Method and device for controlling the speed of a vehicle, during manoeuvring and/or parking

STATE OF THE ART

0001The present invention describes an apparatus and a method for controlling the speed of a vehicle during maneuvering / parking of the vehicle, especially for motor vehicles, such as passenger cars with the manual Maneuvering / parking.

0002Parking aids in the form of distance warning with audible and visual Warning device are known and are already used in today's cars. there is it a rule to systems which ultrasonic sensors in the Heckund / or Front bumper of cars the distance to an object in a predetermined measure coverage. This parking assist system displays, for example, a Optical bar display or an audible sound signal the distance to the object in Detection area in a coded form.

0003From US Patent US 6,006,144 of Takahashi et al. is also a Driving force control device for moving a vehicle to a small desired distance for parking the vehicle is known, said vehicle having a Throttle actuator is provided and comprises the driving force control device: Input means for inputting a command to enter a Automatic mode of the vehicle from a non-automated driverless operated Mode in order to move the vehicle a small desired distance, wherein the command the movement provides the entry to the automatic mode when the Movement command is input after the vehicle in the non-automatic mode, is completely stopped; a throttle valve control means for inputting a throttle opening angle to the throttle actuator; a Detection means for detecting a straight moving distance of the vehicle; a Hindemis-detecting means for detecting a distance between the Vehicle and an obstacle, which occurs near the vehicle; a Comparing means for comparing the detection signal of the detection means Hindemis and the small desired distance; a moving distance changing means To zoom the small desired distance to a predetermined size when the comparator means determines that the obstacle lies within the small desired distance; and a braking force generating means to stop the vehicle when the current distance moved equal to the small desired distance in a first case, in which no Obstacle within the small desired range, and to stop the Vehicle when the straight moving distance equal to the small moving distance reduced to the predetermined size in a second case, in which a Obstacle within the small desired distance is.

0004According to the US-patent specification, a system thus is described comprising a automated approach to an object when parking largely without allows the driver to exert influence possibilities.

ADVANTAGES OF THE INVENTION

0005The inventive device for regulating the speed of a vehicle during maneuvering / parking of the vehicle with the features of claim 1 and the corresponding method for controlling the speed of a vehicle during Maneuvering / parking of the vehicle with the features of claim 6, compared to the known approach has the advantage that the braking controlled when entering / leaving a parking space or maneuvering through a speed controller , once an object is identified in the detection range of a detection device becomes. Command variables, both the accelerator pedal position and the currently measured distance to the nearest object or obstacle in the direction of movement of the vehicle. The vehicle is advantageously automatically, safely and comfortably, ie gently, in a predetermined small safety distance of detected objects stopped.

0006In addition, the driver at all times retain control of the vehicle, ie, the Select largely free driving speed, fine dosing and the vehicle at any time stop immediatly. In addition, the driver is advantageously conveys the feeling that Responsibility for the maneuvers being the holder and not the system, despite automatic function to be delivered without exercising influence possibility. The driver is also responsible for maneuvering safety alone. essence Feature is that the vehicle is moving only when the driver releases the Accelerator pedal actuated. If he takes his foot off the pedal and it leaves a corresponding Actuating device in the zero position, the vehicle stops. Finally, a driver the presence of detected objects regardless of any existing ads (acoustic or visual) of the parking aid advantageously noticeably conveys.

0007The idea of ​​the present invention is based consists essentially in that the driving speed when entering / leaving a parking space and maneuvering automatically a Obstacle situation and the driver's wish adapts. The driver can at the function activate demand and between a defined speed range For example, 0 and 10 km / h or each direction. The purpose of this Einparkbremsfunktion or "Park Stop" is the driver's job easier by largely automatic speed and thus distance control and secure Deceleration of the vehicle prior to the detected objects. A purely indicative warning system is extended to an engaging comfort system.

