Method for operating a driver assistance system of a vehicle in special situations

Abstract

In order to provide a method for operating a driver assistance system of a vehicle that is optimized for special situations, a method with the following steps is proposed: - Determining (A) whether the vehicle (11) is located in a predetermined surrounding area (12) of at least one object (13a, 13b) from a predetermined group of objects, and, if it is determined that the vehicle (11) is located within the predetermined surrounding area of the object (13a, 13b): - Setting (B) a trigger threshold which is reduced compared to a predetermined trigger threshold of the driver assistance system (15), above which a driver assistance function of the driver assistance system (15) is triggered, and / or reducing an intensity or deactivating an output of a first warning signal output by the driver assistance system (15) and / or deactivating the driver assistance function (15).

Description

[0001] The invention relates to a method for operating a driver assistance system of a vehicle, a driver assistance system designed for use in such a method and a vehicle having such a driver assistance system.

[0002] Known driver assistance systems include functions in which a sensor device monitors the vehicle's surroundings for the presence of moving and stationary objects. If a minimum distance is exceeded, a visual and / or acoustic warning is issued to the driver to avoid a collision between the vehicle and the object. The intensity of the warning is generally increased the closer the vehicle approaches the object. Such a driver assistance system is known, for example, from CN 111508275 A1.

[0003] The monitoring of objects in the vehicle environment by means of the driver assistance system can also be used to initiate emergency braking in the event of an impending collision, as described in DE 10 2006 044 803 A1, if it can be estimated that the vehicle would no longer be able to brake in time if it continued driving and would cause a collision.

[0004] Another function of a driver assistance system can be the detection of a special traffic situation, such as an approaching ambulance. Upon detection of such a traffic situation, the intensity of an audio output in the vehicle is automatically reduced to ensure the driver can hear the ambulance. Such a system is known, for example, from DE 10 2021 132 544 A1.

[0005] While issuing a warning or intervening by the driver assistance system in vehicle control is sensible and desired in most situations, for example in the event of a potential collision with a person or another vehicle, there can be situations in which the vehicle is deliberately driven close to an object. Examples of this are toll stations or barrier systems. In these cases, the driver is aware that the vehicle is approaching the object and this approach is explicitly desired in order to be able to interact with the toll station or barrier system. In this case, an intermittently emitted warning tone from the driver assistance system, the output interval of which becomes increasingly shorter as the distance decreases, would be disturbing to the driver. In this case, the driver assistance system performing emergency braking of the vehicle when the distance to the object falls below a critical level would also be an unnecessary intervention in vehicle control.

[0006] The invention is based on the object of providing a method for operating a driver assistance system of a vehicle that is optimized for special situations.

[0007] This object is achieved by the features specified in claim 1. Further advantageous embodiments of the invention are described in the subclaims.

[0008] According to the invention, upon detection of specific objects that are struck by the vehicle in special driving situations, the operation of a driver assistance function of the driver assistance system is modified or adapted in such a way that the output of disruptive warnings is reduced or prevented. This is achieved by either reducing a trigger threshold of the driver assistance system, reducing the intensity of the warning signal, not issuing the warning signal, and / or deactivating the driver assistance function. This advantageously restricts the function of the driver assistance system in these special situations in such a way that the driver is not disturbed or unintentionally interfered with the driving operation.The restriction of the driver assistance function, which is otherwise a helpful assistance for the driver, can be accepted in this case because the driver consciously enters a driving situation which would otherwise trigger the driver assistance function.

[0009] Setting the trigger threshold of the driver assistance system relative to the predetermined trigger threshold, reducing the trigger threshold, and / or reducing the intensity or deactivating the output of a first warning signal issued by the driver assistance system and / or deactivating the driver assistance function occurs in particular exclusively for at least one or possibly additional objects detected within the surrounding area. The aforementioned measures are not applied to any other objects in the vehicle's surroundings; instead, the driver assistance system reacts to these objects in the conventional manner.

