Method for assisting a driver of a motor vehicle

Abstract

Method for assisting a driver of a motor vehicle (1) during a driving maneuver, in which the surroundings of the vehicle (1) are detected and objects (11; 23, 25, 27) detected during the detection of the surroundings of the vehicle (1) are optically displayed in a two-dimensional or three-dimensional view with respect to the vehicle (1), characterized in that objects (27) or parts of objects (25) which are no longer detected by the sensors (7) due to the movement of the vehicle (1) continue to be displayed according to their position with respect to the vehicle (1) as long as the objects (11; 23, 25, 27) or parts of the objects (11;23, 25, 27) are located within a predetermined distance from the vehicle (1), wherein the objects (27) or parts of the objects (25) that are no longer detected are displayed differently from the detected objects (23) or the detected parts of the objects (25), and that the predetermined distance in front of and behind the vehicle (1) is determined by the range of the sensors (7) and is selected to the side of the vehicle (1) in such a way that, regardless of the driving maneuver, all objects (11; 23, 25, 27) that could be a danger to the vehicle (1) are displayed.

Description

State of the art

[0001] The invention is based on a method for assisting a driver of a motor vehicle during a driving maneuver according to the preamble of claim 1. Furthermore, the invention relates to a device for carrying out the method.

[0002] Methods to assist a motor vehicle driver include, for example, methods that support the driver when parking the vehicle or driving on narrow streets. In these methods, the surroundings are usually recorded in the front and rear using suitable sensors, and the driver is informed of the distance to objects detected by the sensors. The driver is usually informed of the distance to objects visually and / or acoustically. With an acoustic display, repeating audio signals are sent whose frequency increases as the distance to an object decreases. If the distance falls below a predetermined critical distance, a continuous signal is sent. In contrast, with optical displays, the driver is informed that the vehicle is approaching an object, for example by an LED bar, with an increasing number of illuminated LEDs.It is also known to show the driver a two-dimensional top view of the vehicle and to display objects in relation to the vehicle. By displaying the vehicle's distance to an object, the driver can make maneuvering easier.

[0003] Sensors used to determine the distance to an object can include, for example, ultrasonic sensors or other sensors that transmit a signal and receive a reflected echo. Alternatively, it is also known to use a camera and use suitable image processing programs to determine the distance to an object. Suitable evaluation methods can also determine whether the object is moving or stationary. A method and device for displaying vehicle surroundings are described, for example, in DE 10 2007 024 641 A1.

[0004] The disadvantage of the known methods is that an object is only displayed as long as it is within the detection range of the sensors. Typically, no sensors are mounted on the sides of the vehicle, so objects that move out of the detection range of the sensors as the vehicle passes are no longer detected. Especially if the objects move out of the detection range to the side of the vehicle, this can lead to the driver overlooking the object and possibly colliding with it.

[0005] The document DE 10 2007 045 562 A1 discloses a control device for a display device of a parking device.

[0006] The document DE 10 2005 050 576 A1 discloses a parking assistance system and a parking assistance method.

[0007] The document DE 10 2006 047 634 A1 discloses a method for detecting the surroundings of a vehicle.

[0008] The document DE 10 2005 034 201 A1 discloses an environmental monitoring system for a vehicle. Disclosure of the inventionAdvantages of the invention

[0009] In the method according to the invention for assisting a driver of a motor vehicle during a driving maneuver, the surroundings of the vehicle are detected, and objects detected during the detection of the surroundings of the vehicle are visually displayed in a two-dimensional or three-dimensional view with respect to the vehicle. Objects or parts of objects that are no longer detected by the sensors due to the movement of the vehicle continue to be displayed according to their position with respect to the vehicle, as long as the objects or parts of objects are within a predetermined distance from the vehicle. The objects or parts of objects that are no longer detected are displayed differently from the detected objects or parts of objects.

