Driver assistance device for automated longitudinal guidance of a motor vehicle, method and motor vehicle

Abstract

Driving assistance device (1) for automated longitudinal guidance of a motor vehicle (2), characterized in that the driving assistance device (1) is designed to a. to steer the motor vehicle (2) in a longitudinal direction (5) during a journey by means of the longitudinal guidance, b. to maintain the motor vehicle (2) at a predetermined speed (9) during travel by means of longitudinal guidance in the longitudinal direction (5) as soon as a direction indicator (10) of the motor vehicle (2) is active, c. to detect a predetermined detection area (4) extending parallel to the longitudinal direction (5) of the motor vehicle (2), d. to detect a parking area (6) with a predetermined minimum dimension (7) in the predetermined detection area (4), e. to initiate a stopping procedure (P5) which stops the motor vehicle (2) in a predetermined relative position (11) to the detected parking area (6), and f. to initiate a parking maneuver (P6) which steers the motor vehicle (2) into the parking area (6).

Description

[0001] The invention relates to a driving assistance device for the automatic longitudinal guidance of a motor vehicle, a method for operating the driving assistance device and a motor vehicle equipped with the driving assistance device.

[0002] Today's driver assistance systems support the driver in predetermined driving situations. Such driver assistance systems include, among others, automated longitudinal guidance (Adaptive Cruise Control, ACC) and parking assistance systems. Automated longitudinal guidance can adjust the speed of a motor vehicle depending on a driver input or the detected speed of a vehicle ahead. Parking assistance systems are assistance systems that detect suitable areas for parking a motor vehicle and support the driver in parking, for example, in the form of park steering assistance, or perform the parking process fully automatically, i.e., without driver intervention.

[0003] Automated longitudinal guidance and parking assistance systems are generally independent driver assistance systems. This means that the two systems do not interact with each other. This means that before a parking assistance system initiates a parking maneuver, the driver must independently regulate the speed of the vehicle until it reaches a starting position for the parking maneuver.

[0004] DE 10 2008 027 692 A1 describes a method for assisting a vehicle driver during a parking maneuver. In the method described, a vehicle independently searches for a suitable parking space and parks there once a driver has left it, and / or exits and picks up a driver independently at a specific location.

[0005] DE 10 2008 019 346 A1 describes a method and a device for automatically parking and reversing a vehicle. The device automatically parks or reverses a vehicle as long as a control device is held in a predetermined position.

[0006] DE 10 2010 063 792 A1 discloses a method for selecting driver assistance functions. This method involves evaluating information about a driving situation. A subset of driver assistance functions is selected based on the information.

[0007] DE 102 52 426 A1 discloses a distance measuring device configured to determine the distance of a vehicle from a stationary obstacle. The distance measuring device is used in a parking aid for measuring parking spaces.

[0008] DE 10 2014 011 108 A1 describes a method for operating a driver assistance system to support a parking process. The method provides for determining a specific parking area in which the motor vehicle is to be parked. In one embodiment of the method, the motor vehicle is guided at least partially automatically longitudinally and / or transversely before determining the specific parking area.

[0009] It is an object of the invention to provide a driver assistance device that prepares the parking of a motor vehicle.

[0010] According to the invention, a driver assistance device for the automated longitudinal guidance of a motor vehicle is provided. The driver assistance device is configured to guide the motor vehicle in a longitudinal direction during travel by means of the longitudinal guidance and to detect a predetermined detection area extending parallel to the longitudinal direction of the motor vehicle. The driver assistance device is configured to detect a parking area with a predetermined minimum dimension in the detection area, to stop the motor vehicle in a predetermined position relative to the detected parking area, and to initiate a parking process that steers the motor vehicle into the parking area.

[0011] In other words, the driver assistance device is configured to accelerate and / or decelerate a motor vehicle by means of longitudinal guidance and, in doing so, to monitor a detection area in addition to the longitudinal direction of the motor vehicle. The driver assistance device can detect a parking area in the detection area, which has a predetermined minimum dimension. The driver assistance device can stop the motor vehicle at a predetermined relative position with respect to the parking area. Finally, the driver assistance device can initiate a process in which the motor vehicle is automatically parked in the parking area. The driver assistance device can, for example, guide the motor vehicle in the longitudinal direction at a detected speed of a preceding vehicle or at a speed specified by the driver and detect the detection area using sensors.The detection area can be the area that extends next to the motor vehicle, i.e., offset transversely to the motor vehicle, and is detected by at least one sensor. The driver assistance device can detect a parking area in the detection area that has a predetermined minimum dimension. A parking area is an area in which it is generally possible to park a motor vehicle. The parking area can, for example, be an area or a volume. The minimum dimension can define a minimum size of an area or volume that is located within a parking area. The driver assistance device can then reduce the speed until the motor vehicle comes to a stop at a predetermined position relative to the parking area. The predetermined relative position can be arranged in relation to the parking area such that a parking process can start from this relative position.The relative position can, for example, depend on a minimum curve radius that the motor vehicle can negotiate. After the motor vehicle is parked at the relative position, the driver assistance device can initiate a parking maneuver that guides the motor vehicle into the parking area. The parking maneuver itself can then be performed using a method according to the prior art. The invention offers the advantage that the motor vehicle is automatically stopped when a suitable parking area is detected.