[0010] The driver assistance function preferably comprises a distance warning function and / or a brake assistance function and / or a maneuvering assistance function. With the distance warning function, a warning is issued to the driver if the distance between the vehicle and the object falls below a predetermined distance. With the brake assistance function, emergency braking is initiated if the distance between the vehicle and the object falls below a predetermined distance. With the maneuvering assistance function, the vehicle is guided around a detected object to avoid a collision.

[0011] The trigger threshold is preferably a distance between the object and the vehicle. The predetermined trigger threshold is in particular a predetermined distance which is selected such that when this distance is undershot, the driver assistance function is triggered by issuing a warning signal and / or by activating a brake assistance function or a maneuver assistance function. The reduced trigger threshold is a further predetermined distance which is less than the distance according to the predetermined trigger threshold. By setting the reduced trigger threshold, it is advantageously achieved that the driver assistance function is only triggered later or at a shorter distance than usual and thus not already in a situation in which the vehicle is still approaching the object in a controlled manner.

[0012] Additionally or alternatively, the intensity of a warning signal issued when the trigger threshold is reached can be reduced. This still warns the driver that they are approaching the object, but the warning signal is less dominant and intrusive. Alternatively, the driver assistance system can be deactivated completely, so that no warning signals are issued at all.

[0013] In the case of the proximity warning function, when it is determined that the vehicle is within the predetermined surrounding area, a warning signal can either be issued at a later time, thus at a shorter distance between the object and the vehicle. In addition, the intensity of the warning signal issued at that time can be reduced. Alternatively, only the intensity of the warning signal issued can be reduced without reducing the trigger threshold. Furthermore, the proximity warning function can be deactivated completely.

[0014] In the case of the brake assistance function or the maneuvering assistance function, either a reduced distance can be specified in an analogous manner above which the respective driving assistance functions are triggered, and / or the intensity of a warning signal that is issued when the respective driving assistance function is triggered can be reduced, or the driving assistance function can be deactivated completely.

[0015] The setting of the trigger threshold, which is lower than a predetermined trigger threshold of the driver assistance system, above which the driver assistance function of the driver assistance system is triggered, and / or the reduction of the intensity or deactivation of the output of the first warning signal issued by the driver assistance system and / or the deactivation of the driver assistance function occurs, in particular, exclusively for the object from the predetermined object group located in the predetermined surrounding area. All other objects that do not originate from the predetermined object group or have been recognized as such, for example, persons, other road users, or in particular moving objects, continue to be handled by the driver assistance system as standard, and in particular, detection occurs without a reduced trigger threshold, reduced warning signal output intensity, and / or deactivation.Rather, in these cases, the predetermined trigger threshold is used.

[0016] Preferably, the predetermined surrounding area of the object is determined based on a position of the object.

[0017] Preferably, the boundary of the predetermined surrounding area is defined by a distance from the object. The predetermined surrounding area is thus defined by all points that are at this distance or less from the vehicle.

[0018] Alternatively, the predetermined environmental area can be defined by a predetermined section of the vehicle's path relative to the object, wherein the section corresponds to a distance traveled by the vehicle through or past the object. Reducing the trigger threshold, reducing the output intensity, deactivating the output of the first warning signal, or deactivating the driver assistance function is performed as long as the vehicle is moving along the section of path.

[0019] Setting a trigger threshold that is lower than a predetermined trigger threshold of the driver assistance system, above which a driver assistance function of the driver assistance system is triggered, and / or reducing the intensity or deactivating the output of a first warning signal issued by the driver assistance system and / or deactivating the driver assistance function preferably occurs as long as the vehicle is located in the predetermined surrounding area. For this purpose, in particular, the position of the vehicle is continuously compared with the predetermined surrounding area.

