Method for evaluating movements of a vehicle, method for operating a vehicle guidance system, electronic vehicle guidance system, and vehicle comprising an electronic vehicle guidance system

Abstract

The invention relates to a method for evaluating movements of a vehicle (1), wherein the following steps are carried out: - moving the vehicle (1) along a trajectory (8) in a manoeuvring operation (9), the trajectory (8) being travelled manually - detecting a surrounding region (10) located in front of the vehicle (1) while the trajectory (8) is being travelled; - predicting a target trajectory (13) on the basis of the detected surrounding region (10); - comparing, by means of the evaluation unit (12), the travelled trajectory (8) with the predicted target trajectory (13); - determining, by means of the evaluation unit (12), an assessment result on the basis of the comparison, wherein a potential possibility of autonomous travel of at least one trajectory portion (14) of the trajectory (8) in a manoeuvring direction (16) inverse to the manoeuvring direction (15) is assessed using the assessment result; and - providing the assessment result to a vehicle guidance system (3). The invention also relates to a method for operating a vehicle guidance system (3), to an electronic vehicle guidance system (3), and to a vehicle (1) comprising an electronic vehicle guidance system (3).

Description

[0001] Description

[0002] Method for evaluating movements of a vehicle, method for operating a vehicle guidance system, electronic vehicle guidance system and a vehicle with an electronic vehicle guidance system

[0003] The invention relates to a method for evaluating movements of a vehicle.

[0004] Furthermore, the invention relates to a method for operating a vehicle guidance system of a vehicle.

[0005] The invention also relates to an electronic vehicle guidance system with an evaluation unit and a vehicle with a corresponding vehicle guidance system.

[0006] For example, vehicles such as passenger cars and trucks feature a variety of driver assistance systems to support the user or driver. For example, there are already parking aids that assist the driver when parking, for example, into a parking space. There are also assistance systems that can support or assist the driver when subsequently exiting a parking space.

[0007] For example, there is a Reversing Assist system for vehicles with a trailer, i.e., a vehicle-trailer combination. This allows the driver to follow a previously recorded route or trajectory.

[0008] For example, US 2020 / 0148256 A1 discloses an assistance system that can assist or support a driver of a vehicle-trailer combination when reversing. For example, the articulation angle between the vehicle and the trailer is monitored when reversing.

[0009] Furthermore, US Pat. No. 9,783,230 B2 also discloses an assistance system for a vehicle-trailer combination for assisting a driver when reversing with the trailer. One object of the present invention is to improve a vehicle guidance system, in particular a reversing assist system, so that autonomous maneuvering can be performed more efficiently.

[0010] This problem is solved by a method, an electronic vehicle guidance system, and a vehicle according to the independent patent claims. Useful further developments arise from the dependent patent claims.

[0011] One aspect of the invention relates to a method for evaluating movements of a vehicle, wherein the following steps are carried out:

[0012] Moving the vehicle along a trajectory during a maneuvering operation, wherein the trajectory is manually traversed by a user of the vehicle; at least partial recording of the traversed trajectory;

[0013] Detecting an area of ​​the environment in front of the vehicle when driving through the trajectory with a detection device;

[0014] Predicting a target trajectory at least as a function of the detected surrounding area in front of the vehicle by an evaluation unit;

[0015] Comparing the trajectory traveled as the actual trajectory with at least the predicted target trajectory by the evaluation unit;

[0016] Determining an assessment result with the evaluation unit at least depending on the comparison, wherein the assessment result is used to assess a potential possibility of autonomously driving through at least one trajectory section of the trajectory in a shunting direction inverse to the shunting direction;

[0017] Providing the assessment result to a vehicle guidance system of the vehicle.

[0018] The proposed method can be used to improve an electronic vehicle guidance system for assisting a driver of a vehicle, in particular a vehicle-trailer combination. This can be realized or achieved through the provided assessment result. The assessment result, which at least takes into account a target-actual comparison of the target trajectory and the currently traveled trajectory, can prevent collisions, accidents, or dangerous autonomous driving maneuvers during a potentially possible subsequent autonomous passage.Furthermore, the assessment result can be used to prevent the control limits or the limits of the electronic vehicle guidance system from being exceeded or restricted during a later or subsequent autonomous driving maneuver, so that a safe and, in particular, collision-preventing autonomous driving maneuver can be realized or carried out.

[0019] In particular, the assessment results can be used to assist the vehicle user when manually driving the trajectory with the vehicle, especially with a vehicle-trailer combination. This is advantageous, for example, in narrow road sections or in busy traffic situations.

[0020] If, for example, it is determined during the determination or generation of the assessment result, particularly on the system side, that autonomous driving through at least the trajectory section in the direction opposite to the maneuvering direction cannot be safely carried out by the vehicle guidance system, this can be taken into account by the vehicle guidance system. Accordingly, the driver or user of the vehicle can be informed that autonomous driving through the trajectory section is currently or temporarily not possible. This can be used to specifically prevent autonomous driving through at least one trajectory section from occurring, thus endangering, for example, other road users in the vicinity.

