Method for supporting a driver when controlling a moving motor vehicle, control device, and motor vehicle

Abstract

The invention relates to a method for supporting a driver when controlling a moving motor vehicle (10), wherein the movement direction (16) and movement speed of the motor vehicle (10) are ascertained (V1); the movement direction (18) and movement speed of an object (14) moving independently of the motor vehicle (10) within a specified distance thereto are ascertained (V2); the viewing direction (20) of the driver of the motor vehicle (10) is ascertained (V3); if it is ascertained that the movement directions (16, 18) of the motor vehicle (10) and of the object (14) and the movement speeds of the motor vehicle (10) and of the object (14) match (V4) within specified tolerance limits in each case and if it is ascertained, using the ascertained viewing direction (20) of the driver, that the object (14) lies (V3) in the field of view of the driver, then the presence of an inverted vection effect is ascertained, and an action of the motor vehicle (10) is triggered (V5), said action being assigned to the inverted vection effect.

Description

[0001] Method for assisting a driver in controlling a moving motor vehicle, control device and motor vehicle

[0002] The invention relates to a method for assisting a driver in controlling a moving motor vehicle, a control device for a motor vehicle and a motor vehicle.

[0003] DE 102005 034 863 A1 discloses a driving experience adjustment device for adjusting a driver's driving experience. The driving experience adjustment device comprises a visual stimulus display unit provided within the driver's view. Furthermore, the driving experience adjustment device comprises a driving environment detection unit for detecting a driving environment outside the vehicle. Furthermore, the driving experience adjustment device comprises a vehicle status detection unit for detecting a set of vehicle states and a driver status detection unit for detecting the driver's driving state.The driving experience adjustment device further comprises a control unit for generating a visual stimulus at the visual stimulus presentation unit and for controlling the visual stimulus to allow the driver to perceive the approaching or receding visual stimulus in response to at least one detection signal from the driving environment detection unit, the vehicle status detection unit, and the driver status detection unit. The object of the present invention is to provide a solution by means of which dangerous situations in road traffic due to a misperception of a motor vehicle driver can be reduced.

[0004] This object is achieved according to the invention by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the subclaims, the description, and the figures. Features, advantages, and possible embodiments presented 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 any possible combination of the subject matter of the independent claims, optionally in conjunction with one or more of the subclaims.

[0005] The invention relates to a method for assisting a driver in controlling a moving motor vehicle, in particular a motor vehicle, in particular a passenger car. In particular, the driver can be assisted in manually controlling the motor vehicle or in at least partially automated control of the motor vehicle.

[0006] The method provides for determining a direction of movement and a speed of movement of the motor vehicle. Furthermore, it provides for determining a direction of movement and a speed of movement of an object moving independently of the motor vehicle within a predetermined distance from the motor vehicle. Furthermore, it provides for determining a viewing direction of the driver of the motor vehicle. The method further provides for analyzing the direction of movement and the speed of movement of both the motor vehicle and the object.If it is determined that the direction of movement and the speed of movement of the motor vehicle and of the object correspond within predetermined tolerance limits, and if it has been determined based on the determined direction of view of the driver that the object is in the driver's field of vision, then it is determined that a reversed vection effect is present. As a result of the determination that the reversed vection effect is present, an action of the motor vehicle associated with this vection effect is triggered. In other words, the method provides for a first direction of movement of the motor vehicle and a second direction of movement of the object to be compared with one another, and the first speed of movement of the motor vehicle and the second speed of movement of the object to be compared with one another.If both the difference between the first direction of movement and the second direction of movement and the difference between the first speed of movement and the second speed of movement are within the specified tolerance limits, in particular within tolerance limits specified separately for the directions of movement and the speeds of movement, then it is determined that the reverse vection effect is present, provided that it has been determined that the object is within the driver's field of vision. If the directions of movement and the speed of movement of the motor vehicle and the object match within the specified tolerance limits, then there is at least essentially no relative movement between the motor vehicle and the object. The object is in particular another road user, such as another motor vehicle.