[0012] The driving assistance device is configured to keep the motor vehicle at a predetermined speed while driving by means of the longitudinal guidance in the longitudinal direction. In other words, the driving assistance device is configured to regulate the speed of the motor vehicle so that it moves at a predetermined speed. For example, it is possible for the driving assistance device to set the speed of the motor vehicle to 30 km / h while searching for a parking space. This offers the advantage that the speed can be set to a value during the search for a parking space that allows the motor vehicle to decelerate quickly.

[0013] The driver assistance device is configured to maintain the vehicle at the predetermined speed as soon as a turn signal of the motor vehicle is activated. In other words, activating a turn signal of the motor vehicle causes the driver assistance device to regulate the speed of the motor vehicle to the predetermined speed. Thus, the driver assistance device can reduce the speed of the motor vehicle from 30 km / h to 10 km / h as soon as the turn signal is activated. This provides the advantage that a driver can manually reduce the speed of the motor vehicle once they have identified a suitable parking area.

[0014] A further development of the invention provides that the driver assistance device is configured to abort the stopping process and / or the parking process if a predetermined user input occurs during the respective process. In other words, a predetermined user input results in the driver assistance device not continuing the stopping process and / or the parking process if it occurs during the respective process. Thus, it can be provided that the driver assistance device terminates the stopping process or the parking process if a driver presses the accelerator pedal during the respective process. This results in the advantage that a driver has the option of aborting one of the two processes if the parking area is unsuitable and / or the traffic situation does not permit a stopping and / or parking process.

[0015] A further development of the invention provides that the driver assistance device is configured to carry out the above-mentioned steps when the driver assistance device detects a predetermined object and / or a predetermined environment. In other words, the driver assistance device is configured to steer the motor vehicle in a longitudinal direction, to recognize a parking area with the predetermined minimum dimensions and to initiate a stopping and parking process when the driver assistance device recognizes or detects or records a predetermined object, e.g. a sign or a traffic sign, and / or a predetermined environment, e.g. a predetermined traffic situation. This results in the advantage that the method can be initiated automatically. For example, the driver assistance device may initiate the said steps when, based on a stored sign, e.g.of a supermarket has detected that the motor vehicle is being driven into a parking lot, for example of the supermarket, or if the driver assistance device has detected a marking in the form of a parking sign.

[0016] A further development of the invention provides that the driver assistance device is configured to execute said steps when the motor vehicle reaches a predetermined geographical area. In other words, the driver assistance device is configured to initiate the steps automatically when a predetermined condition relating to the location of the motor vehicle is met. Another term for this is "geofencing." This results in the advantage that a parking process can be initiated automatically when the motor vehicle approaches a predetermined destination. Thus, it is possible for said steps to be initiated automatically when the motor vehicle falls below a predetermined distance from a destination set in a navigation device or approaches the driver's home address.

[0017] A further development provides that the driver assistance device is set up to detect the predetermined detection area three-dimensionally and the minimum dimension also specifies a predetermined minimum height. In other words, the driver assistance device is set up to spatially detect the predetermined detection area in three dimensions. The minimum dimension for a parking area includes a minimum height which must be maintained by a parking area in order for it to be recognized as a parking area. The driver assistance device can, for example, be designed such that it can detect an available height in the detection area and only detects a parking area in this detection area if the height available in the parking area is greater than the minimum height. This has the advantage that it can be detected automatically whether a parking area under a driveway is suitable for the motor vehicle.

[0018] A further development provides for the driver assistance device to be configured to perform the parking process fully automatically. In other words, the driver assistance device is configured to guide the motor vehicle from its starting position into the parking area without driver intervention. This makes it possible for both the longitudinal and lateral guidance of the motor vehicle during the parking process to be carried out by the driver assistance device. This offers the advantage that driver intervention is not required during the parking process.

