METHOD FOR WARNING A DRIVER OF A VEHICLE OF THE PRESENCE OF AN OBJECT IN THE SURROUNDINGS, DRIVER ASSISTANCE SYSTEM AND MOTOR VEHICLE

Abstract

The invention relates to a method for warning a driver of a motor vehicle (1) about the presence of an object (12) in the surroundings (7) of the motor vehicle (1) by means of a driver assistance system (2), in which a position of the object (12) is determined by means of a sensor device (9), an anticipated driving tube (14) of the motor vehicle (1) is determined, a collision distance (DTC), which describes a distance between the motor vehicle (1) and the object (12) when the motor vehicle (1) moves within the determined driving tube (14), is determined on the basis of the determined position of the object (12) and the determined driving tube (14), a minimum distance (SD) between the motor vehicle (1) and the object (12) is determined, and a warning signal is output if the value of the minimum distance (SD) undershoots a predetermined limiting value, wherein the determined value of the minimum distance is adapted as a function of the determined collision distance (DTC).

Claims

1. A method for warning a driver of a motor vehicle about the presence of an object in the surroundings of the motor vehicle by a driver assistance system, the method comprising: determining a position of the object by a sensor device; determining an anticipated driving tube of the motor vehicle; determining a collision distance, which describes a distance between the motor vehicle and the object when the motor vehicle moves within the determined driving tube, on the basis of the determined position of the object and the determined driving tube; determining a value of a minimum distance between the motor vehicle and the object; and outputting a warning signal when the value of the minimum distance undershoots a predetermined limiting value, wherein the determined value of the minimum distance is adapted as a function of the determined collision distance.

2. The method according to claim 1, wherein the collision distance is determined as a function of time, and the determined value of the minimum distance is adapted when the collision distance (DTC) changes as a function of time.

3. The method according to claim 1, wherein the determined value of the minimum distance is reduced when the determined collision distance reduces as a function of time.

4. The method according to claim 3, wherein a correction value is determined on the basis of the reduction in the collision distance as a function of time, and the predetermined limiting value is reduced by the correction value.

5. The method according to claim 1, wherein the collision distance is determined continuously during a predetermined time period.

6. The method according to claim 5, wherein the predetermined time period during which the collision distance is continuously determined lies in an interval between 100 ms and 150 ms.

7. The method according to claim 1, wherein an visual signal is output as the warning signal if the limiting value is undershot.

8. The method according to claim 1, wherein an acoustic signal is output as the warning signal if the limiting value is undershot and a change in the collision distance is determined as a function of time.

9. The method according to claim 1, wherein a steering angle and/or a speed of the motor vehicle is determined and the anticipated driving tube is determined on the basis of the determined steering angle and/or the determined speed.

10. A driver assistance system for carrying out a method according to claim 1.

11. The driver assistance system according to claim 10, wherein the driver assistance system comprises a sensor device for determining a position of an object, wherein the sensor device has at least one ultrasonic sensor, at least one camera, at least one radar sensor and/or at least one laser sensor.

12. A motor vehicle having a driver assistance system according to claim 11.

Description

[0024] In the drawings:

[0025] FIG. 1 shows a schematic illustration of a motor vehicle according to an embodiment of the invention;

[0026] FIG. 2 shows a flowchart of a method according to an embodiment of the invention; and

[0027] FIGS. 3 to 6 show various scenarios with different arrangements of an object with respect to the motor vehicle, on the basis of which different embodiments of the method are explained.

[0028] FIG. 1 shows a motor vehicle according to an embodiment of the present invention. The motor vehicle 1 is embodied as a passenger car in the present exemplary embodiment. The motor vehicle 1 comprises a driver assistance system 2. The driver assistance system 2 in turn comprises a control device 3, which can be formed, for example, by a control unit of the motor vehicle 1. Furthermore, the driver assistance system 2 comprises a sensor device 9.

[0029] In the present exemplary embodiment, the sensor device 9 comprises eight distance sensors 4. In this context, four distance sensors 4 are arranged in a front region 5 of the motor vehicle 1, and four distance sensors 4 are arranged in a rear region 6 of the motor vehicle 1. The distance sensors 4 are designed, in particular, to detect an object 12 in the surroundings 7 of the motor vehicle 1. Moreover, the distance sensors 4 can, in particular, be configured to determine a distance from the object 12 in the surroundings 7 of the motor vehicle 1. The distance sensors 4 may be embodied, for example, as ultrasonic sensors, radar sensors, laser scanners, cameras or the like. Furthermore, there may also be provision for further distance sensors to be arranged, for example, on an outer side region of the motor vehicle 1.

