Method for personalized control of a parking assistance system, corresponding assistance system and correspondingly equipped motor vehicle

Abstract

The invention relates to a method (16) for controlling a parking assistance system (7) of a motor vehicle (1). The parking assistance system (7) can issue a warning signal (15) to a driver (6) when approaching an obstacle (3, 4, 5) within a certain distance. In the method, driver data characterizing the respective driver (6) is recorded. Based on this driver data, a competence value is then determined, indicating the driver's (6) competence, at least with regard to parking maneuvers. Depending on the competence value, the behavior of the parking assistance system (7) is then adjusted. The invention also relates to a corresponding assistance system (7) and a correspondingly equipped motor vehicle (1).

Description

[0001] The present invention lies in the field of automotive engineering and relates to a method for controlling an assistance system of a motor vehicle or for supporting a driver with it. The invention also relates to a correspondingly configured assistance system and a correspondingly configured motor vehicle.

[0002] Parking maneuvers can be challenging for many drivers, and collisions with objects in the vehicle's vicinity can easily occur. To address this, assistance systems already exist that, for example, use ultrasound to monitor the vehicle's distance to surrounding objects and emit a warning tone when approaching. However, especially in confined spaces, this can result in a continuous output of warning tones for objects on multiple sides of the vehicle. This can be potentially distracting or disruptive, particularly for experienced drivers, thus defeating the intended purpose. Therefore, further improvements are needed.

[0003] As one approach, German patent DE 10 2012 211 368 A1 describes a method for supporting the driver of a vehicle equipped with a driver assistance system. This method involves determining the distance between the vehicle and an object in its vicinity, comparing this distance with a warning threshold, and initiating an action if the distance falls below the warning threshold. The warning threshold is set according to the driver's preferences and / or the vehicle's location. However, even this method does not offer optimal comfort, safety, or support in all scenarios.

[0004] Furthermore, DE 10 2023 201 539 A1 discloses a method for the at least partially automatic execution of at least one driver assistance function of a vehicle. In this method, the driving behavior can be recorded by at least one sensor device, and the driving behavior data is taken into account when adapting the at least one driver assistance function.

[0005] Furthermore, DE 10 2014 008 313 A1 discloses a method for supporting a driver of a vehicle when driving with a trailer attached. In this method, the driver's abilities are recorded and evaluated, with the driver's current steering behavior being assessed and compared to an ideal behavior. Depending on the evaluation, control interventions are then adjusted.

[0006] Furthermore, DE 10 2012 219 283 A1 discloses a method for operating at least one driver assistance system. In this method, driver behavior parameters are recorded, and the driver's performance level is determined based on these parameters. The driver assistance system is then operated based on this determined performance level by adjusting a threshold for its intervention.

[0007] The object of the present invention is to improve safety and comfort during parking maneuvers of a motor vehicle.

[0008] This problem is solved by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the dependent claims, the description, and the figures. Features, advantages, and possible embodiments set forth in the description for one of the subject matter of the independent claims are to be regarded, at least analogously, as features, advantages, and possible embodiments of the respective subject matter of the other independent claims, as well as of any possible combination of the subject matter of the independent claims, optionally in conjunction with one or more of the dependent claims.

[0009] The method according to the invention can be used in or for controlling a parking assistance system of a motor vehicle, which, when the motor vehicle approaches an object or obstacle, can issue a warning signal, in particular an acoustic signal, to the driver of the motor vehicle to warn of the danger of a collision with the obstacle, at least up to a certain distance. Such a parking assistance system can also be referred to as an electronic distance warning system or PDC (Park Distance Control) or as a parking aid.

[0010] In a process step of the method according to the invention, driver data is acquired, particularly automatically, for example by an assistance system set up for the method. This data characterizes the respective driver of the motor vehicle, directly or indirectly. The driver data can be or include various data that, for example, indicate or describe current and / or past behavior of the driver and / or corresponding operating parameters or corresponding measured values ​​or sensor data of the motor vehicle controlled by the driver and / or corresponding relationships of the motor vehicle controlled by the driver to the respective environment and / or the like. Likewise, the driver data can, for example, be or include derived or calculated data or values.Driver data can include, for example, sensor data, particularly from sensors in the respective vehicle, and / or data or values ​​derived or calculated from it. For instance, driver data may have been generated or recorded while driving, i.e., while the driver is operating the vehicle. This driver data can then be processed directly, for example, by the assistance system. Likewise, some or all of the driver data can be retrieved, for example, by the assistance system, from a computer-readable data storage device in the vehicle and / or from an external data storage device, such as a backend, cloud server, central data center, or similar. There, a corresponding driver profile, i.e., a driver-specific data profile or a driver-specific data set, can be managed, which contains the driver data or data derived from it.The data may contain or include calculated data or values. Driver data may be recorded during the current journey, i.e., during the current operation of the parking assistance system, and / or during previous journeys.