[0010] By displaying objects that are no longer within the sensor detection range, the vehicle driver also receives information about these objects that are no longer within the sensor detection range. By displaying objects that are no longer within the sensor detection range differently from the detected objects, the driver is simultaneously informed that this is the presumed position of an object and not a confirmed position detected by the sensors. This alerts the driver to pay particular attention to these objects.

[0011] Any sensors known to those skilled in the art that are suitable for detecting the vehicle's surroundings can be used. Suitable sensors include ultrasonic sensors, infrared sensors, radar sensors, LIDAR sensors, and optical sensors. Optical sensors also refer to cameras whose captured images are evaluated using image processing software. Ultrasonic sensors are particularly preferred as sensors.

[0012] To detect the surroundings, the sensors are typically positioned in the front and rear bumpers of the vehicle. Due to their installation position, only the area in front of and behind the vehicle is detected. The areas directly adjacent to the vehicle cannot be detected by the sensors due to their installation position. However, the detection area in the front and rear of the vehicle not only includes the area immediately in front of the vehicle, but also extends – depending on the range of the sensors – a short distance to the left and right beyond the sides of the vehicle.

[0013] Even with a system that detects the surroundings all around, there may be areas that are not covered by the sensors. In systems that only detect the surroundings in the front and / or rear areas, there are detection gaps of, for example, 10-50 cm between the sensors in the near field. These detection gaps arise, for example, because the individual detection areas of the sensors only intersect at a distance from the vehicle that depends on the sensor's transmission and reception angle. The larger the transmission and reception angle, the smaller the detection gap.

[0014] The visual representation of the vehicle and the objects can be provided on any display unit known to those skilled in the art. For this purpose, it is possible, for example, to provide a screen in the area of ​​the dashboard to display the vehicle and the objects. The screen of an on-board computer or a vehicle navigation system can be used for this purpose. According to the invention, the representation on the display is two-dimensional or three-dimensional. If the representation is two-dimensional, which is preferred, the vehicle and detected objects are shown in a top view. The detected objects can also be represented schematically, for example in the form of circles or rectangles.

[0015] To display your own vehicle, you can display its outlines in a top-down view. Alternatively, you can also display the vehicle schematically, for example.

[0016] Objects detected by the sensors can be displayed, for example, by their outlines or by filling them in. It is possible to display the vehicle in one color and the objects in a color different from the vehicle. Alternatively, it is also possible to display the vehicle and objects in the same color. In order to display objects that are no longer detected differently from the detected objects, it is possible to highlight objects that are no longer detected in color and / or have a border around them. Color highlighting can be achieved, for example, by displaying them in a different color than detected objects. It is particularly advantageous to use a signal color, such as red, for objects that are no longer detected. If the objects that are no longer detected are displayed with a border, it is possible to select a border that has a thicker line than the line thickness for the object.Alternatively, it is also possible, especially when the objects are displayed filled, to provide an additional frame, wherein the frame preferably has a different color, for example a signal color such as red.

[0017] In addition to highlighting them by displaying them in a strong or signal color, or by using a border, it is also possible to display the no longer detected objects in a paler color, for example, to indicate that these objects are no longer within the detection range of the sensors. In addition to a paler display, it is also possible to display the no longer detected objects, for example, using dashed lines and / or a different color. If the objects are displayed in a different color, a signal color, such as red, is preferably selected, as already described above for color highlighting.

[0018] If the objects no longer within the sensor's detection range are displayed paler than the objects still detected, it is possible to display the no longer detected objects and the detected objects in the same color. Alternatively, it is also possible to select different colors for the detected and no longer detected objects. In this case, the no longer detected objects are displayed paler and in a different color than the objects detected by the sensors.

[0019] Even though the objects are represented by lines, with objects no longer detected being represented by dashed lines, it is possible to display the lines in a fainter color in addition to the dashed lines. The lines can also be displayed in a different color or in a fainter color.

[0020] If objects no longer within the sensor detection range are highlighted with a border, a border in a different color or a dashed line is possible. The dashed line surrounding the object can be displayed in the same color or a different color than the object. If the dashed border is a different color than the object, a signal color, such as red, is preferred.

