Method and control device for operating a motor vehicle

Abstract

The invention relates to a method and a control device for operating a motor vehicle (10). It is provided that a narrow section (16) of a roadway (18) to be traveled by the motor vehicle (10) is detected. A restriction of the driver's field of vision to the narrow section (16) is to be eliminated or at least reduced by outputting a camera image encompassing the narrow section (16) or information derived therefrom to the driver of the motor vehicle (10).

Description

[0001] The invention relates to a method and a control unit for operating a motor vehicle. The control unit is suitable for implementing the method.

[0002] In road traffic, numerous situations arise in which a motor vehicle driver's field of vision is restricted, sometimes significantly, thereby impairing the driver's ability to make informed decisions. This restricted field of vision can sometimes be at least partially compensated for by anticipatory driving or careful, but more time-consuming, observation of the surroundings. For example, when approaching partially blocked roads that require a lane change into the oncoming lane to continue driving, as is often the case on roads with parked vehicles, the driver can observe the traffic in the oncoming lane in advance and identify a time gap to pass the parked vehicles.However, if the driver is standing next to the parked vehicles or is himself a parked vehicle that wants to leave the parking space, this information is missing and it is difficult to pass the parked vehicles safely.

[0003] US 2003 / 0214576 A1 discloses a control method for an image pickup device, wherein it is determined whether the vehicle is traveling on a narrow road and within a predetermined distance of an intersection. If both are the case, images are captured by a left or right vehicle camera to display the conditions outside the vehicle in a selected form on a vehicle display. This is intended to eliminate tedious work for the user and allow the user to easily check the conditions outside the vehicle.

[0004] The invention is based on the object of developing a method and a control device for operating a motor vehicle which supports the driver even better.

[0005] The object of the invention is achieved by a method and a control unit for operating a motor vehicle according to the independent patent claims. Preferred developments are the subject of the respective dependent claims.

[0006] A first aspect relates to a method for operating a motor vehicle. The motor vehicle comprises an environment sensor unit configured to detect the vehicle's surroundings. The environment sensor unit preferably comprises one or a plurality of environment cameras, for example front, side, and / or rear cameras, which are configured to detect other vehicles and / or objects in the surroundings of the motor vehicle. The motor vehicle preferably further comprises a Car2X communication unit configured to transmit and receive Car2X radio signals. Car2X ("Car to x") is communication between vehicles and their environment ("x"), for example with other vehicles and / or with a stationary radio station.

[0007] According to one method step, a bottleneck is detected on a roadway to be traveled by the motor vehicle. The term bottleneck essentially refers to a narrowing of the roadway. Roadway narrowings usually pose a particular challenge for the driver of a motor vehicle, which can place the driver in a special situation. In special situations, driving errors occur more frequently, particularly by less experienced or routine drivers, which can pose a risk of accidents. Examples of a roadway narrowing are a narrow passage or a narrow section of road, such as a passage with restricted passage width, for example a construction site, a road with parked vehicles or objects, and the like. The bottleneck is preferably to be interpreted as a bottleneck with restricted passage width.The term "roadway to be traveled" implies a driving maneuver still to be performed by the motor vehicle or its driver to enter the roadway, for example, when passing parked vehicles in a parked street or when exiting a parking space. The driving maneuver preferably includes at least a partial lane change, in particular into an oncoming lane, i.e., a lane with oncoming traffic. Furthermore, a relative position of the detected bottleneck to the motor vehicle is preferably determined.

[0008] According to a further method step, it is determined using the environment sensor unit whether the field of vision of the driver of the motor vehicle is limited to the detected bottleneck. In other words, the environment sensor unit detects objects in the vehicle's surroundings and checks whether, among the detected objects, there are any in the vehicle's surroundings that are capable of impairing or even completely obstructing the driver's field of vision of the detected bottleneck. The driver's field of vision is preferably estimated from their position in the motor vehicle, i.e. on the driver's seat, as predetermined by the seating arrangement. Additionally or alternatively, the motor vehicle preferably comprises an interior sensor that is configured to determine a body posture of the driver, preferably a head posture of the driver, particularly preferably an eye position of the driver, so that the driver's field of vision can be estimated based thereon.

[0009] In a further method step, a camera image of the detected bottleneck is recorded using the environment sensor unit. This takes advantage of the fact that the cameras of the environment sensor unit installed in the motor vehicle are distributed across different positions, i.e., they also have different positions from the driver's position, and thus each enable different fields of view of the detected bottleneck, which may be unrestricted or less restricted. Preferably, the camera images from a plurality of cameras of the environment sensor unit are used and each checked for a restriction of the field of view to the detected bottleneck, and the camera image with the least restriction of the field of view to the bottleneck, i.e., the camera image with the best view of the bottleneck, is selected.

