DE102019210554A1 - Method for assisting a driver of a motor vehicle when parking, computer program product, driver assistance system and motor vehicle - Google Patents

Abstract

A method is described for assisting a driver (37) of a motor vehicle (2) when parking, the motor vehicle (2) having at least four loudspeaker arrangements (10, 12, 14, 16) distributed in a passenger compartment (8), with in a maneuvering mode an obstacle (4) is recognized by means of at least one sensor (26, 28) on the motor vehicle (2) and a relative position between the obstacle and the motor vehicle (2) is determined, with the loudspeaker arrangements (10, 12, 14, 16) an acoustic signal is generated in the passenger compartment (8), the relative position (A) of which is indicated by the loudspeaker arrangements (10, 12, 14, 16), with a balance of the loudspeaker arrangements (10, 12, 14, 16) in the maneuvering mode ) is set for the acoustic signal so that a driver's head (36) of the driver (37) is arranged in an acoustic center (38) of the loudspeaker arrangements (10, 12, 14, 16). Furthermore, a computer program is described ramming product, a driver assistance system and a motor vehicle (2).

Description

A method for assisting a driver of a motor vehicle when parking, a computer program product, driver assistance systems and a motor vehicle are described here.

Methods for assisting a driver of a motor vehicle when parking, computer program products, driver assistance systems and motor vehicles of the type mentioned at the beginning are known in the prior art.

It is known to support the driver when parking the motor vehicle by emitting an acoustic and / or visual warning of obstacles that are in the collision area of the motor vehicle. The corresponding obstacles are recognized by sensors on the front and / or rear end area of the motor vehicle, mostly ultrasonic sensors arranged in a bumper, and their position relative to the motor vehicle is determined. If an obstacle in the current direction of travel (forwards-backwards) is identified, an intuitively perceptible signal can be emitted on the basis of this. The distance is often indicated by a repetition frequency of an intermittent signal tone, whereby a denser obstacle is usually signaled by a higher repetition frequency up to a continuous tone for very dense obstacles. The signal tone display is usually activated when the motor vehicle is in a maneuvering mode, that is to say is driving either backwards or very slowly forwards.

It is also known to use the control of different loudspeaker arrangements to signal whether the obstacle is in front of or behind the motor vehicle, in which the front loudspeaker arrangements are controlled louder than the rear when driving slowly forward and the rear loudspeaker arrangements are controlled louder than the front when reversing slowly.

Furthermore, it is known to provide motor vehicles with several loudspeaker arrangements which are distributed in the interior, for example two or more loudspeaker arrangements in the front area of the motor vehicle, that is to say in front of a driver's head and two or more loudspeaker arrangements in a rear area. By adapting the relative volume levels of the loudspeaker arrangements to one another and, if necessary, the phase position of the signals that are reproduced via the claims, it is possible to vary a balance and / or an acoustic center in loudspeaker arrangements set up to generate room sound. This makes it possible, despite the given physical relative positions of the loudspeaker arrangements to the various passenger seats, to create the impression that the loudspeaker arrangements are virtually arranged differently in order to be able to generate, for example, a symmetrical stereo sound or a surround sound in relation to a certain position.

From the DE 10 2018 100 021 A1 there is known a vehicle incorporating a variety of sensors including external sensors. Vehicle signals, such as those derived from sensors, are processed to identify warnable conditions, and each warnable condition is represented by a generated software object. A position is assigned to each software object, such as corresponding to a position of an external feature that caused the warnable condition. The software object is updated over time according to the vehicle signals, such as by updating the position according to movement of the obstacle. The software objects are processed to drive an array of speakers that effectively simulate a sound originating from the position associated with the software object. The sound produced by the loudspeakers can be repeated signal tones with a volume and time period determined according to the position.

The disadvantage is that existing settings for the acoustic center or for the acoustic center can cause confusion when maneuvering, since the virtual source of the spatial sound does not match the position of the obstacle relative to the motor vehicle. This increases the driver's level of attentiveness, can lead to incorrect assessments and, under certain circumstances, to collisions.

Thus, the task arises of developing methods for assisting a driver of a motor vehicle when parking, computer program products, driver assistance systems and motor vehicles of the type mentioned at the beginning so that better acoustic localization of obstacles is possible when maneuvering.

