Bottleneck assistance system for a vehicle, and method for operating a bottleneck assistance system

Abstract

The invention relates to a bottleneck assistance system for a vehicle, which is designed to receive surroundings data from a surroundings sensor of the vehicle by means of a computing device, wherein the surroundings data comprise at least image data and describe the surroundings of the vehicle. The bottleneck assistance system is also designed to identify a bottleneck in the surroundings data by means of the computing device, wherein the bottleneck is described by at least one obstacle in the surroundings, at least portions of which obstacle are located within a predetermined distance from a driving path of the vehicle. In addition, the bottleneck assistance system is designed to display the image data including the driving path projected into the image data by means of a display apparatus. Finally, a partial projection of the vehicle at a future position can be additionally displayed by means of the display apparatus, wherein the partial projection comprises at least one component group of the vehicle.

Description

[0001] Bottleneck assistance system for a vehicle, method for operating a bottleneck assistance system

[0002] The present invention relates to a bottleneck assistance system for a vehicle. Furthermore, the present invention relates to a method for operating a bottleneck assistance system.

[0003] Today, motor vehicles are typically equipped with parking aids. In the simplest case, such parking aids assist the driver in maneuvering the vehicle by providing distance information. Camera-based systems also exist. These can assist the driver, for example, when reversing during a parking maneuver.

[0004] Using a rear-view camera, a vehicle's driving path, i.e. the area the vehicle will drive through in the future, can typically be visualized.

[0005] Typically, the driving path or its boundaries are projected into a rearview camera image in such a way that the impression is created that the road surface itself is marked or painted. This is why it is also referred to as augmented reality. The driver of the vehicle thus receives a view of the rear with additional information about the vehicle's future direction of movement based on the steering angle. Such systems can, in principle, also be used while driving forward. This can assist the driver in maneuvering the vehicle, particularly in narrow spaces.

[0006] The document DE 10 2008 057 670 A1 relates to a method for assisting a driver of a vehicle, in particular when reversing, in which an area behind the vehicle is displayed on a display unit, wherein a first guide line and a second guide line corresponding to a vehicle width are displayed overlapping the area behind the vehicle as a driving path depending on a current steering angle, wherein horizontal distance lines with a highlight identifying a vehicle center are output on the display unit at regular intervals in the driving path.

[0007] The published patent application DE 102013 213216 A1 relates to a method for assisting a driver of a vehicle in a narrow passage. The method comprises a reading step, an evaluation step, and a provision step. In the reading step, information about a navigable corridor in the narrow passage, information about a current trajectory of the vehicle in the narrow passage, and information about a steering torque currently applied by the driver to a steering system of the vehicle are read in. In the evaluation step, the information about the corridor, the trajectory, and the steering torque are evaluated using known dimensions of the vehicle in order to detect a likely violation of the corridor by at least part of the vehicle.In the providing step, a control signal for a counter-torque counteracting the steering torque is provided when the injury is detected in order to assist the driver in avoiding the injury.

[0008] Document DE 102011 119 883 A1 relates to a method and a device for folding and unfolding exterior mirrors of a motor vehicle, wherein the exterior mirrors can be moved independently of one another from a folded-out functional position into a folded-in protective position. According to the invention, a traffic sign recognition device generates a demand-dependent actuation request for folding in only the passenger-side exterior mirror when a traffic sign has been detected that limits the permissible width of vehicles to values ​​below a permissible maximum width, and when the width of the motor vehicle with the exterior mirrors folded out is greater than the permissible maximum width.

[0009] The object of the present invention is to show a solution how a bottleneck assistance system for a vehicle can be improved.

[0010] This object is achieved according to the invention by a bottleneck assistance system and by a method for operating a bottleneck assistance system having the features according to the independent claims. Advantageous developments of the present invention are specified in the dependent claims.

[0011] A bottleneck assistance system according to the invention for a vehicle, which is configured to receive environmental data from an environmental sensor of the vehicle by means of a computing device, wherein the environmental data comprise at least image data and describe an environment of the vehicle. The bottleneck assistance system is further configured to detect a bottleneck in the environmental data by means of the computing device, wherein the bottleneck is described by at least one obstacle in the environment which is located at least partially within a predetermined distance from a travel path of the vehicle. Furthermore, the bottleneck assistance system is configured to display the image data, including the travel path projected into the image data, by means of a display device.Finally, the display device can additionally display a partial projection of the vehicle at a future position, wherein the partial projection comprises at least one component group of the vehicle.

