Method and driver assistance device for adjusting the driving speed during a shunting maneuver

Abstract

A driver assistance device for automated maneuvering is described, having at least one function for adjusting the driving speed of a motor vehicle while traveling along a travel trajectory. The driver assistance device is configured to automatically guide the motor vehicle longitudinally along the travel trajectory at a standard speed and, at a specific intermediate position of the travel trajectory, to temporarily reduce the driving speed from the standard speed to a reduced driving speed.The driver assistance device is further configured to determine whether the specific intermediate position of the travel trajectory is followed by an obstacle situation in which an obstacle is arranged in or on the preceding travel path of the motor vehicle, and if it is determined that the specific intermediate position is followed by an obstacle situation, to cause the motor vehicle to be guided towards the obstacle situation as it continues to travel further along the travel trajectory, and in the process the motor vehicle is not accelerated back to the standard speed.

Claims

[1] Driver assistance device (101) for automated maneuvering with at least one function for adjusting a driving speed (310) of a motor vehicle (100) when traveling along a travel trajectory (200); wherein the driver assistance device (101) is configured - to automatically guide the motor vehicle (100) longitudinally at a standard speed (312) along the travel trajectory (200); - to temporarily reduce the driving speed (312) from the standard speed (312) to a reduced driving speed (313) at a specific intermediate position (207) of the driving trajectory (200); - to determine whether the determined intermediate position (207) of the travel trajectory (200) is followed by an obstacle situation in which an obstacle (206) is arranged in or on a preceding travel path of the motor vehicle (100); and - if it is determined that an obstacle situation follows the determined intermediate position (207), to cause the motor vehicle (100) to be guided further along the travel trajectory (200) towards the obstacle, and the motor vehicle (100) is not accelerated back to the standard speed (312) when continuing to travel. [2] Driver assistance device (101) according to claim 1, wherein the driver assistance device (101) is configured to cause the motor vehicle (100) to continue driving - is fed to the obstacle at the reduced speed (313) along the travel trajectory (200); and / or - no acceleration is allowed until the obstacle is reached. [3] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to check whether one or more situational conditions are met; wherein the one or more situational conditions include a condition to the effect that an obstacle (206) is arranged in or next to the travel path of the motor vehicle (100) on the travel trajectory (200) or in the direction of travel (203) behind an end position (202) of the travel trajectory (200); and - to determine that an obstacle situation exists when one or more situation conditions are met. [4] Driver assistance device (101) according to claim 3, wherein the one or more situational conditions comprise a condition that the obstacle (206) is located at a time and / or distance-related distance (302) along the travel trajectory (200) from the motor vehicle (100) that is equal to or smaller than a predefined distance threshold value (301). [5] Driver assistance device (101) according to one of claims 3 to 4, wherein - the driver assistance device (101) is configured to determine at a decision position along the travel trajectory (200) whether an obstacle situation follows the determined intermediate position (207) of the travel trajectory (200); and - the one or more situation conditions comprise a condition such that the obstacle (206) is located at a time and / or distance-related distance (302) along the travel trajectory (200) from the decision position that is equal to or less than a predefined distance threshold value (301). [6] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, when it is determined that no obstacle situation follows the specific intermediate position (207), to cause the motor vehicle (100) to be guided further along the travel trajectory (200) as it continues to travel, and in the process the motor vehicle (100) is accelerated back to the standard speed (312). [7] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to detect an object (205) arranged next to the travel trajectory (200), in particular an object (205) which has a lateral distance (204) to the travel trajectory (200) and / or to the travel path of the motor vehicle (100) which is equal to or smaller than a lateral distance threshold value; - to determine the specific intermediate position (207) of the travel trajectory (200) as a function of the detected object (205), in particular as a function of a position of the detected object (205); and - at the determined intermediate position (207) of the travel trajectory (200), to temporarily reduce the travel speed (312) from the standard speed (312) to the reduced travel speed (313) for passing the object (205). [8] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to identify a section of the travel trajectory (200) in which the travel trajectory (200) has a curvature that is equal to or greater than a curvature threshold; - to determine the specific intermediate position (207) of the travel trajectory (200) as a function of the identified section of the travel trajectory (200); and - at the determined intermediate position (207) of the travel trajectory (200), to temporarily reduce the travel speed (312) from the standard speed (312) to the reduced travel speed (313) in order to travel through the identified section of the travel trajectory (200). [9] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to determine one or more properties of the obstacle situation; the one or more properties include in particular, - a time and / or distance-related distance (302) of the obstacle (206) from the motor vehicle (100); and / or - a property, in particular a size and / or a type, of the obstacle (206); and - to determine a situation speed depending on the one or more properties; wherein the situation speed is less than the standard speed (312); and wherein the situation speed is in particular equal to or greater than the reduced speed (313) of the motor vehicle (100) at the determined intermediate position (207); and - if it is determined that an obstacle situation exists subsequent to the determined intermediate position (207), to cause the motor vehicle (100) to be guided further along the travel trajectory (200) towards the obstacle when continuing to travel at the situation speed. [10] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to determine the travel trajectory (200) on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100); and / or - to determine the travel trajectory (200) on the basis of trajectory data for a trajectory recorded during a first trip. [11] Driver assistance device (101) according to one of the preceding claims, wherein - the travel trajectory (200) runs from an initial position (201) to an end position (202); and / or - the end position (202) is arranged on a parking space (212) for the motor vehicle (100); and / or - the obstacle (206) is arranged in the direction of travel (203) of the motor vehicle (100) behind the parking space (212) and / or behind the end position (202) for the motor vehicle (100). [12] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, while driving along the driving trajectory (200), - to detect one or more intermediate positions (207) of the travel trajectory (200) at each of which the driving speed (301) of the motor vehicle (100) is to be reduced; and - to temporarily reduce the driving speed (312) from the standard speed (312) to the reduced driving speed (313) at the one or more detected intermediate positions (207) of the driving trajectory (200) and to increase it back to the standard speed (312) after passing the respective intermediate position (207). [13] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to determine whether or not a detected obstacle situation should be taken into account when traveling along the travel trajectory (200); - to cause the motor vehicle (100) to be guided further along the travel trajectory (200) towards the obstacle, and in doing so the motor vehicle (100) is not accelerated back to the standard speed (312) if it is determined that a detected obstacle situation should be taken into account when traveling along the travel trajectory (200); and - to cause the motor vehicle (100) to be guided further towards the obstacle as it continues to travel along the travel trajectory (200), and in the process to accelerate the motor vehicle (100) back to the standard speed (312) if it is determined that a detected obstacle situation should not be taken into account when traveling along the travel trajectory (200). [14] Driver assistance device (101) according to one of the preceding claims, wherein the obstacle (206) of the obstacle situation is so far away along the travel trajectory (200) from the determined intermediate position (207) that the motor vehicle (100) accelerates to the standard speed (312) when continuing to travel and can then be decelerated to a standstill before reaching the obstacle (206) without triggering an automated emergency braking of the motor vehicle (100). [15] Driver assistance device (101) for automated maneuvering with at least one function for adjusting a driving speed (310) of a motor vehicle (100) when traveling along a travel trajectory (200) in the direction of a target position (202); wherein the driver assistance device (101) is configured - to automatically guide the motor vehicle (100) longitudinally at a standard speed (312) along the travel trajectory (200); - to temporarily reduce the driving speed (312) from the standard speed (312) to a reduced driving speed (313) at a specific intermediate position (207) of the driving trajectory (200); - to determine route information relating to a remaining route to the target position (202) of the travel trajectory (200); and - to increase the driving speed (312) of the motor vehicle (100) back to the standard speed (312) as it continues driving towards the target position (202) depending on the route information. [16] Driver assistance device (101) according to claim 15, wherein the driver assistance device (101) is arranged - to increase the driving speed (312) of the motor vehicle (100) back to the standard speed (312) when continuing to drive if the remaining distance to the target position (202) of the driving trajectory (200) is equal to or longer than a distance threshold value; and / or - not to increase the driving speed (312) of the motor vehicle (100) back to the standard speed (312) when continuing to drive and in particular to maintain it at the reduced driving speed (313) until the target position (202) is reached if the remaining distance to the target position (202) of the driving trajectory (200) is shorter than the distance threshold value. [17] Driver assistance device (101) according to one of claims 15 to 16, wherein - the driver assistance device (101) is configured to increase the driving speed (312) of the motor vehicle (100) to a first driving speed as it continues driving, without exceeding the first driving speed until the target position (202) is reached; - the first driving speed lies between the reduced driving speed (313) and the standard speed (312); and - the driver assistance device (101) is configured to determine the first driving speed as a function of the driving route information, in particular such that the first driving speed increases with increasing remaining driving distance up to the target position (202) of the driving trajectory (200). [18] Method (400) for adjusting a driving speed (310) of a motor vehicle (100) when traveling along a driving trajectory (200); the method (400) comprising - automated longitudinal guidance (401) of the motor vehicle (100) at a standard speed (312) along the travel trajectory (200); - reducing (402), at a certain intermediate position (207) of the travel trajectory (200), the travel speed (312) temporarily from the standard speed (312) to a reduced travel speed (313); - determining (403) whether the determined intermediate position (207) of the travel trajectory (200) is followed by an obstacle situation in which an obstacle (206) is arranged in or on a preceding travel path of the motor vehicle (100); and - causing (404), if it is determined that an obstacle situation follows the specific intermediate position (207), that the motor vehicle (100) is guided further along the travel trajectory (200) towards the obstacle while continuing to travel, and in the process the motor vehicle (100) is not accelerated back to the standard speed (312). [19] Method for adapting a driving speed (310) of a motor vehicle (100) when traveling along a travel trajectory (200) in the direction of a target position (202); the method comprising - automated longitudinal guidance of the motor vehicle (100) at a standard speed (312) along the travel trajectory (200); - reducing, at a certain intermediate position (207) of the travel trajectory (200), the travel speed (312) temporarily from the standard speed (312) to a reduced travel speed (313); - determining route information relating to a remaining route to the target position (202) of the travel trajectory (200); and - increasing, depending on the route information, the driving speed (312) of the motor vehicle (100) back to the standard speed (312) when driving further towards the target position (312).

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