Assistance system for a motor vehicle and motor vehicle

Abstract

Assistance system (10) for a motor vehicle (2) for supporting a driver of the motor vehicle (2) during a parking maneuver of the motor vehicle (2), comprising an interface for receiving environmental data provided by an environmental sensor (8), which characterizes the current environment of the motor vehicle (2), and operating data of the motor vehicle (2), wherein the assistance system (10) is configured to automatically evaluate the received environmental data and / or the received operating data in order to automatically recognize the parking maneuver of the motor vehicle (2) and a target area (4) being aimed at, wherein the assistance system (10) is configured to automatically - to determine a target position (13) for the motor vehicle (2) on the target area (4), - to determine, based on the environmental data and the operational data, whether the operational data are consistent with reaching the specified target position (13), and - if this is not the case, to generate and output a control signal to assist the driver of the motor vehicle (2) in reaching the target position (13), characterized in that the assistance system (10) is configured to automatically determine, on the basis of the operating data, with what accuracy the motor vehicle (2) is expected to reach the target position (13), and to generate and output the control signal only if the accuracy is at most as high as or less than a predetermined threshold value.

Description

[0001] The invention relates to an assistance system for a motor vehicle to support the driver during a parking maneuver. A parking maneuver in this sense can be either parking or exiting a parking space. The invention also relates to a motor vehicle equipped with such an assistance system.

[0002] With the ever-increasing range of functions offered by modern vehicles and the growing automation or partial automation of driving functions, a wide variety of driver assistance systems and functions are now available to support drivers. Experience shows that parking maneuvers, i.e., entering and exiting parking spaces, can be particularly challenging or stressful for drivers and relatively frequently lead to accidents, damage, or dangerous situations. Well-known driver assistance systems and functions designed to support drivers during parking maneuvers are referred to below as Park Assist (PA).Such PLAs can be activated by the driver to, for example, automatically detect a suitable parking space and maneuver the respective vehicle into the detected parking space by means of automated steering, braking and / or acceleration interventions.

[0003] However, such well-known PLAs are associated with a number of disadvantages or problems. For example, the necessary activation of the PLA can be a barrier to use, especially for drivers who consider themselves good drivers, as these drivers may not believe such assistance is necessary. Furthermore, a parking maneuver controlled by a conventional PLA can take longer than a manual maneuver, i.e., one controlled by the driver. This, along with the separate activation requirement, can deter drivers from using an available PLA in situations where quick parking is desired, such as on a busy or heavily trafficked street.Similarly, the automatic detection of suitable parking spaces by known PLAs is often not entirely reliable and may be subject to certain conditions, such as a specific vehicle speed or a certain lateral distance between the vehicle and the parking space. These limitations ultimately mean that existing PLAs, which can assist drivers while parking and prevent damage, are not used in many situations.

[0004] German patent DE 10 2010 049 585 A1 discloses a method for assisting a driver during a parking maneuver. Suitable parking positions are identified in the surrounding area, and the nearest one that can be reached in a single, collision-free maneuver is selected as the relevant parking position. An additional steering torque is then generated such that steering movements along a target trajectory to reach the relevant parking position are supported, and steering movements deviating from the target trajectory are counteracted.

[0005] German patent DE 10 2015 001 631 A1 describes a method for operating a motor vehicle in a parking environment. A target position is determined using a navigation map that defines drivable and non-drivable areas. An ideal trajectory is then calculated from the vehicle's current position to the target position, taking the navigation map into account, while the current position is tracked. Upon a driver-activated switch, the vehicle is automatically guided to and then along the ideal trajectory.

[0006] A vehicle parking assistance system is known from DE 10 2016 125 282 A1. The control unit of this system is configured to locate an available parking space using sensors and, in response to locating the available parking space and detecting a parking trigger, activates a signaling device. With the parking assistance active, the driver can take their hands off the steering wheel but retain control of the vehicle's brakes.

[0007] German patent DE 102010 022 718 A1 describes a method and a device for assisted parking of a motor vehicle. Specifically, the method describes a procedure for selecting a parking assistance function from a predefined number of parking assistance functions using an input element of the parking assistance system and a direction sensor of the motor vehicle. Sensors are used to determine the vehicle's surroundings, identify parking spaces within these spaces, and classify them as either parallel or perpendicular parking spaces. A parking assistance function is then selected based on the classified parking space.

[0008] German patent DE 10 2015 114 780 A1 relates to an automatic parking and reminder system and a method for its use. The parking system comprises a parking assistance system capable of performing parking maneuvers at a geographical location. Furthermore, the parking system includes an activation system which, during the parking maneuver at that geographical location, activates and interacts with the parking assistance system based on a driving history profile associated with that location.

[0009] The object of the present invention is to assist a driver of a motor vehicle during a parking maneuver. This object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments and further developments of the present invention are specified in the dependent claims, in the description, and in the figures.