[0010] According to a further method step, information determined based on the recorded camera image of the detected bottleneck is output to the driver of the motor vehicle, provided that a bottleneck has been detected and a restricted field of vision of the driver to the detected bottleneck has been determined. If one of the two preceding conditions is not met, the method is preferably aborted and / or the described method steps are repeated. Preferably, the camera image with the least restriction of the field of vision to the bottleneck is selected from a plurality of camera images recorded by the environment sensor unit. Because the information is only output to the driver when it has been detected that their field of vision is restricted by objects in the vehicle's surroundings, the number of driver distractions caused by outputs in unnecessary situations can be prevented or reduced.An unnecessary situation is, for example, one in which the driver has a sufficient field of vision of the bottleneck, so that averting their gaze from what is happening on the road and the associated distraction risk of an accident would not be justified. In other words, the driver of the vehicle is provided with targeted and selective information about a bottleneck that they cannot see unhindered. This can reduce the disadvantages caused by missing information and, for example, improve the safety of passing through the bottleneck, caused, for example, by parked vehicles. This provides the driver with better support, especially in special situations such as when reversing out of a parking space.

[0011] In a preferred embodiment, it is provided that the bottleneck is detected using swarm data stored in a memory unit of the motor vehicle or usable data obtained therefrom.

[0012] Swarm data is usually anonymized vehicle environment information provided by a large number of motor vehicles, which is collected by the individual vehicles. The vehicle environment information includes, for example, camera data continuously captured by the vehicle's own cameras while driving. By aggregating and processing the swarm data, usable data such as driving trajectories along the roadway, associated lane markings, line types, curbs, and the like can be obtained.

[0013] Preferably, the usable data is stored in the motor vehicle's memory unit, and the bottleneck is identified using the usable data. Furthermore, the swarm data, preferably the usable data, can be received via Car2X communication and stored in the memory unit. For example, the swarm data and / or the usable data are updated at specified intervals or essentially live, i.e., continuously reloaded. In this case, a lower absolute memory requirement is necessary, allowing, for example, memory areas on a component to be used.

[0014] The bottleneck is preferably determined based on usable data containing vehicle trajectories relative to the road section to be traveled. The usable data preferably includes trajectories in both directions of travel, for example, a trajectory of oncoming traffic and a trajectory of the (ego) vehicle's own direction of travel. Accordingly, according to a preferred embodiment, at least one trajectory of oncoming traffic contained in the swarm data is taken into account when the bottleneck is detected.

[0015] The bottleneck is preferably determined by a reduced distance between two trajectories. A bottleneck preferably corresponds to a distance between two trajectories that is reduced by at least 25%, preferably by at least 50%, compared to a normal distance. The normal distance preferably corresponds to a distance between the vehicles that the drivers are used to, for example, one meter. The bottleneck is particularly preferably determined based on an intersection point between the two trajectories.

[0016] In particular, the trajectory of the vehicle's own direction of travel from the usable data is used to verify the plausibility of the detected bottleneck. In other words, the bottleneck is detected based on a narrowing that occurs between the trajectory of oncoming traffic obtained from the usable data and a trajectory of the ego vehicle determined by the vehicle and / or the trajectory in the ego vehicle's direction of travel obtained from the usable data.

[0017] In a further preferred embodiment, the bottleneck is detected using the environment sensor unit. The environment sensor unit is preferably configured to determine, from the width and / or length and a trajectory of the motor vehicle, distances of the motor vehicle to obstacles in the surrounding area along the trajectory of the motor vehicle. In other words, the environment sensor unit is preferably configured to measure the driving path of the motor vehicle and to determine the distances of the surrounding obstacles to the driving path. Based on the determined distances to the obstacles, a bottleneck, for example a bottleneck with a restricted passage width, can then be detected.

[0018] In a further preferred embodiment, the determined information is output haptically, visually, and / or acoustically. A haptic output is preferably provided by means of a vibration of a vehicle component, such as a steering wheel vibration. The optical output is preferably the illumination of a warning lamp and / or a warning message. Likewise preferably, the optical output comprises the output of the recorded camera image of the detected bottleneck on a display of the motor vehicle, for example on the user interface (human-machine interface - HMI) of the motor vehicle, such as the instrument cluster and / or an operating display in the center console. An acoustic output is preferably provided by means of a warning signal and / or a voice output.

