WO2012019941A1

WO2012019941A1 - Method for assisting a driver in controlling a motor vehicle, and driver assistance system

Info

Publication number: WO2012019941A1
Application number: PCT/EP2011/063273
Authority: WO
Inventors: Joachim Mathes
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2010-08-12
Filing date: 2011-08-02
Publication date: 2012-02-16
Also published as: DE102010034142A1

Abstract

It is sought to specify a solution to the problem of how the driver of a motor vehicle (1) can be assisted in a particularly reliable manner by means of a driver assistance system (2) when parking in a parking bay, without the need to use an optical camera system. In a method according to the invention, surroundings information relating to a surrounding region (5) at least on one side (6, 7) of the motor vehicle (1) is detected by means of at least one distance sensor (3, 4) as the motor vehicle (1) is travelling. Information (11) based on the surroundings information is displayed on a display device (9) of the motor vehicle (1). A vehicle symbol (13) which symbolizes the motor vehicle (1) is displayed on the display device. Furthermore, for at least one object which is situated in the surrounding region (5) and which is detected on the basis of the surroundings information, an object symbol (14) which symbolizes the detected object is displayed. Also provided is a driver assistance system (2) for implementing such a method.

Description

A method of assisting a driver in driving a motor vehicle and

Driver assistance system

The invention relates to a method for assisting a driver when driving a motor vehicle. The driver is assisted by means of a driver assistance system, namely by detecting environmental information about a surrounding area at least on one side of the motor vehicle by means of at least one distance sensor during a drive of the motor vehicle, as well as by displaying information on a display device of the motor vehicle based on the surrounding information , The invention additionally relates to a driver assistance system which is designed to carry out such a method.

It is preferable to support a parking operation of a

Motor vehicle. It is state of the art, the driver of a motor vehicle

To support parking in a parking space, namely with the help of a parking space

Driver assistance system or parking aid system. During a passing of the

Motor vehicle at the parking space is detected or measured the parking space. This measurement is usually done with the help of ultrasonic sensors attached to the

Side edges of the motor vehicle or in respective edge regions of the front bumper are mounted and which emit ultrasonic signals in the vehicle transverse direction. If the parking space is measured and interpreted by the driver assistance system as a parking space suitable for parking, so can

Driver assistance system depending on the current relative position of the driver

Motor vehicle with respect to the parking space calculate a parking path along which then the motor vehicle can be parked in the parking space without collision. Depending on the version of the driver assistance system, further assistance is provided in a wide variety of ways. In the simplest parking aid systems, the driver is only provided with steering information or information on how the steering wheel should be steered so that the parking space can be reached. There are also systems in which the steering of the motor vehicle is automatically intervened. Then the driver is only assigned to accelerate and brake. Completely automatic systems, in turn, can automatically intervene in a powertrain, and the driver then only has to release the parking process and can interrupt it at any time. As is known, information can also be displayed to the driver during a parking operation, namely with the aid of an optical display device. On the one hand, it is known to display distance values between the motor vehicle and an obstacle, which are measured during the parking process with the aid of the ultrasonic sensors. On the other hand, images can also be displayed on the display device, which are based on image data captured by a camera. Such an approach is known for example from the document US 7,277,123 B1. In the subject matter of this document, image data is captured by a plurality of cameras. The image data is then processed into an image which shows the motor vehicle and its surroundings from the perspective of a virtual camera. The picture shows a top view of the motor vehicle and the environment around it

Motor vehicle around from a bird's eye view.

The document DE 10 2005 036 732 A1 also describes a driver assistance system for supporting a parking operation of a motor vehicle. The driver assistance system may measure a parking space, and a result of this measurement is automatically displayed for a preferred side of the vehicle upon input from the user. Distance values for obstacles in the vehicle environment can be displayed on a display device. A parking icon may also be displayed on the display indicating the fact that a suitable parking space has been found. An arrow can also be displayed pointing to the left or to the right, indicating a parking space on the left or right side of the vehicle. The arrow can also point to the rear so that it becomes clear that the driver has to park backwards into the parking space. With the help of a further display element and a classification of the parking space can be displayed. Parking spaces that allow less than 5 cm of space to maneuver are either shown as inappropriate or have a red color mark. On the other hand, parking spaces that allow space between 5 cm and 100 cm for maneuvering can be classified as scarce and have a yellow mark. Parking spaces with one

Rangierplatz of more than 1 m are shown as suitable parking spaces with a green color marking.