[0010] An assistance system according to the invention for a motor vehicle is designed to support the driver of the motor vehicle during a parking maneuver. For this purpose, the assistance system has an interface for receiving environmental data provided by an environmental sensor system, which characterizes the current environment of the motor vehicle. The environmental sensor system can comprise one or more identical or different sensors or sensor types, such as radar, lidar, laser scanning, and / or ultrasound devices and / or a camera. Accordingly, the environmental data can also comprise different individual signals or data types. The interface can therefore be configured to receive different signals or signal or data types. For this purpose, the interface can, for example, comprise several sub-interfaces or connections.The interface is further configured to receive operating data from the vehicle, which characterizes or indicates the vehicle's operation, operating state, or driving behavior. The assistance system is designed to automatically evaluate and process the received environmental and / or operating data in order to automatically recognize the vehicle's parking maneuver and the targeted area.

[0011] The parking maneuver can be either parking or exiting a parking space. Accordingly, the intended target area can be, for example, a parking space for the vehicle, such as a parking space, a parking spot, or a parking area, or a section of a roadway or lane. Based on the operating data, the current direction of travel, steering angle, operating status or the position of a turn signal, the vehicle's speed, the selected gear, a gear change or gear-shift sequence, pedal position, and / or similar information can be determined. These or other data points or parameters can also be directly specified by the operating data. The operating or vehicle data can therefore be, for example, data received by various relevant components of the vehicle via the vehicle's onboard network.Environmental data can describe or specify, for example, the positions and, where applicable, types of objects in the vicinity of the vehicle, as well as the vehicle's current geographic or spatial position, particularly in conjunction with a city, country, or road map. Environmental data can thus relate to, specify, or characterize other road users, obstacles, and / or road features. Road features can include, for example, lane markings, signs, traffic signs, and / or the like. Parking maneuvers, specifically the start of a parking maneuver manually initiated by the driver or the driver's intention to park or unpark the vehicle, can be automatically detected based on environmental data and / or operational data.This can be achieved, for example, or supported by a comparison with predefined criteria, properties, characteristics, or profiles that are defined for typical parking maneuvers. Similarly, a suitably trained neural network or another machine learning method can be used to automatically recognize the parking maneuver.

[0012] In a typical situation, environmental data can be used to automatically determine, for example, that the vehicle is moving along a side street with a parking lane. If the vehicle's speed profile, automatically determined based on operating data, then shows, for instance, that it is braking from forward motion, coming to a standstill, and then reversing, with the turn signal activated and the steering angle changed, this can be reliably interpreted as an indication that a parking maneuver has begun. The vehicle's environmental sensors can scan the surroundings for available parking spaces during this maneuver or even while driving forward and provide the corresponding environmental data to the assistance system via the interface.

[0013] Similarly, a parking maneuver can be detected, for example, when the vehicle is started after a period of inactivity, the turn signal is activated, and the vehicle's speed does not exceed a predefined speed threshold within a specified time interval after starting. Likewise, a variety of other situation profiles, combinations of characteristics, or sequences of characteristics can be defined, which can be compared with corresponding real-world or actual characteristics or properties of the environmental data and / or operational data to detect the parking maneuver.

[0014] According to the invention, the assistance system is configured to automatically determine a target position for the vehicle on the targeted surface. Furthermore, the assistance system is configured to automatically determine, based on environmental and operational data, whether the operational data is consistent with reaching the determined target position, and if not, to automatically generate and output a control signal to assist the driver of the vehicle in reaching the determined target position.In other words, the assistance system automatically determines, calculates, or simulates whether, for example, the current direction of travel, speed, and steering angle of the vehicle are likely to be suitable for maneuvering the vehicle into the target position without collision and, if necessary, as quickly, accurately, and / or safely as possible, at least within a predefined tolerance or deviation, i.e., with at least a predefined level of quality or accuracy. The target position can include or specify the vehicle's position as well as its orientation or angular position, for example, in relation to a predefined environmental or earth-fixed coordinate system or relative to a detected parking space and / or its boundary.

[0015] For example, a steering angle that is too large or too small—that is, outside a situation-dependent interval or range—possibly depending on the lateral distance of the vehicle to the intended target surface, can make reaching the target position impossible without additional corrective actions. The corresponding steering angle, especially when considering or combined with the vehicle's current speed and / or acceleration, is then inconsistent with reaching the target position. Since this can be detected relatively early, at the beginning of the parking maneuver, the assistance system can then provide support through the control signal, enabling the target position to be reached without collision, with fewer or no corrective actions, and / or with improved accuracy.

[0016] Furthermore, according to the invention, the assistance system is configured to automatically determine, based on the operating data—and optionally based on the environmental data—the accuracy or quality with which the vehicle is expected to reach the target position. The assistance system is also configured to generate and output the control signal only if the accuracy or quality is at most equal to or less than a predetermined threshold. In other words, the assistance system performs an automatic evaluation, for example, regarding the vehicle's orientation in the target position, the vehicle's distance from a lateral boundary of the parking space, or the number of partial maneuvers required to achieve an accuracy or quality above the predetermined threshold.In this way, potentially unnecessary automatic interventions by the assistance system can be avoided, thereby advantageously minimizing distraction or irritation of the driver.

