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

STATE OF THE ART

p0001The present invention describes an apparatus and a method for controlling the speed of a vehicle during maneuvering / parking of the vehicle, in particular for motor vehicles, such as passenger cars during manual maneuvering / parking.

p0002Parking aids in the form of distance warning with audible and visual warning device are known and are already used in today's cars. This is usually to systems which measure the distance to an object in a predetermined detection range with ultrasonic sensors in the Heckund / or front bumper of the cars. This parking assist system displays, for example, an optical bar indicator or an audible sound signal from the distance to the object in the detection area in a coded form.

p0003From the <patcit id="pcit0001" dnum="US6006144A"><text>US Patent US 6,006,144</text></patcit> 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, wherein the vehicle is provided with a throttle actuator and the driving force control apparatus comprising: input means for inputting a command for entry into an automatic mode of the vehicle from a non-automated driverless driven mode to the vehicle to move the small desired distance, the command to move the entrance provides to automatic mode when the motion command is entered after the vehicle is stopped completely in the non-automatic mode; 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; an obstacle detecting means for detecting a distance between the vehicle and an obstacle, which occurs near the vehicle; a comparison means for comparing the detection signal of the obstacle detection device and a small desired distance; a moving distance changing means for reducing the small desired distance by a predetermined amount when the comparison means determines that the obstacle is within the small desired distance; and a braking force generating means to stop the vehicle when the currently moving distance of the small desired distance in a first case is the same, in which no obstacle is within the small desired range, and to stop the vehicle, when the straight moving distance equal to the small moving distance is reduced by the predetermined amount in a second case in which an obstacle is within the small desired distance.

p0004According to the US Patent a system thus described, which enables an automated approach to an object when parking largely without exercising influence possibilities of the driver.

p0005From the <patcit id="pcit0002" dnum="DE10118903A1"><text>DE 101 18 903 A1</text></patcit> discloses a multi-purpose driver assistance system with at least one sensor for detecting the distance of the vehicle from an object. For this purpose, a control unit is provided which can be switched between a parking aid mode, a pre-crash mode and a cruise control mode. When the vehicle approaches a Einpark mode an object, first a warning is issued to a driver. he approaches the object further, the vehicle is braked automatically if necessary.

p0006A cruise control mode is possible if no safety-relevant object is detected.

ADVANTAGES OF THE INVENTION

p0007The inventive device for regulating the speed of a vehicle when maneuvering / parking of the vehicle with the features of claim 1 and the corresponding method for regulating the speed of a vehicle when maneuvering / parking of the vehicle with the features of claim 6, compared to the known approach has the advantage in that the deceleration is controlled at the input / unparking or maneuvering by a speed controller, as soon as an object is identified in the detection range of a detection device. Performance indicators, 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, that gentle, stopped at a predetermined small safety distance of detected objects.

p0008In addition, the driver at all times retain control of the vehicle, ie, he can choose largely free driving speed, fine dosing and stop the vehicle at any time immediately. In addition, the driver is advantageously conveys the feeling, being the holder of the responsibility for the maneuver and not to be delivered to the system despite automatic function without exercising influence possibility. The driver is still responsible for maneuvering safety alone. An essential feature is that the vehicle moved only then if the driver presses the accelerator pedal. If he takes his foot off the pedal and it leaves a corresponding actuator in the zero position, the vehicle stops. Finally, a driver is the presence of detected objects regardless of any existing ads mediated (acoustic or visual) of the parking aid advantageously noticeable.

p0009The idea of ​​the present invention is based consists essentially in that the driving speed when entering / leaving a parking space and maneuvering automatically adjusts an obstacle situation and the driver's wish. The driver can activate the function when necessary and use them in a defined speed range between, for example, 0 and 10 km / h per direction. The purpose of this Einparkbremsfunktion or "Park Stop" is the driver's job easier by a largely automatic speed and thus distance control and secure braking of the vehicle in front of detected objects. A purely indicative warning system is expanded to an engaging comfort system.

p0010In other words, a device for regulating the speed of a vehicle during maneuvering / parking of the vehicle is provided with: a detection device for detecting objects around 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 dependence on the position of an actuation device and on the distance to the nearest object in the direction of movement of the vehicle in accordance with a predetermined velocity / distance relation; and a control means for automatically controlling a braking device and a drive device of the vehicle depending on a corresponding output signal of the control device.

p0011The subclaims contain advantageous developments and improvements of the device indicated in claim 1 and as defined in claim 6 method for regulating the speed of a vehicle when maneuvering / parking the vehicle.

