The invention relates to a vehicle (100), having:

Abstract

The invention relates to a vehicle (100), having: surroundings sensors (10) which are designed to detect the surroundings (40) of the vehicle, steering wheel sensors which are designed to detect the presence of the driver's hands on the steering wheel of the vehicle (100), a parking assistance system which is designed to independently carry out a parking process of the vehicle (100) and a parking-space-exiting process of the vehicle (100), a driver assistance system which is designed to support a driving process of the vehicle (100) in a longitudinally dynamic and transversely dynamic manner, and a control device (20) which is designed to detect the presence of the driver's hands on the steering wheel using the data of the steering wheel sensor, activate and deactivate the parking assistance system and the driver assistance system independently of each other, and during a driving operation of the vehicle (100), deactivate the parking assistance system and activate the driver assistance system if the driver's hands are present on the steering wheel.

Description

[0001] Description

[0002] title

[0003] Vehicle with driver assistance

[0004] State of the art

[0005] The present invention relates to a vehicle with a control unit for assisting a driver and a method for driver assistance.

[0006] Vehicles currently feature a variety of driver assistance systems. These include systems that support the driver both during parking and exiting, as well as systems that assist the driver while driving along a route. Furthermore, vehicles have long been equipped with navigation systems that are capable of detecting the vehicle's location and, upon input of a destination, e.g., by the driver, determining and suggesting a route from the vehicle's current location to a destination. When following the suggested route, the driver must actively activate and deactivate the parking assistant for parking and exiting, as well as the various driving assistants for traveling the entire route.

[0007] Disclosure of the invention

[0008] The vehicle according to the invention with the features of independent claim 1 has the advantage over the known vehicle that the driver's flow from the start of the journey to the end of the journey at the destination is interrupted less frequently by manually switching the systems on and off in the vehicle's driving flow. In particular, the vehicle's journey is interrupted less frequently when the parking assistant is deactivated and the driving assistant is activated to complete the journey, i.e. the vehicle comes to a complete standstill less frequently. This allows for a more rapid completion of the route and also provides a more pleasant driving experience for the driver. Furthermore, the driver himself has to exert less mental effort to actively select driver systems and to activate or deactivate them, since this is done by the vehicle according to the invention.

[0009] This is achieved according to the invention by a vehicle which has an environmental sensor, a steering wheel sensor, a parking assistance system, a driver assistance system and a control unit. The environmental sensor is configured to detect vehicle surroundings. The steering wheel sensor is configured to detect the presence of driver hands on a steering wheel of the vehicle. The parking assistance system is configured to independently carry out a parking maneuver of the vehicle and a parking exit maneuver of the vehicle. A driver assistance system is configured to support a driving maneuver of the vehicle with longitudinal and transverse dynamics. The control unit is configured to detect the presence of driver hands on the steering wheel using data from the steering wheel sensor. The control unit is configured to activate and deactivate the parking assistance system and the driver assistance system separately, i.e. independently of one another.The control unit is configured to deactivate a parking assistance system and activate a driver assistance system when the vehicle is in motion if the driver's hands are detected on the steering wheel.

[0010] In other words, the invention relates to a vehicle having a control unit capable of bridging the interface between deactivating the parking assistance system and activating a driver assistance system, so that the driver only needs to place their hands on the steering wheel to transition between the parking assistance system and the driver assistance system. This transition between the parking assistance system and activating the driver assistance system occurs when the driver places their hands on the steering wheel while the vehicle is moving, so the vehicle does not have to come to a standstill to switch between the various driver assistance systems.

[0011] Under the longitudinal and transverse dynamic support of the

[0012] A driver assistance system is understood to mean that the driver assistance system is capable of independently specifying lateral dynamic guidance for the vehicle. The driver confirms the specified lateral dynamic guidance at least by actively placing their hands on the steering wheel. The specified lateral dynamic guidance can be overridden at any time by the driver by operating the steering wheel. The longitudinal dynamic properties of the driver assistance system are so pronounced that the driver can override the vehicle's speed at any time. Otherwise, the driver assistance system presents a longitudinal dynamic suggestion to the driver and executes it.