[0017] A partial maneuver of the parking maneuver, in accordance with the present invention, can be, for example, a change in the steering angle, a change in the direction of the steering input, or a change in the direction of travel between forward and reverse travel of the motor vehicle.

[0018] Possible types of support or the corresponding control signal are explained in more detail below. However, it should be briefly stated at this point that the control signal can, for example, issue a warning or a notification to the driver, as well as intervene in the vehicle's operation, for instance by specifying or modifying a steering angle, steering torque, braking torque, or vehicle speed. It is specifically not intended that the vehicle be controlled or driven completely autonomously or automatically by the assistance system or the control signal. Instead, the present invention merely assists the driver in manually driving the vehicle.

[0019] The environmental data can include, in particular, the dimensions—that is, the spatial size or extent—of a detected open space, which is determined or identified as a parking space or targeted area. Preferably, the environmental data can specify the shape of the open space, i.e., the parking space or target area, or this shape can be automatically determined by the assistance system from the environmental data, especially based on the dimensions. The shape can then be automatically evaluated to determine a likely parking maneuver or a likely sequence of partial maneuvers, i.e., driver control inputs. This allows for a particularly reliable and flexible determination of whether the operating data is consistent with reaching the specified target position.

[0020] It is particularly preferred that the assistance system according to the invention is linked to an operation or operating state of the motor vehicle, i.e., is automatically active or in operation at all times when the motor vehicle is in operation, for example, when a predetermined ignition position is activated, a drive motor of the motor vehicle is switched on, or the speed of the motor vehicle is within a predetermined speed range or speed interval. The predetermined speed range can, for example, be 0 km / h or 1 km / h up to 70 km / h or up to 50 km / h, since it is generally not to be expected that a parking maneuver will be initiated from higher speeds. Therefore, unlike conventional parking assist systems (PLAs), the assistance system according to the invention does not need to be manually activated before or during every parking maneuver.In this way, a particularly low-threshold support can be advantageously implemented, thus lowering the threshold for the driver's use of the assistance system compared to conventional PLAs.

[0021] Since the parking maneuver is automatically detected based on environmental and / or operating data, the assistance system according to the invention advantageously does not place any specific requirements on the operation of the motor vehicle in order to detect a suitable parking space or the like, or to initiate an automatic parking maneuver. Rather, it effectively exploits the fact that the detection of suitable parking spaces or the like by the driver is usually faster and more reliable compared to automatic detection using currently available technology. A further advantage of the present invention is that the control signal is only generated if the driver is not expected to reach the target position, or not with at least the specified quality or accuracy. Thus, competent drivers are not distracted or confused by the control signal, and the driver is not deprived of control over the motor vehicle.This can advantageously increase the acceptance of the assistance system according to the invention, thereby ultimately improving safety when driving the motor vehicle and in road traffic in general, and possibly reducing obstruction to other road users by accelerating or shortening parking maneuvers at least on average and reducing the probability of collisions.

[0022] The term "parking space" used here should not only be understood in its literal sense, but should encompass all parking areas for motor vehicles, such as parking spaces, parking bays and the like.

[0023] In an advantageous embodiment of the present invention, the assistance system is configured to determine the current direction of travel of the vehicle relative to the target position and to output this as a control signal to the driver, in particular an acoustic, visual, and / or haptic cue, to indicate how far the driver should continue in the current direction of travel to reach the target position. In other words, the cue indicates to the driver when or at what position the driver should or must change the steering angle of the vehicle in order to reach the target position as reliably or accurately as possible, in particular with as few corrections or partial maneuvers as possible. For example, a single tone or a sequence of tones, as well as a voice output, can be provided as an acoustic cue.Visual cues can include, for example, a color-coded display, a symbol or pictogram, a graphic representation of the surroundings (especially an animated one), and / or similar elements. The visual cue can preferably be displayed on a screen or head-up display of the assistance system or the vehicle. Haptic cues can include, for example, steering torque applied to the vehicle's steering wheel by the assistance system, a vibration, or a vibration signal at the steering wheel. For this purpose, a corresponding actuator, such as an electric motor, a piezoelectric element, or similar device, can be provided on or in the steering wheel, steering column, or steering gear. This actuator can be controlled or switched by the assistance system or by the control signal.The haptic feedback generated on the steering wheel can provide the driver with particularly easy and intuitive support while driving the vehicle, minimizing distractions.

[0024] Particularly useful is the indication of a direction in which the steering wheel should be turned to reach the target position as accurately, reliably, safely and quickly as possible.

[0025] This notification can provide the driver with particularly simple and easily understandable support. In practice, it can be advantageous that the driver can simply ignore the notification depending on the situation and control the vehicle according to their own preferences or wishes. This is especially beneficial given that the technology for fully safe autonomous or automated vehicle control is still not fully mature.

