Assistance system for a motor vehicle and motor vehicle

Abstract

Assistance system (7) for a motor vehicle (6), comprising an interface for receiving environmental data provided by an environmental sensor system, which characterizes a respective current environment of the motor vehicle (6), wherein the assistance system (7) is configured to detect obstacles (2, 3) for the motor vehicle (6) in the environment of the motor vehicle (6) by automatically evaluating the received environmental data, wherein the assistance system (7) is configured to - to automatically determine, on the basis of the environmental data, a course (8) of a traffic route (1) currently travelled by the motor vehicle (6), which course is laterally limited by the detected obstacles (2, 3), and - to automatically generate and output a control signal to assist a driver of the motor vehicle (6) in driving the motor vehicle (6) collision-free along the specific course (8) of the traffic route (1), wherein the assistance system (7) is configured to automatically detect a current speed of the motor vehicle (6) and to automatically adapt the control signal depending on the detected speed of the motor vehicle (6), wherein a corresponding corrective steering torque is generated if the assistance system (7) automatically determines that a current trajectory of the motor vehicle (6) leads to one of the detected obstacles (2, 3) and the current speed of the motor vehicle (6) is less than a predetermined speed threshold, wherein no steering torque is caused by the control signal if the current speed of the motor vehicle (6) is greater than the predetermined speed threshold,but instead the control signal is automatically formed in such a way that an acoustic, optical and / or haptic indication is generated for a driver of the motor vehicle (6), characterized in that the assistance system (7) is set up to automatically, - to determine a current direction of movement (5) of the motor vehicle (6) relative to the detected obstacles (2, 3), and - to generate and output the control signal in the earliest possible time window, in particular at the earliest possible time (x0), immediately after the assistance system (7) has automatically determined that the motor vehicle (6), following the current direction of movement (5), would leave an automatically determined ideal line (8) along the traffic route (1) without steering intervention and / or would collide with one of the detected obstacles (2, 3) and / or the assistance system (7) is set up to automatically - to determine a current overlap between a transverse extent of the motor vehicle (6) perpendicular to a current direction of movement (5) of the motor vehicle and one of the detected obstacles (2, 3) closest to the motor vehicle (6) in the direction of movement (5), - to determine the current distance between the motor vehicle (6) and the nearest obstacle (2, 3), - to effect a braking intervention by means of the control signal to automatically brake the motor vehicle (6) when the overlap reaches or exceeds a predetermined distance-dependent threshold value.

Description

The invention relates to an assistance system for a motor vehicle and a motor vehicle having such an assistance system. The assistance system is provided for assisting a driver or occupant of the motor vehicle when driving the motor vehicle. Accordingly, the assistance system can thus be understood or referred to as a driver assistance system or driver assistance system.In the course of the currently ever increasing scope of functions of motor vehicles and the ever increasing automation or partial automation of driving functions, a wide variety of assistance systems are already known. These can warn the driver of a motor vehicle, for example, when driving over a roadway marking or automatically initiate emergency braking, for example, when a collision risk is detected, in order to prevent the collision or to reduce resulting damage to the collision.Thus, DE 20 2015 002 609 U1 discloses a supporting device for the driver of a motor vehicle when steering backwards along a detected constriction. In this case, a control unit for steering corrections and for a combined city emergency braking function during reverse travel, and a storage medium with programmed distance variables for precise distance adjustment, are provided.EP 1 521 687 B1 also describes a method for assisting the driver in a parking maneuver or maneuvering maneuver. In this case, a reference trajectory for the vehicle movement is determined and a steering wheel position to be set for this is specified to the driver. The longitudinal speed of the vehicle is set to be lower the greater an amount of a corresponding steering angle deviation from a steering wheel position required for the reference trajectory.An bottleneck assistance system for a motor vehicle is also disclosed in DE 10 2016 221 905 A1. In this case, a constriction with stationary objects on the passenger side is to be detected and a lateral auxiliary trajectory along the objects is to be predefined. A corresponding control unit is also intended to control a counter-steering torque for guiding the vehicle along the auxiliary trajectory.DE 10 2016 208 703 A1 describes a motor vehicle and a method for operating a motor vehicle. Taking into account a current environment of the motor vehicle, a free avoidance lane for the motor vehicle is determined. If it is determined whether a rear-end collision is imminent, a temporary indicated steering torque is generated at a steering handle of the motor vehicle as an indication of an avoidance steering direction into which the steering handle is to be displaced in order to steer the motor vehicle onto the free selection lane. A direction of travel of the motor vehicle is not changed, or is only insignificantly changed, by the indicated steering torque.DE 10 2008 010 631 A1 discloses a method for assisting the driver of a vehicle in driving the vehicle. The support comprises an adaptive distance and speed control as well as a first and second transverse guidance operating mode of a transverse guidance support. The first and second transverse guidance operating modes have different degrees of automation. A longitudinal guide setting speed predefined for the speed regulation is predefined here in such a way that it corresponds to the minimum between a lateral guide setting speed determined as a function of the first lateral guide operating mode and a driver setting speed predefinable by the driver.From