[0013] The subclaims show preferred developments of the invention.

[0014] The control unit is preferably configured to deactivate a driver assistance system and activate a parking assistance system when the vehicle is moving, provided that the absence of the driver's hands on the steering wheel is detected. An advantage of this embodiment can be that the second transition from the driving state to the parking process is also relieved of the driver and facilitated by the control unit. Removing the driver's hands from the steering wheel informs the system that the driver does not wish to intervene in the parking process, thus allowing the parking assistance system to perform the parking process.

[0015] The vehicle preferably has a navigation system. The navigation system is configured to suggest a route to the destination based on the current location of the vehicle when a destination is specified. The control unit is configured to request confirmation of the route suggested by the navigation system from the driver and, upon confirmation of the route, to activate the parking assistance system. The control unit is configured to prompt the driver, when the vehicle is moving, to activate the driver assistance system for following the suggested route upon completion of the parking maneuver, and to recognize the driver's hands resting on the steering wheel as confirmation of the activation of the driver assistance system. An advantage of this embodiment may be that the initiation of the parking maneuver is carried out by the control unit.The driver simply needs to enter a destination into the navigation system and confirm the navigation system's suggestion. By removing their hands from the steering wheel, they signal the parking assistance system to take over control of the vehicle. After completing the parking maneuver, they signal the control unit by returning their hands to the steering wheel to allow the driver assistance system to resume control of the vehicle. The control unit thus also initiates the deactivation of the parking assistance system, improving the driving experience for the driver.

[0016] Preferably, the parking assistance system is configured to detect the vehicle's surroundings and the vehicle's position within the vehicle's surroundings using data from the environmental sensors. The parking assistance system is configured, after its activation, to request the driver's authorization to enter and / or exit the parking space, and the parking assistance system is configured to detect the absence of the driver's hands from the steering wheel as confirmation of the execution of the parking and / or exiting process. An advantage of this embodiment can be that the flow of the parking and exiting process is improved by taking into account the respective authorization by the driver.

[0017] Preferably, the control unit is configured to deactivate the parking assistance system after completion of the parking maneuver and to guide the vehicle at a predetermined speed for a predetermined period of time while the driver's hands are away from the steering wheel. The control unit is configured to prompt the driver to grasp the steering wheel in this transitional state. The control unit is configured to bring the vehicle to a safe stop if, after a predetermined takeover period has elapsed, the driver's hands are still absent from the steering wheel. One advantage of this embodiment can be that the driver has sufficient time even after completion of the parking maneuver to decide whether they wish to continue driving the vehicle themselves or whether they wish to leave the process to the driver assistance system. Furthermore, this ensures that the vehicle does not switch to the driver assistance system without the driver's supervision.

[0018] Preferably, the driver assistance system is configured to determine the maximum permissible speed for the respective section of the route from stored map material, in particular from the navigation system, and to adhere to it during longitudinally dynamic guidance of the vehicle. An advantage of this embodiment may be that the vehicle automatically adheres to the specified speed limit along the route without requiring driver intervention.

[0019] Preferably, the parking assistance system is configured to detect a free parking space within a predetermined distance from the destination before reaching the destination and to suggest this to the driver. The parking assistance system is configured to detect a free parking space using the vehicle's environmental sensors. Alternatively or additionally, the parking assistance system is configured to retrieve and / or receive a free parking space from stored map material, in particular the navigation system. An advantage of these embodiments can be that the driver is given the opportunity to select free parking spaces from the various suggestions provided by the parking assistance system before reaching the destination, thus ensuring a smooth transition from the journey to the parking process.

[0020] Preferably, the control unit is configured to receive driver inputs from external devices, such as mobile phones and / or laptops and / or cloud servers, and to forward them to the relevant system, in particular to the navigation system and / or the parking assistance system and / or the driver assistance system. Alternatively or additionally, the control unit is configured to forward instructions to the driver, in particular from the navigation system and / or the parking assistance system and / or the driver assistance system, to the external device. One advantage of this embodiment may be that it enables parking and reversing into difficult-to-access parking spaces, since the driver can control and monitor both the parking and reversing processes from outside, e.g., via their mobile phone.

