Vehicle, driver assistance system and method for operating the driver assistance system when maneuvering near an object

Abstract

In order to provide a method for operating a driver assistance system of a vehicle which supports a driver in maneuvering at short distances from objects in the vehicle environment, a method for operating a driver assistance system (18) of a vehicle (100) is proposed, comprising the following steps: - determining (A) a distance between the vehicle and at least one first object (16) in the surroundings of the vehicle (100), - displaying a first area (13) of the surroundings of the vehicle (100) by means of an environment detection device if the determined distance is greater than a predetermined distance, and - Display (B) of a second area (14) of the surroundings of the vehicle (100) comprising the object (16) if the determined distance is less than the predetermined distance, wherein the second area (14) is a partial area of the first area (13).

Description

[0001] The invention relates to a method for operating a driver assistance system, a driver assistance system designed to carry out the method and a vehicle having such a driver assistance system.

[0002] Driver assistance systems for vehicles are known from the prior art. These systems are designed to detect objects in the vehicle's surroundings and display images of the objects to the driver on a display device of the vehicle. Such systems assist the driver when maneuvering near objects, for example, when parking. Driver assistance systems of this type are known, for example, from US Pat. Nos. 9,497,422 B2 and 7,826,970 B2.

[0003] US 11 503 251 B2 further discloses a display system for a vehicle comprising a plurality of cameras arranged on the vehicle and each having an external field of view, and a screen for displaying images derived from acquired image data in a surround-view format, wherein acquired image data is merged to obtain a single composite display image from a virtual perspective.

[0004] Furthermore, driver assistance systems of the type described above are designed to emit a warning tone, with the reproduction of the warning tone changing the closer the vehicle comes to a detected object in the vehicle's surroundings. For example, the repetition frequency of a beep is increased in order to urgently warn the driver of a possible collision with the object. An exemplary system is known from WO 2006 / 000 580 A2. Drivers often tend to move the vehicle closer to the object, particularly in the final warning stage of such distance warning systems, in which generally only a continuous warning tone is emitted, knowing that there is still a small amount of space left to maneuver around the object. In such situations, the driver assistance system provides no further assistance to the driver beyond the function of the warning tone.

[0005] DE 10 2017 218 074 A1 relates to a method for displaying the surroundings of a vehicle, comprising the steps of: detecting the surroundings of the vehicle and determining obstacles in the surroundings by means of environmental sensors of the vehicle, displaying a first display comprising a representation of the surroundings with the obstacles and a representation of the vehicle on a display device, determining an approach of the vehicle to a determined obstacle by which a predefined distance to the obstacle is undershot, and displaying a second display with a section of the representation of the surroundings with the obstacles and the representation of the vehicle on the display device that is enlarged compared to the first display, wherein the section represents that area of the surroundings and the vehicle in which the approach of the vehicle to the obstacle was detected.

[0006] DE 10 2008 046 214 A1 relates to a method for monitoring the surroundings of a vehicle, in which the surroundings are captured by means of at least one image capture unit, wherein an overall image is generated from individual images captured by the image capture unit using an image processing unit and output by means of a display unit, wherein the overall image shows the vehicle and its surroundings from a bird's eye view and the vehicle is positioned in the overall image depending on the situation. Environmental areas relevant to a driving situation of the vehicle are determined and output based on at least one distance to one or more obstacles detected by a distance sensor. Furthermore, a device for monitoring the surroundings of a vehicle with at least one image capture unit for capturing the surroundings is proposed.

[0007] DE 10 2018 219 227 A1 proposes a method for generating a representation of obstacles in the surroundings of a vehicle, wherein an obstacle is detected using sensors that detect the distance of an obstacle, a position of the obstacle relative to the vehicle is calculated by lateration using distances detected by at least two sensors, and an assignment to a direction zone is made for a representation of the obstacle, wherein a hysteresis is used in the assignment, and / or an assignment to a distance zone is made for a representation of the obstacle (28), wherein a hysteresis is used in the assignment, and / or a hold time is assigned to the detected obstacle for a representation and, if the obstacle is no longer detected by the sensors, the obstacle is only deleted from the representation after the hold time has elapsed,whereby the hysteresis and / or the holding time increases with increasing distance of the obstacle from the vehicle.

