Method and device for assisting a motor vehicle in driving onto a curb

Abstract

A method for assisting a motor vehicle in driving onto a curb, comprising the steps of: detecting a curb (210) located in the vicinity of the motor vehicle (200); and modifying at least one operating parameter of the motor vehicle (200) such that, during the driving onto the curb (210) of at least one tire of the motor vehicle (200), a vibration of the motor vehicle (200) associated with this driving onto the curb (210) is reduced compared to an analogous driving onto the curb without this modification, wherein the modification comprises an adjustment of the suspension setting of the motor vehicle (200), the method further comprising the step of: determining which tire of the motor vehicle (200) will first hit the curb (210) when driving onto the curb (210),wherein when modifying at least one operating parameter of the motor vehicle (200), the setting for this tire (201) is made differently than for the other tires (202, 203, 204) of the motor vehicle (200), in that the tire (201) that first hits the curb (210) is set to a softer suspension characteristic compared to the other tires (202, 203, 204) of the motor vehicle (200), and wherein the other three tires are set to a comparatively stiff suspension setting in order to dampen any vibrations.

Description

[0001] The invention relates to a method and a device for assisting a motor vehicle in driving onto a curb.

[0002] Parking a vehicle with its tires on a curb can sometimes be a challenging task. While experienced drivers are usually adept at adjusting the speed during the maneuver by using the clutch, brake, and accelerator to achieve a smooth approach to the curb, this can be problematic for less experienced drivers, and especially for those using current and future automated parking assistance systems that don't rely on driver input but are controlled solely based on a predetermined speed. As a result, the parking maneuver may be performed at too high a speed, leading to a rough and bumpy experience.

[0003] From EP 2 098 844 A1 a method and a device for detecting contact with a curb by a vehicle are known, wherein, in conjunction with a plausibility check, a curb contact is inferred from a change in driving resistance, wherein this plausibility check is carried out on the basis of at least one driving resistance-independent quantity.

[0004] From EP 2 594 461 A1, a method for detecting a parking space for a motor vehicle and a parking assistance system are known, wherein a suitable parking space can also be detected if the motor vehicle is parked at least partially on a curb. In this process, the parking space is detected based on a geometric parameter of the parking space and taking into account further environmental information, whereby the geometric parameter of the parking space is also determined depending on this further environmental information.

[0005] German patent DE 10 2010 001 922 A1 discloses, among other things, a method and a device for parking a motor vehicle, wherein, when determining the surrounding situation, it is also recorded whether a curb is present and, if so, how high the curb is. The height of the curb above road level is intended, in particular, to allow an assessment of whether the curb can effectively prevent the motor vehicle from rolling away.

[0006] It is an object of the present invention to provide a method and a device for assisting a motor vehicle in driving onto a curb, which enables a smoother approach to the curb.

[0007] This problem is solved by the method according to the features of independent claim 1 and the device according to the features of dependent claim 10.

[0008] An inventive method for assisting a motor vehicle in driving onto a curb comprises the following steps: – Hitting a curb located in the vicinity of the motor vehicle; and – Modifying at least one operating parameter of the motor vehicle in such a way that, during the impact of at least one tire of the motor vehicle onto the curb, the vibration of the motor vehicle associated with this impact is reduced compared to an analogous impact process without this modification.

[0009] The present invention is based in particular on the concept of first detecting a curb located in the vicinity of a motor vehicle (e.g., as explained below, using sensors such as proximity or distance sensors present in the motor vehicle) and then – when the curb has been detected or the motor vehicle is about to drive onto the curb with at least one tire – automatically making a suitable adjustment to one or more operating parameters of the motor vehicle in such a way that shocks, impacts, or vibrations associated with driving onto the curb are reduced, resulting in a smoother approach to the curb, e.g., for the purpose of a parking maneuver.

[0010] According to one embodiment, modifying at least one operating parameter of the motor vehicle includes adjusting the suspension setting of the motor vehicle.