[0020] Determining whether the vehicle is located within the predetermined surrounding area can be performed, in particular, by an environment detection device of the vehicle. This can, in particular, be a camera system. The environment detection device is preferably part of the driver assistance system and is, in particular, also used to perform driver assistance functions. The object is detected within the predetermined surrounding area, in particular, by a distance measurement, in particular a LIDAR, ultrasound and / or radar measurement, and / or by evaluating image data. In this case, the distance of the vehicle to the object is determined, from which it can be deduced that the vehicle is located within a surrounding area of the object defined by a distance.In particular, fused sensor information from any combination of the aforementioned distance measurement methods can be used for distance measurement. This allows weaknesses of individual sensors to be circumvented and accuracy to be increased. Furthermore, the sensor information from individual or multiple sensors can be fused with the image data.

[0021] Preferably, the predetermined trigger threshold lies within or outside the predetermined surrounding area. The predetermined surrounding area can be selected such that the trigger threshold is not reached as soon as the vehicle is in the surrounding area, but only later or at an even closer distance. This ensures that an unintentional triggering of the driver assistance function does not occur before the vehicle is detected in the surrounding area.

[0022] Alternatively, the predetermined trigger threshold may correspond to a boundary of the predetermined environmental area.

[0023] Preferably, the determination that the vehicle is located in the predetermined surrounding area is made using information from a map of the surroundings. In particular, at least all known objects from the predetermined object group are entered in the map of the surroundings, in particular a digital map, so that their position relative to the vehicle can be determined at the current vehicle position. The current vehicle position is determined in particular using satellite navigation or GPS. For this purpose, the objects are classified in advance in order to determine whether they are objects that should be treated according to the method described here and thus belong to the object group. The information about the object and its position in the map of the surroundings is also referred to as meta-information.Depending on a current vehicle position, it can be checked whether one or more objects from the predetermined object group are located in the vicinity of the vehicle and whether the vehicle is located in the predetermined surrounding area of one of the objects.

[0024] Preferably, it can also be determined that the vehicle is located in the predetermined surrounding areas of several objects at the same time, for example, a switch and a barrier can be considered separately, and these several objects can be treated according to the method described here.

[0025] Preferably, the determination of whether an object belongs to the predetermined object group can be made directly or indirectly. For example, an object can be classified as described above using information from a map of the surroundings, either by knowing the type of object itself, or by using geometric features in the surroundings that are known or can be detected to infer the presence of an object from the predetermined object group. For example, a width and / or length of a passage and / or the object dimensions, in particular their length and / or width, can be used to deduce that the vehicle is, for example, in the area of a barrier system. The information about the geometric features can either be taken from the map of the surroundings and / or by the driver assistance system by detecting corresponding signage and / or measuring the passage width or width.Length and / or object dimensions can be determined using a sensor system of the driver assistance system.

[0026] In general, it is also possible for the at least one object and its classification to be detected by the sensor system of the driver assistance system or of the vehicle itself, for example by evaluating image data captured by the sensor system.

[0027] The object group preferably includes toll stations, barrier systems, control switches, charging stations, and / or access control devices. These are, in particular, objects that a vehicle must approach at a relatively close distance, where excessive warnings or interventions by the driver assistance system would be perceived as disruptive or unnecessary. As previously explained, these objects can be known in advance and stored in an environmental map or detected and classified by a sensor system of the vehicle. The object group can preferably be continuously expanded or updated by adding newly constructed objects or by adding objects newly detected by a vehicle and their positions to the object group. The information or data about the object group can preferably be stored and retrieved in a decentralized manner, for example via cloud storage.Alternatively, the information or data can be stored locally in the vehicle's memory. Decentralized storage has the particular advantage that the data can be accessed by a large number of vehicles via a wireless data connection, and the vehicles can always receive updated information. If a vehicle detects a new object in the surrounding area, it can send this information to the cloud storage via the wireless data connection, and the information can be used to update the object group and / or the surrounding area map.