[0021] Furthermore, when determining the assessment result, the currently traversed trajectory can be assessed to determine whether this trajectory can be traversed autonomously by the vehicle guidance system and whether the vehicle guidance system could be compromised due to control quality issues, system-related limits, or other electronic or digital reasons. This can prevent a trajectory from being provided to the vehicle guidance system that cannot be traversed autonomously for system-related reasons.

[0022] Thus, using the proposed method, it can be determined on the system side whether or not autonomous driving of at least the trajectory section of the trajectory can be performed. For example, the assessment result can be used for machine training of the vehicle guidance system regarding the potential possibility of autonomously driving a specific trajectory. For example, using the proposed method, the vehicle user and / or the vehicle guidance system can provide support during manual driving of the trajectory. Thus, for the later potential autonomous driving of the previously manually performed trajectory, an advantageous starting position for the autonomous driving of the trajectory can be provided, so that the subsequent autonomous journey can be carried out more efficiently.

[0023] For example, the vehicle guidance system is an electronic assistance system for the vehicle. Specifically, the vehicle guidance system is a “reversing assistant” or reversing assistant system. With such a reversing assist system, the driver of the vehicle first follows a trajectory, for example when driving forward, which they can then follow backwards with assistance from the system. In this case, the driver or user can manually follow the trajectory when driving forward, for example when parking. Using the recorded information, a target trajectory or reference trajectory or predicted trajectory can be predicted or forecast by the evaluation unit, in particular an electronic evaluation unit.This allows the system to continuously perform advance planning, predictive path planning, or predictions while manually navigating the trajectory. This can, for example, be continuously compared with the current trajectory, allowing a system-based target-actual comparison to be performed.

[0024] Specifically, the evaluation unit can be used to check whether deviations or discrepancies, particularly dangerous ones, between the desired trajectory and the actual trajectory are occurring or could occur in the future. For example, a deviation between the desired trajectory and the currently traversed trajectory as the actual trajectory can lead to collisions with objects in the vehicle's surroundings, such as other road users or objects. This can be improved and, in particular, optimized using the proposed method.

[0025] In other words, the assessment results can be used to predictively determine an efficient or optimal driving trajectory for the subsequent reversing or autonomous driving of the trajectory section, either during forward travel or during manual driving of the trajectory. Factors such as collision avoidance, ease of maneuvering, and safety distances to all sides of the vehicle's surroundings can be taken into account.

[0026] In particular, the movement of the vehicle along the trajectory, a section of road, a route, or a route is carried out manually by the user or driver of the vehicle. The trajectory can therefore be a movement path during driving through or during the maneuvering process. The maneuvering process can be, for example, a parking maneuver, parking maneuver, parking out of a parking space, driving through a narrow space, or slow driving. In particular, the maneuvering process takes place at a maximum speed of 10 km / h, in particular 15 km / h, and especially a maximum of 30 km / h. In particular, the maneuvering process can take place at walking pace.

[0027] The trajectory section is, for example, a route section or a movement path section of the trajectory. For example, if the maneuvering direction is a forward parking direction into a parking space, the reverse maneuvering direction is understood to be a reverse parking direction. For example, the user can manually park into the parking space in the maneuvering direction. A possible autonomous driving through in the reverse maneuvering direction can therefore involve the autonomous exit of the parked vehicle.

[0028] In particular, a potential autonomous passage through at least one trajectory section can occur chronologically subsequent to the passage through the trajectory. Thus, the autonomous passage through the trajectory in the shunting direction inverse to the shunting direction occurs chronologically subsequent or later than the shunting process.

[0029] For example, predicting the desired trajectory and comparing the actual trajectory with the predicted desired trajectory can be done continuously, thus already during the maneuvering process. For example, the vehicle can be a passenger car, a truck, or a vehicle-trailer combination.

[0030] With the aid of the detection device, in particular an electronic one, the surrounding area in front of the vehicle or the route ahead can be detected or recorded. For example, the detection device can be a detection system, sensor system, radar system, camera system, or a detection unit. In particular, the detection device can comprise several individual detection units distributed throughout the vehicle. For example, the detection device can comprise a camera-based unit and a sensor-based or radar-based unit.

[0031] The trajectory traveled can be recorded at least partially with the recording device or with a separate recording unit.

[0032] In one exemplary embodiment, at least one warning is generated depending on the assessment result provided, wherein the at least one warning is output acoustically, visually and / or haptically in the vehicle. In addition to or instead of the at least one warning, further warnings can be generated depending on the assessment result, wherein the at least one warning and the further warnings can be output in a cascaded order in the vehicle. As a result, the user can be informed during the maneuvering process or immediately after the maneuvering process that, for example, autonomous driving through by the vehicle guidance system is not possible or that this is at least possible only to a limited extent. For example, the warning can be output that a reversing function of the vehicle guidance system is only partially or to a limited extent available.In the “Worst Gase” mode, the user can be given a warning that autonomous driving using the vehicle guidance system is not possible and is therefore not available.