p0012According to a preferred development of the detection device ultrasonic sensors and / or radar sensors and / or lidar sensors, which are preferably provided at the vehicle front and / or rear of the vehicle. This has the advantage of an environment detection with sensors known in the area in front and behind the vehicle.

p0013According to a further preferred embodiment, a turn-on means to activate / deactivate the control device is provided which can be manually and / or semi-automatically activated when manually inserting a reverse stage of the drive device. The Einparkbremsfunktion can thus activate and deactivate in a simple manner.

p0014According to a further preferred embodiment, the actuating device, an accelerator pedal or an accelerator, preferably in each case with position angle detection, on. This is the advantage due to simultaneously announce the preset speed when maneuvering with the existing case in the vehicle accelerator.

p0015According to a further preferred embodiment, a display device for visual and / or audible indication of the distance is provided to the closest in the direction of movement of the vehicle object. Thus, the driver is in addition to the significant deceleration of the vehicle notified when approaching an obstacle or object is the distance in coded form.

p0016According to a further preferred development, a change of position, preferably the angle, the actuator changes the desired speed of the vehicle, preferably in the range between 0 and 10 km / h after activation of the control device when maneuvering up to a second predetermined distance to the next in the direction of movement object, wherein the second predetermined distance is greater than or equal to the first predetermined distance. This has the advantage of simple setpoint speed selection with activated Einpark- or Rangierbremsfunktion.

p0017According to a further preferred embodiment reduces a change of position, preferably the angle of the actuator away from a zero position after activation of the control device and, after 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 is thereupon preferably dependent on the position of the actuator. In this way can advantageously be adapted to the distance to the nearest obstacle in the direction of travel.

p0018According to a further preferred embodiment keeps the vehicle upon activation of the control device in a neutral position of the actuator at which a manual braking intervention is permitted via a brake pedal at all times and preferably Gradients are compensated in their effect on the vehicle. The driver operates to control the vehicle speed during the parking maneuver therefore advantageously only the accelerator pedal or accelerator pedal, the operation of the brake pedal is not required, but at any time. The cruise control is engaged both in the engine management system as well as in the brake control and compensate for the effects of slopes or inclines. Nevertheless, the driver in an emergency may at any time operate the brake pedal and thus clocking the vehicle immediately.

p0019According to a further preferred embodiment sets the control device according to the activation of stored characteristic curves for the generation of the current target speed depending on the position of the actuator and on the distance to the closest in the direction of an object. In this way, simply a target speed and thus indirectly provided a delay in approaching an object or an obstacle.

DRAWINGS

p0020Embodiments of the invention are illustrated in the drawings and explained in detail in the following description.

p0021Show it:<dl id="dl0001"><dt>Fig. 1</dt><dd>a schematic plan view of a car having a speed control apparatus for explaining an embodiment of the present invention;</dd><dt>FIG. 2</dt><dd>a schematic diagram of a variant of characteristics illustrating an embodiment of the present invention;</dd><dt>Fig. 3</dt><dd>a schematic diagram of a further variant of characteristic curves for explaining an embodiment of the present invention;</dd><dt>Fig. 4</dt><dd>a schematic diagram of a further variant of characteristic curves for explaining an 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 illustrating the operation of an embodiment of the present invention.</dd></dl>

p0022In the figures, like reference numerals designate identical or functionally identical components.

p0023In <figref idrefs="f0001">Fig. 1</figref> is shown the schematic plan view of a motor vehicle 10th The vehicle 10 is at the rear and also preferably at the front with the distance sensors 11 to the detection of objects or obstacles in the surroundings of the vehicle 10 is provided. The distance sensors 11 have, for example, ultrasound sensors, radar sensors and / or lidar sensors, forming a detection device. The signals of the distance sensors 11 may be a processing device 12 is supplied, in which the distance d becomes a nearest object, in particular in the direction of movement of the vehicle, is determined. Preferably, this distance d over a display device 13 which is coupled to the processing device 12, in coded form visually and / or acoustically, that is, for example, indicated by a bar graph or a tone sequence. The in the processing device 12 by means of the distance sensors 11 obtained distance d to the closest object, preferably in the direction of movement of the vehicle 10 is supplied to a control device 14th The control device 14 is coupled with a braking device 15 and a driving device 16 of the vehicle. The drive means 16 preferably comprises an internal combustion engine-transmission unit, the transmission and the transmission (not shown) preferably (also not shown) and / drive axles allows variable torque transfer between the internal combustion engine. An electric motor as the driving means 16 is also being considered.