[0008] DE 102011 080 930 A1 relates to a method for assisting a driver of a motor vehicle during a driving maneuver, in which the surroundings to the side of the motor vehicle are detected using a first sensor in the rear area and a second sensor in the front area. Based on distance values from the first sensor to an object, recorded consecutively during a short driving distance, an object edge is determined and a contact point is established. This contact point is located at the point where a straight line extending the object edge intersects a straight line delimiting the detection range of the second sensor, which does not detect the object, on the side facing the first sensor.

[0009] The invention is based on the object of providing a method for operating a driver assistance system which supports a driver in maneuvering at short distances from objects in the vehicle environment, and to provide a corresponding vehicle assistance system and a corresponding vehicle.

[0010] This object is achieved by a method having the features specified in claim 1. Further advantageous embodiments of the invention are described in the subclaims.

[0011] According to the invention, it is provided that the driver is additionally supported by the driver assistance system when the distance to an object in the vehicle surroundings falls below a predetermined distance by changing a display of an area of the surroundings, which represents a first area, in which a partial area of the first area is displayed, so that the driver can better recognize the object in this partial area, which represents a second area.

[0012] The distance between the at least one object and the vehicle is determined by means of an environment detection device. The environment detection device preferably contains a plurality of sensors with which information regarding the environment, in particular the distance to objects in the environment, can be determined from different sides of the vehicle. Such sensors can be, in particular, optical sensors, preferably cameras, ultrasonic sensors, (corner) radar, or lidar sensors.

[0013] The second area is, in particular, a detailed view of the first area. Thus, the second area corresponds, in particular, to an enlarged view of a section of the first area. This section includes, in particular, at least the object and preferably also shows that portion of the vehicle that is approaching the object. This advantageously allows the driver to see how large the remaining distance to the object is when maneuvering close to the object.

[0014] Preferably, the predetermined distance defines a predetermined distance range immediately around the vehicle, wherein the second range is always displayed upon detection of an object within this distance range.

[0015] The method preferably comprises the step of displaying a third region of the surroundings of the vehicle together with the second region, wherein the third region is a sub-region of the first region that is different from the second region. The second region and the third region are thus in particular different sections of the first region, wherein both sections are overlapping and completely separate sections or sub-regions of the first region. In particular, the display of the third region is also a detailed view of a section of the first region. The simultaneous and side-by-side display of the second region and the third region can also be referred to as split-screen display. The second and third regions are in particular shown side by side on a common display device, for example a display.By simultaneously displaying the second area and the third area, the driver can advantageously be provided with different views, in particular detailed views, of the surrounding area, which make it easier for the driver to maneuver at a short distance from the object, since in this way the driver can be shown several areas that are critical with regard to the distance.

[0016] The third area preferably comprises the first object and / or a second object. The second object is located in particular in the surroundings of the vehicle and can be detected by means of the surroundings detection device. By displaying the first and the second area, in particular two different detailed views of the first object can be provided, which for example show two different areas between the first object and the vehicle in which the vehicle approaches the first object at less than the predetermined distance and which should therefore both be monitored by the driver. Alternatively, the third area can comprise a second object, wherein in particular it has been determined by means of the surroundings detection device that a distance between the second object and the vehicle is less than the predetermined distance.This advantageously allows the driver to be shown two critical areas in the vehicle environment, and the driver is able to monitor them easily due to the simultaneous and, in particular, adjacent display of the two critical areas.

[0017] The surroundings detection device preferably comprises a plurality of surroundings cameras for displaying the surroundings of the vehicle. The surroundings cameras are arranged in particular in different positions on the vehicle, for example in a front area, a rear area, and / or on the side of the vehicle. In particular, the surroundings cameras are arranged such that essentially the entire surroundings around the vehicle can be detected and displayed. The surroundings cameras are preferably designed to record the surroundings, so that the surroundings or the areas of the surroundings can be displayed on a display device of the vehicle.