[0033] For example, the warnings can be visually displayed to the user on a head-up display or another display unit in the vehicle, so that, for example, the predicted target trajectory is visually displayed alongside the currently trajectory, so that the user can, for example, adapt or change their driving behavior or their current manual trajectory based on the predicted target trajectory. For example, the at least one warning or several warnings can be displayed acoustically, visually and / or haptically to the user via an output unit in the vehicle and / or an output unit of a user's mobile device. For example, depending on the warning, haptic feedback can be displayed to the user, for example via a steering element or a steering wheel.Thus, the user can be informed of the assessment result by a vibration of the steering wheel.

[0034] A possible cascaded sequence of warnings allows the user to receive advance warnings based on the comparison between the target trajectory and the actual trajectory, and especially based on the assessment result. This allows the user to be informed early on that, for example, the currently traveled trajectory exhibits or may exhibit a critical deviation from the target trajectory. This allows countermeasures to be implemented early on to enable potential autonomous passage.

[0035] In particular, the warnings can be issued in a predefined cascaded order, so that a lighter or gentler warning is issued first, until a strong, in particular an intensive, warning is issued to the user at a later point in time.

[0036] In a further exemplary embodiment, the user is provided with a recommended course of action along with the at least one warning message, suggesting that the user adjust the manual trajectory. Thus, the recommended course of action can be used to guide or instruct the user during manual trajectory travel, so that autonomous trajectory travel can later be performed by the vehicle guidance system. Thus, the recommended course of action can be used to adjust or adapt the manual trajectory travel during the maneuvering process. For example, the recommended course of action can be used to indicate or signal to the user how the vehicle should be steered.This allows the user to be given current recommendations for steering angle, for example, so that the current trajectory can be corrected with respect to the predicted target trajectory. This allows the user to be advised whether they should steer further to the left or further to the right in order to adjust the current trajectory to the target trajectory.

[0037] In one exemplary embodiment, it is further provided that at least one piece of information regarding a destination of the shunting operation is provided to the evaluation unit, wherein the at least one piece of information regarding the destination is taken into account when predicting the target trajectory. In addition to or instead of this, at least one trajectory section of the traversed trajectory that has already been covered can be taken into account when predicting the target trajectory. The at least one piece of information regarding the destination enables an efficient and, in particular, accurate or precise determination of the target trajectory. In addition to the environmental information or the route information ahead, the electronic evaluation unit requires information regarding the destination or the end position of the shunting operation so that an efficient and improved prediction of the target trajectory can be carried out.

[0038] For example, the destination information can be transmitted or provided to the evaluation unit via other vehicle systems, such as navigation systems. In particular, the user can specify the destination via an input unit in the vehicle. In particular, the destination information is the destination of the maneuvering process, which in turn serves as the starting point or starting point for the subsequent autonomous passage of the reverse maneuver. In particular, the at least one item of destination information can comprise a global position, in particular a GPS position, of the destination.

[0039] Furthermore, the destination information can be used to provide information such as the local conditions of the destination, obstacles in the vicinity of the destination, road characteristics related to the destination, or the topography of the entrance to the destination. For example, the destination can be the parking area or parking space if the maneuvering maneuver involves parking.

[0040] Furthermore, information regarding the trajectory section already traveled can be made available to the evaluation unit. The evaluation unit thus has information about the surrounding area or route ahead, the destination, and the distance or trajectory already traveled. This information serves to predict or predict an improved, detailed, or information-enhanced target trajectory. This is particularly advantageous for the later or currently performed target-actual comparison of the trajectories.

[0041] In a further exemplary embodiment, it is provided that, during the comparison in the traversed trajectory as an auxiliary trajectory, at least with the predicted desired trajectory, a deviation between the traversed trajectory and the desired trajectory is determined, wherein the deviation is taken into account when determining the assessment result. Thus, a desired-actual comparison can be carried out on the system side by the evaluation unit, wherein a result of the comparison can be used to determine the assessment result. In particular, the predicted desired trajectory can be compared or aligned with the traversed trajectory, so that, for example, a deviation, in particular a deviation of the course of the trajectory traversed from the desired trajectory or a reference trajectory, can be determined.This deviation, or a measure of the deviation, or a magnitude of the deviation, can be determined by the evaluation unit and taken into account in the assessment result. For example, the greater the deviation, the more critical the current trajectory is, so that autonomous driving in the reverse maneuvering direction may not be possible with the vehicle guidance system.