[0011] According to one embodiment, modifying at least one operating parameter of the motor vehicle includes an automatic adjustment of the angle between at least one tire of the motor vehicle and the curb.

[0012] According to one embodiment, modifying at least one operating parameter of the motor vehicle includes an automatic adjustment of the vehicle speed.

[0013] According to one embodiment, modifying at least one operating parameter of the motor vehicle includes an automatic adjustment of the tire pressure of at least one tire of the motor vehicle.

[0014] According to one embodiment, the method further includes the step of determining which tire of the motor vehicle will first hit the curb when approaching it, wherein, when modifying at least one operating parameter of the motor vehicle, an adjustment is made for this tire in a different way than for the other tires of the motor vehicle.

[0015] According to one embodiment, when modifying at least one operating parameter of the motor vehicle, the tire that first hits the curb is set to a softer suspension characteristic compared to the other tires of the motor vehicle.

[0016] According to one embodiment, after at least one tire of the motor vehicle has driven onto the curb, the previously modified operating parameter of the motor vehicle is automatically reset to its original setting.

[0017] According to one embodiment, the detection of a curb located in the vicinity of the motor vehicle is carried out using at least one sensor present in the motor vehicle.

[0018] The invention further relates to a device for assisting a motor vehicle in driving onto a curb, which is designed to carry out a method with the features described above. For preferred embodiments and advantages of the device, reference is made to the above explanations in connection with the method according to the invention.

[0019] Further embodiments of the invention can be found in the following description and the dependent claims.

[0020] The invention is explained in more detail below with reference to exemplary embodiments and the accompanying illustrations.

[0021] They show:

[0022] Fig. 1 a flowchart to illustrate a typical sequence of a process according to an embodiment of the invention;

[0023] Fig. 2 a schematic representation to illustrate the process of a parking maneuver of a motor vehicle supported according to the invention, involving driving onto a curb;

[0024] Fig. 3 a schematic representation to illustrate the operation of a sensor arrangement used in conjunction with an automatic parking assistance system;

[0025] Fig. 4 a schematic representation to illustrate a temporary adjustment of the suspension or springs of a motor vehicle within the framework of an embodiment of the invention; and

[0026] Fig. 5 A schematic representation to illustrate a temporary adjustment of the angle between the front tire and the curb according to one embodiment of the invention.

[0027] In the following, a possible sequence of a method according to the invention will first be described using the example in Fig. 1 shown flowchart and with reference to the further schematic representations of Fig. 2– Fig. 5 described.

[0028] According to Fig. In a first step, S10, it is first checked whether the assistance device according to the invention is activated for driving the vehicle onto a curb. If this is the case, step S20 checks whether a curb has been detected by existing proximity sensors. Any suitable sensors (e.g., radar-based, laser-based, video-based, etc.) can be used here, such as those typically found in automatic parking assistance systems for detecting the vehicle's surroundings. Fig. 3 are only shown schematically. As a result of these sensors, the assistance device according to the invention has sufficient position and angle information of the (in Fig. 3 with " 200 (designated) motor vehicle relative to the (in Fig. 3 with " 210 (designated) curb, including the distance between the motor vehicle 200 and the curb 210The determination of these angle and position data is carried out according to Fig. 1 in step S30.

[0029] Then, in step S40, it is determined which tire will be the first to touch the curb. 210 will hit. If, according to the query in step S50, the tire in question is in the immediate vicinity of the curb (otherwise, return to step S30), in the subsequent step S60 a suitable adjustment is made for the suspension setting, the angle between the front tire and the curb edge, and the vehicle speed for the tire in question.