[0018] Furthermore, the surround-view cameras can be used to determine distances between the vehicle and objects in the surrounding area. This can be done either by analyzing recorded image data, or the surround-view cameras can be configured to perform distance measurement methods, such as optical time-of-flight measurements. For example, the surround-view cameras can be or include LIDAR (Light Detection and Ranging) sensors.

[0019] Preferably, all surrounding cameras can be selected to display the first area in order to depict the largest possible area of the vehicle's surroundings when the vehicle is still at a distance from the object that is greater than the predetermined distance. Alternatively, only a first set of surrounding cameras can be selected at this point, for example, only surrounding cameras located at the front of the vehicle, at the rear of the vehicle, and / or on the sides of the vehicle. In this way, the driver receives an overview of the vehicle's surroundings when they are still far away from the object.

[0020] Preferably, a first surroundings camera from the plurality of surroundings cameras is selected, in particular exclusively, to display the second area. The first surroundings camera can in particular be the surroundings camera in whose detection range the object is located or is closest to the object. The entire detection range itself can represent the second area, or a sub-area of the detection range of the first surroundings camera can represent the second area. By selecting a first surroundings camera close to the object, the object can be displayed in particularly detailed detail.

[0021] Furthermore, in addition to the first surroundings camera, additional surroundings cameras of the surroundings detection device can be used to display the second area. This is particularly advantageous if the object is not entirely within the detection range of just one surroundings camera. Image data from the first and the additional surroundings cameras can preferably be combined or merged to display or map the first area.

[0022] Preferably, different environmental cameras from the plurality of environmental cameras are selected to display the third area and the second area. The selection is made in particular when different objects are displayed, or when two areas of an object are displayed that are not within the detection range of a single environmental camera. In particular, the environmental camera that can best display the object(s) to be displayed can always be advantageously selected.

[0023] Preferably, at least two of the plurality of surrounding cameras are selected to display the first area. The first area is preferably always larger than the second area and / or the third area. Accordingly, several surrounding cameras are advantageously used to display the first area.

[0024] As already mentioned above, all surrounding cameras of the surrounding detection device can preferably be selected to display the first area.

[0025] The method preferably comprises outputting at least one acoustic warning signal with a first intensity if the determined distance to the first object is greater than the predetermined distance, and outputting the acoustic warning signal with a second intensity that is lower than the first intensity if the determined distance to the first object is less than the predetermined distance. Thus, if the distance between the vehicle and the object decreases, the extent of the warning is reduced, since the driver usually deliberately approaches the object despite the warning having already been issued. A further, possibly more extensive or more intrusive warning, for example by outputting a continuous warning tone, would no longer be effective at this point and could possibly disturb the driver. Instead of outputting a loud orintensive warning signal, this is issued to a reduced extent and the driver is instead supported in his driving task by a detailed display of the surroundings.

[0026] The method preferably comprises outputting at least one acoustic warning signal at a first repetition rate if the determined distance to the first object is greater than the predetermined distance, and outputting the acoustic warning signal at a second repetition rate that is equal to or lower than the first repetition rate if the determined distance to the first object is less than the predetermined distance. Analogous to the previously described reduction in the intensity of the acoustic warning signal, a repetition rate of a periodically emitted acoustic warning signal can also be reduced accordingly. In particular, the warning signal is a periodically emitted beep. Instead of increasing the repetition rate or even emitting a continuous tone when the predetermined distance is undershot, a repetition rate is maintained accordingly or the output of the acoustic warning signal is deactivated.In this way, the driver who consciously approaches the object is not distracted from his driving task.