[0019] The invention also encompasses a method for operating a driver assistance device according to the invention for automated longitudinal guidance of a motor vehicle, wherein the driver assistance device steers a motor vehicle in a longitudinal direction during travel by means of the longitudinal guidance. The motor vehicle is maintained at a predetermined speed during travel by means of the longitudinal guidance in the longitudinal direction as soon as a turn signal of the motor vehicle is active.

[0020] A predetermined detection area is detected which extends parallel to the longitudinal direction of the motor vehicle. In the detection area, the driver assistance device detects a parking area with a predetermined minimum dimension and initiates a stopping process which stops the motor vehicle in a predetermined relative position to the detected parking area and initiates a parking process which steers the motor vehicle into the parking area.

[0021] The invention also includes a motor vehicle which comprises a driver assistance device according to the invention.

[0022] The invention also includes further developments of the method according to the invention and the motor vehicle according to the invention, which have features as already described in connection with the further developments of the driver assistance device according to the invention. For this reason, the corresponding further developments of the method according to the invention and the motor vehicle according to the invention are not described again here.

[0023] An exemplary embodiment of the invention is described below. It shows: Fig. 1 shows a driver assistance device according to the invention in a motor vehicle; Fig. 2 a sequence of a method according to the invention.

[0024] The exemplary embodiment explained below is a preferred embodiment of the invention. In the exemplary embodiment, the described components of the embodiment each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by further features of the invention already described.

[0025] In the figures, functionally identical elements are provided with the same reference numerals.

[0026] Fig. 1 shows a driver assistance device 1 according to the invention in a motor vehicle 2. The said motor vehicle is driving along a parking space with one occupied and one free parking space. It can be provided that the method according to the invention was initiated automatically by the driver assistance device because the driver assistance device has detected a predetermined object, e.g. a parking sign, or because the motor vehicle is located in an area of ​​a destination detected by means of GPS (Global Positioning System). The driver assistance device 1 according to the invention can be a control unit which comprises a microcontroller and / or a microprocessor and which is configured to carry out a method according to the invention. The driver assistance device 1 can comprise at least one sensor unit 3 which is configured to detect a detection area 4 parallel to the longitudinal direction 5 of the motor vehicle 2.This can be, for example, a radar, lidar and / or ultrasound device, or a camera. The driver assistance device can be configured to detect objects, which can include, for example, signs, in the surroundings of the motor vehicle in order to carry out the above-mentioned automatic initiation of the parking space search. The driver assistance device 1 can be configured to recognize a parking area 6 with a predetermined minimum dimension 7 in the detected detection area 4. It is also possible for the driver assistance device 1 to detect the detection area 4 three-dimensionally and for a minimum height 8 to be assigned to the minimum dimension 7. The driver assistance device 1 can control the motor vehicle 2 in the longitudinal direction 5, wherein this can take place at a predetermined speed 9. The control in the longitudinal direction 5 can comprise a control of the acceleration and / or the braking of the motor vehicle 2.The driving assistance device 1 can also be operated purely as a parking assistant or with automated longitudinal guidance (Adaptive Cruise Control, ACC). If the driving assistance device 1 is activated purely as a parking assistant, a query such as "Park automatically?" may appear on a screen. If this query is confirmed by the driver, the automated longitudinal guidance is activated in addition to the parking assistant and, for example, the vehicle speed is reduced to the predetermined speed 9. If the parking assistance function of the driving assistance device is activated when the automated longitudinal guidance is already activated, it may be provided that the vehicle speed is set to the predetermined speed 9. The vehicle speed can also be set to the predetermined speed 9 by activating a direction indicator 10.The driver assistance device 1 can be configured to initiate a stopping process P5, which brings the motor vehicle 2 to a stop in a predetermined relative position 11 to the detected parking area. The location of the relative position 11 can depend on whether parking in the longitudinal or transverse direction is necessary. After the motor vehicle 2 has been stopped in the predetermined relative position 11, the driver assistance device 1 can initiate a parking process P6, which guides the motor vehicle 2 into the parking area 6. This parking process can be fully automated or with the cooperation of the driver of the motor vehicle 2. The driver assistance device 2 can enable the motor vehicle 1 to automatically stop in the detection range of a free parking space and perform a parking process.