The object is achieved by a method for assisting a driver of a motor vehicle when parking according to claim 1, a computer program product according to the independent claim 8, a driver assistance system according to the independent claim 9, a driver assistance system according to the independent claim 10 and a motor vehicle according to the independent claim 14 Further refinements and developments are the subject of the dependent claims.

A method for assisting a driver of a motor vehicle when parking is described below, the motor vehicle has at least four loudspeaker arrangements distributed in a passenger compartment, an obstacle being detected in a maneuvering mode by means of at least one sensor on the motor vehicle and a relative position between the obstacle and the motor vehicle being determined, with an acoustic signal being generated in the passenger compartment by means of the loudspeaker arrangements when an obstacle is detected , the relative position of which is indicated by the loudspeaker arrangements, a balance of the loudspeaker arrangements for the acoustic signal being set in the maneuvering mode so that a driver's head is arranged in an acoustic center of the loudspeaker arrangements.

The relative position between the obstacle and the motor vehicle can include a position of the obstacle relative to a motor vehicle center axis and a distance between the obstacle and the motor vehicle and can thus be defined by cylinder coordinates.

The maneuvering mode can be recognized by appropriate sensors that determine the speed and the direction of travel. Maneuvering mode can also be activated by engaging reverse drive mode.

The adjustment of the balance of the loudspeaker arrangements can be done in such a way that the relative volume levels of the loudspeaker arrangements and / or a phase position of the reproduction of an acoustic signal are adjusted in order to create the impression that loudspeaker arrangements are on one level, for example the front loudspeaker arrangements and / or the rear Loudspeaker arrangements are equidistant from the driver's head. As a result, the signal reproduction by the loudspeaker arrangements is modified in such a way that a signal that appears to be coming from a certain direction is reproduced in the correct position from the position of the driver's head, which simplifies the acoustic localization of an obstacle for the driver.

In a first further refinement, it can be provided that the loudspeaker arrangements are arranged on the right and left and / or in front of and behind the driver.

This makes it possible to provide a sound arrangement suitable for generating surround sound, in which not only a stereo effect can be generated, but an at least two-dimensional effect in which the driver can perceive sound from all directions, i.e. not only from the front but also from the rear. In addition, it is thereby possible to allow appropriate localizations both for obstacles in front of and behind the motor vehicle.

In a further refinement, it can be provided that in the maneuvering mode an acoustic center of the loudspeaker arrangements is set such that a driver's head of the driver is arranged in an acoustic center.

The acoustic center can be varied by setting both the balance (left-right distribution) and a fader (front-rear distribution) so that the sound is centered on the driver's head.

In a further refinement, it can be provided that the balance or the acoustic center is set by changing a relative volume of the loudspeaker arrangements to one another and / or a relative phase position of the individual loudspeaker arrangements to one another.

The relative volume and the relative phase position of the loudspeaker arrangements can be changed, for example, by means of an amplifier arrangement or in a surround sound module, for example a DSP module.

In a further refinement, it can be provided that the maneuvering mode is activated by engaging a reverse gear.

Reversing is usually used to park or leave a parking space and is therefore a good indicator of an imminent maneuvering maneuver. In addition, the view to the rear from the driver's position is often poor, which makes it easier to overlook obstacles.

In a further refinement, it can be provided that a current position of the driver's head is measured and the acoustic center or the acoustic center is set to the measured position.

As an alternative to measuring the driver's head, the position of at least one ear of the driver can also be determined directly.

This enables a more precise adjustment to the driver's head, so that drivers of different sizes in different seating positions always sit in the acoustic center or in the acoustic center.

In a further refinement, the position of the driver's head can be measured using various methods. On the one hand, the position of the driver's head can be estimated by determining the seat position and / or backrest inclination and / or headrest adjustment respectively. Alternatively or additionally, detection can take place via an interior camera and / or eye surveillance camera, which detect both the driver's head and the surroundings and thus have a reference for the relevant position in the interior.

In a further refinement, it can be provided that, after the maneuvering mode has ended, the originally set acoustic center or the originally set acoustic center is set.

This allows you to restore the original sound settings.

In another further refinement, it can be provided that the change in the acoustic method of the acoustic center is changed only for the corresponding collision warning signal.

This means that the other sound settings remain unchanged, so that multimedia playback is not affected.