[0028] Preferably, the first warning signal is an acoustic warning signal. Upon detection that an object is located within the predetermined surrounding area of the vehicle, the volume of the warning tone emitted by the driver assistance system is reduced, particularly when the vehicle approaches the object. Alternatively, the warning tone is not emitted.

[0029] Preferably, the first warning signal is emitted when the predetermined trigger threshold of the driver assistance system is reached. The warning tone is therefore, in particular, a warning tone that is emitted when the predetermined trigger threshold is reached or undershot, for example, when the driver assistance function detects that a minimum distance between the object and the vehicle has been undershot, when the brake assistance function initiates emergency braking, and / or when the maneuver assistance function intervenes in vehicle control.

[0030] In addition to determining that the vehicle is located in the predetermined environmental area, further parameters can be used to decide when or whether the predetermined trigger threshold is reduced, the first warning signal is issued with reduced intensity or the output is deactivated, and / or whether the driver assistance function is deactivated.

[0031] Preferably, the status of a vehicle's ignition, in particular via terminal 15, can be used as a parameter. For example, the method can be carried out only when the ignition is activated or only when it is deactivated. Preferably, it can be determined that an ignition is switched on, from which it is concluded that the vehicle is ready for operation or ready to drive. In particular, the method described here is only carried out when the vehicle is ready for operation or ready to drive, since only then does the vehicle have an initial level of operational readiness, from which the driver assistance functions can be partially activated. A parked / stationed vehicle cannot move and therefore does not need to be warned of any hazards.

[0032] Furthermore, the parameter can preferably be information about a current gear position, an engaged gear and / or an applied handbrake of the vehicle. If the vehicle is in neutral or no gear is engaged, the method cannot be carried out, for example, even though the vehicle is in the predetermined environmental area. This is to prevent a driver from noticing unintentional rolling of the vehicle in neutral and thus continuing to be warned of a possible collision as standard. Scenarios include, for example, barrier systems at on-ramps / off-ramps, where the vehicle can approach the object by rolling even without a gear position engaged. If it is determined that the handbrake is applied or pulled, or that P (Park) is engaged or a parking lock is active, the method cannot be carried out because the driver assistance system is generally not active in these cases either.Furthermore, the method can only be carried out when the vehicle is in gear D or a gear is engaged, since it is then assumed that the vehicle is in driving mode.

[0033] Another parameter can be the vehicle's traffic sense. Traffic sense here refers to the lane in which it is driving. In particular, this refers to whether the vehicle is driving on the left or right.

[0034] Furthermore, the parameter can be the vehicle's direction of travel. If it is determined that the vehicle is within the predetermined surrounding area, but the vehicle is not moving toward the object but rather moving away from it, a procedural change to the driver assistance function may not occur.

[0035] Furthermore, the parameter can be the vehicle's speed. For example, if the vehicle approaches the object within the surrounding area at a speed above a predetermined speed, a procedural change to the driver assistance function may not occur. The first warning signal is thus issued with the usual intensity, and the driver assistance function is not deactivated, since an increased risk of an accident is assumed in this situation.

[0036] The method preferably comprises issuing a second warning signal, wherein the second warning signal is a visual warning signal. The output occurs in particular when the intensity of the output of the first warning signal, in particular of the warning tone, is reduced or deactivated. The driver is thus still warned about the approach of the object, but this warning is less intrusive and can be more easily ignored by the driver. Preferably, the second warning signal can be issued before the first warning signal, or the second warning signal can be a warning signal which is issued in addition to the first warning signal, but has a higher predetermined trigger threshold. This means that it is issued at a greater distance from the object.For example, at a first distance, the second warning signal can be issued in the form of an optical signal and at a second distance which is less than the first distance, for example 50 cm, the first warning signal can be issued in the form of the acoustic warning signal.