0008In other words, a device for regulating the speed of a Vehicle when maneuvering / parking of the vehicle provided with: A Detecting means for detecting objects in the surroundings of the vehicle and Detecting the distance to a nearest in the direction of movement of the vehicle Object; a regulating device for regulating the speed of the vehicle in Depending on the position of an actuation device and on the distance to the in Direction of movement of the vehicle nearest object according to a predetermined Speed ​​/ distance relation; and a control means for automatically Controlling a braking device and a drive device of the vehicle in Response to a corresponding output of the control device.

0009The subclaims contain advantageous developments and improvements the apparatus defined in Claim 1 and specified in claim 6 Method for controlling the speed of a vehicle during Maneuvering / parking the vehicle.

0010According to a preferred development, the detection device Ultrasonic sensors and / or radar sensors and / or lidar sensors to which preferably are provided at the vehicle front and / or rear of the vehicle. This has the advantage of an environment detection with sensors known before in the region and behind the vehicle.

0011According to a further preferred embodiment, a turn-on device is to Activation / deactivation of the control device is provided which manually and / or semi-automatic with manual insertion of a reverse gear of the drive means is activated. The Einparkbremsfunktion thus be easily enable and disable.

0012According to a further preferred development, an actuating means Accelerator pedal or an accelerator, preferably in each case with position angle detection, on. This is the advantage established, with the existing case in the vehicle accelerator pedal simultaneously to enter the preset speed when maneuvering.

0013According to a further preferred embodiment, a display device is to visual and / or acoustic indication of the distance to the moving direction of the Vehicle nearest object provided. Thus the driver is in addition to noticeable deceleration of the vehicle when approaching an obstacle or an object the distance communicated in a coded form.

0014According to a further preferred development, a change of position, preferably the angle of the actuator, the target speed of the Vehicle, preferably in the range between 0 and 10 km / h, after activation of the Regulating device during maneuvering up to a second predetermined distance from the in the movement direction the next object, wherein the second predetermined distance is greater or equal to the first predetermined distance. This has the advantage of a simple Setpoint speed selection with activated Einpark- or Rangierbremsfunktion.

0015According to a further preferred embodiment reduces a change of position, preferably the angle of the actuator away from a zero position to Activation of the regulating device and after reaching a second predetermined Distance under automatic stopping of the vehicle the distance between the Vehicle and the next in the direction of the object to the first predetermined distance, whereby the actual distance between the first and second predetermined distance thereupon preferably dependent on the position of the Actuating means. In this way, advantageously, the distance to nearest obstacle to be adjusted in the direction of travel.

0016According to a further preferred embodiment keeps the vehicle after activation the control device at a zero position of the actuator at which a manual braking intervention is permitted at any time via a brake pedal and compensated preferably Gradients in their effect on the vehicle will. The driver operates to control vehicle speed during Parking maneuver thus advantageously only the accelerator pedal or accelerator pedal, the Operation of the brake pedal is not required, but at any time. Of the Speed ​​controller intervenes both in the engine management system as well as in the Brake control and compensates for the effects of slopes or inclines. Nevertheless, the driver in emergency situations may at any time depress the brake pedal, and thus clocking the vehicle immediately.

0017According to a further preferred embodiment is the control device according to the Activation stored characteristic curves for the generation of current Set speed in dependence on the position of the actuating device and of the distance a to the closest in the direction of object. To this Way is simply a target speed and thus indirectly a delay in Approaching an object or an obstacle provided.

DRAWINGS

0018Embodiments of the invention are illustrated in the drawings and in the following description explained.

