publication number DE102009028309 (A1)
Release date: 2011-02-10
Inventor: SCHEUERLE THOMAS [DE]; FEhS MEIKE [DE]; SCHNEIDER MARCUS [DE] + (SCHEUERLE, THOMAS, ; Fehse MEIKE; SCHNEIDER, MARCUS)
Applicant: BOSCH GMBH ROBERT [DE] + (ROBERT BOSCH GMBH)
Classification:
International: B60W30/06; G08G1/16
European: B62D15/02H2; B62D15/02H6; B62D15/02K; G08G1/16
Application number: 20,090,806 DE200910028309
Priority number (s): DE200910028309 20,090,806
The EPA is not responsible for the accuracy of data originating from other authorities than the EPO, and thus in particular not liable for its completeness, timeliness or fitness for a particular purpose. Information, please refer to the respective patent authorities.
this text translated description of DE 102009028309 (A1)
[0001] The present invention relates to a method for supported leaving a parking space of a vehicle from a parking space with a parking assistance device, is at least run a Ausparkzug by engaging in a steering system of the vehicle. Furthermore, the invention is directed to a parking assistance device supported leaving a parking space for the vehicle from the parking space.
[0002] A method of supported leaving a parking space of a vehicle from a parking space with parking assist devices are known, with a guided procedure give birth in a steering system of the vehicle the driver of the operation of the steering wheel, and that only the accelerator and the brake pedal must operate. With such parking assist devices, the driver to park the vehicle in a parking space as the vehicle ausparken also from the parking space. The steering system receives it from the parking assistance device steering commands, the steering system can be designed as an EPS system, a so-called Electric Power Steering system. These electrically powered steering systems have a Elektroaktuator such as an electric motor that runs the steering system of the vehicle is active, as well as manually by an operator of the steering wheel is possible.
[0003] DE 10 2007 029 773 A1 is a parking assistance device known to perform a method for supporting a vehicle leaving a parking space from a parking space. The parking assistance device acts together with a steering system having an actuator that can adjust a steering angle of the steerable wheels of the vehicle. This actuator may be a member of the steering system that is used for example to support a steering movement of the steering wheel, as shown by a "power" steering is already known. Here, the actuator of the steering system are controlled by the parking assist device. For this purpose, provided that the support of the steering system through the parking assistance device may be terminated at any time by the driver of the vehicle. For example, it is proposed that the parking assistance device can be deactivated via a control panel through which an activation activity can be detected. Further, the case will be completed by the parking assistance device by resetting the indicator function or exceeds a Schwellgeschwindigkeit. In addition, it can be provided to disable the parking assistance device when the driver engages actively in the steering. The deactivation the parking assistance device relates in a cessation of support by leaving a parking space the parking assistance device.
[0004] DE 10 2004 055 584 A1 discloses a method for parking a vehicle backed into a parking space known. It reviewed the parking assistance device, if a driver exceeds the steering stop at an artificial rotating force applied to a defined threshold. As long as the driver initiates a steering torque above the threshold in the steering wheel, the parking operation continue. As soon as the steering torque of the driver is too weak, the parking operation is stopped by a braking operation or stopped. This is a security measure implemented to ensure that the driver accompanies the parking of the vehicle on. In the document cited only make parking a vehicle in a parking space is described by a parking assistance device. Dangers that are when leaving a parking of the vehicle from the parking space, and hence to enter the road, in the mentioned document any treatment or released.
[0005] So-called self-steering parking assist devices that implement a direct intervention in the steering system of the vehicle and assist the driver when maneuvering the vehicle from the parking space must notify the driver when the support of leaving a parking space is completed by the parking assistance device. After completion the support, the driver finally take control of the vehicle complete again, for example, classify the vehicle into the flowing traffic.
[0006] Does the self-steering parking assistance device in that this extension is possible in the market without a collision with the parking space bounding objects, informs the driver about it, and the support of leaving a parking space by the parking assist device is terminated. Then the driver must take the lead of the vehicle.