[0007] Vection is the effect that occurs when an observer sees a moving scene and has the impression that they are moving. The phenomenon of vection describes the subjective impression of movement even though the observer themselves is static. This effect occurs, for example, when the observer is in a stationary train and another train starts moving next to it. It often happens that a shift in an external field of vision creates an impression of movement for the observer, even though the observer is not actually moving. The opposite can also happen, however, where the observer thinks they are not moving even though they are actually moving.This case of reverse vection can occur when, for example, a motor vehicle and another motor vehicle are pulling out of a parking space exactly parallel to each other and the driver is looking at the other motor vehicle parked next to them or reversing out of a parking space, which is moving in the same direction and at the same speed as the motor vehicle. Drivers often allow motor vehicles to roll backwards into the street in such parking spaces before accelerating. If the driver does not notice that they are moving due to the reverse vection effect, the motor vehicle may drive too far into the street when pulling out, for example, and thus pose a danger to the vehicle occupants as well as an obstacle and a danger to other road users. The triggered action of the motor vehicle is intended to prevent such dangers.The triggered action of the motor vehicle can be used to attempt to break or end this reverse vection effect in the driver and / or to alert the driver to the potential occurrence of this reverse vection effect. As a result, the driver can become aware that the motor vehicle is moving despite the possible occurrence of this reverse vection effect and react accordingly.

[0008] In a possible development of the invention, it is provided that the action of the motor vehicle is triggered by the output of a warning signal and / or a change in the speed of the motor vehicle. The warning signal can, for example, be output optically and thus visually and / or acoustically and / or haptically, in particular in the interior of the motor vehicle. By means of the warning signal, the driver can be made aware particularly easily that the motor vehicle is moving or that the reverse vection effect exists. The change in the speed of the motor vehicle can, for example, be triggered by the acceleration or braking of the motor vehicle. This change in the speed of the motor vehicle leads to the movement speeds of the motor vehicle and the object no longer matching within the specified tolerance limits.As a result, the reverse vection effect caused to the driver can be interrupted and thereby terminated.

[0009] In a further possible embodiment of the invention, it is determined that the reverse vection effect is present when the object occupies at least a predetermined horizontal angular range of the driver's field of vision. If, for example, the object extends over only an angular range of one degree and consequently covers only a very small horizontal portion of the driver's field of vision, then the probability that a reverse vection effect will actually occur in the driver is relatively low. However, if the object extends over a very large horizontal area of ​​the driver's field of vision, in particular over a large part of the field of vision in the horizontal direction, then the probability of the reverse vection effect occurring is particularly high.The specified horizontal angle range specifies the horizontal overlap of the driver's field of vision at which it is assumed that the reverse vection effect could occur in the driver and, as a result, the action is triggered.

[0010] In a further possible embodiment of the invention, the predetermined distance from the motor vehicle is a maximum of three meters, in particular 3 meters. The greater the distance between the object and the motor vehicle, the lower the probability that the reverse vection effect will actually occur in the driver. If the object is at a particularly great distance from the motor vehicle, then a particularly large area exists between the motor vehicle and the object, in which objects can be arranged that either move at a speed relative to the motor vehicle or are stationary, thereby reducing the probability of the reverse vection effect occurring.The closer the object is to the motor vehicle, the greater the probability that a significant part of the driver's field of vision will be obscured by the object, at least in the horizontal direction, and thus the reverse vection effect could occur.

[0011] In a further possible embodiment of the invention, it is provided that the direction of movement and the speed of movement of the object are determined as a function of camera data representing the object, which are captured by a camera device of the motor vehicle. In other words, the object is captured by the camera device of the motor vehicle, in particular in the form of images representing the object as camera data. Using an object recognition method or an image processing method, the object can be identified in the camera data and, in addition, a position of the object in relation to its surroundings can be determined. The respective camera data can be provided with respective timestamps. Based on different positions of the object in images captured one after the other in time, the direction of movement and the speed of movement of the object can be determined.Alternatively or additionally, the direction of movement and / or the speed of movement of the object can be determined by means of at least one sensor device of the motor vehicle, for example a radar and / or a LIDAR and / or an ultrasonic sensor. By using the camera data and / or the sensor data, the direction of movement and the speed of movement of the object can be determined with particularly high reliability and particularly precise. In a further possible embodiment of the invention, it is provided that the action of the motor vehicle is triggered when it is determined that the speed of movement of the motor vehicle is below a predetermined speed limit. It is further provided that the triggering of the action does not occur if it is determined that the speed of movement of the motor vehicle is greater than or equal to the predetermined speed limit.This speed limit can be ten kilometers per hour, for example. In other words, it can be provided that the driver is only assisted when the motor vehicle is traveling slowly, for example when the motor vehicle is rolling. If the motor vehicle is moving at a speed higher than the speed limit, it is assumed that the driver is aware that the motor vehicle is moving. If the motor vehicle is moving at a speed greater than the speed limit, the relative speed of the motor vehicle to other objects in the vicinity of the motor vehicle, for example trees, delineators, or houses, is so high that it is assumed that the driver notices that the motor vehicle is moving.