[0011] In a further step of the inventive process, a competence score is determined, particularly automatically, for example by the corresponding assistance system, based on the recorded driver data. This score indicates, evaluates, or classifies the driver's competence or performance, at least during parking maneuvers. Such parking maneuvers can include, in particular, parking maneuvers, but also maneuvers exiting parking spaces. Maneuvering maneuvers can also be considered, meaning that driver data generated or recorded during maneuvering can be included in the determination or calculation of the competence score. The competence score can be determined or calculated, for example, according to a predefined scheme or categorization, or by means of a predefined algorithm.A system or categorization can, for example, classify a driver as highly competent, moderately competent, average, or not very competent, i.e., correspondingly capable, experienced, practiced, or routine. These different classifications can represent different competence levels, or different competence levels can be assigned to these different classifications, for example, according to predefined intervals.

[0012] In a further process step, the behavior of the vehicle's parking assistance system is set or adjusted, particularly automatically, for example by the corresponding assistance system, depending on the competence level determined for the current driver. Here, for instance, the parking assistance system's parameters can be set or adjusted, for example, for the current parking maneuver and / or for future parking maneuvers. One or more parameters or properties of the parking assistance system can be set here. This can include, for example, criteria or conditions for issuing or suppressing the warning signal, and / or the design of the warning signal, and / or similar aspects. This is explained in more detail elsewhere.

[0013] The present invention is based on the understanding that, firstly, warning signals from a parking assistance system can be rather disruptive and ultimately unnecessary for collision avoidance, at least in certain situations, for genuinely competent drivers. Secondly, drivers may misjudge their own competence and / or be reluctant to make manual adjustments or settings. The present invention enables an automatic classification or assessment of the respective driver's competence and an automatically adjusted behavior of the parking assistance system accordingly. This ensures, for example, a high level of safety and support for less competent drivers, while simultaneously achieving a particularly high level of user comfort and relieving drivers of the need for manual adjustments or settings. It also reduces the system's aggressiveness, for example, by allowing for tighter or more precise maneuvering.Lower warning thresholds and / or less aggressive warning signals can ultimately contribute to improved safety, at least for sufficiently competent drivers, as cognitive load, distraction, or irritation caused by warning signals from the parking assistance system can be avoided or reduced. Accordingly, such a relatively competent driver can then, for example, perceive their surroundings better and will not be tempted to take their attention away from a parking maneuver, such as to manually switch off a warning signal from the parking assistance system.

[0014] A further advantage of the present invention is that the competence level can be determined individually for each driver, and the behavior of the parking assistance system can be adjusted accordingly, i.e., automatically personalized. This avoids compromises that would always be necessary with a fixed standard setting to accommodate drivers of varying competence. Ultimately, this also benefits safety and ease of use.

[0015] In one possible embodiment of the present invention, the driver data indicates the driver's behavior and / or performance during multiple parking maneuvers. Specifically, only parking maneuvers performed by the driver within a predetermined time window extending back from the current time, or corresponding driver data, can be considered. The driver data can thus be collected by observing or monitoring the driver or the driver's control of the vehicle over a certain period. Parking maneuvers or driver data relating to parking maneuvers during the current trip and / or across multiple trips can be considered. For example, an average across the various parking maneuvers or trips can be used to determine the competence score. In this process, more recent driver data or...Recent parking maneuvers are weighted more heavily than older driver data or maneuvers that occurred further in the past. This, along with limiting the length of the considered time window, allows changes in the driver's competence over time to be taken into account and incorporated into the behavior and settings of the parking assistance system. This enables the parking assistance system's behavior to be precisely tailored to the driver's actual competence or to ensure a particularly high level of safety. The latter might be the case, for example, if the driver has not performed any driving or parking maneuvers within the specified time window. In this case, there might not be any sufficiently current driver data available to consider.In such a case, the behavior of the parking assistance system can be set or reset to a predefined default value. This default value can provide a high level of safety, for example, by triggering a warning signal particularly early, even when the vehicle is relatively far from obstacles. The default value can be a corresponding value or setting from current or previous parking assistance systems, such as a standard-fitted parking distance control (PDC). Depending on the design or application, the time frame can span several days, weeks, or months. Other durations are also possible. Considering driver data from multiple parking maneuvers can enable a particularly accurate and robust determination of the competence level.This also prevents the parking assistance system from changing its behavior too rapidly and thus potentially being perceived as unpredictable or inconsistent. This, too, can ultimately contribute to improved safety and comfort.