[0021] The environmental sensors preferably comprise lidar sensors and / or a camera and / or ultrasonic sensors. The steering wheel sensor can be configured as a capacitive touch sensor and / or a torque sensor and / or an interior camera. One advantage can be the reliable detection of the environment or the presence of the hands on the steering wheel at low cost. Furthermore, the invention comprises a method for driver assistance comprising the following steps: A first step comprises deactivating a parking assistance system. A second step comprises receiving and / or retrieving data from a steering wheel sensor. A third step comprises detecting the presence of the driver's hands on a steering wheel of a vehicle. A fourth step comprises activating a driver assistance system while the vehicle is moving if the presence of the driver's hands on the steering wheel has been detected.

[0022] Short description of the drawings

[0023] Embodiments of the invention are described in detail below with reference to the accompanying drawings. In the drawing:

[0024] Figure 1 is a schematic representation of a vehicle according to a first embodiment of the invention,

[0025] Figure 2 is a schematic representation of the control device according to the first embodiment of the invention,

[0026] Figure 3 is a schematic representation of the method according to the first embodiment of the invention, and

[0027] Figure 4 is a schematic representation of the method according to a second embodiment of the invention.

[0028] Embodiments of the invention

[0029] Preferably, all elements, units and / or assemblies in all figures have the same reference numerals.

[0030] Figure 1 shows a schematic representation of a vehicle according to a first exemplary embodiment of the invention. The vehicle 100 has environmental sensors 10, steering wheel sensors, a parking assistance system, a driver assistance system, and a control unit 20. The environmental sensors 10 are configured to detect a vehicle environment 40. The steering wheel sensors are configured to detect the contact of the driver's hands on a steering wheel of the vehicle 100. The parking assistance system is configured to independently carry out a parking maneuver of the vehicle 100 and a parking exit maneuver of the vehicle 100. The driver assistance system is configured to support a driving maneuver of the vehicle 100 with longitudinal and transverse dynamics. The control unit 20 is configured to detect the contact of the driver's hands on the steering wheel using the data from the steering wheel sensors. The control unit 20 is configured to control the parking assistance system and the driver assistance system separately, i.e.independently of one another. The control unit 20 is configured to deactivate a parking assistance system and activate a driver assistance system when the vehicle 100 is in motion, provided the driver's hands are resting on the steering wheel.

[0031] The control unit 20 is configured to deactivate a driver assistance system and to activate a parking assistance system when the vehicle 100 is in motion, provided that the driver's hands are not on the steering wheel.

[0032] The vehicle 100 has a navigation system configured to suggest a route to the destination based on the current location of the vehicle 100 when a destination is specified. The control unit 20 is configured to request confirmation of the route suggested by the navigation system from the driver and, upon receipt of confirmation of the route, to activate the parking assistance system. The control unit 20 is configured to prompt the driver to activate the driver assistance system for following the suggested route when the vehicle 100 is in motion upon completion of the parking maneuver, and to recognize the driver's hands on the steering wheel as confirmation of the activation of the driver assistance system.

[0033] The parking assistance system is configured to use data from the environmental sensors 10 to detect a vehicle environment 40 and the position of the vehicle 100 in the vehicle environment 40. The parking assistance system is configured, after its activation, to request the driver to authorize the parking maneuver and / or the parking exit maneuver. The parking assistance system is configured to detect the absence of the driver's hands from the steering wheel as confirmation of the execution of the parking maneuver and / or the parking exit maneuver. The control unit 20 is configured to deactivate the parking assistance system after the parking exit maneuver has been completed and to guide the vehicle 100 at a predetermined speed for a predetermined duration of the vehicle 100 while the driver's hands are absent from the steering wheel. The control unit 20 is configured to request the driver to grasp the steering wheel in this transitional state.The control unit 20 is configured to bring the vehicle 100 to a stop in a safe state if, after a predetermined takeover period has elapsed, the absence of the driver's hands from the steering wheel is still detected.