[0026] In a further advantageous embodiment of the present invention, the assistance system is configured to detect manual steering inputs from the driver and to adjust the effect of these inputs via the control signal to support the achievement of the target position. In other words, the driver's steering inputs or movements, or the resulting steering torques, wheel positions, or changes in direction of travel, can be modified, for example, increased or decreased, i.e., corrected, to enable the most precise, reliable, fast, and safe achievement of the target position. For this purpose, the control signal can, for example, be output to a steering system or steering device of the vehicle to adjust or set an effective steering torque or steering angle.The assistance system can therefore determine an ideal steering angle or steering torque, based on environmental data and, where applicable, operating data, which optimizes reaching the target position in the given situation, for example, with regard to speed, accuracy, safety, and / or the number of necessary corrections or partial maneuvers. If the assistance system then automatically detects that the driver's manual steering input does not result in the ideal steering angle or steering torque, or deviates from it, the difference can be compensated for by adjusting the steering angle or steering torque accordingly, for example, by superimposing an additional steering torque generated or caused by the control signal.

[0027] In this way, the driver is supported particularly effectively during each parking maneuver without the need for fully autonomous or automated vehicle control by the assistance system. It is especially advantageous that the driver retains fundamental control over the vehicle and the basic nature of the parking maneuver, such as initiating steering movements or their basic direction relative to a neutral or straight-ahead position, with the assistance system merely optimizing these actions. Thus, the driver's wishes are automatically taken into account, which also improves the acceptance of the assistance system according to the invention and consequently enhances safety and efficiency when driving the vehicle.The adjustment of the steering interventions can be made situationally and may even be imperceptible to the driver, thus minimizing distraction or irritation of the driver, for example when only relatively small or minor corrections are necessary.

[0028] In addition to calculating the target position, the assistance system can also calculate necessary or suitable maneuvers or partial maneuvers to achieve it. If the driver, with the current steering input or steering wheel angle, does not reach the target position with at least a predetermined degree of accuracy (i.e., within a predetermined tolerance or deviation), or is not expected to reach it (i.e., if the steering wheel angle deviates from the corresponding calculated ideal value by more than a predetermined amount or angle), the assistance system or the control signal initiates an automatic steering movement, which, in combination with the driver's steering input, guides the vehicle to the target position.

[0029] In a further advantageous embodiment of the present invention, the assistance system is configured to generate a steering and / or braking torque for controlling the motor vehicle via the control signal. Furthermore, the assistance system is configured to detect at least one steering input from the driver for controlling the motor vehicle and to automatically adjust the control signal, in particular to reject it, if the at least one detected steering input opposes the steering and / or braking torque generated by the control signal for a predetermined duration and / or for a predetermined number of times. In other words, it is automatically detected and taken into account if the driver counteracts the steering and / or braking torque provided by the assistance system, i.e., attempts to override it, particularly repeatedly, for example, at least twice in succession or within a predetermined time period.To adjust the control signal, the assistance system can, for example, calculate an alternative parking maneuver to reach the target position—that is, an alternative combination of partial maneuvers to achieve the target position—in such a way that the steering and / or braking torque specified for this alternative parking maneuver or combination of partial maneuvers at any given time exhibits a minimal deviation from the steering and / or braking torque resulting from the driver's manual control input. In this way, the driver's wishes or preferences regarding the execution of the parking maneuver can be taken into account.

[0030] Additionally or alternatively, the assistance system can display one or more possible target positions to the driver, for example, via a human-machine interface (HMI), a head-up display, a screen, or similar device. For instance, two adjacent vacant perpendicular parking spaces might be incorrectly identified as a single parallel parking space. If the driver overrides the assistance system's support for maneuvering the vehicle into a parallel position, possible target positions for the two perpendicular parking spaces can be displayed. The driver can then select one of these possible target positions, whereupon the assistance system adjusts its support accordingly.

[0031] Discarding the control signal can, in particular, mean that the assistance system or a corresponding functionality of the assistance system is temporarily deactivated, i.e., terminated or interrupted, for the current parking maneuver. This embodiment of the present invention advantageously addresses the fact that automatic detection, assessment, or evaluation of a given environmental or traffic situation may not be entirely accurate or reliable. It therefore makes it easier for the driver to exercise manual control of the vehicle. Since, according to the current state of the art, the driver can, in particular, recognize or assess complex environmental or traffic situations more quickly or reliably than the vehicle's technical systems, improved safety can thus be achieved, depending on the situation.The fact that the driver can currently override an automatic control intervention of the assistance system in the driving operation of the motor vehicle can also improve the driver's acceptance of the assistance system according to the invention.