[0016] In a further possible embodiment of the present invention, the competence score is determined by considering, as part of the driver data, a number of parking maneuvers performed by the driver, in particular or exclusively parking maneuvers, and / or the duration of each parking maneuver, and / or the respective parking space size relative to the respective vehicle, and / or the number of steering inputs per parking process or maneuver. Such steering inputs, i.e., steering wheel movements or changes in steering angle, can in particular or exclusively include steering inputs, or be weighted more heavily, that involve a change in the direction of movement of the steering wheel or corresponding steered wheels of the vehicle compared to the immediately preceding steering input. Corresponding data or measured parameter values ​​can thus be incorporated, in particular directly, into the determination or calculation of the competence score.In particular, a greater number of parking maneuvers can lead to a higher competence score. Similarly, a shorter duration per maneuver, i.e., faster execution of parking maneuvers, can also lead to a higher competence score. Likewise, a smaller parking space size relative to the size of the vehicle can lead to a higher competence score. Here, for example, an average or minimum value for the parking space size or the ratio of parking space size to vehicle size can be considered. Likewise, a lower number of steering inputs, especially fewer changes in steering wheel direction or steering movements, or changes in steering angle, can lead to a higher competence score. However, a specific optimal number of inputs may be predetermined, resulting in a maximum competence score.This optimal number can be a fixed value, particularly greater than 0 or greater than 1, or it can be predetermined depending on the type and / or layout of the respective parking space, or it can be determined dynamically. For example, two steering inputs, especially with exactly one change of direction, can lead to a maximum competence score in this regard if the parking space is located at the edge of the road and is aligned parallel to it, so that the vehicle's longitudinal direction in the parking space is or was parallel to the direction of travel in the adjacent lane (parallel parking). Conversely, the same number of steering inputs or changes can lead to a lower or non-maximum competence score if the vehicle can enter or exit the parking space longitudinally, especially forwards.

[0017] In general, therefore – both here and in other embodiments of the present invention – the type or nature of the parking space or parking area can be taken into account when determining the competence score. For example, driver data for parking maneuvers can be weighted depending on the type of parking space or parking maneuver. For instance, parking spaces that extend lengthwise parallel to an adjacent street or roadway can be weighted more heavily for corresponding parking maneuvers or associated driver data than parking spaces that extend lengthwise or are oriented diagonally or perpendicular to the intended direction of travel on the adjacent street or roadway.

[0018] Similarly, the variety of parking maneuvers or parking spaces used can be taken into account when determining the competence score. For example, a greater variety of parking maneuvers performed or different parking spaces or parking space types used can lead to a higher competence score.

[0019] The consideration of these parameters is based, for example, on the understanding that more and / or more varied parking maneuvers, i.e., more practice by the driver, typically lead to greater competence, and that a successful parking maneuver in a smaller relative parking space may require greater competence or have a greater training effect than a comparable parking maneuver in a larger parking space. The embodiment of the present invention proposed here can therefore enable a particularly precise and, at the same time, relatively easy-to-implement determination of the competence level.

[0020] In a further possible embodiment of the present invention, in a first variant, adjusting the behavior of the parking assistance system includes adjusting the distance at which the parking assistance system issues a warning signal when approaching an obstacle. Here, a corresponding distance threshold or distance parameter can be adjusted. In particular, a smaller distance can be set for a higher competence value. In other words, with a higher competence value, the parking assistance system can be set so that it only issues the corresponding warning signal at smaller distances between the vehicle and an obstacle, and conversely, with a lower competence value, it issues the corresponding warning signal at a larger distance between the vehicle and an obstacle.

[0021] Additionally or alternatively, adjusting the behavior of the parking assistance system in a second variant includes modifying any warning signal that may be issued or will be issued. For example, an acoustic warning signal can be adjusted in terms of volume and / or sound characteristics or frequency spectrum and / or signal shape. Thus, for example, a lower volume can be set for a higher competence level, and / or the sound characteristics or frequency spectrum and / or signal shape can be adjusted so that the warning signal has less of a warning or hazard character.For example, with a higher competence level, the warning signal may be less shrill and / or less conspicuous or less concise, i.e., it may have fewer relatively high frequencies or reduced volume or intensity at higher frequencies, and / or be less staccato and / or have a less steep or less rapid, especially initial, increase in volume and / or a less steep or less rapid decrease in volume, for example, at the end of the warning signal or before a pause in the warning signal.