[0042] In one exemplary embodiment, it is further provided that, depending on the comparison of the traversed trajectory as the actual trajectory with at least the predicted target trajectory, a steering characteristic of a steering element of the vehicle is adapted for manual actuation of the steering element, whereby the user receives haptic feedback regarding the comparison upon manual actuation of the steering element. For example, it can be specified to what extent the user steers the steering or can move or actuate the steering wheel in the range of a respective maximum position, i.e., a left-side or right-side maximum position of the steering wheel. Thus, in particular with the aid of the steering characteristic of the steering element, an angular range or turning range can be defined, for example, within which the user can or may actuate or adjust the steering element.If the user manually moves the steering element into a position where the current trajectory does not conform to the desired trajectory, haptic feedback, such as vibration of the steering element or steering wheel, can inform the user that the steering element is now in a critical position or a critical range with regard to the steering element's angle. This allows the user to intervene or control the vehicle's handling during maneuvering while driving through the trajectory, so that the current trajectory can be adjusted, for example, to the desired trajectory.

[0043] For example, depending on the comparison of the trajectories carried out, the user or driver can be supported when manually driving through the trajectory by means of additional steering torques with regard to the steering element in order to reach or maintain the predicted target trajectory for potential autonomous driving. For example, haptic feedback such as steering wheel vibrations can be provided to indicate deflection moments or optimal steering angles. Furthermore, the steering element can be subjected to a slight counter-torque so that the steering element becomes stiffer in a certain steering range, allowing the driver to sense the approaching limit of the control range. Furthermore, a limitation of the steering angle can be set by applying a strong counter-torque when a critical area is reached with regard to the trajectory being driven with regard to the target trajectory.

[0044] In one exemplary embodiment, it is further provided that the evaluation unit analyzes the surrounding area in front of the vehicle in order to predict the desired trajectory with regard to a road course, a route, a road surface characteristic, other road users, obstacles, collision objects, and / or traffic signs. Based on these non-exhaustive options regarding the surrounding area ahead, the evaluation unit can predict the desired trajectory better and, in particular, more accurately. In particular, further information regarding the surrounding area and, in particular, regarding the route ahead can be taken into account. For this purpose, the surrounding area can be continuously recorded and thus analyzed using the recording device.For example, the vehicle may have a front camera or a detection device mounted on the front of the vehicle with which the surrounding area ahead can be detected.

[0045] In addition to or instead of this, the vehicle can, for example, have a radar unit or a radar sensor in a respective area of ​​a corner of the vehicle. The vehicle can therefore, for example, have a corner sensor or a corner radar at its respective corners, i.e. at the four outer corners. These radar sensors can, for example, be a nanoradar. For example, either "nanoradar low mono-mode" or "nanoradar high multi-mode" can be used. These radar sensors, for example designed as corner radar, can, for example, have a detection range of between 15 meters and 90 meters, in particular in the range of 70 meters.The multi-mode configuration can have a first coverage area with a detection range of 70 meters and an aperture angle of 160 degrees, and a second coverage area with a detection range of 160 meters and an aperture angle of 30 degrees. For example, the corner radars used at the corners of the vehicle can have an azimuth coverage of + / - 80 degrees or + / - 15 degrees. The elevation coverage can, for example, be + / - 40 degrees or + / - 15 degrees.

[0046] In particular, the surrounding area can be permanently, especially continuously, recorded with the recording device. Especially during a parking maneuver as a maneuvering maneuver, information regarding the parking space or parking space can be recorded. For example, a parking space orientation and / or parking space dimensions can also be taken into account when determining the assessment result. If, for example, the system determines based on the surrounding information that difficulties may arise for autonomous driving through the space, this can in turn be taken into account when assessing or determining the assessment result and communicated to the system and in particular to the user. In particular, a 360-degree recording of the vehicle's surroundings can take place while driving through the trajectory.

[0047] For example, the detection device may be an environmental sensor system.

[0048] A further aspect of the invention relates to a method for operating a vehicle guidance system of a vehicle, wherein movements of the vehicle are evaluated using a method according to the previous aspect or an advantageous development thereof. Depending on the provided assessment result, at least one trajectory section of the trajectory is traversed with the vehicle autonomously guided by the vehicle guidance system in the direction inverse to the maneuvering direction. The explanations regarding the previous aspect can advantageously be used for the method just described. This allows the vehicle guidance system to be operated particularly efficiently. The assessment result can therefore, for example, be provided or transmitted to the electronic vehicle guidance system via communicative connections.Accordingly, the electronic vehicle guidance system can activate or deactivate an autonomous driving mode depending on the decision made based on the assessment result. Intermediate stages, such as at least partially autonomous states, can also be implemented.

[0049] In particular, the maneuvering maneuver may have been performed manually by the vehicle user as a parking maneuver into a parking space. Thus, the maneuvering device used a forward direction into a parking space. With the vehicle guidance system, a subsequent autonomous maneuver out of a parking space can be performed in the reverse direction of the maneuvering maneuver. Thus, the reverse maneuvering direction is understood to be a direction out of a parking space, in particular a reverse direction out of a parking space. This occurs, in particular, fully autonomously with the help of the vehicle guidance system.

