Motor vehicle, motor vehicle system and method for operating a motor vehicle

Abstract

Motor vehicle (12), comprising: a radar sensor (38) for detecting wheels (22) of a plurality of vehicles (14) and a control unit (40) designed to determine a free space (28) between the vehicles (14) as a function of the wheels (22) of the vehicles (14) detected by the radar sensor (38). A length (30) of the free space (28) is greater than a length (32) of the motor vehicle (12). A width (34) of the free space (28) is greater than a width (36) of the motor vehicle (12).

Description

State of the art

[0001] The invention relates to a motor vehicle, a motor vehicle system and a method for operating a motor vehicle.

[0002] Motor vehicles often have sensors, such as cameras or ultrasonic sensors, for detecting a free parking space. To ensure that the sensors detect the free parking space, the vehicle must generally be positioned to the side of the free parking space. The vehicle is positioned close enough to the free parking space that even the driver of the vehicle has visual contact with the free parking space and recognizes it as a free parking space in which the vehicle can be parked. Disclosure of the invention

[0003] The object of the invention is to provide a motor vehicle, a motor vehicle system and a method for operating a motor vehicle, each of which enables detection of an open space located away from the motor vehicle.

[0004] The object underlying the invention is achieved by a motor vehicle having the features of claim 1, a motor vehicle system having the features of claim 5, and a method for operating a motor vehicle having the features of claim 6. Advantageous developments of the invention are recited in the subclaims.

[0005] A motor vehicle according to the invention has a radar sensor and a control unit. The radar sensor is configured to detect the wheels of multiple vehicles. The control unit is designed to determine a free space between the vehicles based on the wheels of the vehicles detected by the radar sensor. A length of the free space is greater than a length of the motor vehicle. A width of the free space is greater than a width of the motor vehicle.

[0006] This advantageously allows the control unit to determine the open space before a driver of the motor vehicle realizes that the motor vehicle can be placed in the open space. This allows for particularly early detection of the open space. For example, the open space can be determined before the front of the motor vehicle reaches the open space. This advantageously supports the driver in their search for an open space.

[0007] The motor vehicle can be a partially electric or fully electric motor vehicle. The motor vehicle can be a passenger car.

[0008] The vehicles may include at least one passenger car, one motorcycle, and / or one truck. The vehicles may be parked vehicles.

[0009] The open space may be a parking area and / or a parking lot. The open space may be suitable for parking the motor vehicle.

[0010] The control unit can be configured to automatically park the motor vehicle in the open space. The control unit can be designed to perform the automatic parking based on the determined open space. For example, the control unit can determine an open space and then automatically park the motor vehicle in the open space, in particular by parallel parking, diagonal parking, or perpendicular parking. Automatic parking can be understood to mean that the control unit is configured to accelerate, brake, and / or steer the motor vehicle until the motor vehicle is positioned in the open space.

[0011] The control unit can be configured to output information about the open space when the control unit has determined the open space, for example, to a driver of the motor vehicle. The information can include information about a location of the open space. For example, the control unit can inform a driver of the motor vehicle that the control unit has determined an open space and its location.

[0012] The radar sensor can be configured to emit a radar beam for detecting the wheels of the multiple vehicles. The radar beam can propagate in a propagation direction. The propagation direction and a longitudinal axis of the motor vehicle can define a propagation angle between them that is not equal to 0°.

[0013] The radar sensor can be configured to receive the radar beam reflected by the wheels, for example, in the form of an echo of the radar beam. Detecting the wheels of the multiple vehicles can include receiving the echo.

[0014] Determining the free space may include determining the positions of the wheels of the multiple vehicles based on the detection of the wheels of the multiple vehicles by the radar sensor. Determining the free space may be based on the determined positions of the wheels of the multiple vehicles.

[0015] The motor vehicle may have at least one wheel mounted for rotation about a rotation axis. The radar sensor may be spaced from the rotation axis at a distance of up to 15% of the height of the motor vehicle in the vertical direction of the motor vehicle.

[0016] In a further development of the motor vehicle, the radar sensor is arranged in and / or on a corner region of the motor vehicle. The corner region of the motor vehicle can extend from a corner of the motor vehicle in the longitudinal direction of the motor vehicle up to a maximum of 25%, in particular 10%, of the length of the motor vehicle and in the transverse direction up to a maximum of 25%, in particular 10%, of the width of the motor vehicle.

[0017] In a further development of the motor vehicle, the radar sensor is configured to detect a curb, in particular a curb edge. The control unit is configured to determine the clear area based on the curb, in particular the curb edge, detected by the radar sensor. The curb, in particular the curb edge, can delimit the clear area.