[0007] If the driver for the deactivation of information to end support of leaving a parking space by the parking assist device, however, is not it, or realized not that he was coming from but the parking space, he can take but also the steering of the vehicle itself must, can lead to dangerous situations. Since the steering system will now be held not more active with a certain steering angle, the steering does most relaxed while their orientation during the subsequent shunting. This changes the direction of travel, which can lead to a collision with the parking space bounding objects. There is also a source of danger is to believe that the driver can, the parking assistance device would give in his vehicle in the road and the driver then accelerated the vehicle. Due to the steering angle is undefined it with a certain probability lead to a movement into the opposite lane. Until the driver has recognized his mistake, there may be a conflict with other road users until the driver has his vehicle back out of the danger zone.
[0008] It is therefore an object of the present invention, the disadvantages of the aforementioned prior art overcome, and propose a method to support leaving a parking space of a vehicle from a parking space with a parking assistance device, which with one leaving a parking space the vehicle from a parking space, a higher predictability. It is also the object of the present invention to provide a parking assistance device, a leaving a parking space of a vehicle from a parking space possible with improved security.
[0009] This object is achieved on the basis of a method according to the preamble of claim 1 and a parking assistance device according to the preamble of claim 12 with the respective characteristic features. Advantageous developments of the invention are set forth in the dependent claims.
[0010] The invention includes the technical teaching that a warning is issued to the driver of the vehicle when the driver of the vehicle, the assumption of the leadership of the vehicle after the support of the ausparken fails through the parking assistance device.
[0011] The invention is based on provide the thought of the driver of the vehicle through the parking assistance device a warning when the driver of the vehicle, the control of the vehicle on time, took to avert a dangerous situation. This ensures that the driver does not accidentally leave out that the leadership of the vehicle through the parking assistance device still is, and that the vehicle would be threaded through the parking assistance device even in the flowing traffic.
[0012] Preferably, the parking assist device, a Assistenzendposition is determined in the control of the vehicle is stopped by the parking assistance device. In this case, the driver of the Vehicle to achieve the specified Assistenzendposition. Consequently, according to the invention is the warning to the driver of the vehicle issued only if the Assistenzendposition already achieved and the achievement of the driver was specified, but that even after reaching the Assistenzendposition not yet taken over control of the vehicle has.
[0013] It has been found to be advantageous if it is determined by the parking assist device, a distance, traveled by car to reach the Assistenzendposition. Consequently, the warning only be issued to the driver of the vehicle when the vehicle is the route length is reached or exceeded the Assistenzendposition completed has, and if the driver has taken over the leadership of the vehicle is still not at least until they reach the line length. At the end of Ausparkmanövers out of the slot and after the issue of reaching the Assistenzendposition to the driver expects the parking assistance device that the driver takes the lead of the vehicle.
[0014] fails, however, the driver taking over the leadership of the vehicle, she creates a dangerous situation, namely that the driver relies on the continuation of the vehicle through the parking assistance device. This results in an uncontrolled management of the vehicle, so that after crossing the line length S is a suitable measure is introduced that takes the driver to stop the vehicle, for example. Consequently, the warning to be a pilot park-stop warning is issued to the driver of the vehicle.
[0015] To detect whether the driver performs the transfer of control of the vehicle after the Assistenzendposition or fails are given several ways to detect this information and pass it on to the parking assistance device. Basically all the technical means are possible, they show that a recognition of the acquisition of control of the vehicle or the failure to guide the vehicle by the driver.
[0016] For example, a steering torque sensor device be provided, by which is by the parking assistance device taking over the leadership of the vehicle detected by the driver when the driver manually initiates a moment on a steering wheel in the steering system of the vehicle. Such a steering torque sensor device may already part be of a conventional EPS steering, a steering torque is measured by a steering torque sensor device to determine the direction and amount of steering assistance and accordingly by the power of support, such as through an Elektroaktuator provide.