[0050] A further aspect of the invention relates to an electronic vehicle guidance system with an evaluation unit, wherein the vehicle guidance system is designed to carry out a method according to one of the preceding aspects or an advantageous development thereof. Thus, a method according to one of the preceding aspects can be carried out using the electronic vehicle guidance system.

[0051] In particular, the electronic vehicle guidance system can be an electronic auxiliary system of the vehicle. In particular, the electronic vehicle guidance system can be used to control, operate, or move the vehicle at least partially autonomously, in particular fully autonomously. In particular, the electronic vehicle guidance system is a reversing assist system.

[0052] An electronic vehicle guidance system can be understood as an electronic system designed to guide a vehicle fully automatically or autonomously, particularly where no driver intervention is required. The vehicle automatically performs all required functions, such as steering, braking, and / or acceleration maneuvers, monitoring and detecting road traffic, and corresponding reactions. In particular, the electronic vehicle guidance system can implement a fully automatic or fully autonomous driving mode of the motor vehicle according to Level 5 of the SAE J3016 classification. An electronic vehicle guidance system can be understood as a driver assistance system that supports the driver in partially automated or semi-autonomous driving.In particular, the electronic vehicle guidance system can implement a partially automated or semi-autonomous driving mode according to levels 1 to 4 according to the SAE J3016 classification.

[0053] The at least partially automated vehicle guidance may therefore include driving the vehicle according to a fully automated or partially autonomous driving mode of level 5. The at least partially automated vehicle guidance may also include driving the vehicle according to a partially automated or partially autonomous driving mode according to levels 1 to 4.

[0054] A further aspect of the invention relates to a vehicle with a vehicle guidance system according to the previous aspect or an advantageous development thereof.

[0055] In particular, the vehicle may be a highly automated vehicle. For example, the vehicle may be at least partially autonomous, especially fully autonomous, and may be capable of operation. In particular, the vehicle may be a passenger car, a truck, or a motor vehicle.

[0056] In particular, the vehicle may have a trailer, so that the vehicle may be a vehicle-trailer combination.

[0057] Advantageous embodiments or specific embodiments of one aspect of the invention are to be regarded as advantageous embodiments of the other aspects. The same applies in reverse.

[0058] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0059] Further embodiments of the electronic vehicle guidance system according to the invention and of the vehicle according to the invention follow directly from the various embodiments of the methods according to the invention, and vice versa. In particular, individual features and corresponding explanations relating to the various embodiments of the methods according to the invention can be transferred analogously to corresponding embodiments of the electronic vehicle guidance system according to the invention and of the vehicle according to the invention. In particular, the electronic vehicle guidance system according to the invention and the vehicle according to the invention are designed or programmed to carry out one of the methods according to the invention. In particular, the electronic vehicle guidance system according to the invention or the vehicle carries out the method according to the invention.

[0060] The invention also includes further developments of the electronic vehicle guidance system according to the invention and of the vehicle according to the invention, which have features as already described in connection with the further developments of the methods according to the invention. For this reason, the corresponding further developments of the electronic vehicle guidance system according to the invention and of the vehicle according to the invention are not described again here.

[0061] The invention also includes combinations of the features of the described embodiments.

[0062] Exemplary embodiments of the invention are described below. Shown are:

[0063] Fig. 1 is a schematic representation of a vehicle having an electronic vehicle guidance system while driving through a trajectory;

[0064] Fig. 2 shows an embodiment starting from Fig. 1, in which an environmental area is detected during the shunting process by means of a detection device; and

[0065] Fig. 3 shows an embodiment based on Fig. 2, wherein a current trajectory of the vehicle is compared with a target trajectory.

[0066] In the figures, functionally identical elements are provided with the same reference numerals.

[0067] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0068] In the following figures, exemplary embodiments are explained with regard to the method according to the invention for evaluating movements of a vehicle and the method according to the invention for operating a vehicle guidance system.

[0069] In Fig. 1, a vehicle 1 is shown as a conceivable embodiment, which in this case is, for example, a vehicle-trailer combination with a trailer 2.

[0070] In other embodiments, the vehicle 1 can be designed as a passenger car, truck, bus, passenger transport vehicle, freight transport vehicle, delivery van, parcel delivery vehicle, or tradesman's vehicle. Thus, this embodiment shown in Fig. 1 is one of many configurations of the vehicle 1 and thus of the method according to the invention.

[0071] Fig. 1 shows a schematic representation of a road map, where, for example, vehicle 1 wants to enter a side street, a dead end or, for example, a courtyard entrance.

[0072] The vehicle 1 can, for example, have an electronic vehicle guidance system 3. For example, the vehicle guidance system 3 can be an electronic system such as a driver assistance system. This can be, for example, a reversing assist system. This serves, for example, to perform an inverse and, in particular, autonomous reversing maneuver following a manual parking maneuver. Thus, the vehicle guidance system 3 serves, for example, to support or assist a user 4 of the vehicle 1 during parking and reversing.