[0032] In a further advantageous embodiment of the present invention, the assistance system is configured to automatically determine an ideal path for the vehicle to reach its target position based on operating and environmental data. Furthermore, the assistance system is configured to determine any deviation of the vehicle's current trajectory or path from this ideal path and to output the control signal only if the deviation is at least as large as, or greater than, a predetermined threshold. In other words, the assistance system monitors the parking maneuver during the maneuver itself, particularly at the earliest possible stage, preferably immediately after the maneuver is detected, and optimizes it as needed.In this way, the control signal can be used to support the most precise, reliable, fast, and safe achievement of the target position with exceptional accuracy, reliability, and timeliness. At the same time, the system avoids the unnecessary generation and output of the control signal, thus preventing driver distraction or irritation. Because the vehicle's current trajectory is monitored and checked against the ideal line during the parking maneuver, any necessary interventions by the assistance system can be advantageously minimal or less severe. This is because the system can react dynamically and very early to any actual movement of the vehicle, providing ample room for correction to align the trajectory with the ideal line until the end of the parking maneuver.

[0033] In a further advantageous embodiment of the present invention, the assistance system is configured to automatically classify the targeted area with regard to a planned vehicle arrangement based on environmental data—and optionally taking operating data into account—and to generate the control signal depending on the respective classification of the target area. In other words, the assistance system can automatically detect or determine whether, for example, a longitudinal, angled, perpendicular, or block parking arrangement is planned on or for the target area. In other words, the system determines the type of the respective target area or parking space. Depending on the type of parking space, i.e., depending on the planned vehicle arrangement, different parking maneuvers may be necessary or optimal to reach the target position.To determine the intended vehicle positioning, environmental data can be processed using, for example, an image recognition, image processing, or object recognition algorithm. This allows for the detection and evaluation of markings defining the target area or parking space, existing street signs, traffic signs, or information signs, and / or the orientations, positions, or orientations of other parked vehicles in the vicinity of the target area. Similarly, the current position of the vehicle can be compared with a map showing the types of parking spaces available in the vicinity. By taking the intended vehicle positioning into account, the driver can be significantly and effectively supported during the parking maneuver.

[0034] In a further advantageous embodiment of the present invention, the assistance system is configured to automatically determine, based on environmental and operational data, whether a collision between the vehicle and an obstacle in the environment is likely and—if so—to initiate automatic steering and / or braking intervention by means of a control signal in order to avoid or mitigate the collision. In other words, the assistance system determines a collision probability, particularly permanently or continuously during the parking maneuver, or evaluates the environment and the current movement of the vehicle with regard to a collision probability. The automatic steering and / or braking intervention can then be triggered when a predetermined threshold for the collision probability is reached or exceeded.This is particularly advantageous because, as experience shows, the driver is more occupied with controlling the vehicle during parking maneuvers than during other driving maneuvers. Therefore, by monitoring the probability of a collision during parking maneuvers, the assistance system can significantly improve driving safety. Both static and moving obstacles, such as infrastructure elements or other road users, can be detected and taken into account, and their position relative to the vehicle can be tracked.

[0035] Another aspect of the present invention is a motor vehicle equipped with environmental sensors for detecting the vehicle's surroundings and with an assistance system according to the invention. The motor vehicle according to the invention can therefore be, in particular, the motor vehicle mentioned in connection with the assistance system according to the invention. Accordingly, the motor vehicle according to the invention can have some or all of the properties, features, and / or devices mentioned in connection with the assistance system according to the invention.

[0036] In a further advantageous embodiment of the present invention, the motor vehicle has a parking assistance system (PLA) for autonomously or automatically steering the motor vehicle into the target position. The assistance system is configured to send a control signal to the driver requesting activation of the parking assistance system and, upon receiving confirmation of the request, to activate the parking assistance system. It is therefore particularly intended that the assistance system is always active during operation of the motor vehicle, i.e., continuously or permanently, and that the parking assistance system is only activated when needed. The request advantageously reminds the driver of the availability of the automated parking assistance system (PLA). Furthermore, confirming the automatically generated request represents a particularly low threshold for using the PLA.In this way, it can be achieved that, for example, people who consider themselves good drivers or less technically skilled drivers use the PLA more often or with a greater likelihood, thereby improving overall safety when driving a motor vehicle.

[0037] Another aspect of the present invention is a method for operating an assistance system for a motor vehicle to support a driver of the motor vehicle during a parking maneuver. The method according to the invention comprises the process steps, i.e., operations or actions, described in connection with the assistance system according to the invention or in connection with the motor vehicle according to the invention.

[0038] To execute the described processes or functions, in particular to execute the method, the assistance system or the motor vehicle according to the invention, particularly as part of the assistance system, may include a data processing device. This data processing device may, in particular, comprise a data storage device in which program code is stored that encodes or represents the described functions or processes. Furthermore, the data processing device may include a processor device connected to this data storage device, for example, a microchip or microcontroller, for executing the program code.

[0039] The invention also includes further developments of the motor vehicle and the method according to the invention, which have features as described in connection with the further developments of the assistance system according to the invention, and vice versa. To avoid unnecessary redundancy, the corresponding further developments are not described separately here for all these aspects of the present invention.

[0040] An embodiment of the invention is described below. The following is shown: Fig. 1. A schematic top view of a traffic scene to illustrate the functionality of an assistance system; and Fig. 2 an exemplary schematic flowchart of a procedure for assisting a driver of a motor vehicle during a parking maneuver by means of an assistance system of the motor vehicle.