KR 2017 0 031 812 A a control system for assisting a guiding of a vehicle on a lane is known. A front image system for capturing an image in the forward direction and a rear image system for capturing an image in the rearward direction are provided. If a fault or failure of the front image system or a corresponding lane recognition function of the front image system is recognized, the course of the lane in the forward direction is estimated on the basis of the image recorded by means of the rear image system.It is an object of the present invention to comfortably assist a driver of a motor vehicle when driving the motor vehicle. This object is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments and developments of the present invention are specified in the dependent patent claims, in the description and in the figures.An assistance system according to the invention for a motor vehicle has an interface for receiving environment data provided by an environment sensor system, which data characterize a respective current environment of the motor vehicle. The assistance system is configured to recognize obstacles for the motor vehicle in the environment of the motor vehicle by automatically evaluating the received environmental data. According to the invention, the assistance system is configured to automatically determine, on the basis of the environmental data, a course of a traffic route currently being traveled by the motor vehicle that is laterally delimited by the detected obstacles. According to the invention, the assistance system is also configured to automatically generate and output a control signal in order to assist a driver of the motor vehicle in the case of guidance of the motor vehicle without a collision along the specific course of the traffic route. The assistance system is also configured to automatically detect a current speed of the motor vehicle and to automatically adapt the control signal as a function of the detected speed of the motor vehicle, wherein a corresponding correcting steering torque is generated if it is automatically determined by the assistance system that a current trajectory of the motor vehicle leads to one of the detected obstacles and the current speed of the motor vehicle is less than a predefined speed threshold value. According to the invention, no steering torque is thereby effected by the control signal if the current speed of the motor vehicle is greater than the predefined speed threshold value, but instead the control signal is automatically formed in such a way that an acoustic, visual and / or haptic indication is generated for a driver of the motor vehicle.The assistance system is also configured to automatically determine a respectively current direction of movement of the motor vehicle relative to the detected obstacles and automatically generate and output the control signal in an earliest possible time window, in particular at an earliest possible point in time, immediately after the assistance system has automatically determined that the motor vehicle would leave an automatically determined ideal line along the traffic path and / or collide with one of the detected obstacles following the current direction of movement without steering intervention.The assistance system is additionally or alternatively configured to automatically determine a respectively current overlap between a transverse extent of the motor vehicle perpendicular to a current direction of movement of the motor vehicle and one of the detected obstacles closest to the motor vehicle in the direction of movement, to determine a respectively current distance between the motor vehicle and the respective closest obstacle, to bring about a braking intervention for automatically braking the motor vehicle by means of the control signal if the overlap reaches or exceeds a predefined distance-dependent threshold value.In the present invention, the assistance system is therefore configured to automatically record or determine a current speed of the motor vehicle and to automatically adapt the control signal as a function of the recorded or determined speed of the motor vehicle. In this case, it is provided that no steering torque is effected by the control signal if the current speed of the motor vehicle is greater than a predefined speed threshold value. This speed threshold value can be, for example, 10 km / h or 15 km / h. In other words, steering torques, i.e. steering interventions, are then automatically effected by the assistance system or by the control signal only when the current speed of the motor vehicle is below the predefined speed threshold value. This advantageously allows safety and reliability and comfort during driving of the motor vehicle to be improved. If, for example, the assistance system automatically determines in a specific situation that a current trajectory or a current path of the motor vehicle leads to one of the detected obstacles, the control signal is configured such that a corresponding corrective steering intervention or a corresponding corrective steering torque is automatically generated if the current speed of the motor vehicle is less than the speed threshold value. If, on the other hand, the current speed of the motor vehicle is greater than the predefined speed threshold value in this situation, the control signal is automatically instead configured in such a way that an acoustic, visual and / or haptic indication is generated for the driver. Likewise, the control signal can then be automatically configured in such a way that the speed of the motor vehicle is reduced by the control signal, that is to say an automatic braking intervention is effected.In other words, the control signal is then typically already generated and output before the collision is unavoidable, in particular so early that the respective obstacle can be deviated by a steering intervention. Even in situations in which the obstacles are so far away from a current position of the motor vehicle that no collision is imminent or is to be feared in the foreseeable time, the motor vehicle can advantageously be guided along the traffic path in a particularly comfortable and safe manner. The earliest possible time window can be in particular a respective time period which allows an automatic steering, braking and / or control intervention for collision avoidance, which is weaker than a predefined threshold value and / or at most leads to a vibration or acceleration of the driver and / or other vehicle occupants