[0073] In particular, in this conceivable exemplary embodiment of Fig. 1, the vehicle 1 is initially positioned on a main road 5 and turns into an optional perpendicular side road 6 with respect to the main road 5 in order to park at a destination 7. The destination 7 can be, for example, a parking lot, parking bay, courtyard entrance or another parking option for the vehicle 1. First, the vehicle 1 can be steered along a trajectory 8 during a maneuvering maneuver 9 of the vehicle 1. This can be done manually by the user 4. Thus, the user 4 manually controls or steers the vehicle 1 during the maneuvering maneuver 9. Thus, here, for example, a maneuvering maneuver 9 is a parking maneuver from the main road 5 via the side road 6 into the destination 7 or into the parking lot.While driving through the trajectory 8, the trajectory 8 traveled through can be detected or recorded at least partially, in particular completely, for example using detection units, sensors or sensor systems.

[0074] In particular, when driving through the trajectory 8 of the vehicle 1 with the trailer 2, but also without the trailer 2, it is advantageous if the trajectory 8 is driven in such a way that subsequent parking exit, in particular reversing out, from the destination 7 can be carried out easily and without problems. The vehicle guidance system 3 can then be used for this purpose. Therefore, it is advantageous if the user 4 is supported, assisted, or guided in controlling or steering the vehicle 1 while manually driving through the trajectory 8.

[0075] Accordingly, during manual travel along the trajectory 8, an environmental area 10 (see Fig. 2) located in front of the vehicle 1 can be detected at intervals or continuously using a detection device 11. In particular, the route section or route course located in front of the vehicle 1, or a course of the secondary road 9, and the area of ​​the destination 7 are detected.

[0076] The detection device 11 can be designed as an electronic sensor system or an environment detection system or a complex sensor arrangement, so that the area in front of the vehicle 1 can be detected as widely and extensively as possible. The detected environmental area 10 can be analyzed or assessed, for example, using an evaluation unit 12, in particular an electronic one. This involves an analysis with regard to a road course, a route, a road surface characteristic, other road users, obstacles, collision objects, or traffic signs. This is done so that the evaluation unit 12 can carry out path planning, route planning, or trajectory planning in advance.Thus, in one embodiment, it is conceivable that the user 4 is already supported by the system when entering the side street 6, since forward-looking planning or a forward-looking calculation can be carried out with regard to the maneuvering process 9. Thus, starting from a starting point when entering the side street 6, the user 4 can be instructed accordingly so that the vehicle 1 drives through a trajectory 8 and is also parked at the destination 7 in such a way that the subsequent autonomous exit from the parking space can be carried out or realized as easily as possible. Thus, the user 4 can already be supported by the system when manually driving through the trajectory 8. This can occur, in particular, automatically.

[0077] With the aid of the evaluation unit 12, which can be configured, for example, as an electronic processing unit, a system-side prediction of a target trajectory 13 (see Fig. 3) or a reference trajectory can be carried out depending on the detected surrounding area 10 in front of the vehicle 1. The prediction of the target trajectory 13 is carried out in such a way that an optimal driving trajectory or an efficient driving trajectory is provided for later reversing or exiting the parking space from the destination 7 back to the main road 5.

[0078] For example, the evaluation unit may consider possible conditions such as: that no collisions occur, that only simple driving maneuvers are necessary, that there is sufficient lateral clearance around vehicle 1, that no other road users are affected, and / or that no objects in the surrounding area are endangered, and / or that, for example, a non-driveable area, such as a sidewalk, is not crossed. Other conditions to be considered are also conceivable.

[0079] In particular, the prediction of the target trajectory 13 can be continuously updated while the trajectory 8 is being traveled. For example, a target-actual comparison of the two trajectories 8, 13 can be carried out. This can also be done continuously. Thus, the trajectory 8 currently manually traveled by the user 4 can be compared with the predicted target trajectory 13. Depending on this comparison, for example, an assessment result can be determined, in particular with the evaluation unit 12, wherein this assessment result can be used to determine a potential possibility of autonomously traveling through at least one trajectory section 14 of the trajectory 8 (see Fig. 3) in a shunting direction 16 that is inverse to the shunting direction 15 of the shunting process 9. In other words, the system assesses whether the manually traveled trajectory 8 of the shunting process 9 can be determined by the vehicle guidance system

[0080] 3 can be driven through automatically or autonomously in reverse or in the inverse direction 16. This assessment result can in turn be made available in the vehicle guidance system 3 as well as to the user 4.

[0081] Should it be determined that autonomous passage in the reverse shunting direction 16 cannot be carried out, the user 4 can be provided with support measures or trajectory-changing measures during the manual passage. In the other case, the user

[0082] 4 that an autonomous maneuvering function or an autonomous parking maneuver from the destination 7 is not possible with the trajectory 8 being traveled. In this case, an at least partially automated or partially autonomous intermediate mode can be made available to the user 4 as a support measure, or the user 4 must also manually traverse the trajectory 8 in the inverse maneuvering direction 16.