[0019] In a further preferred embodiment, it is provided that an automatic driving maneuver is planned taking into account the detected bottleneck and / or the recorded camera image of the detected bottleneck, and that the motor vehicle is controlled to automatically carry out the planned driving maneuver. The information output here includes an indication that the planned driving maneuver is being carried out automatically by the motor vehicle. In other words, the detected bottleneck and / or the recorded camera image of the detected bottleneck is used to plan and carry out an automatic driving maneuver, for example a parking space exit. By taking into account the detected bottleneck, in particular the knowledge that the motor vehicle is located at the detected bottleneck, information disadvantages can be reduced and decisions can be made that enable an improvement in driving safety.

[0020] The output information also preferably comprises the recorded camera image of the detected bottleneck and / or a notification to the driver. The output information is preferably displayed on a display of the motor vehicle depending on the gear selected by the motor vehicle. The notification to the driver can be designed as a temporary pop-up that appears on the instrument cluster and / or a display in the center console. From the gear selected by the motor vehicle, it can generally be concluded whether a driving maneuver is imminent, i.e., is to be expected or not. For example, when the parking mode (gear P) is engaged, i.e., when the anti-roll bar is activated, it can be assumed that no driving maneuver is imminent, that there is no active risk of an accident from the motor vehicle, and that the information determined based on the recorded camera image of the detected bottleneck should not be displayed to the driver.

[0021] Furthermore, the output information is preferably displayed on the display of the motor vehicle when the anti-roll device of the motor vehicle is released and / or when gear N or D is engaged. In other words, the output of the determined information is initiated by the detected release of the anti-roll device and / or the detected engagement of gear N or D, i.e. is displayed on the display of the motor vehicle. According to the usual designation, gear N corresponds to an idle position of the engine (engine idling) and gear D to the continuous operation position (Drive), i.e. the engaged forward gear. Only when the anti-roll device is released can the motor vehicle generally be moved, so that only then can an active accident risk arise from the motor vehicle, which risk is to be reduced by the output of the determined information.

[0022] The output information preferably further comprises a further camera image from a rear-view camera and / or an all-round camera system, which is output as a split screen on the display of the motor vehicle when the anti-roll device of the motor vehicle is released and / or when gear R is engaged. An all-round camera system, also known as a top-view system, surround-view system or 360-degree camera, comprises a camera system designed to enable an all-round view of the vehicle's surroundings. The all-round camera system preferably comprises a rear camera, for example a camera in the tailgate, a front camera, for example a camera at the front of the motor vehicle, for example in the radiator grille, and side cameras, for example exterior mirror cameras. In a split screen, the image on a display is divided into at least two areas in order to show two or more (camera) images simultaneously.According to the usual designation, gear R corresponds to the reverse gear of the vehicle.

[0023] In a further preferred embodiment, the output information is also provided depending on the ignition status of the motor vehicle. If the engine and ignition are switched off, it cannot be assumed that an impending driving maneuver, in particular a parking maneuver, of the motor vehicle is to be expected. Preferably, the output information is only output when the ignition is activated, also referred to as terminal 15. This can prevent unnecessary distractions for the driver.

[0024] A further aspect of the invention relates to a control unit for a motor vehicle. The control unit is configured to carry out the method described above. The motor vehicle is preferably the motor vehicle described above. The advantages achieved with the method can be achieved analogously with the control unit. The disclosed feature combinations of the method can be transferred analogously to the control unit. A repeated description of the features and advantages is therefore omitted. The control unit preferably consists of a network of control units configured to carry out the method according to one of the preceding claims.

[0025] The individual method steps of the method according to the invention are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated during the execution of one or more computer programs. The computing devices are preferably designed to cooperate with other components, in particular a control unit for operating a motor vehicle, in order to implement the functionalities described herein. Likewise, the control unit is preferably embodied as a central (single-part) or as a decentralized (multi-part) component.

[0026] The individual components of the control unit are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated during the execution of one or more computer programs. The computing devices are preferably designed to cooperate with other components, for example an environmental sensor unit configured to detect the vehicle's surroundings, in order to implement the functionalities described herein. The instructions of the computer programs are also preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory, or the like.

[0027] It will also be apparent to the person skilled in the art that the functionalities of several computers (data processing devices) may be combined or combined in a single device or that the functionality of a particular data processing device may be distributed among a plurality of devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention.

[0028] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit for operating a motor vehicle, cause the computer to carry out the method, in particular a method for operating a motor vehicle.

[0029] Further preferred embodiments of the invention result from the remaining features mentioned in the subclaims.

[0030] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless stated otherwise in the individual case.