[0018] In a further development of the motor vehicle, the motor vehicle has an ultrasonic sensor and / or a camera for detecting at least one of the plurality of vehicles. The control unit is configured to determine the open space depending on the vehicle detected by the ultrasonic sensor and / or the camera. Advantageously, this allows the open space to be determined particularly reliably. For example, the control unit can be configured to check for the presence of the open space using the ultrasonic sensor and / or the camera.

[0019] A motor vehicle system according to the invention comprises a previously described motor vehicle, a first vehicle, a second vehicle, and a ground surface. The motor vehicle, the first vehicle, and the second vehicle are located on the ground surface. The radar sensor is configured to emit a radar beam such that the radar beam propagates between the first vehicle and the ground surface for the purpose of detecting wheels of the second vehicle, which is located after the first vehicle in a propagation direction of the radar beam. The control unit is configured to determine the open space depending on the wheels of the second vehicle detected by the radar sensor. Advantageously, this allows the wheels of the second vehicle to be detected particularly early. The ground surface can be configured as a roadway. The first and second vehicles can be parked at an edge of the roadway.

[0020] The plurality of vehicles can comprise at least the first vehicle and the second vehicle. The radar sensor can be configured to detect the wheels of the first vehicle. The control unit can be configured to determine the free space depending on the wheels of the first vehicle detected by the radar sensor. The free space can be located between the first vehicle and the second vehicle. A longitudinal direction of the free space can be oriented diagonally, perpendicularly, or parallel to a longitudinal direction of the motor vehicle.

[0021] A method according to the invention is configured for operating a motor vehicle having a radar sensor. The method comprises the steps of: detecting wheels of multiple vehicles using the radar sensor of the motor vehicle; and determining a free space between the multiple vehicles based on the wheels of the multiple vehicles detected by the radar sensor. A length of the free space is greater than a length of the motor vehicle. A width of the free space is greater than a width of the motor vehicle.

[0022] The method may include the step of outputting information about the open space. The information may include information about a location of the open space.

[0023] In a further development of the method, the method comprises the step of detecting a curb using the radar sensor of the motor vehicle. The determination of the free space between the multiple vehicles is carried out based on the curb detected by the radar sensor.

[0024] In a further development of the method, the motor vehicle has an ultrasonic sensor and / or a camera for detecting at least one vehicle. The method comprises the step of detecting at least one vehicle using the ultrasonic sensor and / or the camera. The determination of the free space between the multiple vehicles is carried out based on the vehicle detected by the ultrasonic sensor and / or the camera.

[0025] Determining the open space may include checking for the presence of the open space using the ultrasonic sensor and / or the camera. This advantageously allows the presence of the open space to be confirmed, thereby advantageously determining the open space particularly reliably.

[0026] In one development of the method, the motor vehicle and the plurality of vehicles are located on a surface. The plurality of vehicles comprise at least a first vehicle and a second vehicle. Detecting the wheels of the plurality of vehicles comprises emitting a radar beam using the radar sensor. The radar beam propagates in a propagation direction. The second vehicle is located after the first vehicle in the propagation direction of the radar beam. Detecting the wheels of the second vehicle comprises propagating the emitted radar beam between the first vehicle and the surface. Determining the free space between the plurality of vehicles is carried out based on the wheels of the second vehicle detected by the radar sensor.

[0027] In a further development of the method, the method is designed to operate a previously described motor vehicle.

[0028] Possible embodiments of the invention are explained below with reference to the accompanying drawings. They show: Fig. 1 a schematic representation of a motor vehicle system with a motor vehicle and several vehicles, Fig. 2 a schematic rear view of the motor vehicle of Fig. 1, Fig. 3 a schematic rear view of a vehicle of Fig. 1, Fig. 4 and Fig. 5 each shows a schematic rear view of the motor vehicle of Fig. 1 and another vehicle, Fig. 6 a schematic representation of another embodiment of a motor vehicle, and Fig. 7 to 9 a schematic sequence of a vertical parking with the motor vehicle of Fig. 6.

[0029] Fig. 1 shows a motor vehicle system 10. The motor vehicle system 10 includes a motor vehicle 12, a plurality of vehicles 14, and a ground surface 16. The motor vehicle 12 and the plurality of vehicles 14 are located on the ground surface 16 in the form of a roadway. The motor vehicle 12 and the vehicles 14 are each a passenger car.