A first independent subject relates to a device for assisting a driver of a motor vehicle when parking, the motor vehicle having at least four loudspeaker arrangements distributed in a passenger compartment, with at least one sensor being arranged on the motor vehicle in order to detect an obstacle in a maneuvering mode and a relative position between the obstacle and the motor vehicle, wherein means are provided for generating an acoustic signal when an obstacle is detected by means of the loudspeaker arrangements in the passenger compartment, the means being set up to indicate the relative position of the obstacle through the loudspeaker arrangements, with means for setting a balance of the Adjust loudspeaker arrangements for the acoustic signal in the maneuvering mode so that a driver's head is arranged in an acoustic center of the loudspeaker arrangements.

In a first further refinement, it can be provided that the loudspeaker arrangements are arranged on the right and left and / or in front of and behind the driver.

In a further refinement, provision can be made for means for setting an acoustic center of the loudspeaker arrangements in the maneuvering mode to be provided in order to position a driver's head of the driver in the acoustic center.

In a further refinement, adjustment means can be provided in order to adjust the balance or the acoustic center by changing a relative volume of the loudspeaker arrangements to one another and / or a relative phase position of the loudspeaker arrangements to one another.

In a further refinement, means can be provided to activate the maneuvering mode by engaging reverse gear.

In a further refinement, measuring means can be provided which are set up to measure a current position of the driver's head and to set the acoustic center or the acoustic center to the measured position.

In a further refinement, the setting means can be set up to set the originally set acoustic center or the originally set acoustic center again after the maneuvering mode has ended.

Another independent subject matter relates to a computer program product with a computer-readable storage medium on which instructions are embedded which, when executed by at least one processing unit, have the effect that the at least one processing unit is set up to carry out the method of the aforementioned type.

The method can be carried out distributed on one or more processing units, so that certain method steps are carried out on one processing unit and other method steps are carried out on at least one further processing unit, with calculated data being able to be transmitted between the processing units if necessary.

A further independent subject relates to a driver assistance system of a motor vehicle for assisting a driver of the motor vehicle when parking, with a control with at least one computing unit and a storage medium on which a computer program of the type described above is stored.

• - einer Steuerung,
• - wenigstens einem mit der Steuerung verbundenen Sensor zur Feststellung einer relativen Position zwischen einem Hindernis und einem Kraftfahrzeug,
• - wenigstens vier in einer Fahrgastzelle verteilt angeordneten, mit der Steuerung verbundenen Lautsprecheranordnungen,
• - wenigstens einem mit der Steuerung verbundenen Rangiermodusanzeiger,

wobei die Steuerung dazu eingerichtet ist, eine akustische Mitte der Lautsprecheranordnungen so einzustellen, das ein Fahrerkopf des Fahrers in der akustischen Mitte der Lautsprecheranordnungen angeordnet ist, wenn sich das Kraftfahrzeug in einem Rangiermodus befindet.Another independent subject relates to a driver assistance system of a motor vehicle for assisting a driver of the motor vehicle when parking

• - a controller,
• - At least one sensor connected to the controller for determining a relative position between an obstacle and a motor vehicle,
• - at least four loudspeaker arrangements connected to the control and distributed in a passenger compartment,
• - at least one maneuvering mode indicator connected to the controller,

wherein the controller is set up to set an acoustic center of the loudspeaker arrangements so that a driver's head of the driver is arranged in the acoustic center of the loudspeaker arrangements when the motor vehicle is in a maneuvering mode.

The driver assistance system makes it possible to keep a driver intuitively informed about where an obstacle causing a risk of collision is relative to the motor vehicle.

In a first further refinement, it can be provided that at least one amplifier arrangement is provided between the control and the loudspeaker arrangements.

Each loudspeaker arrangement can have its own amplifier arrangement, several amplifier arrangements can be provided for loudspeaker arrangement groups, or one amplifier arrangement can be provided for all loudspeakers.

In addition to the amplifier arrangement, a surround sound control, for example on the basis of a device for digital signal processing (DSP), can be provided.

In a further refinement, it can be provided that an interior sensor is provided for determining the position of a driver's head.

This allows the acoustic center and / or the acoustic center to be defined more precisely.

In a further refinement, it can be provided that the acoustic center and / or the acoustic center are fixed.

This reduces the technical effort and the computational effort required to determine the position of the driver's head.

Another independent subject relates to a motor vehicle with a driver assistance system of the type described above.