[0012] In a further possible embodiment of the invention, it is provided that the driver is assisted while the motor vehicle is reversing out of a parking space. As already explained, the reverse vection effect can occur, particularly when reversing out of adjacent parking spaces, when two motor vehicles are reversing parallel to one another and rolling slowly. The method can provide support for the driver during a manual reversing maneuver or during an at least partially automated reversing maneuver. Even during an at least partially automated reversing maneuver, it can happen that the driver is required to take over control of the motor vehicle from a driver assistance system. In this respect, it is sensible to trigger the action to prevent the driver from thinking that the motor vehicle is not moving due to the reverse vection effect.

[0013] In this context, it can be provided, in particular, that an action is triggered by adjusting the display of a display device of the motor vehicle, which characterizes the current parking space exit process. For example, a moving vehicle symbol characterizing the motor vehicle can be displayed using the display. Alternatively or additionally, the parking space from which the motor vehicle is exiting can be shown schematically in the display. The vehicle symbol can be used to indicate the driving movement of the motor vehicle on the display. This can make the driver aware that the motor vehicle is moving due to the parking space exit process.To ensure that the driver perceives the moving vehicle symbol on the display, an action can be triggered that displays the moving vehicle symbol in a larger size and / or flashing and / or with a frame and / or a warning symbol. This can particularly effectively draw the driver's attention to the display, increasing the likelihood that the driver will at least recognize that the vehicle is moving based on the display.

[0014] The invention further relates to a control device for a motor vehicle. The control device is particularly configured to carry out the method as already described in connection with the method according to the invention for assisting a driver in controlling a moving motor vehicle. The control device is configured to determine a direction of movement and a speed of movement of the motor vehicle. Furthermore, the control device is configured to determine a direction of movement and a speed of movement of an object moving independently of the motor vehicle within a predetermined distance from the motor vehicle. Furthermore, the control device is configured to determine a viewing direction of the driver of the motor vehicle.Furthermore, the control device is configured to determine that a reverse vection effect is present if it is determined that the direction of movement and the speed of movement of the motor vehicle and the object correspond within predetermined tolerance limits, and based on the determined direction of view of the driver, it has been determined that the object is in the driver's field of vision. The control device is further configured to trigger an action of the motor vehicle associated with the reverse vection effect in order to assist a driver in steering the motor vehicle if it has been determined that the reverse vection effect is present. The invention further relates to a motor vehicle with a control device as already described in connection with the control device according to the invention.

[0015] Further features of the invention may 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 shown below in the description of the figures and / or in the figures alone, 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.

[0016] The drawing shows:

[0017] Fig. 1 shows a process diagram for a method for assisting a driver in controlling a moving motor vehicle; and

[0018] Fig. 2 is a schematic plan view of a traffic situation in which two motor vehicles park parallel from perpendicular parking spaces onto a road.

[0019] Fig. 1 shows a method diagram for a method for assisting a driver in controlling a moving motor vehicle 10. An example situation in which the method could be applied is illustrated in Fig. 2. Fig. 2 shows how the motor vehicle 10 is located in a perpendicular parking space next to a road 12 and is reversing out of this perpendicular parking space onto the road 12. In another perpendicular parking space adjacent to this perpendicular parking space, another motor vehicle 14 is located as an object. This other motor vehicle 14 is also reversing out onto the road 12.