The document DE 10 2005 013 706 A1 describes a device for assisting a parking of a vehicle. An image of a surrounding area of the motor vehicle can be detected with the aid of a camera. This image can then be displayed on a display device. An image superimposition device is provided which is used to superimpose further image information on the image reproduced image is used. For example, the image may be overlaid with distance information. In this way, the driver can better assess the parking situation despite a possibly distorted image or perceive such obstacles that can not be detected on the environmental image.

The document DE 102 50 021 A1 discloses a method and a

Driver assistance system for assisting a driver of a motor vehicle when parking the motor vehicle in a parking space. The driver assistance system comprises a camera with which an observation area in the surroundings of the vehicle can be recorded. An image processing unit can process the captured image data. In the vehicle interior, a screen is provided on which images can be displayed based on the recorded image data. The image processing unit displays a parking space symbol in the current image on the screen which symbolizes an area in the current image that the motor vehicle can reach starting from its current position, taking into account the vehicle size and the maximum steering angle when parking.

Thus, in the prior art, an optical camera is required in order to be able to display an image of the surroundings of the motor vehicle on a display device. In particular, multiple cameras are required to cover the entire environment around the motor vehicle. However, the use of cameras also has drawbacks: on the one hand, the use of cameras is relatively expensive; On the other hand, the cameras must be mounted on the motor vehicle, which is associated with a change in the basic design of the motor vehicle. It is thus a big one

Challenge to display appropriate information about the environment of the motor vehicle without the help of a camera system on the display device. A half-solution has already been described in document EP 1 403 659 A1: A parking space is measured with the aid of a distance sensor and a displacement sensor. From the length of the parking spaces, a graphic output is then generated, which is, for example, a graphical representation of the parking space with a drawn plan of the motor vehicle. The graphical output may also include the dimension of the parking space, as well as a color or other illustration of a degree of difficulty when parking. Based on this visual display, the driver can thus only determine whether the length of the parking space is sufficiently greater than that of the motor vehicle. It is an object of the invention to provide a solution, as in a method of the type mentioned the driver while driving the motor vehicle can be supported particularly reliable, so that it is informed on the one hand about the environment of the motor vehicle and on the other hand, collisions between the

Motor vehicle and vehicle-external obstacles can be avoided, in particular without a camera system is used.

This object is achieved by a method having the features of patent claim 1, as well as by a driver assistance system with the features of claim 15. Advantageous embodiments of the invention are the subject of the dependent claims and the description.

A method according to the invention is designed to assist a driver in driving a motor vehicle with the aid of a driver assistance system. Ambient information about a surrounding area is detected at least on one side of the motor vehicle with the aid of at least one distance sensor during a drive of the motor vehicle. On a display device in the interior of the motor vehicle information is then displayed based on the environmental information. On the display device, a vehicle icon is displayed, which is the

Motor vehicle symbolizes. For at least one object located in the surrounding area, which is detected on the basis of the environmental information, an object symbol is also displayed on the display device, which symbolizes the detected object.

The effect according to the invention is therefore achieved by displaying on the display, on the one hand, a schematic symbol which symbolizes one's own motor vehicle, and, on the other hand, another symbol symbolizing the detected object external of the vehicle. By dispensing with an optical camera system, the driver can thus be informed about the environment of the motor vehicle with the aid of the optical display device, namely via the vehicles external objects present in the environment. The driver can thus close when maneuvering the motor vehicle on the respective instantaneous distance between his motor vehicle and the vehicle external object. Such an approach proves to be particularly advantageous for parking operations, because the driver can recognize the vehicle-external obstacles on the display device and can thus park even in very tight conditions. The driver is thus supported in total reliable while driving his motor vehicle. Thus, the display on the display device is preferably generated solely on the basis of the environmental information, which are detected by means of the at least one distance sensor. The generation of the display is thus preferably without the use of image data of an optical camera.

As already stated, the method proves to be particularly advantageous in assisting the driver when performing a parking operation. It is therefore advantageous if the information-that is to say the vehicle symbol and the at least one object symbol-is displayed while potential parking spaces located in the surrounding area are detected by the driver assistance system on the basis of FIG

Ambient information while driving the motor vehicle are measured and / or while the motor vehicle is parked under the assistance of the driver assistance system in a parking space and is parked out of this. The assistance of the parking operation may include that the driver assistance system calculates a parking path along which the motor vehicle can be parked into the parking space without collision, depending on the dimensions of the parking space and on the current relative position of the motor vehicle with respect to the parking space. Then the driver assistance system -. B. also by means of the display device - output steering instructions as the driver has to steer the steering wheel. Additionally or alternatively, the driver assistance system can also automatically engage in the steering and / or in the drive train. The driver assistance system can therefore be a parking assistance system. Just then the representation of the vehicle symbol is together with the

Object symbol particularly advantageous; then the driver can be on the

Monitor the entire parking process monitor and possibly interrupt the automatic parking.