p0024About an energizing 17 the control device 14, with which it is coupled, manual and / or semi-automatically, for example when inserting a reverse gear of the vehicle 10 can be activated. The control device 14, via the switch-on means 17, preferably also be deactivated manually. The control device 14 is coupled to an actuator 18, preferably with the vehicle or accelerator pedal of the vehicle 10, which preferably has an angle sensor for the identification of an angle φ, starting from the zero position of the actuating device 18th The velocity control means 14 can preferably be integrated in the processing device 12th Alternatively, the localization in control devices of the braking device 15 or the driving device 16, such as engine / transmission management, or another control device is also conceivable. In addition to the position of the actuator 18 and the position of the brake pedal by the control device 14 preferably detects, as a manual braking intervention is to be always ensured by a driver. In the control device 14 also preferably signals from Radimpulsgebern (not shown) are evaluated for determining the speed and distance of the vehicle driven 10th

p0025Regarding the basic operation of the system some exemplary realizations are explained. After activation of the control device 14 through 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 no object or obstacle is identified in the detection area of ​​the detection device 11th The parameter v_max is adjusted depending on the desired characteristics of the deceleration and the capability of the surroundings sensing system, as the reach, latency, security detection, etc. in advance. The simultaneous dependence of the setpoint speed v φ from the accelerator pedal position and the distance D to a obstacle occurring in the detection area or object can be referred as a characteristic curve field<figref idrefs="f0001">FIG. 2</figref>. <figref idrefs="f0002">3 and 4</figref> represent. Basically, different interpretations of a family of characteristics are also conceivable which cause a different control behavior of the system. In addition to the three in the following section design examples shown any further design variants are conceivable, which according for example by variation of the characteristic form of a straight or by combining the characteristic curves described below<figref idrefs="f0001 f0002">FIGS. 2-4</figref> can be generated. In this example, according to the examples<figref idrefs="f0001">FIG. 2</figref> and <figref idrefs="f0002">Fig. 3</figref> the slope of the line can be varied.

p0026The characteristic curves represent only the static function of the nominal velocity v of the input variables, ie the angle of the actuator φ to zero and the distance d to a detected nearest object again. The dynamic transitional behavior, in particular acceleration and braking in sharp transitions between spaced points along the characteristic curves, which are relevant for comfort, safety and stability aspects of the overall system, not further elucidated in the following.

p0027With respect to the <figref idrefs="f0001">FIG. 2</figref>. <figref idrefs="f0002">3 and 4</figref> Characteristic curves illustrated examples are 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 by changing the position of the actuator 18 away from the neutral position, ie for example by pressing on the accelerator pedal, continuously increased from zero to v_max. By changing the position of the actuator 18 toward the neutral position, ie for example by releasing the drive pedal, the target speed can be reduced accordingly v again. The obstacle-free case is characterized by the absence of detectable objects within the detection range of the sensor, which has a maximum range d = d_max. When approaching a next lying in the direction of movement of the vehicle obstacle the velocity v is continuously dimmed down to 0 km / h, the control device 14 in connection with the drive means 16 and the braking device 15th The vehicle 10 keeps d_min at a predetermined distance, ie. A safe distance from the obstacle or object to A collision is at all positions of the actuator 18 prevents the overall control system.

p0028φ by varying the position of the actuating means 18, for example, the accelerator pedal angle, the driver has the possibility to influence the approaching operation to the moving direction of the vehicle 10 closest object. A change in the position of the actuator 18 toward the neutral position, ie, a withdrawal of the accelerator pedal after the vehicle has come, for example, by the control device 14 to a halt causes no removal of the vehicle 10 from the obstacle, and therefore no reversal. The vehicle remains in such a case are.

p0029Regarding <figref idrefs="f0001">FIG. 2</figref> is an example of a characteristic shown in which, after activation of the regulating device 14 the maximum speed v_max at the maximum accelerator pedal angle is achieved φ_max. The driver, by the accelerator pedal position, both the target speed v as well as the holding distance, ie the distance d to the nearest control in the direction of movement of the vehicle, obstacle, at which the vehicle 10 comes to a halt, continuously. After the vehicle is 10 arrived at a predetermined distance d_1-d_4 to the nearest obstacle to a standstill, it may by increased pressure, ie, a greater angle to the zero position, are placed on the accelerator pedal to move again, to enable closer to the closest object, wherein However, a further predetermined distance d_min the closest object can not be undershot.