of the motor vehicle, which is weaker or smaller than a corresponding predefined threshold value. The earliest possible time window can thus be a time period which is suitable or sufficient for carrying out automatic interventions which are comfortable for the driver and / or other vehicle occupants of the motor vehicle.For this purpose, the ideal line can be determined, for example, as a longitudinal center line of the traffic path or as a longitudinal line along the traffic path or run at a predefined distance from the longitudinal center line and / or to one or both lateral boundaries of the traffic path. As a result of the control signal being output at the earliest possible point in time, a respective strength of intervention for guiding the motor vehicle along the ideal line or for avoiding the collision with the obstacle can then be minimal or be kept. This can relate to steering interventions carried out by the driver, since the driver then has a particularly great amount of time to react, and also to automatic steering interventions by the assistance system. Because the engagement strength can be kept to a minimum, i.e. minimized, a particularly high driving comfort is advantageously achieved. In addition, weaker interventions are usually associated with a lower safety risk.The assistance system according to the invention is therefore configured in particular to guide the motor vehicle along the traffic path or to assist the guiding of the motor vehicle along the traffic path, wherein although collisions with the obstacles are avoided or are intended to be avoided, indications and / or control interventions for guiding the motor vehicle along the traffic path are also effected by the control signal without the risk of collision.Accordingly, instead of the braking intervention, the control signal can be configured to effect a steering intervention if the overlap is less than the predefined threshold value. In other words, the overlap as a function of the distance is thus used as a measure or criterion for whether the obstacle can be deviated by means of a steering intervention. If this is not the case, for example on account of a predefined minimum turning radius of the motor vehicle, the motor vehicle is automatically braked in order to avoid a collision with the obstacle or at least to minimize the severity or effects thereof. The respectively current coverage can be determined automatically by the assistance system on the basis of the environmental data and predefined parameters or properties of the motor vehicle, for example its width and maximum steering angle. In this way, a collision can be avoided in a particularly reliable manner, since the driver does not have to rely on his eye measure, for example.The fact that the assistance system is set up for the aforementioned functions can mean in particular that the assistance system has a program code and / or an electrical or electronic circuit for executing or effecting the corresponding functions.Previous assistance systems are often directed to avoiding or mitigating an imminent collision. In contrast, the assistance system according to the invention provides a comfort driving function for facilitating the driving of the motor vehicle along the respective traffic path, in particular without or before a risk of collision or an imminent or even unavoidable collisions has been detected.The interface can comprise, for example, a data interface or a connection for connecting the assistance system, in particular a control device or a data processing device of the assistance system, to the surroundings sensor system or, for example, to an on-board power supply system of the motor vehicle. The interface can likewise be, for example, a program function or program interface, for example between functions, function blocks or program modules of the assistance system or a program code stored in a data memory of the assistance system. This can be the case in particular when the environment sensor system is part of the assistance system.The environment sensor system can comprise, for example, a camera, a lidar, radar or ultrasonic device, a laser scanner and / or the like. In particular, the environment sensor system may be part of the motor vehicle. Likewise, however, the environmental sensor system may be designed completely or partially as a device external to the vehicle with respect to the motor vehicle. The environment sensor system can then transmit the environment data to the assistance system via a wireless data connection. It is thus possible, for example, to use environmental data detected and provided by other motor vehicles, i.e., different from the motor vehicle, and / or by a stationary environmental sensor system for assistance in driving the motor vehicle. In this way, the respective current environment of the motor vehicle can optionally be detected particularly accurately and completely, that is to say can be mapped or characterized by the environment data, such that the obstacles can be detected particularly accurately and reliably.The environment sensor system can comprise one or more similar or different sensors or sensor types. Accordingly, the environment data may also include different individual signals or data types. The interface can accordingly be configured to receive correspondingly different signals or signal or data types. For this purpose, the interface can comprise, for example, a plurality of partial interfaces or connections.The obstacles may be, for example, fences, bushes, grass-making crabs, buildings, walls, bollards, curbstones, parked or parked foreign vehicles and / or the like. The obstacles can therefore be, in particular, such obstacles that are not traversable by the motor vehicle or are not provided for the motor vehicle to drive over or traverse. In this sense, the obstacles meant in the present case are therefore different from roadway markings or lane markings, for example, which do not represent obstacles in the sense of the present invention.The environmental data can, for example, likewise describe or indicate positions and, if appropriate, types of objects in the environment of the motor vehicle, such as, for example, a current geographical or spatial position of the motor vehicle, in particular in association with a city, country or road map. The environmental data can therefore relate, indicate or characterize, for example, other road users, obstacles and / or road equipment. Road equipment may include lane