[0021] In addition to displaying the no longer detected object in red, it is also possible to display it in any other color. Besides red, yellow, orange, green, or blue are also suitable. It is also possible, especially with a monochrome monitor, to display the objects in green or white, for example.

[0022] According to the invention, the predefined distance from the vehicle within which the objects are displayed is determined in the front and rear areas of the vehicle by the range of the sensors. To the sides of the vehicle, in areas no longer detected by the sensors, the predefined distance is selected such that, regardless of the driving maneuver, all objects that could pose a danger to the vehicle are displayed. Particular attention must be paid here to the fact that objects that could collide with the vehicle when cornering are displayed. The distance to the sides of the vehicle can, however, be selected to be smaller overall than the distance in front of or behind the vehicle. Alternatively, it is also possible to select the distance to the sides of the vehicle to be the same as the distance in front of or behind the vehicle.A suitable distance from the vehicle within which the objects are displayed is, for example, 150 cm, preferably 250 cm. However, any other distance within which the objects are displayed is also conceivable.

[0023] Objects detected and displayed by the vehicle's sensors can be stationary or moving objects. If moving objects are detected, it is advantageous to display them differently from stationary objects, for example, using a different color. The different color alerts the driver that the object in question is not a stationary, i.e., fixed, obstacle, but a moving object, such as a pedestrian, a cyclist, or even a moving vehicle.

[0024] If a moving object is detected by the sensors, it is possible, for example, to assume a constant direction and speed for the display of the moving object outside the detection range of the sensors. This will not always be the case, but the driver's attention is drawn to the moving object simply by the object continuing to be displayed. In this case, it is possible, particularly with moving objects, to provide an additional warning signal that alerts the driver to the fact that they also need to monitor the area around the vehicle. For this purpose, it is possible, for example, to display an additional warning signal, for example in the form of a warning triangle, in addition to visually highlighting the moving object as soon as it leaves the detection range of the sensors. It is also possible to give an acoustic signal, for example.

[0025] A device according to the invention for carrying out the method comprises sensors in the front area and in the rear area of ​​the vehicle for detecting the surroundings, by evaluating the data detected by the sensors for detecting objects and for determining the position of an object relative to the position of the vehicle after an object or part of an object is no longer detected by the sensors, as well as means for displaying the position of the objects or parts of the objects in relation to the position of the vehicle.

[0026] As already mentioned above, suitable sensors for detecting the vehicle's surroundings, which are arranged in the front and rear areas, include ultrasonic sensors, infrared sensors, radar sensors, LIDAR sensors or optical sensors.

[0027] A suitable control unit can be used to evaluate the data collected by the sensors to detect objects and determine the position of an object relative to the position of the vehicle. Control units suitable for this purpose include control units for driver assistance systems, such as parking assistance systems. The control unit typically contains a data memory with software that can evaluate the sensor data. Ultrasonic sensors, infrared sensors, radar sensors, and LIDAR sensors send a signal and receive an echo reflected from an object. The position of an object relative to the vehicle is determined from the signal's propagation time. These are common methods already used in parking assistance systems.With optical sensors, an image is taken, for example by a camera, and the distance to the sensors is determined by suitable image processing.

[0028] The determination of the object relative to the position of the vehicle after it is no longer detected by the sensors can also be done by a suitable algorithm stored in the control unit.

[0029] Any suitable display device can be used to indicate the position of objects relative to the position of the vehicle, such as a screen, such as a screen of the vehicle's on-board computer or a screen of a navigation device. Commonly used screens include LED monitors or LCD monitors. Short description of the characters

[0030] Embodiments of the invention are illustrated in the figures and are explained in more detail in the following description.

[0031] They show: Fig. 1 shows an example of a top view of a vehicle with areas in the front and rear areas covered by sensors, Fig. 2 a display of a vehicle with objects in the surrounding area.

[0032] In Fig. 1 shows an example of a vehicle with distance sensors in the front and rear areas as well as the areas covered by the sensors.