[0027] Fig.2 shows a sequence of a method according to the invention. The motor vehicle 2 can travel along a roadway, with lateral control being performed by the driver and longitudinal guidance by the driver assistance device 1 (P1). While driving, the driver can activate the parking assistance function of the driver assistance device 1 by means of an input to the driver assistance device 1 (P2). The driver assistance device 1 then begins to detect a detection area 4 parallel to the longitudinal direction 5 of the motor vehicle 2 using a sensor 3, which can be two cameras. Using the images from the two cameras, the driver assistance device 1 can perform a three-dimensional detection of the detection area 4. The driver assistance device 1 can thereby detect whether a parking space is occupied or available (P3).In a next step, the driver assistance device can detect a parking space 6 in a free parking space whose dimensions are larger than the predetermined minimum dimension 7 (P4). The driver assistance device 1 can then initiate a stopping process P5, whereby the motor vehicle 1 remains stationary in a predetermined relative position 11 to the parking space 6. The relative position 11 is selected such that a parking process P6 into the parking space 6 can be carried out from this position. The driver assistance device 1 can be configured such that it aborts the stopping process P5 if the accelerator pedal is actuated by the driver before or during the stopping process P5. The parking process P6 can be carried out semi-autonomously, with the lateral control of the motor vehicle 2 being carried out by the driver assistance device 1 and the longitudinal guidance of the motor vehicle 2 being carried out by the driver.It is possible that the driver assistance device 1 aborts the parking process P6 as soon as a predetermined user input is made by the driver by pressing a button.

[0028] Overall, the example shows how the invention provides functions of an automated longitudinal guidance combined with functions of a driver assistance device. List of reference symbols 1 driver assistance device 2 motor vehicles 3 Sensor unit 4 Detection range 5 Longitudinal direction 6 Parking area 7 Minimum dimensions 8 Minimum height 9 predetermined speed 10 direction indicators 11 predetermined relative position P1-P6 process steps P5 Stopping procedure P6 Parking process

Claims

[1] Driver assistance device (1) for the automated longitudinal guidance of a motor vehicle (2), characterized by that the driver assistance device (1) is designed to a. to steer the motor vehicle (2) in a longitudinal direction (5) during travel by means of the longitudinal guide, b. to keep the motor vehicle (2) at a predetermined speed (9) while driving by means of the longitudinal guidance in the longitudinal direction (5) as soon as a direction indicator (10) of the motor vehicle (2) is active, c. to detect a predetermined detection area (4) extending parallel to the longitudinal direction (5) of the motor vehicle (2), d. to detect a parking area (6) with a predetermined minimum dimension (7) in the predetermined detection area (4), e. to initiate a stopping process (P5) which stops the motor vehicle (2) in a predetermined relative position (11) to the detected parking area (6), and f. to initiate a parking process (P6) which steers the motor vehicle (2) into the parking area (6). [2] Driving assistance device (1) according to claim 1, characterized by that the driving assistance device (1) is configured to abort the stopping process (P5) and / or the parking process (P6) if a predetermined user input occurs during the respective process. [3] Driver assistance device (1) according to one of the preceding claims, characterized by that the driving assistance device (1) is configured to carry out steps a to f when the driving assistance device (1) detects a predetermined object and / or a predetermined environment. [4] Driver assistance device (1) according to one of the preceding claims, characterized by that the driver assistance device (1) is configured to carry out steps a to f when the motor vehicle (2) reaches a predetermined geographical area. [5] Driver assistance device (1) according to one of the preceding claims, characterized by that the driver assistance device (1) is designed to detect the predetermined detection area (4) three-dimensionally and the minimum dimension (7) also specifies a predetermined minimum height (8). [6] Driver assistance device (1) according to one of the preceding claims, characterized by that the driver assistance device (1) is designed to carry out the parking process (P6) fully automatically. [7] Method for operating a driver assistance device (1) for automated longitudinal guidance of a motor vehicle (2) according to one of the preceding claims, characterized by that the driving assistance device (1), a motor vehicle (2) is steered in a longitudinal direction (5) during a journey by means of the longitudinal guide, b. the motor vehicle (2) is kept at a predetermined speed (9) during travel by means of the longitudinal guidance in the longitudinal direction (5) as soon as a direction indicator (10) of the motor vehicle (2) is active, c. a predetermined detection area (4) extending parallel to the longitudinal direction (5) of the motor vehicle (2) is detected, d. a parking area (6) with a predetermined minimum dimension (7) is detected in the detection area (4), e. a stopping process (P5) is initiated, which stops the motor vehicle (2) in a predetermined relative position (11) to the detected parking area (6), and f. a parking process (P6) is initiated, which steers the motor vehicle (2) into the parking area (6). [8] Motor vehicle (2) with a driver assistance device (1) for the automated longitudinal guidance of a motor vehicle (2) according to one of claims 1 to 6.

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