markings, signs, traffic signs, and / or the like. Thus, although, for example, the roadway or lane markings are not, i.e., obstacles, recognized or viewed in the sense of the present invention, they can still be taken into account as part of the environmental data by the assistance system in addition or in addition to determining the course of the traffic route being traveled. This can advantageously make it possible to determine the course of the traffic route particularly accurately and reliably.The traffic path can be, for example, a road but likewise, for example, a field or travel path, an entrance or building entrance or the like. The course of the traffic path is determined by a free area which is large enough, in particular wide enough transversely to a direction of travel of the motor vehicle to allow the motor vehicle to pass. The obstacles extend or are arranged along a longitudinal extent of the traffic route and delimit the latter in the transverse direction, that is to say transversely with respect to an imaginary center line or longitudinal center line of the traffic route which follows the longitudinal extent of the traffic route and therefore in particular at least substantially transversely with respect to the direction of travel of the motor vehicle along the traffic route. The traffic path or its course and thus also its longitudinal center line can be straight or curved, thus ultimately have an at least almost arbitrary shape. In particular, if the traffic path being traveled is, for example, an entrance or access or the like, the course of the traffic path can lead around obstacles or boundaries in a ground or a curve. The longitudinal center line or longitudinal direction of the traffic path is therefore always to be understood locally with respect to the actual course of the traffic path and cannot necessarily be extended or extrapolated linearly from any desired point of the traffic path.The control signal can be configured, for example, to generate an acoustic, visual and / or haptic warning or a corresponding notice for the driver. The control signal can likewise relate to a driving function, in particular a transverse and / or longitudinal guidance, of the motor vehicle. In other words, the control signal can then be used to directly or indirectly bring about or change a steering torque or a steering movement of the motor vehicle and / or a braking torque, a speed or an acceleration of the motor vehicle. For this purpose, the control signal can be output, i.e. transmitted, to a corresponding warning or control device or a corresponding functional unit of the motor vehicle. In particular, however, the warning device can likewise be part of the assistance system itself, for example. Indirect bringing about can mean, for example, that the control signal is initially transmitted to a control device via the on-board power supply system of the motor vehicle and this control device then actuates a corresponding control or functional unit of the motor vehicle in accordance with the control signalThe warning or the indication which is generated by the control signal can be or comprise, for example, a sound, a voice output, a display, for example of an arrow, symbol or pictogram-for example on a screen or in a head-up display of the motor vehicle-a vibration of a steering wheel and / or of a pedal of the motor vehicle and / or the like. Particularly preferably, the warning or the indication can be or comprise a steering torque caused by the control signal. This can be provided, for example, by a corresponding rotation of the driver's steering wheel, which rotation is automatically effected, for example by motor.Particularly preferably, the assistance system can receive and evaluate, in addition to the provided environmental data, current vehicle data which characterize or describe a current driving or operating state of the motor vehicle in each case and / or current driver data which characterize or describe a current state of the driver of the motor vehicle in each case. The vehicle data and / or the driver data can then be taken into account by the assistance system for generating and / or outputting the control signal. For example, the control signal can be generated or adapted as a function of the vehicle data and / or the driver data, an output time of the control signal can be determined as a function of the vehicle data and / or the driver data and / or, as a function of the vehicle data and / or the driver data, it can be automatically decided by the assistance system whether the control signal is generated or output at all.The vehicle data can indicate, for example, a current steering angle, a current speed, a currently selected or applied gear, a pedal position of the motor vehicle and / or the like. The driver data can indicate, for example, a current viewing direction of the driver and / or, for example, a current hand posture or hand posture of the driver. The current hand posture, i.e. hand position, of the driver can indicate in particular whether or not the driver has his hands on the steering wheel of the motor vehicle. If, for example, the current viewing direction of the driver deviates from the specific course of the traffic route or the current driving direction of the motor vehicle, the control signal can be output as early as possible, for example. Likewise, the control signal can then, for example, additionally or alternatively to a visual indication, cause an acoustic and / or haptic indication or an automatic control intervention in a driving mode or a driving function of the motor vehicle if the current viewing direction of the driver is not directed at a display device which is provided for displaying the visual indication which can be generated by the control signal. In a corresponding manner, for example, a generation of a haptic signal on the steering wheel can be automatically dispensed with if the driver currently does not have his hands on the steering wheel. In this way, the driving of the motor vehicle by the control signal can be supported particularly effectively and reliably.The present invention advantageously enables particularly comfortable and flexible support when driving the motor vehicle. Because the course of the currently traveled traffic route is determined on the basis of the laterally delimiting detected obstacles, this assistance can be provided or provided particularly advantageously even in situations in which no completely or unambiguously marked lane of a removed or