[0030] The motor vehicle 1 also comprises an output device 8 which is arranged in a passenger compartment of the motor vehicle 1. The output device 8 can comprise, for example, a screen or a display with which a visual output can be made. Alternatively or additionally, the output device 8 can be designed to output an acoustic signal. For this purpose, the output device 8 can comprise, for example, a corresponding loudspeaker.

[0031] The control device 3 is connected to the distance sensors 4 for the transmission of data. Corresponding data lines are not illustrated here for the sake of clarity. The control device 3 is also connected to the output device 8 for the transmission of data. It is therefore possible to control, for example, a visual display on the output device 8 by means of the control device 3. Alternatively or additionally, the outputting of an acoustic signal can be controlled with the control device 3.

[0032] With the distance sensors 4, the object 12 can be detected in the surroundings 7 of the motor vehicle 1. In addition, the distance from the object 12 can be determined. For this purpose, for example, a signal can be emitted with at least one of the distance sensors 4, and the signal which is reflected by the object 12 can be received again. On the basis of the transit time of the signal, the distance from the object 12 can be determined by means of the control device 3. The control device 3 is also designed to calculate an anticipated driving tube 14 of the motor vehicle 1. For this purpose, the signals of a steering angle sensor and/or of a speed sensor of the motor vehicle 1 can be taken into account. On the basis of the current speed and/or the current steering angle, the anticipated driving tube 14 can be calculated. The external dimensions of the motor vehicle 1 can also be taken into account for this purpose and are stored, for example, in a memory unit of the control device 3.

[0033] If an object 12 is detected in the surroundings 7 of the motor vehicle 1, and the distance from the object 12 is determined, a value or a measured value can be determined for a minimum distance SD from the object 12. The minimum distance SD, which can also be referred to as shortest distance, represents the shortest distance from an external surface of the motor vehicle 1 to the object 12. Furthermore, a collision distance DTC, which can also be referred to as distance to collision, can be calculated. A value or measured value of the collision distance DTC can also be determined. The collision distance DTC describes the distance of the motor vehicle 1 from the object 12 during the movement of the motor vehicle 1 within the driving tube 14. In this way it is possible to determine, for example, which part of the motor vehicle 1 will collide, under certain circumstances, with the object 12 during the travel within the driving tube 14. As is explained in more detail below, the minimum distance SD and the collision distance DTC can differ.

[0034] FIG. 2 shows a flowchart according to an embodiment of a method according to the invention for warning a driver of the motor vehicle 1 about the presence of an object 12 in the surroundings 7 of the motor vehicle 1. In a first step S1, the method is started. The method can be started, for example, during the starting of the motor vehicle 1 or during the activation of an ignition of the motor vehicle 1. With the distance sensors 4 it is checked whether an object 12 is located in the surroundings 7 of the motor vehicle 1. In addition, a limiting value of the minimum distance SD between the motor vehicle 1 and the object 12 is defined. If the value of the minimum distance SD undershoots the predetermined limiting value, a warning signal is output to the driver of the motor vehicle 1. This warning signal can be issued acoustically and/or visually via the output device 8. The predetermined limiting value of the minimum distance SD can be established in the step S1. The limiting value SD can, however, also be stored in a memory unit of the control device 3. The limiting value SD can lie, for example, in a range between 200 mm and 250 mm.

[0035] In a further step S2, the collision distance DTC between the motor vehicle 1 and the object 12 is determined. The collision distance DTC describes, in particular, the distance between the object 12 and the region of the motor vehicle 1 with which a collision will take place during the travel of the motor vehicle 1 in the driving tube 14. The collision distance DTC is detected, in particular, continuously or at predetermined times. Furthermore, it is advantageous if the collision distance DTC is determined in a predetermined time interval, continuously or at predetermined times. This time interval may be, for example, 100 ms or 150 ms.

[0036] In a further step S3 it is checked whether the collision distance DTC has changed in the predetermined time interval as a function of time. In particular, in the step S3 it is checked whether the collision distance DTC has reduced. If the collision distance DTC has not changed, the method is continued in a step S4. If the collision distance DTC has not changed as a function of time, no collision is predicted between the motor vehicle 1 and the object. In this case, the value of the minimum distance SD is not changed. In the event of the collision distance DTC having reduced as a function of time, the method is continued in the step S5. In this case, the value of the minimum distance SD is changed. In particular, the value of the minimum distance SD is reduced. In particular, the value of the minimum distance SD is reduced by a predetermined correction value a which can be determined as a function of the change in the collision distance DTC.