[0033] In order to detect the surroundings of a vehicle 1 in the front area 3 and in the rear area 5 of the vehicle, sensors 7 are arranged on the vehicle. The sensors 7 are located, for example, in the front bumper and the rear bumper of the vehicle. The number of sensors 7 used corresponds, for example, to the common number of sensors used to detect the surroundings of a vehicle in already known parking assistance systems. For example, six sensors 7 can be arranged in the front bumper of the vehicle and four sensors 7 in the rear bumper of the vehicle. However, any other number of sensors 7 is also conceivable.

[0034] Sensors 7 are used to detect objects located within the detection range 9 of sensors 7. To detect objects, the sensors are equipped, for example, with their own evaluation unit or connected to a separate evaluation unit 13, which is schematically shown here as a box. To detect the surroundings, each sensor sends a signal and receives an echo reflected from an object. The distance to the object can then be determined from the signal's propagation time. The direction of the object can also be determined from the distance data from at least two sensors.

[0035] If sensors 7 detect a stationary object, such as a post, a pillar, a wall, a plant, or another parked vehicle, vehicle 1 moves relative to this object. To avoid a collision, the driver will move vehicle 1 so that the object does not collide with the vehicle. Continuing to drive will generally result in the vehicle passing the object from the side. Fig. 1, this is illustrated by way of example using an object 11 that was initially detected by the sensors in the right front area of ​​the front detection zone 9. When the vehicle 1 moves forward, the object 11 leaves the detection zone 9 and moves to the side of the vehicle 1. Depending on the path traveled by the vehicle 1, the object 11 can, as shown in Fig. 1, for example, approach the vehicle from the side. In Fig. 1, the object is shown as an example for three points in time: t1, t2, and t3. As vehicle 1 moves forward, object 11 is initially located at the position at time t1. As the vehicle continues to move, object 11 moves relative to vehicle 1 along the dashed line until it reaches the position shown here at a second point in time t2 and the third position shown here at a time t3. As the vehicle continues to move, the movement of vehicle 1 relative to object 11 will continue.

[0036] According to the invention, the object 11 continues to be displayed to the driver even if it is no longer within the detection range 9 of the front sensors 7. This provides the driver with information as to the location of the object 11 and allows them to select the direction in which to move the vehicle 1 accordingly in order to avoid a collision with the object 11. To make it clear to the driver that the object 11 is no longer within the detection range 9 of the sensors, it is displayed differently than objects that are still within the detection range 9 of the sensors 3. This can be done, for example, by displaying it with dashed lines, by a border, or by highlighting it in color. The object 11 can also be displayed in a paler color as soon as it is no longer within the detection range 9 of the sensors 7.The representation is preferably with a border, with dashed lines or highlighted in color, whereby the object 11 can also take up a different color.

[0037] A possible display for vehicles and objects is in Fig. 2 shown.

[0038] Vehicle 1 is schematically depicted centrally on a display device 21. In the display shown here, a first object 23 is located directly in front of the vehicle. Object 23 can, for example, be another vehicle parked in a parking space opposite the parking space into which vehicle 1 intends to park.

[0039] A second object 25, which may also be a vehicle, is located on the left side next to vehicle 1. On the right side next to the vehicle is a third object 27. Due to its position, the third object 27 is, for example, a column, as is commonly found in parking garages. Fig. The display shown in Figure 2 represents a typical parking situation, for example in a parking garage.

[0040] In addition to the representation according to Fig. 2, however, any other arrangement of objects 23, 25, 27 and also any other number of objects in the display is conceivable. Fig. 2 merely illustrates, by way of example, a parking process in a parking garage in which the parking space into which the vehicle is parked is bordered on one side by another vehicle and on the other side by a pillar.

[0041] The first object 23 is located entirely within the detection range of the sensors. For this reason, the first object 23 is represented by solid lines. In addition to the solid line representation, a representation, for example, as a flat object would also be possible.