[0020] The method provides that, in a first method step V1, a first direction of movement 16 of the motor vehicle, referred to below as the first motor vehicle 10, and a first movement speed of the first motor vehicle 10 are determined. Furthermore, the method provides that, in a second method step V2, a second direction of movement 18 and a second movement speed of the further motor vehicle, referred to below as the second motor vehicle 14, are determined. The second motor vehicle 14 is located within a predetermined distance, in particular a distance of three meters, from the first motor vehicle 10 and is moving independently of the first motor vehicle 10.Here, the second direction of movement 18 and the second movement speed of the second motor vehicle 14 can be determined as a function of camera data representing the second motor vehicle 14, which are captured by a camera device of the first motor vehicle 10. In a fourth method step V4, it is checked whether a deviation between the first direction of movement 16 and the second direction of movement 18, as well as a deviation between the first movement speed and the second movement speed, are below respective predetermined deviation limit values ​​and thus whether the directions of movement 16, 18 and the movement speeds of the first motor vehicle 10 and the second motor vehicle 14 agree with one another within predetermined tolerance limits.

[0021] In a third method step V3 of the method, it is provided that a viewing direction 20 of the driver of the first motor vehicle 10 is determined. If it is determined in the third method step V3 that the second motor vehicle 14 is within the driver's field of vision, and if it is determined in the fourth method step V4 that the directions of movement 16, 18 and the speeds of movement of the first motor vehicle 10 and the second motor vehicle 14 correspond within the predetermined tolerance limits, then in the fifth method step V5 it is determined that a reversed vection effect is present and, as a result, an action of the first motor vehicle 10 associated with the reversed vection effect is triggered. In particular, it is determined that the reversed vection effect is present when the second motor vehicle 14 occupies at least a predetermined horizontal angular range of the driver's field of vision.The field of vision characterizes the area in an environment that is perceived by the driver's eyes.

[0022] Within the scope of the fifth method step V5, the output of a warning signal in the vehicle interior of the first motor vehicle 10 and / or a change in the speed of the first motor vehicle 10 can be triggered as an action of the first motor vehicle 10. In particular, it is provided that the described method is implemented by means of a control device of the first motor vehicle 10. Within the scope of the method, the driver of the first motor vehicle 10 is assisted during a parking maneuver of the first motor vehicle 10 from a parking space, in this case the perpendicular parking space. As an action, it can thus be triggered that a display output by means of a display device of the first motor vehicle 10, which characterizes the current parking maneuver, is adjusted in its display.In particular, it is provided that the action of the first motor vehicle 10 is triggered when it is determined that the movement speed of the first motor vehicle 10 is below a predetermined speed limit. The triggering of the action can be omitted if it is determined that the movement speed of the first motor vehicle 10 is greater than or equal to the predetermined speed limit. The order of the first method step V1, the second method step V2, and the third method step V3 can be freely selected. Furthermore, it is freely selectable whether the third method step V3 is performed before, simultaneously with, or during the fourth method step V4.

[0023] Within the scope of the method, the control device detects and triggers the reverse vectoring effect, issuing a warning signal to the driver of the first motor vehicle 10 or initiating braking of the first motor vehicle 10. The control device can firstly detect whether the first motor vehicle 10 is moving at the same speed and in the same direction as the second motor vehicle 14 arranged in the immediate vicinity of the first motor vehicle 10. This can be detected in particular with the aid of external cameras of the first motor vehicle 10. Furthermore, it is detected whether the driver of the first motor vehicle 10 is looking in the direction of the second motor vehicle 14. The second motor vehicle 14 should be close to the first motor vehicle 10 so that it occupies a large part of the field of vision of the driver of the first motor vehicle 10.For example, only second motor vehicles 14 that are located no further than three meters from the first motor vehicle 10 are taken into account within the scope of the method. Alternatively or additionally, a total area in degrees that is obscured by the second motor vehicle 14 in the horizontal field of vision of the driver of the first motor vehicle 10 can be calculated. This means that the further the second motor vehicle 14 is from the first motor vehicle 10, the fewer degrees of the horizontal field of vision of the driver of the first motor vehicle 10 are obscured. This takes into account that very long second motor vehicles 14 are also taken into account if they are located further away from the first motor vehicle 10, for example, further than three meters.If the aforementioned conditions are met, the reverse vectoring effect could occur, and there is a risk that the first motor vehicle 10 will be driven too far into the road 12, particularly into oncoming traffic. In this case, a braking intervention can be prepared as an action or the issuance of a warning can be triggered. Alternatively or additionally, a view for parking functions can be displayed more prominently. In other words, an action that can be triggered is that the display output by the display device of the first motor vehicle 10, which characterizes the current parking maneuver, is adjusted in its presentation.The respective measures triggered as an action within the scope of the method can be diverse, such as auditory, in particular the output of a voice command and / or the triggering of a braking jolt and / or the setting of an increased resistance on the accelerator pedal and / or the output of the warning signal as an overlay in a mirror area of ​​exterior mirrors or a rear-view mirror of the first motor vehicle 10. The method can be implemented during a manual or assisted parking exit process, wherein in the case of assisted parking exit, the method provides protection against unintentional activation of a parking assistant.