fastened road is traveled. In such situations, in particular, assistance by the driver is particularly useful, since the driver cannot then be oriented to corresponding roadway markings and, if appropriate, cannot rely on the traffic route being suitable for driving through the motor vehicle, in particular being wide enough for the motor vehicle.In an advantageous embodiment of the present invention, the assistance system is configured to automatically detect a reverse travel of the motor vehicle and to generate and output the control signal for assisting the driver of the motor vehicle during the reverse travel. In other words, the assistance system thus facilitates the reverse travel or driving maneuvers in the reverse travel direction. This is particularly advantageous since experience has shown that reversing is particularly demanding and the driver has, for example, less overview of the surroundings of the motor vehicle and obstacles located therein during reversing.In a further advantageous embodiment of the present invention, the control signal is designed to generate a haptic indication at a steering wheel of the motor vehicle, which indicator indicates a direction in which the steering wheel is to be turned in order to guide the motor vehicle without collisions along the defined course of the traffic path. In other words, the control signal or the haptic information generated by the latter thus conveys to the driver how he has to move the steering wheel in order to keep the motor vehicle on the traffic route, that is to say to control it along the traffic route. This is particularly advantageous since a correct steering direction or steering movement is essential, i.e. particularly decisive, for guiding the motor vehicle along the traffic path without collisions. In particular, inexperienced or distracted drivers can thus be supported particularly effectively. In particular, when the motor vehicle is driving backwards, experience has shown that drivers can be particularly unsafe with regard to the direction in which the steering wheel is to be turned in order to control the motor vehicle in a specific direction. In addition, it can be particularly difficult, particularly when driving in reverse, to detect all obstacles along the traffic route or along a travel path, i.e. in the direction of travel. In particular, obstacles or boundaries which are lower or flatter than the motor vehicle or a lower edge of a rear window of the motor vehicle can be detected particularly difficult, which makes assistance by the assistance system according to the present invention particularly helpful and beneficial, in particular when driving in reverse. The haptic indication may be or comprise, for example, a vibration or an actual rotational movement of the steering wheel. Likewise, as the haptic indication by the control signal, for example, a resistance which the steering wheel opposes its rotation can be adapted or set depending on the direction. As a result, the steering wheel can then be easier to turn in the direction which guides the motor vehicle particularly reliably without collisions along the traffic path, and on the other hand can be more difficult or difficult to turn in the opposite direction.The haptic information generated on the steering wheel advantageously allows the driver to be particularly easily and intuitively understood and to provide support for driving the motor vehicle with little distraction. In order to generate the haptic indication, a corresponding actuator, for example an electric motor or the like, can be arranged on the steering wheel, on a steering column or in a steering gear of the motor vehicle, for example, which actuator can be controlled accordingly by the control signal.In a further advantageous embodiment of the present invention, the control signal is designed to effect automatic transverse guidance of the motor vehicle along the specific course of the traffic route. In other words, the motor vehicle is thus guided along the traffic path at least partially autonomously or partially automatically by means of the control signal. For this purpose, in particular a steering torque can be automatically generated or varied by the control signal. In this way, the motor vehicle can be guided along the traffic path in a particularly accurate and reliable manner. In particular, the motor vehicle can be guided particularly comfortably along the traffic route in this way, since corresponding transverse guidance or steering interventions can be generated particularly promptly, i.e. without delay, after the detection of the obstacles and the determination of the course of the traffic route. As a result, these transverse guidance or steering interventions can be generated or carried out particularly small or weak, that is to say bring about a particularly low rate of change in the direction of travel of the motor vehicle. As a result, abrupt movements of the motor vehicle or movements of the motor vehicle that are unpleasant to the driver and / or other vehicle occupants of the motor vehicle can be avoided, as a result of which both the comfort for respective vehicle occupants and safety for other road users in the environment of the motor vehicle can be increased, that is to say improved. The course of the traffic path can be straight or curved, i.e. ultimately have any shape.In a further advantageous embodiment of the present invention, the assistance system is configured to automatically detect steering interventions by the driver of the motor vehicle during the guidance of the motor vehicle along the specific course of the traffic route and to automatically adapt the control signal as a function of the detected steering interventions. In other words, for example, a type and / or a strength of an effect triggered by the control signal and / or an output time of the control signal can be adapted to the steering interventions carried out by the driver. If, for example, the assistance system automatically recognizes that the driver is already driving the motor vehicle in the correct direction in order to guide the motor vehicle along the traffic path without a collision, the control signal can be delayed or its effect attenuated, for example in order to first wait and then determine with greater reliability whether an intervention by the assistance system is necessary at all. As a result, distraction or irritation of the driver can be minimized.Likewise, a steering torque caused by the steering intervention of