[0012] By means of the bottleneck assistance system according to the invention, a driver of the vehicle can be supported before entering a bottleneck. The bottleneck assistance system comprises a computing device and a display device. The computing device can be designed, for example, as at least one electronic control unit of the vehicle, which comprises one or more programmable processors. In addition, the computing device can have a computer-readable storage medium on which a computer program is stored. The computer program can be executed on the computing device in order to detect the bottleneck in the environmental data, for example. The display device can be designed, for example, as the display of an on-board computer, a navigation system, or the like. The display device can also be designed, in particular, as a head-up display.

[0013] The environmental data received by the vehicle's environmental sensor comprises at least image data. In other words, the vehicle can include a camera as an environmental sensor. Additional environmental sensors can be, for example, an ultrasonic, a radar, and / or a lidar sensor. The environmental data can describe the vehicle's surroundings. For example, the environmental data can describe the environment using point clouds, occupancy grid maps, and / or so-called object lists. A drivable area can thus be extracted from the environmental data. Likewise, a future distance between an object in the environment and the vehicle can be determined. Such an object can represent the at least one obstacle in the environment. The future distance between the at least one obstacle and the vehicle or the vehicle's driving path can be predicted based on the steering angle.

[0014] In other words, it is possible to predict whether at least one obstacle in the surrounding area is located near the driving path or within a predetermined distance from a driving path of the vehicle. It is therefore possible to predict whether the predetermined distance between the at least one obstacle and the driving path will be exceeded. If the predetermined distance is exceeded, this could indicate a future collision when negotiating the narrow section.

[0015] If such a bottleneck is detected, the vehicle driver can be informed via the display device. The image data can be displayed to the driver. It is possible for the vehicle's driving path to be projected into the image data. Additionally, a partial projection of the vehicle can be projected into the image data. In particular, the entire vehicle can be projected into the image data. However, it is also conceivable for only individual vehicle component groups to be projected into the image data. For example, only the exterior mirror and / or the front of the vehicle can be projected into the image data.

[0016] In other words, the display device creates an augmented reality experience for the vehicle driver. The vehicle driver can thus be assisted by augmented reality when negotiating the bottleneck. Among other things, the bottleneck assistance system according to the invention can display the vehicle in an area around the bottleneck (before entering the bottleneck). The vehicle driver can thus immediately estimate how much space is available when negotiating the bottleneck. This can prevent a collision with at least one obstacle in the vehicle's vicinity.

[0017] It is advantageous if the future position at which the partial projection of the vehicle is displayed by means of the display device is located substantially within the driving path and in an area around the bottleneck. In other words, the future position should lie within the driving path. This allows the steering angle and future position to be related to one another. This ensures that the future position at which the partial projection of the vehicle is displayed corresponds to the actual position of the vehicle in the future. By arranging the future position in an area around the bottleneck, it can be ensured that the driver of the vehicle is displayed relevant information for driving through the bottleneck.

[0018] A further embodiment of the bottleneck assistance system provides that the bottleneck assistance system is further configured to display the partial projection of the vehicle displayed by the display device in an animated manner. In particular, the partial projection of the vehicle can be displayed in an animated manner such that driving through the bottleneck is indicated or visualized by the display device. The animated display of the partial projection when driving through the bottleneck creates a better spatial understanding of the situation. This allows the driver to better assess the situation. Furthermore, potential hazards can be more easily recognized by the driver.

[0019] A further embodiment provides that the bottleneck assistance system is further configured to output a warning depending on the at least one obstacle and / or depending on the bottleneck by means of the display device. In the event of an imminent collision between the vehicle and the at least one obstacle, a warning can thus be output. Likewise, a warning can be output if, for example, a minimum distance between the vehicle at the future position and the obstacle is not maintained. In other words, a warning can be output depending on the bottleneck.Such a warning can, for example, take the form of a flashing symbol (warning triangle), a colored driving path (displayed in red in augmented reality), a colored boundary of the driving path (shown in red), or a highlighting of at least a portion of the partial projection that may be involved in a potential collision. By issuing this warning, the driver can be prepared for critical situations. This can heighten the driver's attention.