[0017] Further, the possibility exists that a steering wheel sensor device is provided, by which the parking assist device, a manual operation of the steering wheel is detected. This so-called hands-on detection does not permit the recognition he hands of the driver on the steering wheel to provide information to the parking assistance device that surrounds the driver with the steering wheel or the hands already. A steering wheel sensor device can for example be embodied as a capacitive or inductive sensor device, with one electrode on the rim of the steering wheel is used, so that a change in capacitive coupling between the electrode and the vicinity of the electrode detected by enclosing the steering wheel rim with the hands from the steering wheel sensor device and the parking assistance device is reported.
[0018] After a competitive Embodiment of the present invention, the warning by the acoustic parking assistance device, such as via at least one speaker, optical, output, for example, via a display device and / or haptic means acting on the driver. Here, the display device in accordance with a display unit, such as these for park support facilities such as Park Distance Control System is used to notify the objects in the visual environment of the vehicle to the driver. For example, the display unit may be a display in the dashboard of the vehicle, or the display unit is designed as head-up display, to map the information in the windshield of the vehicle. If the warning about the touch-acting agent issued to the driver, for example, a vibration in the steering wheel in the driver's seat or in the pedals of the vehicle be taken so that the driver holds the note as a warning to take over the leadership of the vehicle immediately. In particular, it can be provided that the warning includes a stop-call, which is perceived by the driver as a signal of imminent danger.
[0019] can also be provided that the warning is reset by the parking assistance device entirely when the driver of the vehicle performs a defined action. The defined action can often take over the steering wheel, stopping the vehicle to a stop, pressing a button or the reverse gear cover. Further, the defined action concerning a combination of the above actions. For example, the driver can confirm by pressing a button, the assumption of the leadership of the vehicle to the parking assistance device, so that the parking assist device, the understanding of the driver is informed that this must now assume the leadership of the vehicle itself.
[0020] Of course, the warning will be issued not to the driver when it took over the steering wheel within the track length already.
[0021] According to a further advantageous embodiment, by the parking assistance device, an active steering intervention requested by the driver. This can be done in that is brought by the parking assist device is a torque to the steering, making the series Hands-On detection of the EPS system can be used. It can be provided that at the end of the Ausparkmanövers the driver is notified by the parking assistance device that the driver intended to take the wheel now. Further, the steering angle after the last active-controlled Ausparkrangiermanöver from the parking assistance device set so that the steering after the handover to the driver not to the neutral position is, but a different angle of the straight-ahead possesses. This can be a steering wheel angle of 180 [deg.]. For driving out of the slot, the driver must hold the steering wheel thus easy, so take over the steering. As the steering wheel angle is chosen such that the resulting Ausparkkurve path leads to parking space limitations, the vehicle can not be moved without collision from the parking space, when the steering wheel is operated by the driver.
[0022] After the driver has received the invitation to take over the steering, the active steering intervention by the parking assistance device is not disabled, but it becomes active requested a steering movement to the driver as the relaxation of the steering deactivation of the steering intervention appears what is expressed in a light turning the steering wheel [deg.] for example, 10 toward the neutral position, followed by ringing around a few degrees in either direction. This actually kinematically when rolling the vehicle self-associated movement of the steering wheel is thereby artificially introduced by the EPS system in the steering.
[0023] Does the driver then the steering wheel, holding the steering wheel of this note, for example, this will automatically lead to a counter-torque counter to the required active steering movement. The EPS system will detect this with an integrated hands-on Detection, which allows, for example, through the steering wheel sensor device is. Therefore terminated at recognition of the adoption of the steering wheel, the parking assistance device active steering intervention. In this case, the observed over the steering wheel is transmitted by the driver to the parking assistance device by means of a CAN-bus system. Once the parking assistance device has received the information, it will stop supporting the EPS steering, ie the driver can continue without there being a stop-warning by the parking assistance device. But preserves the parking assist device, this information is not up before reaching a maximum driving distance, so a stop warning.