the driver can be automatically modified by the control signal, for example, in order to adapt an effective steering torque to an ideal steering torque. This ideal steering torque is determined automatically by the assistance system as a function of the determined course of the traffic route and, if appropriate, of an automatically detected current direction of travel and / or the vehicle data mentioned. The ideal steering torque is or would be used to guide the motor vehicle, for example, centrally or at a predefined distance from the obstacles, i.e., to one or both lateral boundaries of the traffic route. Depending on the strength or extent of the steering intervention carried out by the driver, a difference from the ideal steering torque can thus be compensated for by the control signal. As a result, the motor vehicle can be guided along the traffic path advantageously in a particularly accurate, reliable and reliable manner without completely deducing control over the guidance of the motor vehicle from the driver, that is to say without a completely autonomous driving or guiding function of the motor vehicle having to be implemented. In particular, in this way, the assistance system can support the driver in an imperceptible or almost imperceptible manner when driving the motor vehicle and thus particularly low in distraction. In turn, the control signal can be output, for example, particularly early and / or with a greater effect of the intensity or intensity if it is detected by the assistance system that, by the steering intervention carried out by the driver, for example, a collision probability of the motor vehicle with one of the detected obstacles increases, that is to say the motor vehicle is or would be moved further away from a longitudinal center line of the traffic route, for example.In a further advantageous embodiment of the present invention, the assistance system is configured to automatically monitor whether the driver of the motor vehicle has his hands on a steering wheel of the motor vehicle and to automatically adapt the control signal as a function thereof. In other words, a type and / or, for example, an output time of the control signal can therefore be automatically defined by the assistance system as a function of whether or not the driver currently engages around the steering wheel. For this purpose, the assistance system can receive and evaluate, for example, corresponding monitoring data of an interior or driver monitoring system. This system can also be part of the assistance system. The interior or driver monitoring system can comprise, for example, a camera and / or a touch sensor system or the like arranged in the steering wheel. If the driver has his hands not on the steering wheel, for example, or if the driver removes his hands from the steering wheel, it is possible, for example, to automatically switch to an autonomous or semi-autonomous driving mode by the control signal directly intervening in the driving mode of the motor vehicle, in particular a transverse and / or longitudinal guidance of the motor vehicle being automatically controlled. If, on the other hand, the driver has his hands on the steering wheel or if the driver carries his hands on the steering wheel, then it is possible, for example, to switch to a manual operating mode in which merely instructions or warnings for the driver are generated or brought about by the control signal. In this way, the driver can particularly comfortably control an level of autonomy or control of the assistance system with respect to the driving mode or driving functions of the motor vehicle.A further aspect of the present invention is a motor vehicle having an environment sensor system for detecting a respectively current environment of the motor vehicle and having an assistance system according to the invention. In other words, 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 and / or components or devices described in connection with the assistance system according to the invention. This can relate, for example, to the interior or driver monitoring device described.The motor vehicle can also have actuators, control devices or means that can be controlled directly or indirectly by the assistance system, for example an engine, an engine controller, a controllable steering system, a controllable brake system and / or the like. The assistance system can automatically actuate the assistance system by the control signal in order to assist the driver in driving the motor vehicle without a collision. The corresponding actuators, control devices and / or means can likewise be part of the assistance system.The assistance system according to the invention or the motor vehicle according to the invention can each have a data memory with a corresponding program code for carrying out the described processes or functions and a processor device, in particular a microchip or microcontroller, connected to said data memory for executing said program code.In all embodiments of the assistance system according to the invention and of the motor vehicle according to the invention, it can preferably be provided that the driver of the motor vehicle can override automatic interventions in the driving mode or driving functions of the motor vehicle, which interventions are optionally effected by the control signal, by manual operating actions or control interventions. Such an override of an automatic intervention can be automatically detected by the assistance system. If such a detection has taken place, the respective automatic intervention can then be interrupted, suspended or ended, for example immediately or after a predefined number of new automatic attempts or correction attempts, that is to say a corresponding functionality of the assistance system can be dropped. Particularly preferably, the driver can then be automatically informed of this. As a result, safety during the driving of the motor vehicle can be improved, since it can be achieved that the driver does not rely unintentionally or unintentionally on automatic interventions of the assistance system and / or unintentionally counteracts automatic interventions of the assistance system.The invention also includes developments of the motor vehicle according to the invention, which have features as described in connection with the developments of the assistance system according to the invention and vice versa. In order to avoid unnecessary redundancy, the corresponding developments of the motor vehicle according to the invention or of the assistance system according to the invention are not described separately here once again for all aspects of the invention.An embodiment of the invention is described below. The following shows: FIG. 1 is a schematic plan view of a traffic scene illustrating a conventional assist system; and FIG. 2 shows a schematic plan view of a traffic scene to illustrate an improved assistance system.