DEVICE AND METHOD FOR SUPPORTING A DRIVER OF A MOTOR VEHICLE DURING A DRIVING MANEUVER

• US 20120089294A1
• Filed: 09/28/2011
• Published: 04/12/2012
• Est. Priority Date: 10/06/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: FEHSE, Meike, SCHNEIDER, Marcus, STAACK, Jochen
• Granted Patent: US 9,269,270 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: B60K 2360/175 Autonomous driving
• CPC Class Codes: B60K 2370/175 Autonomous driving
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method and device for supporting a driver of a motor vehicle during a driving maneuver during which longitudinal guidance and/or lateral guidance is/are performed in an automated manner. A trajectory for performing the driving maneuver being determined and the vehicle being guided with automatic control along the trajectory, while the surroundings of the vehicle is being monitored during the driving maneuver. If the driver intervenes in the steering while lateral guidance is being performed or if the driver operates the accelerator while longitudinal guidance is being performed or if the driver intervenes in the steering or operates the accelerator while longitudinal guidance and lateral guidance are being performed, the control of the vehicle is returned to the driver. In the case of an imminent endangerment to the surroundings, control is not transferred to the driver.

Claims

1. A method for supporting a driver of a motor vehicle during a driving maneuver, during which at least one of longitudinal guidance and lateral guidance is performed in an automated manner, the method comprising:

determining at least one trajectory for performing the driving maneuver;

guiding the vehicle via automatic control along the at least one trajectory;

monitoring the surroundings of the vehicle during the driving maneuver; and

when the driver intervenes in the steering while the lateral guidance is being performed in an automated manner or when the driver operates the accelerator while longitudinal guidance is being performed in an automated manner or when the driver intervenes in the steering or when the driver operates the accelerator when longitudinal guidance and lateral guidance are being performed in an automated manner, returning control of the vehicle to the driver when a driving path resulting from operation of the steering wheel or the accelerator does not result in an endangerment to the surroundings of the vehicle and control is not transferred to the driver in the case of an imminent endangerment to the surroundings.

2. The method of claim 1, wherein for every route segment, angle ranges for steering are predefined at the start of the driving maneuver within which continuing travel without endangerment to the surroundings is possible.

3. The method of claim 1, wherein a first control unit is used for determining the at least one trajectory for the driving maneuver and for determining the angle ranges, and wherein a second control unit is used to check whether it is possible to transfer control to the driver without endangerment to the surroundings.

4. The method of claim 3, wherein in the case of an error in the first control unit, the angle ranges determined by the first control unit are not used to check whether it is possible to transfer control to the driver without endangerment to the surroundings.

5. The method of claim 1, wherein the angle of rotation of the vehicle relative to the angle of the vehicle at the start of the driving maneuver is determined using a yaw rate sensor, and wherein a check is performed based on the angle of rotation as to whether it is possible to transfer control to the driver without endangerment to the surroundings.

6. The method of claim 1, wherein a trajectory, which is set during control transfer, is determined using steering angle information from the second control unit.

7. The method of claim 1, wherein in the case of operation of the accelerator by the driver, the maximum torque is limited during the transfer of control to the driver to prevent abrupt acceleration.

8. A device for supporting a driver of a motor vehicle during a driving maneuver, during which at least one of longitudinal guidance and lateral guidance is performed in an automated manner, comprising:

a calculating arrangement for calculating the at least one trajectory for performing the driving maneuver and for automatically controlling the vehicle along the at least one trajectory;

a monitoring arrangement for monitoring the surroundings of the vehicle during the driving maneuver; and

a checking arrangement for checking whether a driving path resulting from operation of the steering wheel or the accelerator results in an endangerment to the vehicle surroundings, so as to return control of the vehicle to the driver if a driving path resulting from the operating of the steering wheel or the accelerator does not result in an endangerment to the surroundings of the vehicle and so as to not return control to the driver in the event of an imminent endangerment to the surroundings.

9. The device of claim 8, wherein the calculating arrangement for calculating necessary trajectories includes a first control unit, and the checking arrangement for checking whether it is possible to transfer control to the driver without endangerment to the surroundings includes a second control unit.

10. The device of claim 9, wherein the second control unit is a control unit of an electronic stability program.