It is preferred at least one ultrasonic sensor, by means of which the

Environmental information about the surrounding area of the motor vehicle are detected.

Particularly preferably, the environment information is recorded continuously, while the displayed information - that is, the symbols - are preferably adapted to the detected environment information in real time. This means that the environmental information is recorded continuously in time using the at least one proximity sensor and the displayed information is also continuously stored in

Depending on the current environment information are generated can. In this way, a dynamic display is provided, which continuously to the changing environment of

Motor vehicle is adjusted.

Generally speaking, therefore, at least one symbol displayed on the display device may be a movable or dynamic symbol which is relative to another symbol on the display device, taking into account the detected

Environment information moves, namely according to a real relative

Movement of the motor vehicle with respect to a detected object. This movement of the symbols thus preferably corresponds to the actual relative movement of the objects imaged by the symbols relative to one another, so that a total of one

realistic display can be generated.

The environment information can be detected via respective surrounding areas left and right next to the motor vehicle in each case by means of at least one distance sensor. Then, for each object located in the left and in the right environment, in each case a schematic object symbol can be displayed on the display device, which symbolizes the detected object. In this way, it is possible to provide a symmetrical display on the display device, in which the vehicle symbol can be displayed centrally or centrally. The driver can thus be informed about the objects left and right next to the motor vehicle, so that he can detect left and right located parking spaces on the display device.

It proves to be particularly advantageous if, in relation to the vehicle symbol, the object symbols are displayed true to scale and / or true to position on the display device. Then the object symbols are shown in the same scale as the vehicle symbol, and the driver can be particularly accurate on the basis of the display on the respective distances between the motor vehicle and the vehicle external

Close objects back. On the basis of the size of the object symbol, he can also determine which vehicle-external object is the object symbol, namely whether the object symbol is about another motor vehicle or a

Footer symbolizes.

On the basis of the environmental information, at least one potential parking space can also be detected by the driver assistance system. Then this parking space can be displayed on the display device, namely in particular true to scale and / or true to position with respect to the vehicle symbol. Also to the parking space can a corresponding symbol, such as a rectangular symbol. In this way, the parking space is highlighted on the display device and the driver informed accordingly finding a parking space.

For at least a predetermined time interval, the vehicle icon may be displayed stationary on the display while the at least one object icon may be displayed as a moving icon. Thus, only the object symbols can move on the display device for at least a predetermined time interval, while the vehicle symbol preferably remains immobile. In this way, the driver can always inform himself about the same surrounding area with respect to the motor vehicle. In particular, the vehicle symbol can be displayed centrally with respect to a left and a right edge of the display device, namely preferably centrally on the display device. In this way it succeeds on the

Display device to represent object symbols to all vehicle external objects, which are located in the environment around the motor vehicle.

Thus, the vehicle symbol can be displayed stationary or stationary on the display device for at least one predetermined time interval. This predetermined time interval may be that during which potential parking spaces located in the surrounding area by the driver assistance system on the basis of

Environmental information can be measured. As already stated, the

Measuring the parking spaces usually during a passage of the motor vehicle at the parking spaces, namely on a number of other vehicles, between which there is possibly a potential parking space. At this

Embodiment, the vehicle symbol on the display device so stationary or immovable - in particular in the center - shown and the object symbols are moved while the motor vehicle is driven to potential parking spaces or on a number of other vehicles. The speed of movement of the

Object symbols preferably correspond to the current speed of the

Motor vehicle, so that the movement of the vehicle-external objects is faithfully displayed on the display device or the movement of the object symbols on the display device according to the real movement takes place. If a potential parking space is already behind the motor vehicle and thus is no longer visible to the driver, the driver can use the display on the display device to determine whether or not this potential parking space is suitable for parking. By means of the display device can also be signaled the fact that the function of measuring the parking spaces is currently activated. This can

For example, look like that the vehicle symbol is supplemented by another symbol that signals the activation or operation of the at least one distance sensor. The driver is then informed that the parking spaces are currently being measured.