[0037] This may occur, for example, by virtue of the fact that the collision distance DTC is determined at at least two times within the time interval. For example, a measured value of the collision distance DTC1 arises at a time t1. At a second time t2, the value DTC2 arises for the measurement of the collision distance. The change in the collision distance ΔDTC can therefore be calculated according to the following formula:

ΔDTC=DTC2−DTC1.

[0038] The adapted value W.sub.new of the minimum distance SD can be calculated according to the following formula:

W.sub.new=W.sub.current−a.

[0039] In this context, W.sub.current corresponds to a current or predetermined value of the minimum distance SD. The correction value a can be determined as follows:

a=ΔDTC/Δt*k.

[0040] Here, Δt corresponds to the time difference between the times t1 and t2. The factor k can be stored, for example, as a predetermined value in the memory unit of the control device 3. In this context, the factor k can be predetermined in such a way that the correction value a changes in proportion to or in indirect proportion to the change in the collision distance DTC as a function of time (ΔDTC/Δt).

[0041] FIG. 3 shows a first scenario for the clarification of the method according to the invention. Here, the motor vehicle 1 is illustrated in a plan view. The arrow 10 clarifies the direction of travel of the motor vehicle 1. In addition, in this illustration the detection ranges 11 of the distance sensors 4 are illustrated. The detection ranges 11 show schematically those regions which can be monitored with the respective distance sensors 4. A wall is located as an object 12 in the surroundings 7 of the motor vehicle 1. The object 12 or the wall runs parallel to the anticipated driving tube 14 of the motor vehicle 1 in this case. The anticipated driving tube 14 is bounded here by the two lines 13. In this case, the collision distance DTC=0. The collision distance DTC does not change in the course of time, since the motor vehicle 1 is moved parallel to the object 12. In this case, the value of the minimum distance SD is not adapted.

[0042] In the example according to FIG. 3, a visual signal can be output by means of the output device 8 in the event of the limiting value being undershot. In the same way there can be provision that the current limiting value is output visually. Alternatively or additionally, an acoustic warning can be output in the event of the limiting value of the value of the minimum distance SD being undershot. In this context there may be provision, in particular, that an acoustic warning is not output in the event of the current value of the minimum distance SD approximating to the limiting value. According to the prior art, for example, a periodic signal is output here whose frequency is increased as the distance reduces. In this way, the driver is not disturbed by the acoustic warning signal in the event of said driver being located near to the object 12 and there being no risk of collision.

[0043] FIG. 4 shows a further scenario in which the object 12 is located directly in front of the motor vehicle 1. In this case, the object 12 is located inside the anticipated driving tube 14 of the motor vehicle 1. In this case, the minimum distance SD corresponds to the collision distance DTC. In this context, the collision distance DTC reduces as a function of time. Therefore, the value of the minimum distance SD can, as described above, be correspondingly adapted and, in particular, reduced. In this case, a visual warning signal can be output in the event of the value of the minimum distance SD undershooting the limiting value. Alternatively or additionally, an acoustic warning signal can be output in the event of the limiting value being undershot.

[0044] FIG. 5 shows a further exemplary embodiment in which the object 12 is located inside the anticipated driving tube 14 of the motor vehicle 1. The motor vehicle 1 is driving through a bend in the present case. In this case, the minimum distance SD and the collision distance DTC are different. If the motor vehicle 1 is moved inside the predetermined driving tube 14, the motor vehicle 1 will collide, with its front right-hand wheel case, with the object 12. The minimum distance SD, which corresponds in the example shown to the distance between the right-hand headlight and the object 12, is less than the collision distance DTC.

[0045] In comparison to this, FIG. 6 shows a scenario in which the object is also located inside the anticipated driving tube 14 of the motor vehicle 1. The motor vehicle 1 is also cornering, wherein the radius of the bend is larger compared to the example according to FIG. 5. This results in a situation in which the motor vehicle 1 would collide with its right-hand side region with the object 12 during the movement within the driving tube 14. The minimum distance SD also corresponds here to the right-hand headlight and to the object 12.

[0046] In the example according to FIG. 5, the change in the collision distance DTC as a function of time is greater compared to the example according to FIG. 6, given a respective identical vehicle speed. The value of the minimum distance SD can be reduced in the example according to FIG. 5 by a smaller correction value than in the example according to FIG. 6. The driver can therefore be warned promptly about the object. The warning can be issued visually and/or acoustically when the adapted value of the minimum distance SD is undershot. In this way, a collision between the motor vehicle 1 and the object 12 can be prevented.