• 1 eine Draufsicht auf ein Kraftfahrzeug mit einem vor dem Kraftfahrzeug befindlichen Hindernis, sowie
• 2 eine Draufsicht auf eine Fahrgastzelle des Kraftfahrzeugs aus 1.
• 1 zeigt eine Draufsicht auf ein Kraftfahrzeug 2 mit einem vor dem Kraftfahrzeug 2 befindlichen Hindernis 4.

Further features and details emerge from the following description in which at least one exemplary embodiment is described in detail - possibly with reference to the drawing. Described and / or graphically represented features form the subject matter individually or in any meaningful combination, possibly also independently of the claims, and in particular can also be the subject matter of one or more separate applications. Identical, similar and / or functionally identical parts are provided with the same reference symbols. They show schematically:

• 1 a plan view of a motor vehicle with an obstacle in front of the motor vehicle, and
• 2 a plan view of a passenger compartment of the motor vehicle 1 .
• 1 shows a plan view of a motor vehicle 2 with one in front of the motor vehicle 2 located obstacle 4th .

The car 2 is with a driver assistance system 6th (Components framed by dashed lines) to support a driver of the motor vehicle 2 equipped for maneuvering. The driver assistance system 6th points in a passenger compartment 8th arranged loudspeaker arrangements 10 , 12 , 14th and 16 on. The loudspeaker arrangements 10 , 12 are in the front area of the passenger compartment 8th arranged, the loudspeaker arrangements 14th , 16 in the rear of the passenger cell 8th . The loudspeaker arrangements 10 , 12 , 14th and 16 can have several chassis, which are optionally arranged in a distributed manner.

There is also a controller 18th provided that a computing unit 20th as well as a storage medium 22nd has on which a computer program product 24 is stored, which is provided for carrying out a method which is described in more detail below.

The control 18th is using a number of ultrasonic sensors 26th in the front area of the motor vehicle 2 and ultrasonic sensors 28 (of which only a few are shown for the sake of clarity) in the rear area of the motor vehicle 2 connected. The ultrasonic sensors 26th , 28 can in bumper assemblies of the motor vehicle 2 be arranged.

With the speaker arrangements 10 , 12 , 14th and 16 is the controller 18th with an amplifier arrangement 30th connected that a reproduced audio signal to a second amplifier arrangement 32 forwards. The amplifier arrangements 30th , 32 can both relative volume levels and phases of the different speaker arrangements 10 to 16 vary what is done by a signal processor in the controller 18th or in the amplifier arrangement 30th can be adjusted.

The control 18th is also equipped with a driving mode selector 34 connected, for example a gear lever that controls the 18th can determine whether the motor vehicle 2 is in a maneuvering mode.

The obstacle 4th is by means of the front ultrasonic sensors 26th identified. By evaluating the obstacle 4th reflected signals from the ultrasonic sensors 26th it is possible both the direction and the distance of the obstacle 4th from the motor vehicle 2 to locate, as by the distance vector A. is shown.

The distance vector A. can conveniently be represented by cylinder coordinates (angle and distance), with an origin either in the driver's head or in a center of the motor vehicle 2 (in plan view) or in each case on a central axis of the motor vehicle aligned parallel to the direction of travel 2 on the front and rear bumpers.

The control 18th can calculate from this how the loudspeaker arrangements 10-16 are to be controlled so that a driver of the motor vehicle 2 gets a two-dimensional impression of where the obstacle is 4th relative to the motor vehicle 2 is located.

2 shows a plan view of the passenger compartment 8th of the motor vehicle 2 .

A driver with a driver's head sits on a driver's seat (not shown) 36 . The loudspeaker arrangements 10 to 16 are configured to be an acoustic center 38 with normal multimedia playback roughly in the middle of the passenger compartment 8th lies.

As soon as a maneuvering mode is activated, the control takes over 18th the speaker arrangements 10-16 or an intermediate amplifier or signal processor in such a way that the acoustic center 38 for signaling the relative position and distance of the obstacle 4th in a driver's head center 40 is located. This enables the driver to correctly assess the corresponding acoustic signals.

The distance between obstacles 4th and motor vehicle 2 can for example be signaled via a repetition frequency of an intermittent acoustic signal, for example a regularly repeated beep.