[0022] The type or mode of the warning signal that may be issued can also be adjusted. For example, an acoustic warning signal can be issued for lower competence levels, while no acoustic warning signal can be issued for higher competence levels, particularly only above a predefined minimum competence level. Instead, a non-acoustic warning signal, such as a visual and / or haptic (tactile or vibratory) warning signal, can be issued or configured for output as needed. The proposed embodiment of the present invention avoids unnecessary disturbance or inconvenience to competent drivers, thus improving user comfort. At the same time, a certain level of safety can still be maintained, ensuring that even competent drivers can be warned in particularly critical situations.

[0023] In a further possible embodiment of the present invention, the current position of the motor vehicle is recorded and monitored. Based on driver data and / or a history of previously recorded positions, it is then determined how often the driver has already performed parking maneuvers at or near the current position, and / or how familiar the driver is with the area around the current position. In particular, or even exclusively, the system can consider how often the driver has performed parking maneuvers or, for example, been present in the area of ​​the current position within a specified time window or a time window extending into the past, as mentioned elsewhere. For example, the current position or the area around the current position can be classified as known or familiar, or as unknown or unfamiliar.Such a classification can, for example, depend on how frequently the driver has already been in the respective area or how much time the driver has spent there, especially within the specified time window, regardless of whether the driver has performed parking maneuvers there or not.

[0024] The competence score is then determined based on the number of parking maneuvers performed and / or the corresponding classification. A greater number of parking maneuvers performed at a particular position or in a particular area, as well as greater familiarity, can lead to a higher competence score. Whether two different numbers of parking maneuvers performed or, for example, two different levels of familiarity actually result in different competence scores can depend on the specific design or implementation of the procedure, such as predefined possible values, a predefined categorization or structure of competence scores, corresponding value intervals, or similar factors.

[0025] Taking location into account, i.e., using location data for the classification and / or recognition of known or familiar areas or locations, can enable a more precise or robust determination of the competence score. For example, if the location is used to detect that the driver is performing or intends to perform a parking maneuver in a home garage, where the short distances typically lead to frequent, strong, or continuous activation of the parking distance control or parking assistance system, the sensitivity or response time of the parking assistance system can be automatically reduced according to the present method. This would mean that, for example, the warning signal or an acoustic warning signal would only be issued at smaller distances, i.e., a corresponding acoustic distance warning would only be triggered.This is based on the understanding that a small distance between a vehicle and an obstacle does not necessarily mean that a collision is imminent or that there is a risk of one. For example, a driver can typically perform parking maneuvers that have been repeated many times in certain locations or in very familiar places safely and without collisions, even when the distance between the vehicle and obstacles is very small. The proposed embodiment of the present invention can therefore ultimately avoid unnecessary warning signals in such situations, thus achieving or enabling improved user comfort and reduced distraction or irritation for the driver.

[0026] According to the invention, the current position of the vehicle is detected and monitored – for example, as described elsewhere. The area surrounding the current position is also detected using the vehicle's environmental sensors. Based on corresponding sensor data from the environmental sensors, which characterize the surroundings, and a comparison with relevant historical area data, unusual spatial restrictions or configurations within the area are automatically identified, for example, by the corresponding assistance system. The historical area data can indicate objects and / or object positions previously detected there.This allows, for example, the identification of spatial restrictions—that is, limitations on the available free space for parking maneuvers—during the last time the driver controlled the vehicle at the current position, particularly when loading and / or unloading cargo. These restrictions may be entirely new, either previously absent, or only rarely present in that area, or are present for the first time. Such spatial restrictions can be caused by objects or obstacles.

[0027] Adjusting or modifying the behavior of the parking assistance system includes setting a warning signal output for detected unusual spatial restrictions. For example, different distances or warning thresholds can be set or predefined for unusual spatial restrictions or corresponding objects or obstacles on the one hand, and for other spatial restrictions or corresponding objects or obstacles that are ordinary, usual, always present, or familiar to the driver on the other.For example, when a motor vehicle approaches an unusual spatial restriction, such as an obstacle that is not usually there or was not present last time, the warning signal can be issued at or from a greater distance than when the motor vehicle approaches a different obstacle, such as a wall or shelf that is always in the same place, or the like.