[0030] The vehicles 14 are parked at the edge of the roadway perpendicular to a direction of travel 18 of the motor vehicle 12. The vehicles 14 are arranged at a curb 20. The ground 16 in the form of the roadway is bordered by the curb 20. Each vehicle 14 has four wheels 22.

[0031] In Fig. 1 shows three of the multiple vehicles 14 as examples. An open space 28 is located between a first vehicle 24 of the multiple vehicles 14 and a second vehicle 26 of the multiple vehicles 14.

[0032] The open space 28 is bounded by the first vehicle 24, the second vehicle 26, and the curb 20. A length 30 of the open space 28 is greater than a length 32 of the motor vehicle 12, and a width 34 of the open space 28 is greater than a width 36 of the motor vehicle 12. As a result, the open space 28 is suitable for parking the motor vehicle 12 on the open space 28 and between the first vehicle 24 and the second vehicle 26.

[0033] The motor vehicle 12 has a radar sensor 38 and a control unit 40.

[0034] The radar sensor 38 is arranged in a corner region 42 of the motor vehicle 12. The corner region 42 of the motor vehicle 12 extends from a corner of the motor vehicle 12 in the longitudinal direction up to 20% of the length 32 of the motor vehicle 12 and in the transverse direction up to 20% of the width 36 of the motor vehicle 12. A wheel 44 of the motor vehicle 12 is arranged in the corner region 42.

[0035] Fig. Figure 2 shows a rear view of the motor vehicle 12. The wheel 44 of the corner region 42 is mounted for rotation about a rotation axis 46. The radar sensor 38 is spaced from the rotation axis 46 at a distance 48 of 5% of a height 50 of the motor vehicle 12 in the vertical direction of the motor vehicle 12.

[0036] The radar sensor 38 is configured to emit radar beams 52 for detecting the wheels 22 of the vehicles 14. The radar beams 52 propagate in a propagation direction 54. In the illustrated embodiment, the propagation direction 54 is Fig. 2 is directed toward the substrate 16. However, it is also conceivable that the propagation direction 54 is aligned parallel to the substrate 16.

[0037] Fig. 1 shows that the propagation direction 54 and a longitudinal axis 56 of the motor vehicle 12 define a propagation angle 58 between them that is not equal to 0°. In the illustrated embodiment, the propagation angle 58 is 15°.

[0038] The radar beams 52 emitted by the radar sensor 38 are reflected by the wheels 22 of the vehicles 14 and received by the radar sensor 38 in the form of echoes 60 of the radar beams 52. By receiving the echoes 60, the wheels 22 of the vehicles 14 are detected by the radar sensor 38.

[0039] Fig. 3 shows an example of a rear view of a vehicle 14 of the several vehicles 14 of Fig. 1 and the radar sensor 38. In Fig. 3 shows a path of the radar beams 52 and their echoes 60. A radar beam 52 directly impinges on a wheel 22 of the vehicle 14 that is closer to the radar sensor 38. The echo 60 of the radar beam 52 reaches the radar sensor 38 directly. Another radar beam 52 reaches a wheel 22 of the vehicle 14 that is further away from the radar sensor 38. The further radar beam 52 is reflected by the ground 16 and the vehicle 14 before the radar beam 52 reaches the wheel 22. The echo 60 reaches the radar sensor 38 indirectly. The echo 60 is reflected by the ground 16 before the echo 60 reaches the radar sensor 38.

[0040] Fig. 1 shows that the second vehicle 26 is located behind the first vehicle 24 in the propagation direction 54 of the radar beams 52. The radar sensor 38 is configured to emit the radar beams 52 such that the radar beams 52 propagate between the first vehicle 24 and the ground 16 and reach the wheels 22 of the second vehicle 26. The radar beams 52 are reflected by the wheels 22 of the second vehicle 26, and the echoes 60 reach the radar sensor 28.

[0041] The radar sensor 28 is configured to detect the curb 20. For this purpose, a radar beam 52 reaches the curb 20. The echo 60 of the radar beam 52 is detected by the radar sensor 38.

[0042] The control unit 40 is configured to determine the free space 28 between the vehicles 14 as a function of the wheels 22 of the vehicles 14 detected by the radar sensor 38 and the curb 20 detected by the radar sensor 38. Determining the free space 28 comprises determining the positions of the wheels 22 of the vehicles 14 relative to one another and determining a position of the curb 20. Based on the positions of the wheels 22 relative to one another and the position of the curb 20, the control unit 40 determines the free space 28 on which the motor vehicle 12 can be parked.