[0020] Furthermore, it can also be advantageous if the warning message output by means of the display device comprises a visual change in the displayed partial projection of the vehicle. In other words, the warning message can be designed such that the partial projection of the vehicle and / or parts of the partial projection of the vehicle change visually. For example, if the entire vehicle is projected into the image data as the partial projection of the vehicle and there is a risk of the vehicle's exterior mirror colliding with the at least one obstacle that characterizes the narrow spot, the exterior mirror can, for example, be highlighted in color within the partial projection of the vehicle. It is also conceivable for parts of the partial projection of the vehicle, for example the exterior mirror projected into the image data, to flash. Additionally or alternatively, it is also conceivable for a warning tone to be emitted.

[0021] By visually changing the displayed partial projection, the driver can be warned of a critical situation. This visual change in the displayed partial projection can heighten the driver's awareness. Furthermore, a warning message that includes a visual change in the displayed partial projection is particularly intuitive for the driver.

[0022] It can also be advantageous if the warning message issued by the display device includes a changed color representation of an outer boundary of the driving path. If, for example, the at least one obstacle characterizing the bottleneck is located on the right-hand side of the vehicle and there is also a risk of a collision and / or a short distance between the vehicle and the at least one obstacle is to be expected, the driving path or the driving path boundary on the right-hand side can have a changed color representation. Typically, the driving path is projected into the image data in green - provided there is no risk of a collision. In the event of an impending collision or a short distance, the boundary of the driving path or even the entire driving path can be projected into the image data in red. This intuitive representation can lead to an improved understanding of the situation for the vehicle driver.

[0023] It can also be particularly advantageous if the partial projection of the vehicle shown by the display device includes at least one exterior mirror as the at least one component group of the vehicle. In narrow spaces, it can happen, or often is, that the vehicle's exterior mirror initially collides with the at least one object that characterizes the narrow space. Therefore, it is advantageous if the exterior mirrors, in particular, are projected into the image data. This gives the driver an idea in advance of whether they might scratch and / or damage the vehicle's exterior mirrors while driving through the narrow space.

[0024] In this context, it can also be advantageous if the narrow passage assistance system is further configured to receive a mirror position of the at least one exterior mirror and the warning output by means of the display device is dependent on the mirror position. For example, it is conceivable that driving through the narrow passage is possible without collision with the exterior mirror folded in, but not without collision with the exterior mirror folded out. By receiving the mirror position, information about the current alignment, arrangement, or positioning of the at least one exterior mirror of the vehicle can be provided. In this context, it is possible, for example, for the warning to include a request to fold in the mirrors and / or information about automated folding of the mirrors. Overall, safety when driving through the narrow passage can be improved in this way.Ultimately, this can provide the driver with a better understanding of the situation in the narrow section. Furthermore, the driver can be provided with information and / or advice about possible (necessary) adjustments to the mirror position while driving through the narrow section.

[0025] In this context, it can finally also be advantageous if the bottleneck assistance system is further configured to receive a mirror position of the at least one exterior mirror and, by means of the display device, to output a suggestion for adjusting the at least one exterior mirror depending on the mirror position and / or depending on the at least one obstacle and / or depending on the bottleneck. As already indicated, the driver of the vehicle can thus be suggested to fold in the at least one exterior mirror of the vehicle. This can ensure that the bottleneck can be negotiated without collision. It is particularly advantageous if the bottleneck can only be negotiated with the exterior mirror folded in.

[0026] A method according to the invention for operating a bottleneck assistance system for a vehicle comprises receiving environmental data from an environmental sensor of the vehicle, wherein the environmental data comprises at least image data and describes an environment of the vehicle. The method for operating the bottleneck assistance system further comprises detecting a bottleneck in the environmental data, wherein the bottleneck is described by at least one obstacle in the environment which is located, at least in part, within a predetermined distance from a driving path of the vehicle. Finally, the method for operating the bottleneck assistance system comprises displaying the image data together with the driving path projected into the image data. In this case, a partial projection of the vehicle at a future position is displayed, wherein the partial projection comprises at least one component group of the vehicle.

[0027] Furthermore, the present invention encompasses a computing device for a vehicle, which is configured to carry out a method according to the invention and the advantageous embodiments thereof. The computing device can be embodied, for example, as an electronic control unit comprising one or more programmable processors.