[0024] The present invention is further directed to a parking assistance device to support leaving a parking space of a vehicle from a parking space, through which at least one Ausparkzug by engaging in a steering system of the vehicle, executed, and the parking assistance device to issue a warning to a driver of the vehicle is running and what is can be specified when the driver of the vehicle, the assumption of the leadership of the vehicle after leaving a parking space under the support of the leaves through the parking assistance device.
[0025] Further, improving the invention measures are shown in more detail below together with the description of a preferred embodiment of the invention using the figures. It shows
[0026] 1, a situation of leaving a parking space of a vehicle from a parking space, and performs at the top picture, the vehicle initially a first Ausparkzug and registered with the bottom picture line length after which a warning is issued to a driver of the vehicle,
[0027] 2 is a schematic view a steering wheel with a steering torque sensor device and a steering wheel sensor device and
[0028] 3, a steering angle-time diagram for a Ausparkmanöver a vehicle from a parking space.
[0029] 1 shows a steering-assisted Ausparkmanöver that with a novel method for leaving a parking position of vehicle 1 supported out of the slot 2 with a Parking assistance device is executable. Herein is shown a vehicle 1, which is parked between two objects 6 and 7, correspond to the objects 6 and 7 additional vehicles 6 and 7. The parking space 2 is a parallel parking spot from which to ausparken the vehicle 1. The upper part of picture shows the first vehicle 1 between the vehicles 6 and 7 in two positions, namely in a first position of running the vehicle 1 is a Ausparkzug 3, which corresponds to a Rückwärtszug the vehicle 1. In the lower part of picture, the vehicle 1 in the position shown repeatedly that corresponds to the diagram above, when the first Ausparkzuges third
[0030] The vehicle 1 is shown here along the Ausparkzuges 3 as far back to the parking assistance device communicates via a display unit 12 to the driver that he has to take now the steering system 5 of the vehicle 1, because he can run an easy extension in the forward direction from the parking space second
[0031] During the backward running Ausparkzuges 3, the steering 5 is actively controlled by the parking assist device, ie the steering angle [omega] of the wheels 24 of vehicle 1 is set so that the next subsequent Vorwärtszug 8 and 9, an extension of the parking space possible. After reaching the point 4, which shows the Assistenzendposition 4, the control of the vehicle 1 by the parking assistance device ended.
[0032] The driver will now engage the forward gear and starts from the parking space 2 auszufahren. If the driver while driving forward in the first section 8 of the forward turn the steering but not taken to obtain the shown path length S, ie, the driver has the steering wheel 5 of the vehicle 1 does not cover, so the driver is issued by the display unit 12, a warning. The output of the warning may for example be made of at least a loudspeaker 10 or a display device 11 to alert the driver with the brain, acoustically or visually communicate. Further, the tactile warning about acting means output to the driver to be initiated by, for example a vibration in the steering wheel 5 or the driver's seat of the vehicle 1 or example, in the pedals of the vehicle 1.
[0033] In particular, the display unit 12, which in the figure is only shown schematically, be the same device that is used as a parking aid, to tell the driver if there is an obstacle in the bumper of the vehicle 1 is located and how far away it is from this obstacle. As a result, the driver reacts with Ausparkvorgang intuitively with an immediate stop of the vehicle 1 for the case that he did not accept the steering 5 and is warned by Ausparkhilfesystem.