[0028] For example, during a parking maneuver to park in the driver's home garage, it might be noticed that a parcel has been placed there, which is not usually present, for instance, during previous parking maneuvers. This parcel could interfere with the parking process, creating an unusual spatial restriction. Performing the parking maneuver in the usual, routine manner could therefore lead to an accident or a collision with the parcel. This could occur, for instance, if, due to the driver's familiarity with the area or their routine and competence in this particular parking maneuver, the system were automatically deactivated or if the warning signal were set to an extremely small distance.In contrast, according to the embodiment of the present invention proposed here, an unusual spatial restriction, in this case the postal parcel, can be detected relatively early and thus a warning signal can be issued particularly early.

[0029] The environmental sensors can have a greater detection range than conventional ultrasonic sensors used for parking assistance functions. For example, the environmental sensors used here can be or include a camera, lidar, or radar system. This allows corresponding spatial restrictions, objects, or obstacles to be detected at a distance that is greater than the maximum distance adjustable in the parking system, at which warning signals are issued. The proposed embodiment of the present invention enables the parking assistance system to behave not only in a way that is individualized for the respective driver, but also dynamically adapted to the specific situation. This allows for further improvements in comfort and safety.

[0030] In a further possible embodiment of the present invention, the parking assistance system determines and monitors the current distance of the vehicle to obstacles in its surroundings based on sensor data from at least one ultrasonic sensor of the vehicle and at least one external or surrounding camera of the vehicle. In this case, in addition to ultrasonic sensors, one or more external cameras can also be used for distance determination. This allows areas in the vicinity of the vehicle to be detected or monitored by sensors where no ultrasonic sensors are located or which are not within the detection range of the vehicle's ultrasonic sensors. This can be the case, in particular, if a 360° camera system or a camera-based 360° environmental detection or sensing system is used as at least one external camera.Furthermore, based on sensor data from the external camera, i.e., corresponding camera data, distances between the vehicle and an obstacle can be resolved, i.e., differentiated, even if they are in the blind zone of typical ultrasonic sensors. The embodiment of the present invention thus enables more comprehensive monitoring of distance and collision risks, as well as more finely graduated adjustments, adaptations, and differentiations of the parking assistance system's behavior, extending to smaller distance ranges.

[0031] In a further possible embodiment of the present invention, the driver's gaze direction is monitored, particularly automatically, for example by the corresponding assistance system, using a driver observation or interior camera of the vehicle during a parking maneuver or the current parking process. The parking assistance system is then automatically adjusted so that it does not issue a warning signal when the vehicle approaches objects that the driver has plausibly seen based on the gaze direction, or it only issues the warning signal from a reduced distance. Here, the interior camera can thus be used to observe the driver and therefore to verify whether the driver has seen or recognized certain obstacles.If it is determined that the driver plausibly saw a specific obstacle, for example, with at least a predefined minimum probability, then a corresponding distance sensor within whose detection range the obstacle is located can be effectively silenced. This means that the output of warning signals for the risk of collision with this obstacle, and especially only with this obstacle, can be suppressed or only triggered from a reduced distance. This reduced distance can be less than the distance at which the parking assistance system issues warning signals indicating a risk of collision with obstacles that the driver did not plausibly see or observe.

[0032] For example, there might be a streetlamp on the right side of a parking space. The driver might then recognize the streetlamp as an obstacle, for instance, by looking over their shoulder or observing the vehicle's interior or exterior mirrors. This can be automatically detected by the relevant assistance system, for example, by monitoring and tracking the driver's gaze direction and attention. The driver can then continue the parking maneuver in such a way as to avoid a collision with the streetlamp, even if the distance between the vehicle and the streetlamp becomes so small that it would trigger a warning signal under the standard settings or behavior of the parking assistance system. By deactivating the warning signal for obstacles seen by the driver or by reducing the corresponding warning distance, the system can prevent collisions.A lower distance threshold can improve the driver's awareness of other obstacles or collision hazards in other locations. This can, for example, prevent warning signals for different obstacles, especially those in different positions, from overlapping and thus impairing the driver's understanding of the situation.