[0034] The driver assistance system is designed to determine the maximum permissible speed on the respective section of the route from stored map material, in particular from the navigation system, and to adhere to it during longitudinal dynamic guidance of the vehicle.

[0035] The parking assistance system is configured to detect a free parking space within a specified distance from the destination before reaching the destination. The parking assistance system is configured to detect a free parking space using the surrounding sensors of the vehicle 100. Alternatively or additionally, the parking assistance system is configured to retrieve and / or receive a free parking space from stored map material, in particular the navigation system.

[0036] The control unit 20 is configured to receive driver input from external devices and forward it to the navigation system, the parking assistance system, and the driver assistance system. The control unit 20 is configured to forward driver instructions from the navigation system, the parking assistance system, and the driver assistance system to the external device.

[0037] The environment sensors 10 include lidar sensors 12, a camera and an ultrasonic sensor 11. The steering wheel sensor is designed as a capacitive touch sensor.

[0038] Figure 2 shows a schematic representation of the control unit 20 according to a first exemplary embodiment of the invention. The control unit 20 is connected to the environmental sensors 10 and the steering wheel sensor for receiving and exchanging signals. The control unit, the parking assistance system, the driver assistance system, and even the navigation system can be implemented on the same processing unit; the control unit 20, in turn, is connected to the signal input and signal output 30. Via the signal input and signal output 30, the driver can enter commands to the control unit or receive requests from the control unit 20. The signals are output via the unit 30, particularly visually.

[0039] Figure 3 shows a method 1000 for assisting the driver in driving flow according to a first exemplary embodiment of the invention. In a first step 200, a parking assistance system is deactivated by the control unit 20. In a second step 300, data from a steering wheel sensor is received and / or retrieved. In a third step 310, the presence of hands on a steering wheel is detected using the data from the steering wheel sensor. In a fourth step 400, the driver assistance system is activated while the vehicle is moving if the presence of the driver's hands on the steering wheel has been detected.

[0040] Figure 4 shows a schematic representation of a method 1000 according to a second embodiment of the invention. The method 1000 comprises the following steps:

[0041] In a fifth step 210, the driver enters the destination into the navigation system, and the navigation system outputs a suggested route to the driver. In a sixth step 220, the control unit requests the driver to take their hands off the steering wheel to confirm activation of the parking assistance system. In a first step 200, after the parking maneuver has been completed, the parking assistance system is deactivated, and the vehicle enters a transitional state in which it continues to drive at the prescribed speed for a prescribed period. In a second step 300, the driver is requested to take their hands on the steering wheel to further confirm the driver assistance system. In the second step 300, the control unit receives data from the steering wheel sensor.In a third step 310, the received steering wheel sensor data is evaluated to detect whether the driver's hands are on the steering wheel. If, after the takeover period has expired, it is determined that the driver's hands are still away from the steering wheel, the control unit 20 executes a seventh step 410. In the seventh step 410, the vehicle is brought to a safe stop state.

[0042] Alternatively, in a fourth step 400, if it is determined after the takeover period has elapsed that the driver’s hands are on the steering wheel, the

[0043] Driver assistance system is activated. In an eighth step 420, at a predefined distance from the destination, a search for a parking space or parking space for the vehicle is performed, and the results found are suggested to the driver. The driver selects a parking space from the suggested parking spaces, which is then entered as the destination of the route.

[0044] Upon reaching the parking space, the driver is asked to lift their hands off the steering wheel again in a ninth step 430. In a tenth step 440, the steering wheel sensor data is used to detect whether the driver's hands are off the steering wheel, thus activating the parking assistance system to park in the specified parking space.