[0030] To illustrate these settings, the following is shown: Fig. 2 merely schematically illustrates a typical sequence of a parking maneuver of a motor vehicle. 200 onto a curb 210 taking into account any existing obstacle 220At the position marked "A", a temporary adjustment of the suspension properties or settings is made so that the load on the curb 210 This allows for greater shock absorption by the tires when encountering obstacles. Furthermore, in position "B", the angle between the front tire and the curb is temporarily adjusted. 210 at the moment the tire contacts the curb 210 , so that the tire can be driven onto the curb more easily or as optimally as possible. 210 This is made possible. Furthermore, this occurs during the vehicle's approach. 200 onto the curb 210 a temporary adjustment of the vehicle speed, which in particular involves braking or accelerating the motor vehicle 200 immediately before the tire hits the curb 210 may include.

[0031] In another embodiment (not shown), when the motor vehicle is equipped 200 With an active tire pressure control system, a temporary reduction in the tire pressure of the tires contacting the curb can also be achieved, thereby producing an effect comparable to the suspension adjustments described above. This tire pressure adjustment can be made as an alternative or in addition to the temporary adjustments to the suspension settings, the angle between the front tires and the curb, and / or the vehicle speed described above.

[0032] In the following step S70, it is determined whether the tire in question has driven onto the curb. 210is complete. If this is the case, in step S80 the suspension settings, the angle between the tire and the curb, and the vehicle speed are reset to their default settings. Then, in step S90, it is determined whether the vehicle has collided with the curb. 200 onto the curb 210 is completed. If this is the case, the assistance device according to the invention is deactivated (step S100 ) and the return to step S10.

[0033] Fig. Section 4 serves to further explain the points discussed in step S60 of the document, based on... Fig. The procedure described in section 1 involves a temporary adjustment of the vehicle suspension. This suspension adjustment is activated when the (front or rear) tire is in close proximity to the curb. 210 The distance between the tire and the curb 210can be achieved using existing sensors (e.g., proximity sensors that identify curbs and other obstacles, and a steering angle sensor that determines the future direction of the vehicle). 200 (specifies) can be determined. Conventional active spring-damping suspension systems can be adjusted or controlled by changing the damping coefficient (although a change in the spring characteristic is generally not possible). If air damping systems are used, the current position of the individual tires can also be adjusted.

[0034] As in Fig. As indicated in point 4, this is intended to achieve the easiest and smoothest possible approach to the curb. 210 the first one onto the curb 210The tires that hit the curb are set to a comparatively soft suspension characteristic to ensure sufficient shock absorption. The other three tires are set to a comparatively stiff suspension setting to dampen any vibrations (oscillations). In the case of air suspension, the tire that hits the curb first can be set to a relatively soft setting. 210 The tires that hit the curb are additionally lifted. After the tire in question has successfully driven onto the curb... 210 The suspension settings will be reset to their normal default settings.

[0035] Fig. Section 5 serves to further explain the points in step S60 of Fig. 1. Adjusting the angle between the front tire and the curb. This adjustment is made according to Fig. 2 is activated when the relevant front tire is in close proximity to the curb. 210is located (position "B" of Fig. 2) The distance between the tire and the curb 210 This is also done using existing sensors (as described above).

[0036] According to the schematic representation of Fig. 5. The angle adjustment between the front tire and the curb is carried out in such a way that the following aspects are taken into account, or a suitable compromise is chosen: Firstly, the temporary angle adjustment between the front tire and the curb is carried out while taking into account the greatest possible avoidance of damage to the tires or rims (e.g., by scratching or other damage). Furthermore, the aforementioned angle adjustment is carried out while minimizing lateral movement (which occurs when the tire hits the curb) as much as possible. 210(essentially proportional to the lateral vibration when the tire hits the curb). In the specific example of Fig. 5 is for those with " 553 "The tire position denotes the yaw rate of the vehicle." 200 significantly higher (corresponding to a significantly harder impact of the vehicle) 200 onto the curb 210 ) compared to the one with " 551 The tire position is designated as such, assuming the same vehicle speed in each case. Determining the optimal angle between the tire and the curb, taking the above criteria into account, depends on the geometry of the respective tire / rim combination and, if necessary, on tests. Once the tire has successfully contacted the curb... 210 The angle between the tire and the curb is determined by the impact. 210 reset in such a way that the respective path is followed for the parking process.