[0083] For example, when comparing the trajectories 8, 13 with each other, a deviation, in particular a possible deviation, between the two trajectories 8, 13 can be determined or ascertained by the evaluation unit 12. Such a deviation is visualized, for example, in Fig. 3. Depending on the size or extent of the deviation, an urgency or a priority can be determined using the assessment result. For example, depending on a predetermined limit value with regard to the deviation, it can be determined as of when which type of support measure is made available to the user 4, for example during manual driving through. Likewise, with the help of a limit value, it can be determined as of which extent or deviation autonomous driving in the inverse direction 16 is no longer possible.In this case, for example, depending on the assessment result provided and in particular depending on the determined deviation of the trajectories 8, 13, at least one warning can be generated by the evaluation unit 12, wherein the at least one warning can be output acoustically, visually and / or haptically in the vehicle 1. For this purpose, for example, an evaluation unit 17 (cf. Fig. 3) can be provided in the vehicle 1. This output unit 17 can be, for example, a loudspeaker system, a display unit and / or an infotainment system of the vehicle 1. It is also conceivable for the warning to be output via a mobile communications terminal of the user 4. Likewise, a gradation of the output and in particular the urgency of the warnings can be undertaken here. For example, depending on the deviation, it can be specified that a cascaded warning with several warnings is issued first.Depending on the urgency or potential danger, different warnings can be issued. This allows the user to be informed early on of a non-critical deviation that could, however, continue to worsen.

[0084] It is also conceivable that at least one warning or the graduated warnings provide the user 4 with at least one recommended course of action. The recommended course of action can, for example, alert the user 4 to the fact that they should change their driving behavior, steering behavior, or driving control behavior so that autonomous driving is subsequently possible. Thus, for example, the output unit 17, such as a head-up display, can instruct the user 4 to adapt the trajectory 8 they are currently traveling through, for example by changing their steering behavior of the vehicle 1. For example, the output unit 17, which is designed as a head-up display, can be used to visually display the two trajectories 8, 13 and the deviation to the user 4 so that the user 4 learns how they should adapt or change their driving behavior.

[0085] For example, the warnings can be used to inform the user 4 that the current trajectory 8 provides or would provide too little lateral clearance with respect to the roadway boundary. This can be seen, for example, in Fig. 3. Thus, the target trajectory 13 can be used to inform or instruct the user 4 to increase the respective lateral clearance. By adapting the trajectory 8 as the actual trajectory to the target trajectory 13, in particular at least in the section of road ahead of the vehicle 1, the probability of damage to the vehicle 1 and in particular to the towing vehicle of the trailer 2 caused by the trailer 2 swinging out can be reduced. This naturally applies to other exemplary embodiments, even if the vehicle 1 does not have a trailer 2.

[0086] So that the evaluation unit 12 can calculate or determine the most efficient and, in particular, optimal target trajectory 13 possible, information, or at least one piece of information, of the target location 7 can be made available to the evaluation unit 12. This, in turn, can include, for example, a global position, GPS position, a surrounding area of ​​the target location 7, or other information characteristic of the target location 7. Thus, the evaluation unit 12, for example, starting from the starting point of the manual traversal or continuously during the traversal of the trajectory 8, indicates the target location or the end position and can use this to efficiently predict the target trajectory 13.Furthermore, it is conceivable that the position of the respective current position of the vehicle 1 during manual driving through the trajectory section already covered of the trajectory 8 being driven through is taken into account for predicting the target trajectory 13.

[0087] Another possible support measure for the user 4 during manual travel along the trajectory is, for example, that, depending on the comparison of the traversed trajectory 8 with the predicted target trajectory 13, a steering characteristic of a steering element or steering wheel of the vehicle 1 is adapted for manual actuation of the steering element, whereby the user 4 experiences haptic feedback regarding the comparison when manually actuating the steering element. In other words, for example, based on the calculated optimal travel trajectory, in particular the target trajectory 13, additional steering torques can be applied to the steering or steering element in the event of a deviation by the user 4, in order to support the user 4. In this way, the optimal trajectory can be achieved for subsequent reversing as easily as possible.For example, depending on the comparison of the trajectories 8, 13, haptic feedback can be output or provided to the user 4 via the steering element. A steering wheel vibration can signal to the user 4 that a deflection moment or a steering angle to the other steering position is necessary. Furthermore, the steering characteristic of the steering element can be set to be more difficult, so that the user 4 perceives an approaching limit of the control range. Furthermore, the steering angle or the maximum steering angle for manual actuation can be limited, so that the user 4 does not have the possibility of driving into a dangerous area with regard to the trajectory 8. Furthermore, it can of course be optionally provided that the currently traveled trajectory 8 cannot be changed due to circumstances.The user 4 can inform the evaluation unit 12 and the vehicle guidance system 3 via a corresponding input.