By the driver assistance system can be set for at least one side of the motor vehicle extending along a direction of travel of the vehicle imaginary boundary line to which a collision-free maneuvering of the motor vehicle is possible. Then, the boundary line next to the vehicle icon can be displayed on the display device. In this way, the driver can

Information can be conveyed, how far he can rank with his car collision-free. It will thus be a safe and collision-free shunting of

Motor vehicle allows.

If a measured parking space is interpreted by the driver assistance system as a parking space suitable for parking, the finding of this parking space can be signaled by means of the display device. This may for example be such that the appropriate parking space is highlighted on the display device by means of a symbol. Such a symbol then symbolizes the parking space and signals the driver that a suitable parking track can be calculated and that the driver can initiate the parking process. Now, the driver can trigger the parking process, namely, for example, by making a corresponding input to an input device of the driver assistance system or by inserting the decrease.

It can also happen that in a series of consecutive

Cars a Längsparklücke - a parking space whose

Main extension direction coincides with the direction of extension of the road - is detected between two vehicles, which are offset with respect to each other in the direction of the respective transverse axes. In such a case, in principle, different parking paths can be calculated by the driver assistance system, which can lead the motor vehicle in various end positions in the transverse direction relative to the two, the parking space directly limiting vehicles. A parking track can bring the motor vehicle, for example, in a line with a first, the parking space limiting vehicle, while another parking the vehicle in can bring a line with the second, the parking space limiting vehicle. It is provided in one embodiment that in such a case, the driver the

End position of the motor vehicle in the parking space can select, namely

For example, with the help of an input device of the driver assistance system. The various end positions in the parking space can also be displayed on the display device, for example by means of a corresponding symbol.

If a potential obstacle is detected in a detected parking space, which is detected by the driver assistance system on the basis of the environmental information, this potential obstacle can be displayed on the display device with the help of a

corresponding icon. Such an obstacle may be, for example, a pedestrian or even a higher curb. In such a case, the driver can then decide for himself whether he wants to park in the parking space or not. Such an obstacle can be displayed as an icon, for example, by means of an exclamation mark, which can be displayed on the display device within the detected parking space.

If the finding of a parking space is signaled with the aid of the display device and the driver assistance system receives an input for initiating the parking operation, the parking process can be started by the driver assistance system and this start of the parking process can be signaled by means of the display device. Then, the driver is informed by means of the display device that the parking process is properly continued and the motor vehicle is parked in the parking space.

After initiating a parking operation, a not yet reached end position of the motor vehicle can be displayed in the parking space. The driver can join this

Embodiment still recognize before the completion of the parking operation on the display device, in which end position the motor vehicle is parked.

During the parking operation, the vehicle icon may be displayed on the display as a moving icon. Additionally or alternatively, the at least one object symbol can also be displayed as a movable symbol. However, it proves to be particularly advantageous if only the vehicle symbol or the at least one object symbol is displayed as a movable symbol, while the respective other symbol is displayed as a stationary or immovable symbol. If the vehicle symbol is displayed as a moving symbol during the parking operation, the vehicle symbol moves on the display device during the parking operation Parking procedure along the calculated roadway. The vehicle symbol then preferably moves in a still image, which was generated immediately before the time of initiating the parking operation. The vehicle symbol is preferably moved in accordance with the real movement of the motor vehicle. If, however, the vehicle symbol is displayed stationary, the image of the environment of the

Motor vehicle - so the object symbols - to the continuously detected

Adjusted environment data or moved according to the real relative movement between the motor vehicle and the surrounding area.

As already stated, the driver assistance system can calculate a parking path for a parking operation along which the motor vehicle is parked in a parking space. Such a parking track can then also be displayed on the display device. This parking track can be represented for example in the form of a line along which the vehicle symbol on the display device in the

Parking space is performed. In this way, it is possible to inform the driver about the course of the calculated parking path and the driver can already in advance, or in advance close to the future direction of movement of the motor vehicle back.

During the parking process, at least one distance sensor of the

Driver assistance system to measure a distance to a vehicle external object. If this distance then falls below a predetermined limit, this undershooting can be signaled by means of the display device. These

Embodiment proves to be particularly advantageous when vehicles external objects are detected, located on the other side of the

Motor vehicle than the parking space are. During a parking operation, the driver usually observes that side next to the motor vehicle on which the parking space is located. On the opposite side is usually paid less attention. If vehicle-external obstacles are now detected on the opposite side, a corresponding indication can be output with the aid of the display device. In one embodiment, an icon may also be on the

Display device are displayed, which symbolizes this off-vehicle obstacle to scale and positionally true with respect to the vehicle symbol. It can thus be avoided collisions.