0019Show it:<dl tsize="6"><dt>Fig. 1</dt><dd>a schematic plan view of a car having a speed control device for Illustrating an embodiment of the present invention;</dd><dt>FIG. 2</dt><dd>a schematic diagram of a characteristic diagram for explaining a variant Embodiment of the present invention;</dd><dt>Fig. 3</dt><dd>a schematic diagram of a further variant of characteristic curves for explaining a Embodiment of the present invention;</dd><dt>Fig. 4</dt><dd>a schematic diagram of a further variant of characteristic curves for explaining a Embodiment of the present invention;</dd><dt>Fig. 5</dt><dd>a schematic block diagram for explaining an embodiment of the present Erfmdung;</dd><dt>Fig. 6</dt><dd>a schematic block diagram for explaining another embodiment of the present invention;</dd><dt>Fig. 7</dt><dd>a schematic block diagram for explaining another embodiment of the present invention; and</dd><dt>Fig. 8</dt><dd>a schematic state diagram for explaining the operation of a Embodiment of the present invention.</dd></dl>

0020In the figures, like reference numerals designate identical or functionally identical Components.

0021In Fig. 1 is a schematic plan view of a motor vehicle 10 is illustrated. The Vehicle 10 is at the rear and also preferably at the front with distance sensors 11 is provided for detecting objects and obstacles around the vehicle tenth The distance sensors 11 are, for example, ultrasonic sensors, radar sensors and / or lidar sensors and form a detection device. The signals of the Distance sensors 11 are supplied to a processing device 12, in which the Distance d from a nearest object, especially in the direction of Vehicle, is determined. Preferably, this distance d is a Display device 13, which is coupled to the processing means 12, in coded form visually and / or audibly, ie for example by a bar display or a sequence of notes appears. The in the processing means 12 using the Distance sensors 11 distance obtained d the closest object, preferably in the direction of movement of the vehicle 10, a control device 14 is supplied. The Regulating device 14 is provided with a brake means 15 and drive means 16 coupled the vehicle. The drive means 16 preferably has a Internal combustion engine-transmission unit, the transmission or the Power transmission (not shown) is preferably a variable torque transmission between the internal combustion engine (also not shown) and the / the Drive axles allowed. An electric motor as the driving means 16 is also being considered.

0022A energizing means 17, the regulating device 14 with which it is coupled is manual and / or semi-automatically, for example when inserting a Reverse gear of the vehicle 10 can be activated. The control device 14 can about the Energizing means 17, preferably also be deactivated manually. The Regulating device 14 is provided with an actuator 18, preferably with the vehicle or accelerator pedal of the vehicle 10 is coupled, which has a preferably digital encoder for ID of an angle φ, starting from the zero position of the Actuator 18. The speed control device 14 may preferably be integrated in the processor 12th Alternatively, it is also localization in ECUs of the braking device 15 or the drive device 16, for example, engine / transmission management, or another control device conceivable. In addition to the position of the actuator 18 is of the Control device 14 preferably also the position of the brake pedal detected as a manual braking intervention should be ensured at all times by a driver. In the Control device 14 will also preferably signals from Radimpulsgebern (Not shown) for determining the velocity and the path of the driven Vehicle 10 evaluated.

0023Regarding the basic operation of the system will now be some exemplary implementations explained. about After activating the control device 14 the energizing means 17 releasing the actuator, preferably of the accelerator pedal, ie zero position φ = 0 °, a reference speed of 0 km / h. A full Passage, ie angle φ = φ_max, represents a nominal velocity v = v_max of preferably 10 km / h when in the detection area of ​​the detection device 11 does not Object or obstacle is identified. The parameter is v_max depending on the desired characteristics of the deceleration and the capability of the Environment detection system, as the reach, latency, security detection, etc. set in advance. The simultaneous dependence of the nominal velocity v of the Accelerator pedal position φ and occur to the distance d to the detection range Obstacle or object can be used as characteristic curves shown in FIG. 2, 3 and 4 represent. Basically, different interpretations of a family of characteristics are also conceivable that a cause different control behavior of the system. Apart from the three below Section design examples shown are any other layout options imagine that, for example, by variation of the characteristic form of a straight or in accordance with the combination of characteristics described below may be generated FIGS. 2 to 4. In this example, in the examples shown in FIG. 2 and Fig. 3, the slope of the line can be varied.