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 features of the invention that are to be considered independently of one another and that develop the invention in each case also independently of one another and are therefore also to be considered as part of the invention individually or in a combination other than the combination shown. Furthermore, the described embodiment can also be supplemented by further features of the invention that have already been described.In the figures, elements that are functionally identical or correspond to one another are each provided with the same reference numerals.FIG. 1 shows a schematic plan view of a situation or traffic scene to illustrate a mode of operation of a conventional assistance system. An entrance 1 is shown here, for example a building entrance, which is bounded on both sides by respective obstacles 2, 3, of which only some are identified here by way of example. In the present case, a vehicle 4 moves on or along the entrance 1 in reverse travel along a path 5 indicated schematically here. the conventional assistance system of the vehicle 4 can ascertain, for example, that a collision of the vehicle 4 with the obstacle 3 can no longer be avoided or can only be avoided by a danger or emergency braking of maximum intensity as soon as the vehicle 4 has reached a danger position x 1, which is also indicated schematically here, along the path 5. Accordingly, emergency braking can then be initiated automatically as soon as the vehicle 4 has reached the danger position x 1, in order to then bring the vehicle 4 to a standstill as quickly as possible.Such a behavior can be uncomfortable for a driver and other vehicle occupants of the vehicle 4, in particular when driving backwards over longer distances. However, in particular when driving backward, support of the driver by the respective motor vehicle or an assistance system of the respective motor vehicle may be expedient and desirable.FIG. 2 shows a schematic plan view of a situation or traffic scene to illustrate an improved assistance system 7 of a motor vehicle 6. Here too, the motor vehicle 6 moves along a path 5 on the entrance 1. By means of a surroundings sensor system of the motor vehicle 6, which is not shown in detail here, surroundings data are recorded which characterize a respectively current surroundings of the motor vehicle 6. This environmental data is then provided to the assistance system 7, which automatically evaluates the environmental data in order to detect the obstacles 2, 3. On the basis of the environmental data or the detected obstacles 2, 3, the assistance system then automatically determines a course, bounded laterally by the detected obstacles 2, 3, of a traffic path currently being traveled by the motor vehicle 6, i.e. the entrance 1 here.In previous assistance systems, a focus of a function has been placed on collision avoidance and, if appropriate, on handling bottleneck. In contrast, by means of the improved assistance system 7, a comfort driving function is provided or provided for facilitating the driving of the motor vehicle 6, in particular during the rearward travel and driving maneuvers in the rearward direction. For this purpose, abrupt or strong interventions, in particular emergency braking or steering movements of maximum intensity, are to be avoided and motor vehicle 6 instead is to be guided as comfortably as possible, i.e., by minimal interventions or, at least in comparison with a respective maximum intensity, smaller or weaker interventions.In the present case, it is provided that the improved assistance system 7 automatically determines an ideal line 8, which is schematically indicated here and along which the motor vehicle 6 can be moved or guided along the entrance 1 without a collision and comfortably. Furthermore, the improved assistance system 7 acquires and processes current vehicle data of the motor vehicle 6 and driver data, in particular a current speed, a current direction of travel and a current steering angle of the motor vehicle 6 and a current viewing direction and hand posture of hands of the driver with respect to a steering wheel of the motor vehicle 6.On the basis of these data, the improved assistance system 7 then automatically generates a control signal, if necessary, in order to assist the driver of the motor vehicle 6 in driving the motor vehicle 6 along the specific course of the entrance 1. In the present case, the improved assistance system 7 already detects, at a safe position x0in front of the danger position x1in the direction of travel, that the motor vehicle 6 has left or left the ideal line by more than a predefined distance or angle value. Additionally or alternatively, an overlap between a transverse extent or a cross-sectional area of the motor vehicle with the closest obstacle 3 in the direction of travel is determined in the direction of projection along the current direction of travel of the motor vehicle 6 and compared with a predefined threshold value. As a result, it is determined depending on the distance whether a collision of the motor vehicle 6 with the obstacle is still avoidable at the more secure position x 0 by a steering intervention or only by a braking intervention.In the present case, there is still no immediate or acute risk of collision with the obstacle 3 or with another of the obstacles 2 at the safe position x 0. As a result, the motor vehicle 6 can be automatically and / or controlled by the driver, already before the dangerous position x 1 is reached, with a relatively weak steering intervention, which is in particular weaker or smaller than, for example, a maximum possible steering angle or steering wheel angle, back in the direction of the ideal line 8. This makes it possible to achieve in a particularly safe and comfortable manner that when the danger position x 1 is reached, there is no risk of collision with the obstacle 3 or arises and emergency braking can therefore be dispensed with.The type of control signal is automatically defined by the improved assistance system 7 depending on the current speed