[0041] The embodiment described below is a preferred embodiment of the invention. In this embodiment, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by other features of the invention already described.

[0042] In the figures, functionally identical elements are each provided with the same reference symbols.

[0043] Fig. Figure 1 shows a schematic top view of a traffic scene with a road 1 on which a motor vehicle 2 is moving or located. Several other vehicles 3 are parked along the edge of the road 1, with a free parking space 4 between them. The motor vehicle 2 is currently in position 5. To reach this current position 5, the motor vehicle 2 was initially in a starting position 6, indicated schematically here, at an earlier point in time. From this starting position 6, the motor vehicle 2 then moved forward to an intermediate position 7, also indicated schematically here. From this intermediate position 7, the motor vehicle 2 then moved backward to its current position 5.

[0044] In this case, the vehicle 2 is equipped with environmental sensors 8 for detecting its surroundings. These sensors can detect, for example, the road 1, other vehicles 3, and road features along the road 1. The environmental sensors 8 are shown here, by way of example, arranged in the front and rear sections of the vehicle 2. Sensors of the environmental sensors 8 could also be arranged, for example, in the sides of the vehicle 2. Preferably, the environmental sensors can provide all-around monitoring in all directions. The road features are represented here by a sign 9. In this case, the sign 9 indicates, for example, that 4 vehicles may be parked parallel to each other in the parking space.Furthermore, the vehicle 2 has an assistance system 10, coupled via an on-board network to the environmental sensors 8, for supporting the driver of the vehicle 2 during a parking maneuver. The assistance system 10, in turn, has a data storage device 11 and a processor unit 12 connected to it for executing program code stored in the data storage device, which represents or encodes a procedure or corresponding functions of the assistance system 10. In particular, the assistance system 10, or rather the processor unit 12, is configured to receive and evaluate environmental data provided by the environmental sensors 8 and operating data of the vehicle 2 provided by one or more other components of the vehicle 2.In the present example, the operating data specifies, for example, a movement sequence, a speed profile and switching operations of the motor vehicle 2 between the starting position 6 and reaching the current position 5.

[0045] Fig. Figure 2 shows an exemplary schematic flowchart 14 of a procedure for operating the assistance system 10 to support a driver of the motor vehicle 2 during a parking maneuver. In this example, the parking maneuver involves maneuvering or moving the motor vehicle 2 from the intermediate position 7 or from the current position 5 into the free parking space 4, in particular into a target position 13, which is schematically indicated here. The target position 13 is automatically determined or set by the assistance system 10 by processing the environmental data. The motor vehicle 2 also has actuators, control devices, or means that can be directly or indirectly controlled by the assistance system 10, for example, an engine, an engine control unit, a steerable steering system, a steerable braking system, and / or the like. The assistance system 10 can automatically control these to support the driver during the parking maneuver according to the procedure.

[0046] The following describes the procedure according to schedule 14 with reference to Fig. 1 and Fig. 2 explained in more detail.

[0047] The procedure begins with a process step S1, in which the motor vehicle 2 and thus automatically also the assistance system 10 is put into operation, i.e., started.

[0048] In process step S2, the assistance system 10 is in an idle state. In this idle state, the assistance system 10 continuously processes the received environmental and / or operational data in order to automatically detect a parking maneuver, in particular the start of a parking maneuver, of the vehicle 2.

[0049] The parking maneuver described above, for parking in space 4, is detected. However, in a different situation, a parking maneuver, for example, for removing vehicle 2 from parking space 4, can also be detected. This case will be examined in more detail below. In a process step S3, the assistance system 10 automatically determines whether the currently detected parking maneuver, or a future parking maneuver, is or will be a parking maneuver or an exit maneuver. For example, if the vehicle is currently moving on a highway, the next parking maneuver will likely be a parking maneuver and not an exit maneuver, since the vehicle generally cannot be parked on the highway, even if its speed is, for example, 0 km / h.

[0050] This is a parking maneuver, so the process continues with step S4. In step S4, the assistance system 10 scans for available parking spaces, searches for and identifies the available parking space 4, and classifies it according to the intended vehicle position, for example, as a parallel, perpendicular, or angled parking space. Additionally or alternatively, the assistance system 10 can be linked to a parking service through which parking space 4 has been reserved for vehicle 2, and then, in step S4, locate this parking space 4 reserved for vehicle 2.

[0051] In process step S5, the assistance system 10 automatically determines or decides whether the driver of vehicle 2 actually intends to park in the detected parking space 4. If this is not the case, i.e., if the driver aborts the parking maneuver, the process follows a path 15 back to process step S2, and the assistance system 10 is returned to standby mode. The aborting of the parking maneuver can be detected, for example, if vehicle 2 moves more than a predefined distance away from the detected parking space 4, particularly if it is accelerating.