[0024] List of reference symbols

[0025] 10 first motor vehicle 12 road

[0026] 14 second motor vehicle

[0027] 16 first direction of movement

[0028] 18 second direction of movement

[0029] 20 Viewing direction V1 to V5 respective process steps

Claims

Patent claims 1. A method for assisting a driver in controlling a moving motor vehicle (10), in which a direction of movement (16) and a speed of movement of the motor vehicle (10) are determined (V1), a direction of movement (18) and a speed of movement of an object (14) moving independently of the motor vehicle (10) within a predetermined distance from the motor vehicle (10) are determined (V2), a viewing direction (20) of the driver of the motor vehicle (10) is determined (V3), - if it is determined that the directions of movement (16, 18) of the motor vehicle (10) and of the object (14) and the speeds of movement of the motor vehicle (10) and of the object (14) each correspond within predetermined tolerance limits (V4), and it is determined on the basis of the determined direction of view (20) of the driver that the object (14) is in the field of vision of the driver (V3), then it is determined that a reverse vection effect is present and an action of the motor vehicle (10) associated with the reverse vection effect is triggered (V5).

2. Method according to claim 1, characterized in that as an action of the motor vehicle (10) an output of a warning signal and / or a change in speed of the motor vehicle (10) is triggered (V5).

3. Method according to claim 1 or 2, characterized in that it is determined that the reverse vection effect is present when the object (14) occupies at least a predetermined horizontal angular range of the driver's field of vision (V5).

4. Method according to one of the preceding claims, characterized in that the predetermined distance to the motor vehicle (10) is at most 3 meters.

5. Method according to one of the preceding claims, characterized in that the direction of movement (18) and the speed of movement of the object (14) are determined (V2) as a function of camera data representing the object (14) which are recorded by means of a camera device of the motor vehicle (10).

6. Method according to one of the preceding claims, characterized in that the action of the motor vehicle (10) is triggered (V5) when it is determined that the movement speed of the motor vehicle (10) is below a predetermined speed limit, and the triggering of the action is omitted when it is determined that the movement speed of the motor vehicle (10) is greater than or equal to the predetermined speed limit.

7. Method according to one of the preceding claims, characterized in that the driver is assisted during a parking maneuver of the motor vehicle (10) from a parking space.

8. Method according to claim 7, characterized in that the action triggered is that a display output by means of a display device of the motor vehicle (10), which characterizes the current parking space exit process, is adapted in its representation (V5).

9. Control device for a motor vehicle (10), which is designed to determine a direction of movement (16) and a speed of movement of the motor vehicle (10), to determine a direction of movement (18) and a speed of movement of an object (14) moving within a predetermined distance from the motor vehicle (10) independently of the motor vehicle (10), to determine a viewing direction (20) of the driver of the motor vehicle (10), - if it is determined that the directions of movement (16, 18) of the motor vehicle (10) and of the object (14) and the speeds of movement of the motor vehicle (10) and of the object (14) each correspond within predetermined tolerance limits, and it has been determined on the basis of the determined viewing direction (20) of the driver that the Object (14) is in the driver's field of vision, to determine that a reverse vection effect is present, and to trigger an action of the motor vehicle (10) associated with the reverse vection effect in order to assist a driver in controlling the motor vehicle (10).

10. Motor vehicle (10) with a control device according to claim 9.

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