0024The characteristic curves represent only the static function of the desired speed of the input variables, ie, φ the angle of the operating means for v Zero position and the distance d to a detected nearest object again. The dynamic transitional behavior, in particular acceleration and remote braking processes with abrupt transitions between widely separated Points in the performance curve which and for comfort, safety Stability aspects of the overall system are relevant, are hereinafter not illuminated.

0025The characteristic curves illustrated examples with reference to FIGS. 2, 3 and 4 characterized by the following common characteristics: In the case of an environment around the vehicle 10 without obstacle or object in the detection region, the target speed v away by changing the position of the actuator 18 from the neutral position, ie for example by pressing on the accelerator pedal, continuously from zero to v_max be increased. By changing the position of the actuator 18 in Direction of the zero position, ie for example by releasing the drive pedal, can the target speed will be reduced accordingly v again. The obstacle-free case is by the absence of detectable objects within the detection range of the sensor in having a maximum range d = D_MAX. When approaching a next-lying in the direction of movement of the vehicle obstacle is the Velocity v continuously up to 0 km / h through the control device 14 in Connection with the drive device 16 and the braking device 15 turned down. The vehicle 10 stops at a predetermined distance d_min, ie in safe distance from the obstacle or object to. A collision is in all Positions of the actuator 18 prevents the overall control system.

0026By varying the position of the actuator 18, for example, the Accelerator pedal angle φ, the driver has the possibility of approaching operation in to the Direction of movement of the vehicle to affect 10 closest object. A Changing the position of the actuator 18 toward the neutral position, ie, a withdrawal of the accelerator pedal after the vehicle, for example through the Control means 14 is stopped, does not cause removal of the Vehicle 10 from the obstacle, and therefore no reversal. The vehicle remains in such cases are.

0027With reference to FIG. 2 is an example of a characteristic shown in which according to Activation of the control device 14, the maximum speed at v_max maximum accelerator pedal angle is achieved φ_max. The driver, by the Accelerator pedal position, both the target speed v as well as the retention distance, ie the distance d to the nearest in the direction of movement of the vehicle barrier, wherein which the vehicle 10 comes to a stop, control continuously. After the Vehicle 10 at a predetermined distance d_1-d_4 to the closest obstacle has come to a standstill, it may by increased pressure, ie, a larger angle for zeroing, are placed on the accelerator pedal to move again to get closer to the : approaching closest object, but using a further predetermined distance d_min the closest object can not be undershot.

0028The exemplary characteristic curves according to FIG. 3 differs from the related to FIG. 2 described characteristics field in the fact that the maximum speed v_max already at a certain accelerator pedal angle φ_1 that between φ = 0 and φ = φ_max is located, is achieved. A stronger depression of the accelerator pedal causes at a barrier-free environment in the direction of movement of the vehicle 10 no more Increase in the setpoint speed v. In an approach to a direction of movement the vehicle 10 next-lying obstacle or object and below the contrast, distance d_4 causes a change in the accelerator pedal angle φ in the range between φ_1 and φ_max a continuous variation of the speed. Of the Driver can by the accelerator pedal position, both the velocity v and the Holding distance, ie the distance d in the direction of movement of the vehicle 10 closest obstacle, in which the vehicle comes to a halt to continuously control. After the vehicle at a predetermined distance d _1-d_4 to a standstill has come, it can by increasing the pressure on the accelerator pedal to move again be set, to enable closer to the obstacle with a predetermined D_min minimum distance between the vehicle 10 and the direction of movement the closest object is maintained.

0029As another example 4 is shown in Fig. Is a characteristic diagram shown, with which the maximum target speed v_max reached φ_max at the maximum accelerator pedal angle becomes. The holding distance, ie the distance d to the closest object in Direction of movement of the vehicle 10, in which the vehicle comes to a standstill, can in this variant not continuously controlled by the accelerator pedal position will. The vehicle remains basically at the set safety distance d_min the closest object are in direction of the vehicle 10, regardless of the accelerator pedal position. By changing the accelerator pedal position, the Drivers, however, the velocity or acceleration profile to reach the d_min affect predetermined safety distance. The driver can, however, the Approximation process in which the speed v in principle automatic is reduced, d_min before reaching the predetermined minimum distance interrupt, by the completely releases the accelerator pedal, ie zero position of the accelerator pedal, whereby the vehicle stops immediately.