[0033] The present invention also relates to an assistance system for a motor vehicle. The assistance system according to the invention is designed to control the output of a warning signal when the motor vehicle approaches objects or obstacles, at least to or below a certain distance. The assistance system has an input interface for acquiring at least driver data that directly or indirectly characterizes the respective driver of the motor vehicle. Furthermore, the assistance system includes a data processing unit for processing the driver data to determine a competence value that indicates the driver's competence or performance, at least during parking maneuvers, and for generating corresponding control signals for adjusting the warning signal output.Depending on its configuration, the assistance system may also include, for example, an output interface for transmitting control signals, such as to a parking assistance system of the motor vehicle or a corresponding warning signal module, or the like. The assistance system according to the invention is designed to execute the method according to the invention, particularly automatically. For this purpose, the assistance system, and in particular its data processing unit, may include, for example, a process unit, such as a microprocessor, microchip, microcontroller, or the like, and a computer-readable data storage device coupled thereto. A corresponding operating or computer program, which encodes or implements the process steps, measures, or sequences described in connection with the method according to the invention, may then be stored in this data storage device.This operating or computer program can then be executed by means of the process device in order to carry out the corresponding method or to effect its execution. The assistance system according to the invention can, in particular, be the assistance system mentioned in connection with the method according to the invention or correspond to it. Depending on the configuration, the assistance system can be the parking assistance system mentioned in connection with the method according to the invention, or comprise it, be part of it, or be configured to couple with it or to control the parking assistance system.

[0034] The present invention also relates to a motor vehicle equipped with a parking assistance system. As part of or coupled to this system, the vehicle also has environmental sensors for determining and monitoring the distance between the vehicle and objects or obstacles in its immediate surroundings, and an output device for issuing warning signals, particularly acoustic ones, to the driver of the vehicle. The motor vehicle according to the invention is configured to execute the method according to the invention, particularly automatically. For this purpose, the motor vehicle according to the invention can, for example, include the assistance system according to the invention – either coupled to the parking assistance system, as part of it, or combined or integrated with it.The motor vehicle according to the invention can in particular be or correspond to the motor vehicle mentioned in connection with the method according to the invention and / or in connection with the assistance system according to the invention.

[0035] Further features of the invention may become apparent from the following description of the figures and from the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features shown below in the description of the figures and / or in the figures themselves, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

[0036] The drawing shows in: Fig. 1. A schematic representation of a motor vehicle equipped with a parking assistance system in a parking situation; and Fig. 2 an exemplary schematic flow chart to illustrate a procedure for personalized support of a motor vehicle driver during parking maneuvers using the parking assistance system.

[0037] Fig. Figure 1 shows a partial schematic representation of a motor vehicle 1 in a parking area 2. The parking area 2 could, for example, be a garage. In the example shown, the parking area 2 contains a front object 3 in the front area and a standard rear object 4 and a special object 5 in the rear area. The standard rear object 4 could, for example, be a regular or permanent component of the parking area 2, meaning it is always located there and in the same position. The special object 5 could, for example, be present in the parking area 2 for the first time in the depicted situation. In particular, at least the special object 5 could be a movable object.

[0038] The vehicle 1 can be parked in parking area 2 by a driver 6. To assist the driver 6, the vehicle 1 is equipped with a parking assistance system 7. This system is schematically represented here by an interface 8, a processor 9, and a data storage device 10. The parking assistance system 7 can be connected to various devices via the interface 8. Thus, the parking assistance system 7 can, for example, acquire sensor data from various sensors, driver data, position data, and / or the like via the interface 8. Likewise, the parking assistance system 7 can, for example, output control signals via the interface 8, such as to warn the driver 6 of potential collision hazards.

[0039] The vehicle 1 is equipped with several distance sensors 11, which may be ultrasonic sensors, and a system of external cameras 12. The distance sensors 11 and the external cameras 12 allow the vehicle 1 to automatically detect and monitor its surroundings. In particular, they can detect objects 3, 4, and 5, and measure and monitor the distance between the vehicle 1 and these objects, or, for example, a wall in the parking area 2. Furthermore, the vehicle 1 has an interior camera 13 for observing the driver 6 and monitoring the driver's gaze or attention. Finally, the vehicle 1 has an output device 14 for emitting warning signals 15. The output device 14 may be configured to emit acoustic warning signals 15, but this is not its sole function.

[0040] The parking assistance system 7 can generally be configured to issue a warning signal 15 when the vehicle 1 approaches or has approached an obstacle, for example one or more of the objects 3, 4, 5, to within a certain distance. However, in this case, the behavior or corresponding parameterization of the parking assistance system 7 can be automatically customized for the respective driver 6 and the respective situation.

[0041] To further explain, shows Fig.2 An exemplary schematic flowchart 16 for a corresponding control and operating procedure. In this procedure, input data can be acquired by the parking assistance system 7 in a process step S1. This input data can include, for example, driver data, environmental data, position data, sensor data, and / or the like. This data acquisition can be carried out continuously, i.e., continuously or at a certain repetition frequency, particularly during operation of the motor vehicle 1 or the parking system 7, or at least during parking processes or maneuvers. This is schematically indicated here by a loop-shaped path in the flowchart 7.