[0031] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 a schematic representation of a driving situation of a motor vehicle with a control unit for operating the motor vehicle according to an embodiment and Fig. 2 a schematic representation of a method for operating the motor vehicle according to one embodiment.

[0032] Fig. 1 shows a schematic representation of a driving situation of a motor vehicle 10 with a control unit (not shown) for operating the motor vehicle 10 according to one embodiment. The motor vehicle 10 comprises an environment sensor unit 12 configured to detect the vehicle's surroundings, with a plurality of environment cameras 14 configured to detect other vehicles and / or objects in the surroundings of the motor vehicle 10. The motor vehicle 10 further comprises at least one display on which the camera image from at least one of the environment cameras 14 can be output to the driver.

[0033] In the exemplary embodiment described, the surroundings sensor unit 12 comprises at least four surroundings cameras 14. The surroundings cameras 14 are arranged essentially mirror-symmetrically on the sides of the vehicle. Two of the surroundings cameras 14 are directed forward, i.e., one surroundings camera 14 for the vehicle surroundings to the front left and one surroundings camera 14 for the vehicle surroundings to the front right, relative to the motor vehicle 10. Two further surroundings cameras 14 are directed rearward, i.e., one surroundings camera 14 for the vehicle surroundings to the rear left and one surroundings camera 14 for the vehicle surroundings to the rear right, relative to the motor vehicle 10. For example, the surroundings cameras 14 are arranged in the exterior mirrors of the motor vehicle.

[0034] In the Fig. 1, a roadway 18 is shown which is wide enough for a maximum of two vehicles to travel side by side. Furthermore, the roadway 18 is a parked roadway 18, which requires driving in the oncoming lane to pass the parked vehicles. In the driving situation shown, the motor vehicle 10 is one of the vehicles parked in the roadway 18. Strictly speaking, there are parked vehicles directly in front of and behind the motor vehicle 10. These parked vehicles create a bottleneck to the side of the motor vehicle 10, which is easily visible to the driver of the motor vehicle 10. Due to the narrowing of the Fig. 1 schematically illustrated driving trajectory in the direction of travel 20 and driving trajectory of the oncoming traffic 22, the bottleneck to the side of the motor vehicle 10, which is clearly visible to the driver of the motor vehicle 10, is illustrated.

[0035] However, on the side of the roadway 18 opposite the motor vehicle 10, there are also parked vehicles that are offset in the direction of travel of the motor vehicle 10 and that also create a bottleneck 16 on the roadway 18, which is illustrated by the continuous narrowing of the travel trajectory in the direction of travel 20 and the travel trajectory of oncoming traffic 22. The bottleneck 16 is therefore located in front of the motor vehicle 10 in the direction of travel. Due to the parked vehicle directly in front of the motor vehicle 10, the driver of the motor vehicle 10 cannot see the bottleneck 16, and thus his field of vision to the bottleneck 16 is limited by the car parked in front.

[0036] In the Fig. In the driving situation shown in Figure 1, the driver of motor vehicle 10 wishes to exit a parking space and enter lane 18. Exiting the parking space of motor vehicle 10 is understandably made considerably more difficult by the fact that the bottleneck 16, unlike the bottleneck to the side, which is clearly visible, is not visible to the driver. It is particularly difficult for the driver to judge whether an oncoming vehicle is passing through the bottleneck 16. The difficulty is less apparent for traffic behind the motor vehicle 10, as the driver of motor vehicle 10 can generally look in the exterior mirror to expand his rearward field of vision.

[0037] The surroundings cameras 14 of the surroundings sensor unit 12, installed in the exterior mirrors of the motor vehicle 10, capture the vehicle's surroundings from different fields of view. The individual fields of view differ from the driver's position, allowing different fields of view of the bottleneck 16. In the situation shown, the camera image of the surroundings camera 14 of the vehicle's front left would possibly provide a field of view that is unrestricted or only slightly restricted with respect to the bottleneck 16.

[0038] Fig. Figure 2 shows a schematic representation of a method for operating the motor vehicle 10 according to one embodiment. The method is described with reference to the Fig. 1 described driving situation of the motor vehicle 10 is explained in more detail.

[0039] According to a first method step 50, the bottleneck 16 and the lateral bottleneck, which is clearly visible to the driver, on the roadway 18 to be traveled by the motor vehicle 10 are detected. This is done using swarm data stored in a memory unit of the motor vehicle 10, or more precisely, the usable data obtained therefrom. The stored usable data includes the Fig. 1 illustrated driving trajectory in the direction of travel 20 and the driving trajectory of the oncoming traffic 22. Because the two driving trajectories 20 and 22 have a reduced distance from each other, the bottleneck 16 and the lateral bottleneck that is easily visible to the driver are determined on the basis of the stored usable data.