[0052] If, in process step S5, a parking request from the driver is detected or confirmed, the process follows a path 16 to process step S6. In process step S6, the parking space 4 targeted for the current parking maneuver is determined or set, for example, if several adjacent or directly neighboring free parking spaces 4 have been found. Furthermore, in process step S6, the assistance system 10 determines or sets the target position 13 in the specified parking space 4, for example, based on the size of the free parking space 4 and / or the course of the road 1 and / or the orientation of other vehicles 3, in particular based on the environmental data.

[0053] As soon as it is detected that the driver is parking in parking space 4, the assistance system 10 calculates in procedure step S6 - if this has not already been done - a type of parking space 4 as well as necessary or suitable maneuvers or partial maneuvers to reach the target position 13 from the current position 5.

[0054] In a process step S7, the parking maneuver, in particular a steering angle or steering wheel input, a direction of travel and a position or change of position of the motor vehicle 2, is continuously monitored by the assistance system 10.

[0055] In process step S7, the monitored parameters are compared with the calculated maneuvers or sub-maneuvers for reaching target position 13 and / or extrapolated to determine whether the vehicle 2 is likely to reach target position 13 with at least a defined, i.e., predetermined, level of quality or accuracy. In process step S8, the assistance system 10 determines whether a correction of manual control interventions or driver control measures is necessary to reach target position 13 with at least the predetermined level of quality or accuracy.

[0056] If it is determined that such a correction is necessary, a corresponding control signal is generated and output in process step S9 to assist the driver of vehicle 2 in reaching target position 13. In this example, a steering recommendation is issued to the customer and / or a steering movement, i.e., an automatic steering intervention to modify the driver's manual steering input, is initiated or executed. Furthermore, the driver is shown acoustically, visually, and / or electronically how far they should or must continue driving in the current direction of travel to reach target position 13 as quickly and accurately as possible.

[0057] Following path 18, a monitoring for potential collisions or collision hazards is carried out in process step S10. The assistance system 10 scans the area around the vehicle 2 during the parking maneuver or parking process for stationary or moving objects, such as other road users – in this case, for example, the other vehicles 3 – particularly in relation to the vehicle 2. Should an imminent collision be detected at any point during the entire parking maneuver, or should a certain probability of collision reach or exceed a predefined threshold, the assistance system 10 automatically supports the driver of the vehicle 2 with appropriate braking and / or steering intervention to avoid or mitigate the collision.The procedure step S10 can therefore be carried out continuously during the other procedure steps described here, i.e., in parallel with them during the entire procedure or during the entire duration of the detected parking maneuver.

[0058] If a continuous check or query performed in process step S11 indicates that no collision is imminent, the process follows path 19. However, if an imminent collision is detected or the specific collision risk exceeds the predefined threshold, the process follows path 20 to process step S12, in which the corresponding braking and / or steering intervention is automatically executed or initiated. Preferably, the driver is simultaneously informed of this action and its reason, for example, by a corresponding visual or graphic display and / or by a corresponding voice output or a signal tone. After completion of the parking maneuver, the assistance system 10 is returned to standby mode.

[0059] If, in the respective situation, the vehicle 2 is to be parked out of its parking space, the procedure follows a path 21 to a procedure step S13, starting from procedure step S3. For example, it can be assumed that a current parking maneuver is a parking or unparking maneuver if the vehicle 2 has been stationary for at least a predetermined minimum time, in particular with the engine switched off or in a state not ready to drive, and a check of the current position 5 of the vehicle 2 shows that the vehicle 2 is located in a parking space or a parking lane or the like.

[0060] As soon as it is detected that the driver is parking or intends to park, the assistance system 10 also calculates, in process step S13, the type of parking space 4 in which the vehicle 2 is located and determines a target position that the vehicle 2 should ideally occupy at the end of the parking maneuver. Compared to the one in Fig. In the situation depicted in Figure 1, the current position 5 and the target position 13 could, for example, be reversed, so that vehicle 2 is then in parking space 4 and the target position 13 occupies a section of road 3 intended for flowing traffic along road 1. The assistance system 10 then calculates necessary or suitable maneuvers or partial maneuvers to reach this target position as quickly as possible, with minimal effort, and without a collision.

[0061] In process step S14, the parking maneuver, i.e., the control interventions manually performed by the driver of motor vehicle 2, is then monitored.

[0062] If, in a process step S15, it is recognized that a correction is necessary to reach the specified target position for parking as quickly and safely as possible, for example because the driver is not expected to reach the target position with at least a specified quality or accuracy with regard to a position and / or orientation with the current steering wheel angle, the process follows a path 22 to a process step S16.

[0063] In process step S16, analogous to process step S9, a corresponding control signal is generated and output by the assistance system 10, for example in the form of a steering recommendation to the driver or a steering movement by means of which the vehicle 2 is guided to the target position. Here, too, the driver is preferably shown how far he should continue driving in the current direction of travel within the scope of the parking maneuver or the respective current sub-maneuver.

[0064] In both process step S9 and process step S16, multiple control signals or partial control signals can of course be generated and output to ensure that the target position is reached and to make it as easy as possible for the driver.