[0027] The driver assistance system preferably comprises various warning levels, with each warning level being assigned a specific environmental display and / or a specific output mode for acoustic and / or visual warnings. A distance range between the object and the vehicle is preferably assigned to each warning level. For example, the distance intervals can be defined concentrically around the vehicle, adjacent to one another, with each distance interval being assigned a warning level. For example, three warning levels can be provided.A first warning level can be assigned to a first distance interval, wherein, for example, an entire area of the vehicle's surroundings that can be displayed by the environment detection device is displayed in the first warning level, and an acoustic and / or optical warning signal is output, each with an output intensity and / or with an output reproduction pattern, for example an output repetition rate. The first distance interval can be followed by a second distance interval, which, with regard to the distance from the vehicle, corresponds to smaller distances than those of the first distance interval, wherein a second warning level is assigned to the second distance interval.In the second warning level, the first area can be displayed, which corresponds to a sub-area of the total displayable area, and the acoustic and / or optical warning signal can be output with a first intensity that is increased compared to the initial intensity and / or with a reproduction pattern that is modified compared to an initial reproduction pattern, in particular with an increased repetition rate. A third distance interval can adjoin the second distance interval. This distance interval is in particular directly adjacent to the vehicle. A third warning level can be assigned to the third distance interval, with the second area being displayed in the third warning level. In addition, the acoustic warning signal and / or the optical warning signal can be dispensed with in the third warning level. The boundary between the second and third distance intervals is in particular the predetermined distance.

[0028] In other words, as the distance between the object and the vehicle decreases, the warning level can be increasingly increased and the perceptibility of the warnings issued can be increased. Any number of warning levels can be provided, for example two, three, four or five. Only in a final warning level, which corresponds to a distance range immediately adjacent to the vehicle and which is defined by the predetermined distance, are warnings preferably not issued at all or are issued with less perceptibility when objects are detected in this range. At the same time, the visibility of the critical area between the vehicle and the object for the driver is increased by providing the driver with a detailed view of the object in this range.

[0029] Preferably, the driver assistance system is configured to display the defined distance ranges around the vehicle on the display device and to indicate whether and where objects are located within these distance ranges. The display of the distance ranges is preferably maintained regardless of whether an object is located within the predetermined distance range or not.

[0030] According to the invention, at least the second range is displayed depending on a previously determined parameter that is indicative of the driving behavior of a driver of the vehicle. Preferably, the third range is also displayed in a similar manner. The parameter is particularly indicative of the extent to which the driver deliberately tends to move the vehicle towards an object within the predetermined distance. This advantageously makes it possible to estimate whether the driver needs to continue to be warned or, if necessary, to an increased extent when approaching the object at a distance below the predetermined distance, or whether it can be assumed that the driver is aware of the short distance and therefore the driver should be supported by displaying the second or third range.

[0031] The parameter, which may be a dimensionless parameter, is preferably determined during previous journeys of the vehicle, and if the parameter exceeds a predetermined value, it is preferably determined that the method described herein is carried out during the subsequent journey. This advantageously makes it possible to avoid warnings not being issued in cases where the driver involuntarily approaches the object.

[0032] Preferably, the parameter is a number and / or a distance of previous journeys of the vehicle at a distance from an object in the vehicle's surroundings below the predetermined distance. If, for example, it is detected that a cumulative distance is greater than a predetermined value and / or a predetermined number of journeys, in particular within a predetermined time interval, is reached, it can be decided that the method described herein is to be used for subsequent journeys. If the driver frequently moves within the predetermined distance range, it can advantageously be assumed that this is done deliberately.

[0033] Preferably, the parameter is the detection of an at least partial deactivation of the driver assistance system by the driver during a previous trip. This can be understood, in particular, as a deactivation of the driver assistance system by the driver at a time when the driver is moving the vehicle within the predetermined distance range. Here, in particular, the number of deactivations can also be determined, and if a predetermined number of deactivations is exceeded, a decision can be made to carry out the method. If the driver frequently deactivates the driver assistance system, it can advantageously be concluded that the driver finds the warnings annoying at this moment because they are deliberately moving the vehicle within the predetermined distance range.

[0034] Furthermore, an operating element, in particular a switch, can preferably be provided in the driver assistance system, via which the driver can actively switch the function provided by the method described here on and off. Preferably, it can be determined that an ignition is switched on, from which it is concluded that the vehicle is ready for operation or driving. In particular, the method described here is only carried out when the vehicle is ready for operation or driving, 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 no warning of any hazards needs to be provided.