0030In Fig. 5 is a schematic block diagram is shown in which the Detection device 11 or the environmental sensor system of the vehicle 10 to the Processing means 12 for situation assessment, preferably a distance list passes. In the distance list, the distances of the vehicle to objects in the surroundings detected. The processing device identified from the moving direction of the Vehicle closest object or obstacle and gives its distance d to the Control device 14 further. The vehicle 10 has in addition to the environment sensor 11 additionally vehicle sensor means 19, such as wheel speed sensors, their Results of both the processing device 12 for situation assessment as well as the Control device 14 to go. With the aid of a characteristics field 20, from the distance d the closest object in the direction of movement of the vehicle a mediates target speed and supplied to a speed regulator 21st Of the Speed ​​controller 21 determines from the target speed v, where appropriate in Dependence on information from the vehicle sensors 19 an acceleration value a. It is used in an LOC means 22 a control signal for the drive means 16 and / or the braking device 15 is derived which the vehicle 10 directly accelerating or decelerating. The LOC device 22 is a longitudinal control (Longitudinal control) of the vehicle, in which a co-ordination or Allocation of tasks for the drive and braking means 15, 16 as a function of the acceleration a takes place.

0031With reference to Fig. 6 is a variant of an architecture of the Speed ​​control device for maneuvering according to one embodiment of the present invention. are over a driveline CAN bus 26 Vehicle sensors 19, such as an ESP sensor, to the braking device 15 which is activated via a brake pedal 23 coupled. Also on this Powertrain CAN bus 26 is driving means 16, activated via the accelerator pedal 18, and a transmission unit 24, controlled by a lever 25, coupled with the Transmission unit 24 preferably comprises an automatic transmission. Via a gateway 28 the drivetrain CAN 26 coupled to an interior CAN 27th The interior CAN-Bus 27 connects the detection device 11, which corresponding sensor means, such as ultrasonic sensors which, with the gateway 28. The drive train CAN bus 26 is also directly connected to the output of a, that is a Predefined acceleration, the control device 14 is coupled. A display device 13, ie, a loudspeaker and / or a display to display distance, and turn- or defeat devices 17 and 17 'are preferably also with the interior CAN bus 27.. An energizing means 17 is used to Activation / deactivation of the cruise control system, wherein the operating unit 17 'preferably a pure ParkPilot function, ie a pure distance warning, activated or deactivated.

0032The completed by the control device 14 in FIG. 6 steps 1 to 5 in by the numbers 1 to 5 each in a circle 6 in Fig. below additionally shown. In the object detection 1 follows a situation assessment 2, in which the Distance d to the closest in the direction of movement of the vehicle obstacle is identified. In step 3, there is a setpoint, for example, by way of Characteristics field v in the form of a target speed that in a controller in step 4 a predefined acceleration a is converted. The acceleration specification is a then passed in step 5 directly to the drive or braking device 15, 16, around the vehicle 10 to decelerate or accelerate accordingly.

0033Another variation of the system architecture is illustrated with reference to Fig. 7. they differs in the fact that by the explained with reference to Fig. 6 Description actual control device 14 located directly in the area of ​​the braking device 15 is, and only a connection to the interior CAN bus 27 is through the gateway 28th done the above steps 1 and 2 In this case, in the course of the environment detection with the detection device 11, wherein the Steps 3, 4 and 5 at another point, namely attached to the braking device 15 in the Control device 14, done.