of the motor vehicle 6. Thus, for example, an automatic steering intervention is only carried out if the current speed of the motor vehicle 6 is less than a predefined speed threshold value of, for example, 10 km / h or 15 km / h. If the current speed of the motor vehicle 6 is greater than this predefined speed threshold value, then an automatic braking intervention can already take place, for example, when the safe position x0is reached, but this is then weaker than the risk or emergency braking necessary for avoiding collisions when the risk position x1is reached.In the present case, a functionality known from conventional assistance systems is therefore extended to the extent that, in particular for reversing, a transverse guidance along the respective traffic path takes place on the basis of detected obstacles. The driver of the motor vehicle 6 can preferably be animated or guided via automatic steering movements to follow the recognized traffic route, in particular the ideal line 8. The corresponding functionality of the improved assistance system 7, i.e., here, for example, steering movements or steering interventions, can be oversteered by the driver at any time.Overall, the examples described show how a driver of a motor vehicle can be supported particularly comfortably when driving the motor vehicle.List of reference characters1 Entrance 2 Obstacles 3 Obstacle 4 Vehicle 5 Path 6 Motor vehicle 7 Improved assistance system 8 Ideal line x 1 Danger position x 0 Safe position

Claims

Assistance system (7) for a motor vehicle (6), having an interface for receiving environment data provided by an environment sensor system, which data characterize a respectively current environment of the motor vehicle (6), wherein the assistance system (7) is configured to identify obstacles (2, 3) for the motor vehicle (6) in the environment of the motor vehicle (6) by automatically evaluating the received environment data, wherein the assistance system (7) is configured - to automatically determine, on the basis of the environment data, a course (8) of a traffic path (1) respectively currently traveled by the motor vehicle (6) that is laterally delimited by the identified obstacles (2, 3), and - to automatically generate and output a control signal in order to assist a driver of the motor vehicle (6) in the case of guidance of the motor vehicle (6) without a collision along the determined course (8) of the traffic path (1), wherein the assistance system (7) is configured to automatically detect a current speed of the motor vehicle (6) and to automatically adapt the control signal as a function of the detected speed of the motor vehicle (6), wherein a corresponding correcting steering torque is generated if the assistance system (7) automatically determines that a current trajectory of the motor vehicle (6) leads to one of the detected obstacles (2, 3) and the current speed of the motor vehicle (6) is less than a predefined speed threshold value, wherein the control signal does not cause a steering torque if the current speed of the motor vehicle (6) is greater than the predefined speed threshold value, but instead the control signal is automatically configured such that an acoustic, optical and / or haptic indication is generated for a driver of the motor vehicle (6), characterized in thatthe assistance system (7) is configured to generate, automatically - to determine a respective current direction of movement (5) of the motor vehicle (6) relative to the detected obstacles (2, 3), and - to generate and output the control signal in an earliest possible time window, in particular at an earliest possible point in time (x0), immediately after the assistance system (7) has automatically determined that the motor vehicle (6) would leave an automatically determined ideal line (8) along the traffic path (1) following the current direction of movement (5) without steering intervention and / or collide with one of the detected obstacles (2, 3), and / or the assistance system (7) is configured automatically - to determine a respective current overlap between a transverse extension of the motor vehicle (6) perpendicular to a current direction of movement (5) of the motor vehicle and one of the detected obstacles (2, 3) closest to the motor vehicle (6) in the direction of movement (5), determining a respective current distance between the motor vehicle (6) and the respective closest obstacle (2, 3), to bring about a braking intervention for automatically braking the motor vehicle (6) by means of the control signal if the overlap reaches or exceeds a predefined distance-dependent threshold value.Assistance system (7) according to Claim 1, characterized in that the assistance system (7) is configured to automatically detect a reverse travel of the motor vehicle (6) and to generate and output the control signal for assisting the driver of the motor vehicle (6) during the reverse travel.Assistance system (7) according to one of the preceding claims, characterized in that the control signal is designed to generate a haptic indication at a steering wheel of the motor vehicle (6), which indicator indicates a direction in which the steering wheel is to be turned in order to guide the motor vehicle (6) without a collision along the defined course (8) of the traffic route (1).Assistance system (7) according to one of the preceding claims, characterized in that the control signal is designed to bring about automatic lateral guidance of the motor vehicle (6) along the defined course (8) of the traffic route (1).Assistance system (7) according to one of the preceding claims, characterized in that the assistance system (7) is configured to automatically detect steering interventions of the driver of the motor vehicle (6) during the guidance of the motor vehicle (6) along the specific course (8) of the traffic route (1) and to automatically adapt the control signal as a function of the detected steering interventions.Assistance system (7) according to one of the preceding claims, characterized in that the assistance system (7) is configured to automatically monitor whether the driver of the motor vehicle (6) has his hands on a steering wheel of the motor vehicle (6) and to automatically adapt the control signal as a function thereof.Motor vehicle (6) having an environment sensor system for detecting an environment of the motor vehicle (6) and having an assistance system (7) according to one of the preceding claims.

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