[0035] Preferably, the status of a vehicle ignition, in particular via terminal 15, can be used as a parameter. For example, the method can be performed only when the ignition is activated or only when it is deactivated.

[0036] Furthermore, the parameter can preferably be information about a current gear position, an engaged gear, and / or an actuated handbrake of the vehicle. If the vehicle is in neutral or no gear is engaged, the method cannot be executed, for example, even if an object is located within the predetermined distance range from the vehicle. This is to prevent a driver from noticing unintentional rolling of the vehicle in neutral and thus continuing to be warned of a potential collision by default. If it is determined that the handbrake is actuated or applied, or that P (Park) is engaged, or that a parking lock is active, the method cannot be executed because the driver assistance system is generally not active in this case 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.

[0037] Furthermore, the parameter can be the vehicle's direction of travel. If it is determined that an object is within the predetermined distance range, but the vehicle is moving away from the object rather than toward it, the method may not be executed.

[0038] Furthermore, the parameter can be the speed of the vehicle. For example, if the vehicle approaches the object in the predetermined environmental area at a speed above a predetermined speed, the method may not be executed.

[0039] The object of the invention is further achieved by a driver assistance system configured to carry out a method having the features described above. The driver assistance system comprises at least the environment detection device, the display device, and a control device for controlling the environment detection device and the display device.

[0040] Furthermore, the object according to the invention is achieved by a vehicle having the driver assistance system with the aforementioned features.

[0041] Exemplary embodiments of the invention are explained in more detail below with reference to the drawings. They show: Fig. 1 a schematic plan view of a vehicle with an environment detection device, Fig. 2 shows a representation of a first area in the surroundings of a vehicle from the prior art, Fig. 3 a representation of a second area in an environment of a vehicle, Fig. 4 shows a further illustration of a first area in the surroundings of a vehicle from the prior art, Fig. 5 shows a further illustration of a second area in the surroundings of a vehicle, and Fig. 6 a flowchart of a method for operating a driver assistance system of a vehicle.

[0042] Fig. 1 shows a top view of a vehicle 100 having a driver assistance system. The driver assistance system comprises a control device 12 and a plurality of surround cameras 10. The surround cameras 10 can be configured in different ways, including ultrasonic sensors, corner radars, and surround cameras for recording image data. Different detection areas are provided accordingly. Detection areas of the ultrasonic sensors 11a are arranged in an area of a vehicle front and a vehicle rear, while detection areas of the surround cameras 11b are provided on the vehicle sides. In addition, detection areas of the corner radars 11c are provided in the corner areas of the vehicle 100.

[0043] Fig. Figure 2 shows a vehicle 100 maneuvering in the maneuvering direction R according to an embodiment of the prior art, wherein a first object 16 has been detected within a predetermined distance range. One of the surrounding cameras detects a first area 13 in which the first object 16 is located and displays this first area 16 on a display device of the vehicle 100. In contrast, Fig. 3 the analog shunting situation Fig. 2, wherein the first region 13 is not displayed unchanged on the display device, but rather a second region 14 is displayed, which is a partial region of the first region 13. In particular, the second region 14 is a detailed view of a section of the first region 13.

[0044] Fig. Figure 4 shows another maneuvering situation of a vehicle 100 from the prior art, wherein an object 16 was detected in a lateral area of the vehicle 100. The driver is only shown an area 13, which shows the surroundings of the rear of the vehicle, wherein the critical maneuvering area to the side of the vehicle 100 is only inadequately displayed. Therefore, as in Fig. 5, according to the present method, a second region 14 and a third region 15 are displayed simultaneously and adjacently on the display device, wherein the second region 14 and the third region 15 are each partial regions or detailed views of two sections of the first region 13.