[0043] Thus, the motor vehicle 12 executes a method comprising the steps of: detecting the wheels 22 of the vehicles 14 by means of the radar sensor 38 of the motor vehicle 12; detecting the curb 20 by means of the radar sensor 38 of the motor vehicle 12; and determining the free space 28 between the vehicles 14 based on the wheels 22 of the vehicles 14 detected by means of the radar sensor 38 and based on the curb 20 detected by means of the radar sensor 38.

[0044] Fig. 4 and Fig. 5 show a variant of the motor vehicle system 10 of Fig. 1 to 3, wherein identical and functionally equivalent elements are given the same reference numerals and in this respect reference is made to the above explanations regarding the embodiment of the Fig. 1 to 3, so that essentially only the existing differences are discussed.

[0045] In Fig. 4 and Fig. 5, the vehicles 14 are parked with at least one wheel 22 on a sidewalk 62. The vehicles 14 are parked parallel to the direction of travel 18 of the motor vehicle 12. In other words, the vehicles 14 are parked parallel to the longitudinal axis 56 of the motor vehicle 12. In Fig. 4 and Fig. For reasons of clarity, a single vehicle 14 is shown as an example in Figure 5.

[0046] Fig. 4 shows that a radar beam 52 directly impinges on a wheel 22 of the vehicle 14 located closer to the radar sensor 38, and another radar beam 52 directly impinges on the curb 20. The echo 60 of the radar beams 52 reaches the radar sensor 38 directly. Fig. 5 shows that another radar beam 52 indirectly reaches the wheel 22 placed on the sidewalk 62. The other radar beam 52 is reflected by the ground 16 before the radar beam 52 reaches the wheel 22. The echo 60 indirectly reaches the radar sensor 38. The echo 60 is reflected by the ground 16 before the echo 60 reaches the radar sensor 38.

[0047] Fig. 6 to 9 show a variant of the motor vehicle system 10 of Fig. 1 to 3, wherein identical and functionally equivalent elements are given the same reference numerals and in this respect reference is made to the above explanations regarding the embodiment of the Fig. 1 to 3, so that essentially only the existing differences are discussed.

[0048] Fig. 6 shows that the motor vehicle 12 has an ultrasonic sensor 64 and a camera 66 for detecting the vehicles 14. The ultrasonic sensor 64 and the camera 66 are configured to detect a side surface 68 of the vehicles 14.

[0049] The ultrasonic sensor 64 is configured to emit ultrasonic pulses 70 for detecting the side surface 68. The ultrasonic pulses 70 are reflected by a side surface 68 upon impact. The reflected ultrasonic pulses 70 are received by the ultrasonic sensor 64.

[0050] The camera 66 is configured to take a photo of the vehicles 14 and to analyze the photo using pattern recognition and / or image analysis for the presence of a side surface 68 of a vehicle 14.

[0051] The side surfaces 68, which are detected by means of the ultrasonic sensor 64 and the camera 66, are in Fig. 6 with a solid line. The wheels 22 of the vehicles 14 and the curb 20, which are detected by the radar sensor 38, are shown in Fig. 6 shown in dashed lines.

[0052] The control unit 40 is configured to determine the free space 28 as a function of the side surfaces 68 of the vehicles 14 detected by the ultrasonic sensor 64 and the camera 66, and the wheels 22 of the vehicles 14 detected by the radar sensor 38. Thus, the motor vehicle 12 executes a method comprising the steps of: detecting the vehicles 14 by means of the ultrasonic sensor 38 and the camera 66, and determining the free space 28 between the vehicles 14 based on the vehicles 14 detected by the ultrasonic sensor 64 and the camera 66.

[0053] Fig. 7 to 9 show, by way of example, a schematic sequence of vertical parking with the motor vehicle 14 of Fig. 6.

[0054] Fig. 7 shows that the radar sensor 38 detects the wheels 22 of the vehicles 14. The control unit 40 determines the open space 28 based on the wheels 22 of the vehicles 14 detected by the radar sensor 38. The control unit 40 outputs information about the location of the open space 28 to a driver of the motor vehicle 12. This advantageously informs the driver about the location of the open space 28 in good time, which is why the driver increases the driving speed of the motor vehicle 12 when searching for an open space in order to reach the location of the determined open space 28 more quickly. This advantageously accelerates traffic flow.

[0055] Fig. 8 shows that the driver drives the motor vehicle 12 to the open space 28. The ultrasonic sensor 64 and the camera 66 detect the vehicles 14 and confirm the presence of the open space 28. The open space 28 is determined using the radar sensor 38, the ultrasonic sensor 64, and the camera 66. Fig. Figure 9 shows that the control unit automatically parks the motor vehicle 12 in the open space 28. The automatic parking of the motor vehicle 12 in the open space 28 is based on the detection of the vehicles 14 by means of the ultrasonic sensor 64, the camera 66, and the radar sensor 38.