Although the subject matter has been illustrated and explained in more detail by means of exemplary embodiments, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by the person skilled in the art. It is therefore clear that there is a multitude of possible variations. It is also clear that embodiments cited by way of example only represent examples that are not to be interpreted in any way as a limitation, for example, of the scope of protection, the possible applications or the configuration of the invention. Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without the To leave the scope of protection that is defined by the claims and their legal equivalents, such as further explanations in the description.

List of reference symbols

2

Motor vehicle

4th

obstacle

6th

Driver assistance system

8th

Passenger compartment

10, 12, 14, 16

Speaker arrangement

18th

control

20th

Arithmetic unit

22nd

Storage medium

24

Computer program product

26, 28

Ultrasonic sensor

30, 32

Amplifier arrangement

34

Driving mode selector

36

head

37

driver

38

acoustic center

40

Center of head

A.

Distance vector

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102018100021 A1 [0006]

Claims (14)

A method for assisting a driver (37) of a motor vehicle (2) when parking, the motor vehicle (2) having at least four loudspeaker arrangements (10, 12, 14, 16) distributed in a passenger compartment (8), with at least one in a maneuvering mode Sensor (26, 28) on the motor vehicle (2) an obstacle (4) is detected and a relative position between the obstacle (4) and the motor vehicle (2) is determined, with the loudspeaker arrangements (10, 12) being used when the obstacle (4) is detected , 14, 16) an acoustic signal is generated in the passenger compartment (8), the relative position (A) of which is indicated by the loudspeaker arrangements (10, 12, 14, 16), with a balance of the loudspeaker arrangements (10, 12, 14, 16) for the acoustic signal is set such that a driver's head (36) of the driver (37) is arranged in an acoustic center (38) of the loudspeaker arrangements (10, 12, 14, 16). Procedure according to Claim 1 , wherein the loudspeaker arrangements (10, 12, 14, 16) are arranged to the right and left and / or in front of and behind the driver (37). Procedure according to Claim 1 or 2 wherein, in the maneuvering mode, an acoustic center (38) of the loudspeaker arrangements (10, 12, 14, 16) is set so that a driver's head of the driver (37) is arranged in an acoustic center (38). Method according to one of the preceding claims, wherein the balance or the acoustic center (38) by changing a relative volume of the loudspeaker arrangements (10, 12, 14, 16) to one another and / or a relative phase position of the loudspeaker arrangements (10, 12, 14, 16) is adjusted to each other. Method according to one of the preceding claims, wherein the maneuvering mode is activated by engaging a reverse gear. Method according to one of the preceding claims, wherein a current position of the driver's head (36) is measured and the acoustic center or the acoustic center (38) is set to the measured position. Method according to one of the preceding claims, wherein the original acoustic center or the original acoustic center (38) is set after the maneuvering mode has ended. Computer program product with a computer-readable storage medium (22) on which instructions are embedded which, when executed by at least one processing unit (20), have the effect that the at least one processing unit (20) is set up to implement the method according to one of the preceding To carry out claims. Driver assistance system of a motor vehicle (2) for assisting a driver (37) of the motor vehicle (2) when parking, with a controller (18) with at least one computing unit (20) and a storage medium (22) on which a computer program is stored Claim 8 is stored. Driver assistance system of a motor vehicle (2) for assisting a driver (37) of the motor vehicle (2) when parking, with - a control (18), - At least one sensor (26, 28) connected to the controller (18) for determining a relative position between an obstacle (4) and a motor vehicle (2), - At least four loudspeaker arrangements (10, 12, 14, 16) which are distributed in a passenger compartment (8) and connected to the controller (18), - At least one maneuvering mode indicator connected to the controller (18), the controller (18) being set up to set an acoustic center (38) of the loudspeaker arrangements (10, 12, 14, 16) so that a driver's head of the driver (37) is arranged in the acoustic center (38) of the loudspeaker arrangements (10, 12, 14, 16) when the motor vehicle (2) is in a maneuvering mode. Driver assistance system according to Claim 10 , at least one amplifier arrangement (30, 32) being provided between control (18) and loudspeaker arrangements (10, 12, 14, 16). Driver assistance system according to one of the Claims 10 or 11 , wherein the acoustic center and / or the acoustic center (38) are defined. Driver assistance system according to one of the Claims 10 or 11 , wherein an interior sensor (26, 28) is provided for determining the position of a driver's head (36). Motor vehicle with a driver assistance system according to one of the Claims 9 to 13th .

Images