[0045] In this process step A, as in Fig.6, one or more of the parameters 17a to 17h are further taken into account to determine whether the second area 14 or the third area 15 should be displayed when an object is located in the predetermined distance range. These parameters can be an ignition status 17a of the vehicle 100, a gear or position 17b of the vehicle 100, a steering angle 17c, a speed 17d of the vehicle 100, a status of an operating switch 17e, a parameter 17f indicative of the driver's driving behavior, and environmental information 17g of the vehicle 100.If it has been determined, in particular taking into account one or more of the parameters 17a to 17g, that the driver is deliberately moving within the predetermined distance range and that the second and / or third area 14, 15 is to be displayed, a selection of those surroundings cameras 10 which are suitable for displaying the respective areas is made in method step B. For this purpose, in step D, an environment of the vehicle is evaluated using the surroundings cameras 10, and in method step E all available surroundings cameras are selected and transferred for use in method step B. After the selection of the surroundings cameras in method step B, the selected second and / or third areas 14, 15 are displayed to the driver either individually or in a joint view, in particular the split-screen view, on a display device of the vehicle 100. List of reference symbols 100 vehicles 10 environmental cameras 11a Detection range of an ultrasonic sensor 11b Detection range of an environment camera 11c Detection range of a corner radar 12 Control device 13a, b first area 14 second area 15 third area 16 first object 17a-17g Parameter 18 Driver assistance system 19 Display device AE procedural steps R shunting direction

Claims

[1] Method for operating a driver assistance system (18) of a vehicle (100), comprising the following steps: - determining (A) a distance between the vehicle and at least one first object (16) in the surroundings of the vehicle (100) by means of an environment detection device, - displaying a first area (13) of the surroundings of the vehicle (100) by means of a display device (19) if the determined distance is greater than a predetermined distance, and - displaying (B) a second region (14) of the surroundings of the vehicle (100) by means of the display device comprising the object (16) if the determined distance is less than the predetermined distance, wherein the second region (14) is a partial region of the first region (13); characterized by; that at least the display of the second area (14) is dependent on a previously determined parameter (17g) which is indicative of a driving behavior of a driver of the vehicle (100). [2] Method according to claim 1, comprising the step of displaying a third area (15) of the surroundings of the vehicle (100) by means of the display device together with the second area (14), wherein the third area (15) is a sub-area of the first area (13) different from the second area (14). [3] Method according to claim 2, wherein the third region (15) comprises the first object (16) and / or a second object. [4] Method according to one of the preceding claims, wherein the environment detection device comprises a plurality of environment cameras (10) for displaying the environment of the vehicle (100). [5] Method according to claim 4, wherein a first surroundings camera (10) of the plurality of surroundings cameras (10) is selected to display the second area (14), in particular exclusively. [6] Method according to claim 2 or 3, wherein different environmental cameras (10) of the plurality of environmental cameras (10) are selected to display the third area (15) and the second area (14). [7] Method according to one of claims 4 to 6, wherein at least two surrounding cameras (10) of the plurality of surrounding cameras (10) are selected to display the first area (13). [8] Method according to one of claims 4 to 7, wherein all surrounding cameras (10) of the surrounding detection device are selected to display the first area (13). [9] Method according to one of the preceding claims, comprising the output of at least one acoustic warning signal with a first intensity when the determined distance to the first object (16) is greater than the predetermined distance, and the output of the acoustic warning signal with a second intensity lower than the first intensity when the determined distance to the first object (16) is less than the predetermined distance. [10] Method according to one of the preceding claims, comprising the output of at least one acoustic warning signal at a first repetition rate if the determined distance to the first object (16) is greater than the predetermined distance, and the output of the acoustic warning signal at a second repetition rate equal to or lower than the first repetition rate if the determined distance to the first object (16) is less than the predetermined distance. [11] Method according to one of the preceding claims, wherein the parameter (17g) is a number and / or a distance of previous journeys of the vehicle (100) at a distance from an object (16) in the surroundings of the vehicle (100) below the predetermined distance. [12] Method according to one of the preceding claims, wherein the parameter (17g) is the detection of an at least partial deactivation of the driver assistance system (18) by the driver during a previous journey. [13] Driver assistance system, designed to carry out a method according to one of claims 1 to 12, comprising at least the environment detection device, the display device (19) and a control device (12) for controlling the environment detection device and the display device. [14] Vehicle (100) comprising a driver assistance system (18) according to claim 13.

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