[0034] 2 shows the view a steering wheel 5 in a schematic representation. The steering wheel 5 has a steering torque sensor device 13, which is indicated schematically in the hub of the steering wheel 5th The steering torque sensor device 13 is used for measuring a steering torque 14, which can be initiated by the driver of the hands of the steering wheel 16 in 5th The steering torque sensor device 13 may be part of the EPS system, and is generally not in the steering wheel 5 is arranged, but in the steering gear between the steering wheel 5 and the articulated wheels 24 of vehicle 1
[0035] is also shown a steering wheel sensor device 15 which is arranged in the rim of the steering wheel 5th The steering wheel sensor device 15 may run as acting capacitive sensor device to be to detect the enclosing of the steering wheel 5 with the hands 16 of the driver. Such sensor systems have a capacitive or inductive, capacitive-acting when measured with sensor devices, the capacitive coupling between an electrode and the environment that is modified by enclosing the steering wheel rim of the steering wheel 5 with the hands 16th
[0036] When the driver takes over the steering 5 with his hands 16 and runs a light steering angle, formed a steering torque 14, which is detected by the steering sensor device 13. This recognizes the parking assistance device taking over the leadership of the vehicle 1 by the so detected steering intervention sent to the parking assistance device is.
[0037] 3 is a diagram showing the progress of the steering angle [omega] over time t. In the diagram, an embodiment of the invention is shown in which the parking assist device is an active steering intervention requested by the driver. First, the steering control is activated by the parking assistance device. Here, the steering intervention are identified by an active steering control of the 5 by the driver. The dashed line 17 represents the angular requirement [omega] is the parking assist device versus time t of the EPS system dar. The solid line 18 indicates the actual steering angle [omega]. After the last Rückwärtszug corresponding to the Ausparkzug 3 in 1 and in Period t0 to t1 occurs, the steering is maintained at a constant value. After the driver was informed that he has to take over the steering, a steering stop the procedure against the driver by an apparent relaxation of the steering system is simulated, this phase corresponds to the section 19, which represents the steering relaxation phase 19th
[0038] During this relaxation process The parking assistance device on the steering so the steering angle [omega] is reduced in the short term and then a decay of the oscillation of the steering wheel 5 occurs, it is the time from t1 to t2.
[0039] Moving now to the driver, the vehicle 1, a steering angle reducing the requested phase 20, what the driver will appear, as would be used for steering the vehicle motion relax on. It should be noted that in a slow motion of a vehicle, the steering without steering intervention to a neutral position tapers, which is the straight-line stability of a vehicle.
[0040] Now, the driver accesses during rolling at the time t4 to the steering wheel 5, so he will not help generate an opposing moment that is produced by the steering angle requirement 17, the EPS system even after the time t4 tried for a while yet, the to turn the steering means Elektroaktuators of the EPS system. As a result, thus creating a measurable torque on the steering linkage and additionally a rising angle difference between the requested steering wheel angle and the actual steering wheel angle, or a difference between the steering angle requirement 17 and the actual steering angle 18 to the point of the steering angle in the Anrollphase 21st This difference is expressed as a steering angle difference 22nd
[0041] This difference is determined by the EPS control internally and Hands-On Detection detected so that the driver can keep hands on the steering wheel 16 5, since otherwise the torque can not be launched in the steering. As a result, the connection of the activation of the steering by the EPS system is stopped, so that an assistant endpoint reached 23rd Consequently, as from now on no more steering requirements taken from the outside and the parking assistance device informed by the EPS system, the driver took over the steering. This is effectively avoided, that a warning is issued to the driver, even though it already operates the steering 5 with his hands 16th Furthermore, the advantage is achieved that this function for the driver is very transparent, that is, it does not need a steering movement to perform in order to recognize its acquisition of the vehicle 1 from the parking assistance device.
[0042] The invention is not limited in its embodiment to the above-described preferred embodiment. Rather, a number of variations are possible which of the described solution even for basically different configurations Exercised. All of the claims, the description or the drawings, the features and / or benefits, including design details, spatial arrangements and process steps may be essential to the invention both individually and in various combinations.
QUOTES INCLUDED IN THE DESCRIPTION
[0043] This list of references cited by the applicant was automatically generated and is intended solely to improve the reader's included. The list is not part of the German patent or utility model. The DPMA is not responsible for any errors or omissions.
cited patent literature
[0044]
- DE 102 007 029 773 A1 [0003]
- DE 102 004 055 584 A1 [0004]
method supported leaving a parking space of a vehicle from a parking space and apparatus therefor
Technical and scientific translations
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