[0040] According to a second method step 52, using the environment sensor unit 12, it is determined whether the field of vision of the driver of the motor vehicle 10 is limited to the detected bottlenecks, namely the bottleneck 16 and the lateral bottleneck clearly visible to the driver. The environment sensor unit 12 consequently detects the parked vehicles in the vehicle's surroundings and checks which of the parked vehicles are likely to impair the driver's field of vision of the detected bottleneck 16. Since no parked vehicles impair the driver's field of vision between the lateral bottleneck clearly visible to the driver and the motor vehicle 10, the lateral bottleneck clearly visible to the driver is not further considered or discarded in the further method, and the method continues only with regard to the bottleneck 16.

[0041] The camera images from all surrounding cameras 14 are used and each checked for a restriction of the field of view to the detected bottleneck 16. As a result, the camera image with the least restriction of the field of view to the bottleneck 16, i.e., the camera image from surrounding camera 14 for the front left of the vehicle, is selected.

[0042] According to a fourth method step 56, information determined based on the selected recorded camera image of the detected bottleneck 16 is output to the driver of the motor vehicle 10, since the bottleneck 16 has been detected and a restricted field of view of the driver to the detected bottleneck 16 has been determined. For this purpose, the recorded camera image of the detected bottleneck 16 is output on the display of the motor vehicle 10. By only outputting the camera image to the driver when it has been detected that their field of view is restricted by parked vehicles in the vehicle's surroundings, the number of driver distractions caused by outputs in unnecessary situations can be reduced. List of reference symbols 10 motor vehicle 12 Environment sensor unit 14 surround cameras 16 bottleneck 18 lane 20 Driving trajectory in direction of travel 22 Driving trajectory oncoming traffic 50 First process step - Detecting a bottleneck 52 Second step - Determining a limitation of the field of view 54 third process step - taking a camera image 56 fourth step - output of the determined information QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2003 / 0214576 A1

[0003]

Claims

[1] Method for operating a motor vehicle (10), wherein the motor vehicle (10) comprises an environment sensor unit (12) configured to detect the vehicle environment, and the method comprises the steps of: - detecting (50) a narrow section (16) on a roadway (18) to be traveled by the motor vehicle (10), - determining (52) whether the field of vision of the driver of the motor vehicle (10) is limited to the detected bottleneck (16) using the environment sensor unit (12), - recording (54) a camera image of the detected bottleneck (16) using the environment sensor unit (12) and - Outputting (56) information determined based on the recorded camera image of the detected bottleneck (16) to the driver of the motor vehicle (10), provided that a bottleneck (16) has been detected and a restricted field of vision of the driver to the detected bottleneck (16) has been determined. [2] Method according to claim 1, wherein the detection of the constriction (16) is carried out using - swarm data stored in a storage unit of the motor vehicle (10) or usable data obtained therefrom, and / or - the environment sensor unit (12). [3] Method according to claim 2, wherein at least one trajectory of the oncoming traffic (22) contained in the stored swarm data is taken into account when detecting the bottleneck (16). [4] Method according to one of the preceding claims, wherein the output (56) of the determined information is haptic, optical and / or acoustic. [5] Method according to one of the preceding claims, further comprising the steps: - Planning an automatic driving maneuver taking into account the detected bottleneck (16) and / or the recorded camera image of the detected bottleneck (16) and - controlling the motor vehicle (10) to automatically carry out the planned driving maneuver, wherein the output information includes an indication that the planned driving maneuver is carried out automatically by the motor vehicle (10). [6] Method according to claim 4 or 5, wherein the output information comprises the recorded camera image of the detected bottleneck (16) and / or an indication to the driver, wherein the output information is output on a display of the motor vehicle (10) depending on the gear engaged of the motor vehicle (10). [7] Method according to claim 6, wherein the information output is output on the display of the motor vehicle (10) when the anti-roll device of the motor vehicle (10) is released and / or when a gear N or D is engaged. [8] Method according to claim 6 or 7, wherein the output information further comprises a further camera image of a rear view camera and / or an all-round camera system, which is output as a split screen on the display of the motor vehicle (10) when the anti-roll device of the motor vehicle (10) is released and / or when a gear R is engaged. [9] Method according to one of the preceding claims, wherein the output information is further output depending on the ignition status of the motor vehicle (10). [10] Control device for operating a motor vehicle (10), which is designed to carry out the method according to one of the preceding claims.

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