[0088] Furthermore, in one exemplary embodiment, it can be provided that the surrounding area 11 located in front of the vehicle 1 is detected as widely or extensively as possible using the detection device 11. For example, the detection device 11 can have various sensors or units or sensor units. These can, for example, be arranged distributed across the vehicle 1. For example, the detection device 11 can be arranged at each corner of the vehicle 1, so that, for example, several different detection areas 18 (see Fig. 2) are present in order to be able to detect the surrounding area as completely as possible.

[0089] Furthermore, after completing the manual traversal of the trajectory 8 and upon reaching the destination 7, at least one trajectory section 14 or the trajectory 8 can be traversed autonomously in the direction 15 to be maneuvered or inversely in the maneuvering direction 16 with the aid of the vehicle guidance system 3, depending on the provided assessment result. During the autonomous traversal, the surrounding area 10 can be continuously detected or recorded with the aid of the detection device 11 in order to be able to react accordingly to unforeseeable new conditions.

[0090] List of reference symbols

[0091] vehicle

[0092] Trailer

[0093] Vehicle guidance system user

[0094] Main Street

[0095] side street

[0096] Destination

[0097] T rajectory

[0098] shunting operation

[0099] surrounding area

[0100] Recording device

[0101] Evaluation unit

[0102] Target trajectory

[0103] T rajectory section

[0104] shunting direction inverse shunting direction

[0105] Output unit detection areas

Claims

Patent claims Method for evaluating the movements of a vehicle (1) wherein the following steps are performed: - Moving the vehicle (1) along a trajectory (8) during a shunting operation (9) of the vehicle (1), wherein the trajectory (8) is manually traversed by a user (4) of the vehicle (1); - at least partial recording of the trajectory traveled (8); - Detection of an area in front of the vehicle (1) (10) while driving along the trajectory (8) with a detection device (11); - Predicting a target trajectory (13) at least depending on the detected area of ​​the environment (10) in front of the vehicle (1) by an evaluation unit (12); - Comparing the traversed trajectory (8) as the actual trajectory with at least the predicted target trajectory (13) by the evaluation unit (12); - Determining an assessment result with the evaluation unit (12) at least depending on the comparison, whereby the assessment result evaluates a potential possibility of autonomous traversing at least one trajectory section (14) of the trajectory (8) in a shunting direction (16) inverse to the shunting direction (15); - Providing the assessment result to a vehicle guidance system (3) of the vehicle (1). Method according to claim 1, characterized in that, depending on the provided assessment result, at least one warning message is generated, wherein the at least one warning message is output acoustically, visually, and / or haptically in the vehicle (1), in particular, depending on the assessment result, in addition to the at least one warning message, further warning messages are generated, wherein the at least one warning message and the further warning messages are output in a cascaded sequence in the vehicle. Method according to claim 2, characterized in that The user (4) is issued with at least one warning message and a recommendation for action, suggesting that the user adjust the manual traversal of the trajectory (8). A method according to one of the preceding claims, characterized in that at least one piece of information about a destination (7) of the shunting operation (9) is provided to the evaluation unit (12), wherein the at least one piece of information about the destination (7) is taken into account when predicting the target trajectory (13), in particular at least one already traversed trajectory segment of the traversed trajectory (8) is taken into account when predicting the target trajectory (13).A method according to any of the preceding claims, characterized in that, when comparing the traversed trajectory (8) as the actual trajectory with at least the predicted target trajectory (13), a deviation between the traversed trajectory (8) and the target trajectory (13) is determined, wherein the deviation is taken into account when determining the assessment result. A method according to any of the preceding claims, characterized in that, depending on the comparison of the traversed trajectory (8) as the actual trajectory with at least the predicted target trajectory (13), a steering characteristic of a steering element of the vehicle (1) is adapted for manual operation of the steering element, whereby the user (4) receives haptic feedback regarding the comparison when manually operating the steering element.Method according to one of the preceding claims, characterized in that the evaluation unit (12) analyzes the area of ​​the environment (1) in front of the vehicle (1) for predicting the desired trajectory (13) with regard to a road course, a route, a road surface property, other road users, obstacles, collision objects and / or traffic signs. Method for operating a vehicle guidance system (3) of a vehicle (1), wherein movements of the vehicle (1) are evaluated using a method according to one of the preceding claims, wherein, depending on the provided evaluation result, at least one trajectory segment (14) of the trajectory (8) is autonomously traversed by the vehicle guidance system (3) in the shunting direction (16) inversely to the shunting direction (15). Electronic vehicle guidance system (3) with an evaluation unit (12), wherein the vehicle guidance system (3) is configured to perform a method according to one of the preceding claims. Vehicle (1) with an electronic vehicle guidance system (3) according to claim 9.

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