[0037] Preferably, the second warning signal is displayed on a display device of the vehicle. The display device can be, for example, a display, in particular a display of an infotainment system of the vehicle or a display of an optical parking system (OPS) of the vehicle.

[0038] Preferably, the second warning signal is issued when the predetermined trigger threshold of the driver assistance system is reached. The second warning signal can thus continue to warn the driver about the object in the usual way.

[0039] Preferably, a third warning signal can be output to the driver, preferably as an acoustic signal and / or as a visual warning signal on the display device, which informs the driver that the first warning signal is output at reduced intensity or not at all, and / or that the driver assistance function has been deactivated.

[0040] The object of the invention is further achieved by a driver assistance system designed for use in a method having the features described above. The driver assistance system preferably has the sensor system or is connected to a sensor system of the vehicle. Furthermore, the driver assistance system has a control device by means of which the aforementioned method steps can be carried out. For this purpose, the control device is connected in particular to the sensor system in order to receive sensor signals therefrom or to transmit control signals to the sensor system. Furthermore, the control device is connected to the display device of the vehicle.

[0041] Furthermore, the object according to the invention is achieved by a vehicle having the aforementioned driver assistance system.

[0042] Exemplary embodiments of the invention are explained in more detail below with reference to the drawings. They show: Fig. 1a to 1c show different scenarios of objects in a predetermined surrounding area of a vehicle, and Fig. 2 a flowchart of a method for operating a driver assistance system of a vehicle.

[0043] In the figures, the same structural elements have the same reference numerals.

[0044] In the Fig. Figures 1a to 1c depict various scenarios in which a vehicle 11 is located near an object 13a, 13b from a predetermined object group. In each of the depicted scenarios, the objects 13a, 13b have a predetermined surrounding area 12, which are configured as radial surrounding areas 12, which are selected such that the respective object 13a, 13b is located within the surrounding area.

[0045] Fig. 1a shows a toll station 13a approaching a vehicle 11. By default, a driver assistance system 15 of the vehicle 11 would, for example, emit an acoustic and a visual warning signal to warn the driver of the vehicle 11 of a possible collision with the toll station 13a when the vehicle 11 approaches the toll station 13a closely. A sensor system 16 of the vehicle can be used for this purpose. However, since the driver deliberately approaches the toll station 13a closely, for example, to make a payment, they would find the acoustic warning signal particularly annoying. For this reason, if it is determined that the vehicle 11 is within the surrounding area 12, either a predetermined trigger threshold, which corresponds to a distance between the vehicle 11 and the toll station and above which the acoustic warning signal would be emitted by default, is reduced, or the acoustic warning signal is not emitted.Furthermore, an emergency braking assistant and / or a maneuvering assistant can be deactivated or their respective trigger thresholds can be reduced.

[0046] As an alternative to the radial configuration of the predetermined surrounding area 12, it can have the shape of a predetermined route section LR, wherein the determination of whether the vehicle 11 is located in the predetermined surrounding area is made in this case by determining that the vehicle is located at a position along the predetermined route section LR. The predetermined route section LR is, for example, a passage area through the toll station 13a.

[0047] Fig. 1b and Fig. 1c show a Fig. 1a analogous situation, where instead of the toll station 13a the object from the predetermined object group in Fig. 1b is a barrier system 13b. In Fig. 1c is again the case of toll station 13a from Fig. 1a, however, there is also an object 14 in the surrounding area 12, which does not belong to the object group. In these cases, the adaptation of the driver assistance system 15 of the vehicle 11 is carried out analogously to the embodiment from Fig. 1a. Here, too, either a radial surrounding area 12 or a predetermined route section LR can be considered as the predetermined surrounding area. Only object 14, which does not belong to the object group, is treated by the driver assistance system by default.