Claims

[1] Motor vehicle (12), comprising: - a radar sensor (38) for detecting wheels (22) of several vehicles (14), and - a control unit (40) which is designed to determine a free area (28) between the vehicles (14) as a function of the wheels (22) of the vehicles (14) detected by means of the radar sensor (38), - wherein a length (30) of the free area (28) is greater than a length (32) of the motor vehicle (12), - wherein a width (34) of the free area (28) is greater than a width (36) of the motor vehicle (12). [2] Motor vehicle (12) according to claim 1, - wherein the radar sensor (38) is arranged in and / or on a corner region (42) of the motor vehicle (12). [3] Motor vehicle (12) according to claim 1 or 2, - wherein the radar sensor (38) is configured to detect a curb (20), - wherein the control unit (40) is designed to determine the free area (28) as a function of the curb (20) detected by the radar sensor (38). [4] Motor vehicle (12) according to one of the preceding claims, - wherein the motor vehicle (12) has an ultrasonic sensor (64) and / or a camera (66) for detecting at least one vehicle (14) of the plurality of vehicles (14), - wherein the control unit (40) is designed to determine the free area (28) as a function of the vehicle (14) detected by means of the ultrasonic sensor (64) and / or the camera (66). [5] Motor vehicle system (10), comprising: - a motor vehicle (12) according to one of the preceding claims, - a first vehicle (14, 24), - a second vehicle (14, 26), and - a substrate (16), - wherein the motor vehicle (12), the first vehicle (14, 24) and the second vehicle (14, 26) are located on the ground (16), - wherein the radar sensor (38) is configured to emit a radar beam (52) such that the radar beam (52) propagates between the first vehicle (14, 24) and the ground (16) for the purpose of detecting wheels (22) of the second vehicle (14, 26) located after the first vehicle (14, 24) in a propagation direction (54) of the radar beam (52), - wherein the control unit (40) is designed to determine the free area (28) as a function of the wheels (22) of the second vehicle (14, 26) detected by means of the radar sensor (38). [6] A method for operating a motor vehicle (12) having a radar sensor (38), the method comprising the steps of: - detecting wheels (22) of several vehicles (14) by means of the radar sensor (38) of the motor vehicle (12), and - determining a free area (28) between the plurality of vehicles (14) based on the wheels (22) of the plurality of vehicles (14) detected by the radar sensor (38), - wherein a length (30) of the free area (28) is greater than a length (32) of the motor vehicle (12), - wherein a width (34) of the free area (28) is greater than a width (36) of the motor vehicle (12). [7] Method according to claim 6, - wherein the method comprises the step of: detecting a curb (20) by means of the radar sensor (38) of the motor vehicle (12), - wherein the determination of the free space (28) between the plurality of vehicles (14) is carried out based on the curb (20) detected by means of the radar sensor (38). [8] Method according to claim 6 or 7, - wherein the motor vehicle (12) has an ultrasonic sensor (64) and / or a camera (66) for detecting at least one vehicle (14), - wherein the method comprises the step of: detecting at least one vehicle (14) by means of the ultrasonic sensor (64) and / or by means of the camera (66), - wherein the determination of the free space (28) between the plurality of vehicles (14) is carried out based on the vehicle (14) detected by means of the ultrasonic sensor (64) and / or the camera (66). [9] Method according to one of the preceding claims 6 to 8, - wherein the motor vehicle (12) and the plurality of vehicles (14) are located on a surface (16), - wherein the plurality of vehicles (14) comprise at least a first vehicle (14, 24) and a second vehicle (14, 26), - wherein detecting the wheels (22) of the plurality of vehicles (14) comprises emitting a radar beam (52) by means of the radar sensor (38), - wherein the radar beam (52) propagates in a propagation direction (54), - wherein the second vehicle (14, 26) is located after the first vehicle (14, 24) in the propagation direction (54) of the radar beam (52), - wherein detecting the wheels (22) of the second vehicle (14, 26) comprises propagating the emitted radar beam (52) between the first vehicle (14, 24) and the ground (16), - wherein the determination of the free space (28) between the plurality of vehicles (14) is carried out based on the wheels (22) of the second vehicle (14, 26) detected by means of the radar sensor (38). [10] Method according to one of the preceding claims 6 to 9, - wherein the method is designed to operate a motor vehicle (12) according to one of the preceding claims 1 to 5.

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