p0030The exemplary characteristic curves in accordance <figref idrefs="f0002">Fig. 3</figref> differs on by the related <figref idrefs="f0001">FIG. 2</figref> illustrated characteristic curves that the maximum speed v_max already at a certain accelerator pedal angle φ_1 formed between φ = 0 and φ = φ_max is located, is achieved. A stronger depression of the accelerator pedal causes in a barrier-free environment in the direction of movement of the vehicle 10, no further increase of the target speed v. In one approach to a moving direction of the vehicle 10 next-lying obstacle or object and below the distance d_4 contrast causes a change in the accelerator pedal angle φ in range between φ_1 and φ_max a continuous variation of the speed. The driver, by the accelerator pedal position, both the velocity v and the holding distance, ie the distance d to the nearest control in the direction of movement of the vehicle 10 obstacle, in which the vehicle comes to a halt, continuously. After the vehicle has _1-d_4 arrived at a predetermined distance d to a standstill, it can by increasing the pressure on the accelerator pedal again be set in motion, to enable closer to the obstacle, wherein a predetermined minimum distance d_min between the vehicle 10 and the direction of movement the closest object is maintained.

p0031As another example, in <figref idrefs="f0002">Fig. 4</figref> a family of characteristics shown, with which the maximum target speed is achieved v_max the maximum accelerator pedal angle φ_max. The holding distance, ie the distance d to the nearest object in the direction of movement of the vehicle 10, in which the vehicle comes to a stop, can, in this variant not be continuously controlled by the accelerator pedal position. 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. However, by changing the accelerator pedal position, the driver can influence the speed or acceleration profile d_min until reaching the predetermined safety distance. The driver can, however, interrupt the approaching operation, in which the speed v in principle automatically reduced d_min before reaching the predetermined minimum distance, by setting the whole takes his foot off the accelerator pedal, ie zero position of the accelerator pedal, causing the vehicle to stop immediately.

p0032In <figref idrefs="f0003">Fig. 5</figref> is shown a schematic block diagram, in which the detection device 11 and the surroundings sensor system of the vehicle 10 to the situation evaluation preferably passes a distance list to the processing device 12th In the distance list, the distances of the vehicle are detected to objects in the environment. The processing device identified from the closest in the direction of movement of the vehicle 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, the results of both the processing device 12 for situation assessment and the control device 14 to go. With the aid of a characteristics field 20, from the distance d to the nearest object in the moving direction of the vehicle, a target speed imparted and supplied to a speed regulator 21st The speed controller 21 is determined from the target speed v, optionally in dependence on information from the vehicle sensors 19 an acceleration value a. From this a control signal for the drive means 16 and / or the braking device 15 is used in an LOC means 22 derived which accelerate the vehicle 10 directly 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 is carried out as a function of the acceleration a.

p0033Regarding <figref idrefs="f0004">Fig. 6</figref> is shown a variant of the architecture of a speed control device for maneuvering according to one embodiment of the present invention. About a drivetrain CAN bus 26 are vehicle sensors 19, such as an ESP sensor, coupled to the brake device 15, which is activated via a brake pedal 23rd Also on this drivetrain CAN bus 26 is driving means 16, activated via the accelerator pedal 18, and a gear unit 24, controlled by a lever 25, coupled with the gear unit 24 preferably comprises an automatic transmission. Via a gateway 28 of the drivetrain CAN 26 is 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, ie acceleration specification of which control device 14 coupled. A display device 13, ie, a speaker and / or a display for the distance display, and switch-on and shut-down 17 and 17 'are preferably also connected to the interior CAN bus 27th An energizing 17 is used to activate / deactivate the cruise control system, the control unit 17 'is preferably a pure ParkPilot function, ie a pure distance warning activated or deactivated.

p0034The in of the control device 14 <figref idrefs="f0004">Fig. 6</figref> completed steps 1 through 5, characterized by the numbers 1 to 5 each in a circle, are in <figref idrefs="f0004">Fig. 6</figref> shown below in addition. In the object detection 1 is followed by a situation evaluation 2, in which the distance d is identified and the closest in the direction of movement of the vehicle barrier. In step 3, there is a setpoint input, for example using a family of characteristics in the form of a nominal velocity v, which is converted into a controller in step 4 in a predefined acceleration a. The predefined acceleration a is then forwarded in step 5 directly to the drive or braking device 15, 16 in order to brake the vehicle 10 corresponding respectively to accelerate.