[0065] Following path 23, in process step S17, a monitoring for collisions or collision risks is carried out, analogous to process step S10. The assistance system 10 therefore scans the area around the vehicle 2 for stationary or moving objects or obstacles, such as other road users, throughout the entire parking maneuver and determines or calculates whether a collision with the detected objects or obstacles is imminent. Should an imminent collision be detected during the entire parking maneuver, the process follows path 25 to process step S19, in which a corresponding braking and / or steering intervention is automatically initiated to support the driver of vehicle 2 and to avoid or mitigate the collision. Otherwise, the process follows path 24.As with parking, a function can also be active here: the assistance system for collision avoidance throughout the entire parking maneuver.

[0066] After the parking maneuver is completed, the assistance system 10 is switched back to standby mode. Although the assistance system 10 may intervene in the driving operation of the vehicle 2 if necessary, the driver can manually override the assistance system 10 or the corresponding automatic control interventions at any time.

[0067] Overall, the examples described show how a driver of a motor vehicle can be supported during a parking maneuver and how low-threshold steering assistance and collision avoidance, which is activated automatically or is activated during operation of the motor vehicle, can be implemented. Reference symbol list 1 Street 2 motor vehicles 3 foreign vehicles 4 parking spaces 5 current position 6 Starting position 7 Intermediate position 8 Environmental sensors 9 Information sign 10 assistance systems 11 Data storage 12 Processor setup 13 Target position 14. Schedule Path 15 - 25 S1 - S19 Procedure steps

Claims

[1] Assistance system (10) for a motor vehicle (2) for assisting a driver of the motor vehicle (2) during a parking maneuver of the motor vehicle (2), comprising an interface for receiving environmental data provided by an environmental sensor (8), which characterizes the current environment of the motor vehicle (2), and operating data of the motor vehicle (2), wherein the assistance system (10) is configured to automatically evaluate the received environmental data and / or the received operating data in order to automatically recognize the parking maneuver of the motor vehicle (2) and a target area (4) being aimed at, wherein the assistance system (10) is configured to automatically - to determine a target position (13) for the motor vehicle (2) on the target area (4), - to determine, based on the environmental data and the operational data, whether the operational data are consistent with reaching the specified target position (13), and - if this is not the case, to generate and output a control signal to assist the driver of the motor vehicle (2) in reaching the target position (13), characterized by , that the assistance system (10) is configured to automatically determine, based on the operating data, with what accuracy the motor vehicle (2) is expected to reach the target position (13), and to generate and output the control signal only if the accuracy is at most as high as or less than a specified threshold. [2] Assistance system (10) according to claim 1, characterized by that the assistance system (10) is designed to determine the current direction of travel of the motor vehicle (2) relative to the target position (13) and to issue a control signal, in particular an acoustic, optical and / or haptic, indication to the driver to show him how far he should continue driving in the current direction of travel in order to reach the target position (13). [3] Assistance system (10) according to any of the preceding claims, characterized by , that the assistance system (10) is designed to detect steering inputs from the driver and to adjust the effect of the steering inputs from the driver by means of the control signal in order to assist in reaching the target position (13). [4] Assistance system (10) according to any one of the preceding claims, characterized by , that the assistance system (10) is set up to, - to effect a steering and / or braking torque for controlling the motor vehicle (2) by means of the control signal, - to record at least one steering input by the driver to control the motor vehicle (2), and - to automatically adjust the control signal, in particular to discard it if at least one detected control intervention is contrary to the steering and / or braking torque caused by the control signal for a predetermined duration and / or for a predetermined number of times. [5] Assistance system (10) according to any one of the preceding claims, characterized by , that the assistance system (10) is set up to automatically - to determine an ideal line for the motor vehicle (2) to reach the target position (13) based on the operating data and the environmental data, - to determine a deviation of a current trajectory of the motor vehicle (2) from the ideal line, and - to output the control signal only if the deviation is at least as large as or greater than a specified threshold. [6] Assistance system (10) according to any one of the preceding claims, characterized by , that the assistance system (10) is designed to automatically classify the targeted area (4) with regard to a planned vehicle positioning based on the environmental data and to generate the control signal depending on the respective classification of the target area (4). [7] Assistance system (10) according to any one of the preceding claims, characterized by , that the assistance system (10) is designed to automatically determine, based on the environmental data and the operating data, whether a collision of the motor vehicle (2) with an obstacle (3) in the environment is likely to occur, and then to effect an automatic steering and / or braking intervention by means of the control signal in order to avoid the collision. [8] Motor vehicle (2) with an environmental sensor system (8) for detecting the environment of the motor vehicle (2) and with an assistance system (10) according to one of the preceding claims. [9] Motor vehicle (2) according to claim 8, characterized by, that the motor vehicle (2) has a parking steering assistance system for automated steering of the motor vehicle (2) into the target position (13) and the assistance system (10) is configured to issue a request to the driver to activate the parking steering assistance system as the control signal and to activate the parking steering assistance system upon receipt of confirmation of the request.

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