[0028] A computer-readable storage medium according to the invention comprises instructions which, when executed by a computing device, cause the computing device to execute a method according to the invention and the advantageous embodiments thereof. A further aspect of the invention relates to a computer program comprising instructions which, when executed by a computing device, cause the computing device to execute a method according to the invention and the advantageous embodiments thereof.

[0029] The preferred embodiments and their advantages presented with reference to the bottleneck assistance system according to the invention apply accordingly to the method according to the invention. Furthermore, the preferred embodiments and their advantages presented with reference to the bottleneck assistance system according to the invention also apply to the computing device according to the invention, the computer program according to the invention, and the computer-readable storage medium according to the invention.

[0030] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0031] The invention will now be explained using preferred embodiments and with reference to the accompanying drawings.

[0032] Fig. 1 is a schematic representation of a vehicle comprising a bottleneck assistance system,

[0033] Fig. 2a is a schematic representation of a vehicle driving through a narrow passage, and

[0034] Fig. 2b is a schematic representation of a display device of a bottleneck assistance system when driving through the bottleneck according to Fig. 2a.

[0035] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0036] Fig. 1 shows a schematic representation of a vehicle 1, depicted here as a passenger car, in a top view. The vehicle 1 includes a bottleneck assistance system 2. The bottleneck assistance system 2, in turn, includes a computing device 3, a display device 4, and an environmental sensor 5. The bottleneck assistance system also includes a camera 6 as an additional environmental sensor. The exterior mirrors 7 are also schematically shown in Fig. 1.

[0037] The computing device 3 can receive environmental data from the environmental sensor 5. The environmental data from the environmental sensor 5 of the vehicle 1 in turn comprise image data from the camera 6. The environmental data can describe an environment 8 of the vehicle 1. By means of the computing device, a bottleneck 9 can be detected in the environmental data from the environmental sensor 5 or the camera 6. The image data from the camera 6 can be displayed by means of the display device 4. In addition, a driving path 10 can be projected into the image data. In other words, an image from the camera 6 can be displayed by means of the display device 4, wherein the driving path 10 can additionally be projected into the image from the camera 6.

[0038] A mirror position, i.e., the alignment of the exterior mirrors 7, can influence the driving path 10. For example, the driving path 10 can be narrower when the exterior mirrors 7 are folded in. The computing device 3 can receive the mirror position of the exterior mirrors 7. This allows the correct driving path 10 to be determined at all times.

[0039] Additionally, a partial projection 11 of the vehicle 1 can be projected into the image using the display device 4. The partial projection 11 can, for example, be a single component group of the vehicle 1. For example, only the exterior mirrors 7 can be represented as the partial projection 11 of the vehicle 1 in the image data. However, it is also possible for the entire vehicle 1 to be projected into the image data as the partial projection 11 (see Fig. 2b).

[0040] Fig. 2a shows a schematic representation of the vehicle 1 driving through the narrow section 9. The narrow section 9 can be characterized by at least one obstacle 12 in the surroundings 8 of the vehicle 1. The at least one obstacle 12 can be, for example, guardrails, trees, stones, roadway boundary walls (as shown in Fig. 2a) or the like. In Fig. 2a, the driving path 10 is shown with simple hatching. The driving path 10 encompasses the two exterior mirrors 7 of the vehicle 1. In the area 13 it can be seen that a collision of the vehicle 1 with the at least one obstacle 12 is imminent. By folding in the right exterior mirror 7, the driving path 10 can be reduced in width. In Fig. 2a this is shown by the omission of the densely hatched area 10'. This makes it possible for the vehicle 1 to pass the narrow section 9. The boundaries of the driving path 10 are shown in Fig.2a is marked by the dashed lines 1011 and 101r.

[0041] Fig. 2b shows a schematic representation of the display device 4, wherein the image data of the camera 6 is displayed by the display device 4. Furthermore, the travel path 10 of the vehicle 1 can be projected into the image data 14. It is also conceivable that only the boundaries 1011 and 101r of the travel path 10 are projected into the image data 14 (as shown in Fig. 2b). Furthermore, a partial projection 11 of the vehicle 1 at a future position, in particular at the bottleneck 9, can be displayed in the image data 14.