[0042] In process step S2, the parking assistance system 7 can process the acquired input data to determine an individualized or personal competence score for the driver 6. Such a competence score can, for example, be referred to as PPI (Park Performance Index).

[0043] In process step S3, the behavior of the parking assistance system 7, such as its parameterization, specific threshold values, or the like, can be automatically set or adjusted depending on the defined competence value or PPI. Based on this set behavior, the parking assistance system 7 can then issue warning signals 15 as needed and as required by the situation, in order to warn the driver 6 of collision hazards in an individualized manner.

[0044] Here, for example, based on the recognition of the driver 6 and a profile stored for that driver, a warning cascade, particularly an acoustic one, from the parking assistance system 7 can be personalized. For instance, based on or according to the respective competence level, a driver 6 who is particularly experienced or competent with regard to parking maneuvers can be warned by the parking assistance system 7 only when the distance to obstacles is smaller than, for example, less experienced or less competent drivers.

[0045] The classification or categorization as experienced / competent and inexperienced / less competent can be done manually, but here it is primarily based on the average PPI (Performance Performance Index) achieved over recent parking maneuvers or processes. Based on the individual PPI, for example, an inexperienced driver 6 can be supported by acoustic warning signals 15 during the parking process, whereas an experienced driver 6 receives little or no support from such warning signals 15 and is therefore less likely to be irritated or disturbed. Personalization, such as individually setting or adjusting the frequencies of the warning signal 15 based on the distance of the vehicle 1 to obstacles, as well as personalizing the signal tone, is also possible.

[0046] As described, the parking assistance system 7 can also use position data, i.e., the current position of the vehicle 1, to classify and recognize known locations or to categorize a given parking area 2 as known or unknown, and as an influencing factor for the PPI (Parking Performance Index). In the present example, the parking assistance system 7 can recognize that the vehicle 1, with driver 6, is located in the vicinity of driver 6's home garage and has frequently parked there before. Accordingly, parking area 2 can be classified as a known area, or one familiar to driver 6. Consequently, a relatively high competence score can be assigned to driver 6 for the parking maneuver in parking area 2, and a relatively narrow warning threshold can be set, i.e., a relatively small distance at which a warning signal 15 is issued.

[0047] The parking assistance system 7 can also perform automatic object and anomaly detection. For this purpose, the parking assistance system 7 can, for example, include a suitably configured and trained machine learning or artificial intelligence system. This system can, for instance, process and evaluate sensor data supplied by the external cameras 12 to detect unknown or unusual objects in the surrounding area. Here, for example, the standard rear object 4 can be recognized and classified as an ordinary object, while the special object 5 can be recognized and classified as an unknown or unusual object in or for parking area 2. Accordingly, the behavior or warning threshold for issuing a warning signal 15 when approaching the standard rear object 4 can be set differently than the behavior or warning threshold for issuing a warning signal 15 when approaching the special object 5.In particular, when approaching the special object 5, a corresponding warning signal 15 can be issued at a greater distance than when approaching the standard rear object 4. Similarly, the parking assistance system 7 can be automatically configured to issue a different warning signal 15 when signaling the approach of the vehicle 1 to known objects than when approaching unknown objects. This allows the driver 6 to be informed more precisely about the situation and to be alerted that, despite the parking area 2 being familiar to them, they must exercise particular caution.

[0048] The parking assistance system 7 can also use sensor data from the interior camera 13 to monitor the driver and thus to verify whether the driver 6 has seen or recognized certain obstacles. For example, the driver 6 may have currently, repeatedly, or with sufficient attention directed towards the front object 3. The parking assistance system 7 can then assume or classify as plausible that the driver 6 has noticed the front object 3 or is aware of the foreign object 3 and its position, and therefore does not need to be warned of a collision with the front object 3. Accordingly, the parking assistance system 7 can then, for example, effectively deactivate the corresponding distance sensor 11, in this case the front left distance sensor 11. Likewise, the parking assistance system 7 can, for example, approach the object plausibly seen or recognized by the driver 6.Front object 3 noticed a different warning signal 15, in particular a warning signal with less warning or danger signal characteristics, than when approaching other objects, especially unusual or unknown objects, such as special object 5.