[0037] The steps in S60 of Fig. 1. The temporary adjustment of the vehicle speed, which is also made, is also activated if the (front or rear) tire is in the immediate vicinity of the curb. 210 The determination of the distance between the tire and the curb. 210 This is also done using existing sensors (as described above). The vehicle speed can be set or adjusted either via the engine system (by adjusting the engine torque) or the braking system (by applying braking torque). The optimal speed when approaching the curb 210 This can also be determined through tests conducted under real-world conditions. Typically, different vehicle speeds are chosen depending on whether the vehicle is approaching the curb. 210The tire in question is either a front or a rear tire. Furthermore, the vehicle speed is preferably adjusted taking into account the curb height and the angle between the front or rear tire and the curb. 210 Once the tire has successfully reached the curb 210 If a collision occurs, the vehicle speed will be reset to the default settings for normal operation. QUOTES INCLUDED IN THE DESCRIPTION

[0038] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0039] EP 2098844 A1

[0003] EP 2594461 A1

[0004] DE 102010001922 A1

[0005]

Claims

[1] Method for assisting a motor vehicle to drive onto a curb, characterized by that The procedure comprises the following steps: Detection of a phenomenon in the vicinity of the motor vehicle ( 200 ) located curb ( 210 ); and Modifying at least one operating parameter of the motor vehicle ( 200 ) such that during the impact of at least one tire of the motor vehicle ( 200 ) onto the curb ( 210 ) a vibration of the motor vehicle associated with this collision ( 200 ) compared to an analogous collision without this modification. [2] Method according to claim 1, characterized by that modifying at least one operating parameter of the motor vehicle ( 200 ) an adjustment of the suspension settings of the motor vehicle ( 200 ) includes. [3] Method according to claim 1 or 2, characterized by that modifying at least one operating parameter of the motor vehicle ( 200 ) an automatic adjustment of the angle between at least one tire of the motor vehicle ( 200 ) and the curb ( 210 ) includes. [4] Method according to any one of claims 1 to 3, characterized by that modifying at least one operating parameter of the motor vehicle ( 200 ) includes an automatic adjustment of the vehicle speed. [5] Method according to any one of the preceding claims, characterized by that modifying at least one operating parameter of the motor vehicle ( 200 ) an automatic adjustment of the tire pressure of at least one tire of the motor vehicle ( 200 ) includes. [6] Method according to any one of the preceding claims, characterized by that the procedure further includes the step: Determine which tire of the motor vehicle (200 ) when about to drive onto the curb ( 210 ) first onto the curb ( 210 ) meets; where, when modifying at least one operating parameter of the motor vehicle ( 200 ) a setting for this tire ( 201 ) in a different way than for the other tires ( 202 , 203 , 204 ) of the motor vehicle ( 200 ). [7] Method according to claim 6, characterized by that when modifying at least one operating parameter of the motor vehicle ( 200 ) who first steps onto the curb ( 210 ) suitable tires ( 201 ) on a scale compared to the other tires ( 202 , 203 , 204 ) of the motor vehicle ( 200 ) a softer suspension characteristic is set. [8] Method according to any one of the preceding claims, characterized by that after the completion of the contact with at least one tire of the motor vehicle (200 ) onto the curb ( 210 ) the previously modified operating parameter of the motor vehicle ( 200 ) is automatically reset to its original setting. [9] Method according to any one of the preceding claims, characterized by that the detection of a vehicle in the vicinity of the motor vehicle ( 200 ) located curb ( 210 ) using at least one in the motor vehicle ( 200 ) existing sensor. [10] Device for assisting a motor vehicle in driving onto a curb, characterized by that it is designed to carry out a process according to one of the preceding claims.

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