[0048] Fig.Figure 2 shows a schematic process flow of the method for operating the driver assistance system 15 of the vehicle 11. In a process step A, it is determined whether the vehicle 11 is located in the predetermined surrounding area 12 of an object 13a, 13b from the predetermined object group. In this process step A, one or more of the parameters 10a to 10h are also taken into account to determine that the vehicle 11 is moving in the surrounding area 12 in such a way that an adjustment of the operation of the driver assistance system 15 should be made. These parameters can be a status of an ignition 10a of the vehicle 11, a gear or position 10b of the vehicle 11, the traffic sense 10c, the direction of travel 10d, a GPS (Global Positioning System) position 10e of the vehicle 11, information from a surroundings map 10f, a speed 10g of the vehicle 11 and surroundings information 10g of the vehicle 10h.

[0049] If it has been determined, in particular taking into account one or more of the parameters 10a to 10h, that the vehicle 11 is located in the surrounding area 12, a reduction B of the intensity of the output of the acoustic warning signal and / or the reduction C of the predetermined triggering threshold or the deactivation D of the driver assistance function subsequently takes place.

[0050] Furthermore, in a method step E, a visual warning signal can be displayed on a display device of the OPS. A further method step F provides that a notification can be simultaneously output to the driver on the display device that the driver assistance system 15 is operating at the previously described reduced level. List of reference symbols 10a to 10h Parameters 11 vehicles 12 radial surrounding area 13a, 13b Objects from a predetermined object group 14 object not belonging to the object group 15 Driver assistance system 16 Sensor system LR route section A to F process steps 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] CN 111508275 A1

[0002] DE 10 2006 044 803 A1

[0003] DE 10 2021 132 544 A1

[0004]

Claims

[1] Method for operating a driver assistance system (15) of a vehicle (11), comprising the following steps: - Determining (A) whether the vehicle (11) is located in a predetermined surrounding area (12, LR) of at least one object (13a, 13b) from a predetermined group of objects, and, if it is determined that the vehicle (11) is located within the predetermined surrounding area (12, LR) of the object (13a, 13b): - Setting (B) a trigger threshold which is reduced compared to a predetermined trigger threshold of the driver assistance system (15), above which a driver assistance function of the driver assistance system (15) is triggered, and / or reducing an intensity or deactivating an output of a first warning signal output by the driver assistance system (15) and / or deactivating the driver assistance function (15). [2] Method according to claim 1, wherein the driving assistance function comprises a distance warning function and / or a braking assistance function and / or a maneuvering assistance function. [3] Method according to one of the preceding claims, wherein the trigger threshold is a distance between the object (13a, 13b) and the vehicle (11). [4] Method according to one of the preceding claims, wherein the predetermined surrounding area (12, LR) is determined based on a position of the object (13a, 13b). [5] Method according to one of the preceding claims, wherein the boundary of the predetermined environmental area (12, LR) is defined by a distance to the object (13a, 13b). [6] Method according to claim 4 and 5, wherein the predetermined trigger threshold lies within or outside the environmental area (12, LR). [7] Method according to one of the preceding claims, wherein the determination that the vehicle (11) is located in the predetermined surrounding area (12, LR) is carried out by means of information from a surrounding map. [8] Method according to one of the preceding claims, wherein the object group comprises toll stations (13a), barrier systems (13b), control switches, charging stations and / or access control devices. [9] Method according to one of the preceding claims, wherein the first warning signal is an acoustic warning signal. [10] Method according to claim 9, wherein the first warning signal is output when the predetermined trigger threshold of the driver assistance system (15) is reached. [11] Method according to one of the preceding claims, comprising issuing a second warning signal, wherein the second warning signal is an optical warning signal. [12] The method of claim 11, wherein the second warning signal is displayed on a display device of the vehicle. [13] Method according to claim 11 or 12, wherein the second warning signal is output when the predetermined trigger threshold of the driver assistance system (15) is reached. [14] Driver assistance system (15) designed for use in a method according to one of the preceding claims. [15] Vehicle (11) comprising a driver assistance system (15) according to claim 14.

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