0034With reference to Fig. 8 is a schematic state diagram illustrating the Operation of one embodiment of the present invention. With Numeral 30 denotes the active cruise control system. The passive System is denoted by reference numeral 31st If the system is active 30, as are the Stop 32, free driving 33, 34 reduced dynamics and comfortable destination brakes 35 distinguished as states. If the vehicle is at a standstill 32, so can the Speed ​​control system by the driver to activate 36 when it is not active is, on or off 37, when the system is already in the activated state 30th Is this Control system active 30 and the vehicle at a standstill 32, then a transition to the free driving 33 or the speed-controlled or regulated distance goal brakes 35 done.

0035If the vehicle is at a standstill with activated 32 system 30, and passes a predetermined time, as a stoppage-protection state 38 is activated. These Arrest hedging 38 is a temporary state of automatic initiation of Measures to prevent standstill of the vehicle over a longer period. Preferably, this stop-security state 38 is at an activation automatic parking brake is also turned on. Once the vehicle is safe, ie in a vehicle with automatic transmission, for example, the selector lever position P is inserted, the device automatically transition into the passivated state system 31st If the initiation of appropriate action is unsuccessful, there is a Warning 39. The alert 39 may then, for example, by the driver be deactivated in order to enter the passive state system 31st The Warning 39 serves as an acoustic and / or visual information to the driver, to take appropriate precautionary measures.

0036If the speed control system 30 activates, it is a state with reduced Dynamics 34 turned on when due with limited environmental detection jumping reflexes or small radar cross-sections objects or obstacles are poorly detected, or the steering angle speed is high and therefore a driving path allocation, ie an accurate moving direction assignment of the vehicle is difficult. In addition, this state 34 is unclear Object moving direction are activated, which in general in this state 34 the Maneuvering speed is reduced. It is also possible, For example, to increase the brake standby in the state 34 or the Safe distance from a lying in the direction of movement of the vehicle obstacle enlarge. If an exceptional situation in any of the states with activated Control system 30, so a failure mode 40 is activated. is in failure mode 40 safe stopping ensured when the vehicle is not yet available. If the Vehicle 40 is already in this mode, it is using the service brake in the state held, in which case a malfunction is. If the exceptional situation over, so a switch is in the stationary mode 32 with activated Control system 30. When the vehicle is stationary, occurs after deactivation of the control system according to the preceding failure mode 40 of the passivated state 31 of the control system on. If failure mode 40 contrast, the ignition is switched off or passes a predetermined time, the system goes into the stop-mode hedge 38th

0037An activation or deactivation of the control system 36 by the driver is preferably only possible at the same time the brake pedal pressed and pressed Energizing and non-activated actuator, ie, for example, not niedergetretenem accelerator pedal. Preferably the energizing means has a "Toggle" function and the state, ie, active or passive, is an indication notified. The insertion of the driving position P in an automatic transmission vehicle also disabled the system. An exceptional situation, as of the activation Failure mode 40 must be present, for example, is a system malfunction or a Switching off the ignition or a handbrake or moving Object in the detection region of the detection device or an excessive demand of System. For a safe standing of the vehicle gearbox in position P must be to safe to prevent rolling on the vehicle. Setting the parking brake alone is sufficient may not be sufficient to guarantee a safe stand of the vehicle.

0038Although the present Erfmdung above using preferred embodiments has been described, it is not limited, but in many ways modifiable. Thus, the regulatory procedure or the described Control apparatus confined not only to the use in passenger cars, but may at various vehicles such as trucks, buses, be used forklifts or the like. In addition, the arrangement of the by way of example to see the individual components according to FIG. 1, since in particular the Processing means 12, the control device 14, the display device 13, the Braking means 15, the drive means 16, the energizing means 17 and the Actuator 18 may occur in a different configuration. especially the Actuator 18 is for example, unlike in the form of an accelerator pedal or gas pedal, Artwork, for example, as of manually operated slide, preferably with restoring force. Moreover, the characteristic curves of Figs. 2 to 4 imagine also by characteristic curves with nonlinear running characteristics, a gently engaging comfort system for maneuvering / parking or leaving a parking space provide, so that the subjective driving experience starting up against a growing Resistance (rubber band effect), when approaching an obstacle corresponds.