[0042] The second object 25 is only partially within the range of the sensors. The part of the object 25 that is within the detection range of the sensors is also shown with solid lines. In contrast, the part of the second object 25 that is no longer within the detection range of the sensors is shown with dashed lines. Likewise, the third object 27, which is completely outside the detection range of the sensors of vehicle 1, is shown with dashed lines.

[0043] In addition to a dashed display of parts of the objects or objects that are no longer within the detection range of the sensors, it is also possible to, for example, outline the objects to highlight them, or display them in a different color than objects that are within the detection range. It is also possible to select a dashed border or to display the object that is no longer within the detection range, or the part of the object that is no longer within the detection range, in a paler color.

[0044] By displaying objects 23 that are within the detection range of the sensors and objects 27 that are not within the detection range, or parts of object 25 that are within the detection range and parts of object 25 that are not within the detection range of the sensors, the driver is further shown where the respective objects are located so that he can select the direction in which the vehicle is moved accordingly.

[0045] In addition to standing objects, as in Fig.2, it is also possible for moving objects to be detected by the sensors. In this case, it is also advantageous to display these differently than stationary objects. If a moving object leaves the detection range of the sensors, it is possible, for example, to assume based on the direction and speed that this object was previously moving that the object will continue to move in the same direction and speed and to display it accordingly. However, this is particularly important to emphasize in order to draw the driver's attention to these objects, since the direction and movement of a moving object can change at any time. Alternatively, it is also possible to simply give the driver a notification that a moving object has left the detection range of the sensors and not to display it any further.

Claims

[1] Method for assisting a driver of a motor vehicle (1) during a driving maneuver, in which the surroundings of the vehicle (1) are detected and objects (11; 23, 25, 27) detected during the detection of the surroundings of the vehicle (1) are optically displayed in a two-dimensional or three-dimensional view with respect to the vehicle (1), characterized bythat objects (27) or parts of objects (25) which are no longer detected by the sensors (7) due to the movement of the vehicle (1) continue to be displayed according to their position in relation to the vehicle (1) as long as the objects (11; 23, 25, 27) or parts of the objects (11; 23, 25, 27) are within a predetermined distance from the vehicle (1), wherein the objects (27) or parts of the objects (25) which are no longer detected are displayed differently from the detected objects (23) or the detected parts of the objects (25), and that the predetermined distance in front of and behind the vehicle (1) is determined by the range of the sensors (7) and is selected to the side of the vehicle (1) in such a way that, regardless of the driving maneuver, all objects (11; 23, 25, 27) which could pose a danger to the vehicle (1) are displayed. [2] Method according to claim 1, characterized bythat the objects (11; 23, 25, 27) and the vehicle (1) are displayed two-dimensionally in plan view. [3] Method according to claim 1 or 2, characterized by that objects (27) or parts of objects (25) that are no longer recorded are highlighted in color and / or outlined. [4] Method according to one of claims 1 to 3, characterized by that objects (27) or parts of objects (25) that are no longer detected are represented by dashed lines and / or by a different colour and / or paler than objects (23) or parts of objects (25) that are still within the detection range of the sensors (7). [5] Method according to one of claims 1 to 4, characterized by that for moving objects outside the detection range of the sensors (7) a constant direction and speed is assumed for the representation. [6] Method according to claim 5, characterized bythat moving objects are represented differently than stationary objects (11; 23, 25, 27). [7] Device for carrying out the method according to one of claims 1 to 6, comprising sensors (7) for detecting the environment, means for evaluating the data detected by the sensors for detecting objects (11; 23, 25, 27) and for determining the position of an object (11; 23, 25, 27) relative to the position of the vehicle (1) after an object (27) or a part of an object (25) is no longer detected by the sensors (7), and means for displaying (21) the position of the objects (11; 23, 25, 27) in relation to the position of the vehicle (1). [8] Device according to claim 7, characterized by that the sensors (1) for detecting the environment are ultrasonic sensors, infrared sensors, radar sensors, LIDAR sensors or optical sensors.

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