p0035Another variation of the system architecture, with respect to <figref idrefs="f0005">Fig. 7</figref> shown. It differs on the related<figref idrefs="f0004">Fig. 6</figref> explained variation is that the actual control device 14 is located directly in the area of ​​the braking device 15, and only a connection to the interior CAN-Bus 27 via the gateway 28 is. The above steps 1 and 2 take place here in the course of environment detection by the detection device 11, wherein the steps 3, 4 and 5 elsewhere, namely attached to the braking device 15 in the control device 14, done.

p0036Regarding <figref idrefs="f0006">Fig. 8</figref> shows a schematic state diagram illustrating the operation of an embodiment of the present invention. With reference numeral 30, the active cruise control system is designated. The passive system is designated by reference numeral 31st If the system is active 30, the stoppage 32, lapping 33, reduced dynamics 34 and comfortable destination brakes 35 distinguished as states. If the vehicle is at a standstill 32, so can the cruise control system by the driver to activate 36 when it is not yet active, or disable 37, when the system is already in the activated state 30th If the control system is active 30 and the vehicle at a standstill 32, so a transition is possible in the free driving 33 or the speed-controlled or regulated distance goal brakes 35th

p0037If the vehicle is at a standstill at 32 system 30 is activated, and a predetermined time elapses, so a standstill-hedging condition 38 is activated. This arrest hedging 38 is a temporary state of automatic initiation of measures to secure the arrest of the vehicle over a longer period. Preferably, this stop-hedging condition 38 is also turned on when activated, an automatic parking brake. Once the vehicle is safe, ie in a vehicle with automatic transmission, for example, the selector lever position P is engaged automatically the transition in the passivated system state 31. If the introduction of appropriate measures is not successful, a warning message 39. The alert 39 may then be disabled, for example by the driver again to enter the passive state system 31st The warning message 39 is used as an acoustic and / or visual information to the driver to take appropriate precautionary measures.

p0038If the cruise control system is activated 30, a state is switched with reduced dynamic 34 if with limited environmental detection due 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. Moreover, this condition can be activated at 34 unknown object moving direction, and in this state 34 generally maneuvering speed is reduced. It is also possible, for example, to increase the brake standby in the state 34 or to increase the safety margin to lie in the direction of movement of the vehicle barrier. If an exceptional situation in any of the states with activated control system 30, so a failure mode 40 is activated. In fault mode 40 safe stopping is assured when the vehicle is not yet available. If the vehicle is in this mode, 40 already, it will be held with the service brake in the state, in which case a malfunction is. If the exceptional situation over, so a switch is in the stationary mode at 32 control system is activated, 30. When the vehicle is stationary, occurs after deactivation of the control system according to the preceding disturbance mode 40 of the passivated state 31 of the control system. If failure mode 40 is set to off the ignition or a predetermined time elapses, the system goes into the stop-mode hedge 38th

p0039An activation or deactivation of the control system 36 by the driver is preferably only possible at the same time the brake pedal depressed and holding energizing and non-activated actuator, ie for example not niedergetretenem accelerator. Preferably, the energizing a "toggle" function and the state, ie, active or passive, is notified by a display. The insertion of the driving position P in an automatic transmission vehicle also turned off the system. An exceptional situation, as it must be to activate the failure mode 40 is, for example, a system failure or switching off the ignition or the handbrake or a moving object in the detection region of the detection device or an overtaxing of the system. For a safe standing of the vehicle gearbox in position P must be to prevent a curling the vehicle safely. Setting the parking brake alone may not be sufficient to guarantee a safe standing of the vehicle.

p0040Although the present Erfmdung described above with reference to preferred embodiments, it is not limited thereto but can be modified in many ways. So the regulatory procedure described or the control device is limited not only to the use in passenger cars, but can be used in various vehicles, such as trucks, buses, forklifts and the like. Moreover, the arrangement of the individual components is in accordance with<figref idrefs="f0001">Fig. 1</figref> by way of example can be seen as especially the processing device 12, the control device 14, the display device 13, the braking device 15, the drive means 16, the energizing means 17 and the actuator 18 may occur in a different configuration. In particular, 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 are the<figref idrefs="f0001 f0002">FIGS. 2-4</figref> imagine also by characteristic curves with nonlinear running characteristics to provide a smoothly engaging comfort system for maneuvering / parking or leaving a parking space, so that the subjective driving experience matches the start against a growing resistance (rubber band effect) when approaching an obstacle.