[0042] Fig. 2b schematically shows the traffic situation from Fig. 2a. The bottleneck assistance system 2 can be configured to output a warning 15 by means of the display device 4. The warning 15 can, for example, be a visual change in the displayed partial projection 11 of the vehicle 1. The visual change is represented in Fig. 2b by the warning triangle. Furthermore, the warning 15 output by means of the display device 4 can comprise a changed color representation of the outer boundary of the driving path 10. In Fig. 2b, a changed color representation of the outer boundary 101r of the driving path 10 is indicated by a dashed line in contrast to the outer boundary 1011 of the driving path 10.

[0043] Even if the schematic representation of the display device 4 in Fig. 2b suggests a static situation, the bottleneck assistance system 2 can generally be configured to display the partial projection 11 of the vehicle 1 displayed by the display device 4 in an animated manner. In this context, it is particularly conceivable for the partial projection 11 to be displayed in an animated manner such that the driver of the vehicle 1 has the impression that the partial projection 11 of the vehicle 1 is driving through the bottleneck 9.

Claims

Claims Narrow-space assistance system (2) for a vehicle (1), which is designed to: - to receive environmental data from an environmental sensor (5) of the vehicle (1) by means of a computing device (3), which comprises at least image data and describes an environment (8) of the vehicle (1), - to detect a bottleneck (9) in the environmental data by means of the computing device (1), wherein the bottleneck (9) is described by at least one obstacle (12) in the environment (8) which is located at least partially within a predetermined distance from a travel path (10) of the vehicle (1), and - to display the image data together with the travel path (10) projected into the image data by means of a display device (4), characterized in that - a partial projection (11) of the vehicle at a future position is additionally displayed by means of the display device (4), wherein the partial projection (11) comprises at least one component group of the vehicle (1). Narrow-section assistance system (2) according to claim 1, characterized in that the future position at which the partial projection (11) of the vehicle (1) is displayed by means of the display device (4) is arranged substantially within the travel path (10) and in a region around the narrow section (9). Narrow-section assistance system (2) according to claim 2, characterized in that the narrow-section assistance system (2) is further configured to display the partial projection (11) of the vehicle (1) displayed by means of the display device (4) in an animated manner.Narrow-point assistance system (2) according to one of the preceding claims, characterized in that the narrow-point assistance system (2) is further configured to output a warning (15) as a function of the at least one obstacle (12) and / or as a function of the narrow point (9) by means of the display device (4). Narrow-section assistance system (2) according to claim 4, characterized in that the warning (15) output by means of the display device (4) comprises a visual change in the displayed partial projection (11) of the vehicle (1). Narrow-section assistance system (2) according to claim 4 or 5, characterized in that the warning (15) output by means of the display device (4) comprises a changed color representation of an outer boundary (1011, 101r) of the driving path (10). Narrow-section assistance system (2) according to one of the preceding claims, characterized in that the partial projection (11) of the vehicle (1) displayed by means of the display device (4) comprises at least one exterior mirror (7) as the at least one component group of the vehicle (1).Narrow spot assistance system (2) according to claim 7, characterized in that the narrow spot assistance system (2) is further configured to receive a mirror position of the at least one exterior mirror (7), and the warning (15) output by means of the display device (4) is dependent on the mirror position. Narrow spot assistance system (2) according to claim 7 or 8, characterized in that the narrow spot assistance system (2) is further configured to receive a mirror position of the at least one exterior mirror (7) and, by means of the display device (4), to output a suggestion for adjusting the at least one exterior mirror (7) depending on the mirror position and / or depending on the at least one obstacle (12) and / or depending on the narrow spot (9). Method for operating a narrow spot assistance system (2) for a vehicle (1), comprising the steps: - receiving environmental data from an environmental sensor (5) of the vehicle (1), wherein the environmental data comprises at least image data and describes an environment (8) of the vehicle (1), - detecting a bottleneck (9) in the environmental data, wherein the bottleneck (9) is described by at least one obstacle (12) in the environment (8) which is located at least partially within a predetermined distance from a driving path (10) of the vehicle (1), and - Displaying the image data together with the travel path (10) projected into the image data, characterized in that - a partial projection (11) of the vehicle (1) is displayed at a future position, wherein the partial projection (11) comprises at least one component group of the vehicle (1).

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