistance system 40 can be used to very reliably implement turning assistance on the inside and / or outside of curve 76 to avoid collision. Inner curve 78 and outer curve 80 are two sides of movement trajectory 72 or curve 76 that are preferably opposite to each other.

[0064] In other embodiments, provision is made for detecting an impending collision 64 of a front and / or rear region 84, 86 of the commercial vehicle 10 with an object 66 in the longitudinal direction 14 of the commercial vehicle 10 by means of the detection device 42, in particular during a turning maneuver 60 or a bend 76. This is for example Figure 5is shown as an example, where Figure 5 In the embodiment, the detection device 42 is used to detect an impending collision 64 between the front area 84 of the commercial vehicle and an object 66 (in particular another vehicle). Figure 5 In particular, a collision 64 can be avoided in front of the outside of the curve. Figure 6 The example of detecting an impending collision 64 of the rear region 86 of the commercial vehicle 10 with an object 66 (eg another vehicle) by means of the detection device 42 is shown. Figure 6 For example, a rear collision on the outside of a curve 64 can be avoided.

[0065] In other embodiments, an impending collision 64 between a semitrailer 88 of a commercial vehicle 10 and an object 66 (eg, another vehicle) is detected by means of the detection device 42. Figure 7 is shown as an example, where Figure 7 In the embodiment, a collision 64 is detected or avoided in the front area of ​​a semitrailer 88 on the outside 80 of the curve of the commercial vehicle 10. A collision of the semitrailer 88 with an object 66 can thus be avoided very reliably.

[0066] In particular during a cornering maneuver, steering assistance and in particular a haptic warning can be implemented to avoid a collision. For example, a delay effect can be produced, providing the driver with additional reaction time, in particular to avoid a collision.

[0067] Overall, during the turning maneuver 60 , for example due to a deflection of the commercial vehicle 10 , a collision 64 with an object 66 can be avoided particularly reliably, in particular for a commercial vehicle 10 designed as a bus and a commercial vehicle 10 with a semitrailer 88 .

[0068] In other embodiments, the driving speed of the commercial vehicle 10, in particular the current driving speed, is detected by means of a second detection device 90, which is in particular configured separately from the detection device 42. Preferably, a braking intervention 50 by the braking device 48 is performed as a function of the measured driving speed. For example, a braking intervention 50 by the braking device 48 is performed when the driving speed measured by means of the second detection device 90 is less than a predetermined, in particular predefined driving speed threshold value. Thus, for example, a braking intervention 50 or lane correction of the commercial vehicle 10 can be performed at very low driving speeds. Thus, for example, lane correction of the commercial vehicle 10 can be achieved by adjusting the steering angle by means of a single wheel brake intervention on the front axle at very low driving speeds.

[0069] For example, if the driving speed measured by means of second detection device 90 is greater than a predetermined driving speed threshold value, no braking intervention 50 by braking device 48 is performed.

[0070] For example, a respective brake element 92 , 94 is assigned to each wheel 22 , 24 , whereby a braking action can be exerted on the respective wheel 22 , 24 , in particular mechanically.

[0071] For example, it is provided that the braking force 51 provided for implementing the brake intervention 50 is implemented by means of the brake device 48, in particular at least partially in a pneumatic and / or electric and / or hydraulic manner. Therefore, the brake device 48 can be designed as a pneumatic brake system, for example. Alternatively, an electric and / or hydraulic brake system can be provided, for example.

[0072] Reference numerals list

[0073] 10 Commercial Vehicles

[0074] 12 Front axle

[0075] 14 Vehicle longitudinal direction

[0076] 16 Rear axle

[0077] 18 First axis of rotation

[0078] 20 Second axis of rotation

[0079] 22 First Wheel

[0080] 24 Second Wheel

[0081] 26 Other wheels

[0082] 28 Other wheels

[0083] 30 Other wheels

[0084] 32 Other wheels

[0085] 34 Steering handle

[0086] 36 Rotation axis

[0087] 38 Arrow

[0088] 40 Driver Assistance Systems

[0089] 42 Detection device

[0090] 44 Environment

[0091] 46 Electronic computing devices

[0092] 48 Braking device

[0093] 50 Brake intervention

[0094] 51 Braking force

[0095] 52 Lever arm

[0096] 54 Front axle steering angle

[0097] 56 Stops

[0098] 58 Parking Operation

[0099] 60 Turning operation

[0100] Highway 62

[0101] 64 Collision

[0102] 66 objects

[0103] 68 Second brake intervention

[0104] 70 shoulder

[0105] 72 Movement Trajectory

[0106] 74 Adjustment Operation

[0107] 76 Turn

[0108] 78 Inside of the curve

[0109] 80 Outside of the curve

[0110] 84 Front area

[0111] 86 Rear area

[0112] 88 Semi-trailer

[0113] 90 Second detection device

[0114] 92 Brake parts

[0115] 94 Brake parts

Claims

1. A method for operating a driver assistance system (40) of a commercial vehicle (10), the commercial vehicle having two wheels (22, 24) pivotably mounted on a front axle (12), wherein: The environment (44) of the commercial vehicle (10) is detected by means of at least one detection device (42) of the driver assistance system (40), and when the detection device (42) detects an imminent collision (64) with an object (66) that is separate from the commercial vehicle (10) and is located in the environment (44) during parking (56), parking maneuvers (58) or turning maneuvers (60) of the commercial vehicle (10), one of the wheels (22, 24) is braked by a braking intervention (50) generated by a braking device (48) of the commercial vehicle (10), so that the wheel (22, 24) is pivoted due to the braking intervention (50) to prevent a collision (64) between the commercial vehicle (10) and the object (66).

2. The method according to claim 1, characterized in that When the detection device (42) detects the impending collision (64) with the object (66), the driver of the commercial vehicle (10) is warned haptically by means of a steering handle (34) connected to the wheels (22, 24) in the following manner, i.e., braking is performed by a second braking intervention (68) generated by the braking device (48) of the commercial vehicle (10).

3. The method according to claim 1 or 2, wherein During the parking stop (56), steering assistance for driving onto the road shoulder (70) is achieved by the braking intervention (50).

4. The method according to any one of the preceding claims, characterized in that During the parking maneuver (58), the commercial vehicle (10) performs at least one adjustment maneuver (74).

5. The method according to claim 1 , wherein During the turning maneuver (60), the commercial vehicle (10) executes a turn (76) and detects, by means of the detection device (42), an impending collision (64) with an object (66) which is located on the inside (78) or outside (80) of the curve of the commercial vehicle (10) with respect to a movement trajectory (72) of the commercial vehicle (10) during the turn (76).

6. The method according to any one of the preceding claims, characterized in that An impending collision (64) between a front or rear area (84, 86) of the commercial vehicle (10) and an object (66) in a longitudinal direction (14) of the commercial vehicle (10) is detected by means of the detection device (42).

7. The method according to any one of the preceding claims, characterized in that An impending collision (64) between a trailer (88) of the commercial vehicle (10) and the object (66) is detected by means of the detection device (42).

8. The method according to any one of the preceding claims, characterized in that The driving speed of the commercial vehicle (10) is detected by means of a second detection device (90), and a braking intervention (50) by the brake device (48) is carried out as a function of the detected driving speed.

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