[0049] Overall, the examples described show how personalization of an acoustic parking distance control can be implemented and applied. Reference symbol list 1 motor vehicle 2 Parking area 3 Front object 4 Standard rear object 5 Special object 6 drivers 7 Parking Assistance System 8 Interface 9 processor 10 Data storage 11 distance sensors 12 outdoor cameras 13 Interior camera 14 Output device 15 Warning signal 16 Schedule S1-S3 process steps

Claims

[1] Method (16) for controlling a parking assistance system (7) of a motor vehicle (1) which, when the motor vehicle (1) approaches an obstacle (3, 4, 5), can issue a warning signal (15) to a driver (6) of the motor vehicle (1) at least up to a certain distance to warn of the danger of a collision of the motor vehicle (1) with the obstacle (3, 4, 5), comprising the method steps (S1, S2, S3) - Recording driver data that characterizes the respective driver (6) of the motor vehicle (1), - Determining a competence score based on driver data, which indicates the driver's competence (6) at least in parking maneuvers, - Setting the behavior of the parking assistance system (7) depending on the competence level. characterized by , that - a current position of the motor vehicle (1) is recorded, - the respective area (2) around the current position is detected by means of an environmental sensor (12) of the motor vehicle (1), - based on corresponding sensor data from the environmental sensors (12) and comparison with corresponding historical area data, which indicate objects (3, 4, 5) and / or object positions detected there in the past, unusual spatial restrictions (5) of the area (5) are determined, and - adjusting the behavior of the parking assistance system (7) includes adjusting a warning signal output regarding detected unusual spatial constraints (5) [2] Method (16) according to claim 1, characterized by , that the driver data indicate the driver's behavior and / or performance (6) during multiple parking maneuvers, in particular only within a specified time window extending from the current time into the past. [3] Method (16) according to any one of the preceding claims, characterized by , that to determine the competence value a number of parking maneuvers, in particular parking operations, and / or a duration per parking maneuver and / or a respective parking space size relative to the motor vehicle (1) and / or a number of steering interventions per parking maneuver, in particular with a change of the direction of movement of the steering wheel compared to a steering intervention immediately preceding it, are taken into account. [4] Method (16) according to any one of the preceding claims, characterized by , that adjusting the behavior of the parking assistance system (7) - includes an adjustment of the distance at which the parking assistance system (7) issues a warning signal (15) when approaching an obstacle (3, 4, 5), whereby the distance is set to a smaller value the higher the competence level, and / or - includes an adjustment of the warning signal (15). [5] Method (16) according to any one of the preceding claims, characterized by , that - a current position of the motor vehicle (1) is recorded, - based on driver data and / or a history of recorded positions, it is determined how often the driver (6) has already performed parking maneuvers in the area (2) of the current position, in particular within a time window of a specified length extending into the past, and / or how familiar the driver (6) is with the area (2) around the current position, - the competence value is also determined depending on the fact that a larger number of parking maneuvers performed in the respective area (2) as well as greater familiarity can lead to a higher competence value. [6] Method (16) according to any one of the preceding claims, characterized by, that the parking assistance system (7) determines the current distance of the motor vehicle (1) to obstacles (3, 4, 5) in the environment based on sensor data from at least one ultrasonic sensor (11) and at least one external camera (12). [7] Method (16) according to any of the preceding claims, characterized by , that by means of an interior camera (13) the direction of the driver's gaze (6) is monitored during a parking maneuver and the parking assistance system (7) is set so that when the motor vehicle (1) approaches objects (3) which were plausibly seen by the driver (6) based on the direction of the gaze, it does not issue a warning signal (15) or only issues the warning signal (15) from a reduced distance. [8] Assistance system (7) for a motor vehicle (1) for controlling a warning signal output when the motor vehicle (1) approaches obstacles (3, 4, 5) at least to a certain distance, wherein the assistance system (7) has an input interface (8) for capturing driver data that characterizes the respective driver (6) of the motor vehicle (1), and a data processing device (9, 10) for processing the driver data to determine a competence value that indicates the competence of the driver (6) at least during parking maneuvers, and to generate corresponding control signals for adjusting the warning signal output, and is configured to execute the method (16) according to one of the preceding claims. [9] Motor vehicle (1) comprising a parking assistance system (7) and, as part thereof or coupled thereto, an environment sensor system (11, 12) for monitoring a distance to obstacles (3, 4, 5) in the vicinity of the motor vehicle (1) and an output device (14) for issuing warning signals (15) to a driver (6) of the motor vehicle (1), wherein the motor vehicle (1) is equipped to carry out the method (16) according to any one of claims 1 to 7.

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