Claims

Claims 1. Vehicle (100) comprising: Environmental sensors (10) configured to detect a vehicle environment (40), a steering wheel sensor configured to detect the contact of driver hands on a steering wheel of the vehicle (100), a parking assistance system configured to independently carry out a parking maneuver of the vehicle (100) and a parking exit maneuver of the vehicle (100), a driver assistance system configured to support a driving maneuver of the vehicle (100) longitudinally and transversely dynamically, and a control unit (20), wherein the control unit (10) is configured to detect the contact of the driver hands on the steering wheel using the data from the steering wheel sensor, wherein the control unit (20) is configured to activate and deactivate the parking assistance system and the driver assistance system independently of one another, wherein the control unit (20) is configured,to deactivate a parking assistance system and to activate a driver assistance system when the vehicle (100) is in motion, provided that the driver's hands are detected on the steering wheel.

2. Vehicle (100) according to claim 1, characterized in that the control unit (20) is configured to deactivate a driver assistance system and to activate a parking assistance system when the vehicle (100) is in motion, provided that the absence of the driver's hands on the steering wheel has been detected.

3. Vehicle (100) according to one of the preceding claims, characterized in that a navigation system which, when a destination is specified, is set up to suggest a route to the destination starting from the current location of the vehicle (100), wherein the control unit (20) is set up to ask the driver to confirm the route suggested by the navigation system and, upon receipt of the confirmation of the route, to activate the parking assistance system, and wherein the control unit (20) is set up, when the vehicle (100) is in motion, to prompt the driver, upon completion of the parking manoeuvre, to activate the driver assistance system for following the suggested route and to recognise the driver's hands being placed on the steering wheel as confirmation of the activation of the driver assistance system.

4. Vehicle (100) according to one of the preceding claims, characterized in that the parking assistance system is set up to recognize a vehicle environment (40) and the position of the vehicle (100) in the vehicle environment (40) by means of the data from the environment sensors (10), wherein the parking assistance system is set up to request the driver to authorize the parking operation and / or the parking exit operation after activation, and wherein the parking assistance system is set up to recognize an absence of the driver's hands from the steering wheel as confirmation of the execution of the parking operation and / or the parking exit operation.

5. Vehicle (100) according to one of the preceding claims, characterized in that the control unit (20) is configured, after completion of the parking-return process, to deactivate the parking assistance system and to guide the vehicle (100) at a predetermined speed for a predetermined period in the absence of the driver's hands from the steering wheel, wherein the control unit (20) is configured, in this transitional state, to request the driver to touch the steering wheel, and wherein the control unit (20) is configured to bring the vehicle (100) to a stop in a safe state if, after expiry of a specified takeover period, an absence of the driver's hands from the steering wheel is still detected.

6. Vehicle (100) according to one of the preceding claims, characterized in that the driver assistance system is configured to take the permissible maximum speed on the respective section of the route from stored map material, in particular from a navigation system, and to take it into account when guiding the vehicle longitudinally.

7. Vehicle (100) according to one of the preceding claims, characterized in that the parking assistance system is set up to detect a free parking space at a predetermined distance from the destination before reaching the destination, wherein the parking assistance system is set up to detect a free parking space by means of the environmental sensors of the vehicle (100), and / or wherein the parking assistance system is set up to retrieve and / or receive a free parking space from stored map material, in particular from the navigation system.

8. Vehicle (100) according to one of the preceding claims, characterized in that the control unit (20) is configured to receive and / or retrieve inputs from the driver from external devices and to forward them to the relevant system, in particular to the navigation system, the parking assistance system and / or to the driver assistance system, and / or the control unit is configured to forward instructions to the driver, in particular from the navigation system and / or the parking assistance system and / or the driver assistance system to the external device.

9. Vehicle (100) according to one of the preceding claims, characterized in that the environmental sensors (10) comprise lidar sensors (12) and / or cameras and / or ultrasonic sensors (11), and the steering wheel sensor comprises capacitive touch sensors and / or torque sensors and / or an interior camera.

10. A method (1000) for driver assistance comprising the steps of: deactivating (200) a parking assistance system, receiving and / or retrieving (300) data from a steering wheel, detecting (310) the presence or absence of driver hands on a steering wheel of a vehicle, and activating a driver assistance system (400) while the vehicle is moving when the presence of the driver hands on the steering wheel has been detected.

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