If, after a parking operation, a predetermined end position in the parking space is reached by the motor vehicle, so can this reaching the final position by means of Display device are signaled. Then the driver is informed that the parking has been completed and he can get out of the vehicle.

An inventive driver assistance system for a motor vehicle is for

Supporting a driver trained in driving the motor vehicle. The

Driver assistance system includes at least one distance sensor for detecting environmental information about a surrounding area of the motor vehicle during a journey. The driver assistance system also includes a display device for displaying information based on the environmental information. On the display device, on the one hand, a vehicle symbol, which symbolizes the motor vehicle, and on the other hand, at least one object symbol can be displayed, which symbolizes an object located in the surrounding area and detected based on the environmental information.

A motor vehicle according to the invention comprises an inventive

Driver assistance system.

The preferred embodiments presented with reference to the process according to the invention

Embodiments and their advantages apply correspondingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All the features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned in the description of the figures and / or shown alone in the figures can be used not only in the respectively indicated combination but also in other combinations or alone.

The invention will now be described with reference to individual preferred embodiments, as well as with reference to the accompanying drawings.

Show it:

Fig. 1 is a schematic representation of a plan view of a motor vehicle with a driver assistance system according to an embodiment of the

Invention; and FIGS. 2 to 13 show, in schematic illustration, exemplary optical displays, such as are displayed in the interior of the motor vehicle during a measurement of a parking space and during a parking operation of the motor vehicle on an optical display device, such as a display.

An illustrated in Fig. 1 motor vehicle 1 is in the embodiment a

Passenger cars. The motor vehicle 1 comprises a driver assistance system 2, which is used to assist the driver of the motor vehicle 1 when driving the vehicle

Motor vehicle 1 is formed. In particular, the driver assistance system 2 is used to assist the driver when parking the motor vehicle 1 in a parking space, namely both a longitudinal parking space and in a transverse parking space or an obliquely oriented to the street parking space. A Längsparklücke is such a parking space whose main extension direction coincides with the extension direction of the road or the carriageway, while a transverse parking space is one whose

Main extension direction perpendicular to the extension direction of the roadway runs. An oblique parking space is such a parking space whose main extension direction is at an angle between 0 ° and 90 ° to the extension direction of the road. The driver assistance system 2 can support the driver when parking in all these parking spaces.

For the measurement of parking spaces, the driver assistance system 2 in

Embodiment two ultrasonic sensors 3, 4, which are distance sensors. The ultrasonic sensor 3 is arranged on a left side edge of the motor vehicle 1 or in the left edge region of a front bumper; the second ultrasonic sensor 4 is mounted symmetrically on the opposite side of the motor vehicle 1. The ultrasonic sensors 3, 4 can provide environmental information about a

Surround area 5 on both the left side 6 and on the right side 7 of the motor vehicle 1 capture. The environment information is in the form of

Distance data and distance values before and are transmitted by the ultrasonic sensors 3, 4 to a control device 8 of the driver assistance system 2, namely, for example via a communication bus. If the motor vehicle 1 is moved forwards or backwards, then whole surroundings can be determined on the basis of the environment information

Vehicles external objects or obstacles are detected, because the Ultrasonic sensors 3, 4, the environment information or the distance data continuously, ie continuously detect time. Continuous detection of the environmental information here means that the ultrasonic sensors 3, 4 periodically emit ultrasonic signals and ultrasonic signals affected by objects

received, on the basis of which then the distance values can be determined. The frequency of the periodic emission of the ultrasonic signals can be so great that overall a continuous or continuous detection of

Provides environmental information.

As already stated, the driver assistance system 2 serves to support a parking operation of the motor vehicle 1. The purpose of this support is that the driver assistance system 2 can first use the environmental information to measure or detect a parking space in order then to calculate a suitable parking path.

Along this parking track, the motor vehicle 1 can then be parked in the measured parking space, namely collision-free. The acquisition or measurement of

Parking spaces occurs during a passage of the motor vehicle 1 at the parking spaces. In this case, the motor vehicle 1 can be moved either forward or backward. If a suitable parking space is found or if a measured parking space is interpreted by the control device 8 as a parking space suitable for parking, the driver is informed and he can release the parking procedure. The further assistance may also include that the control device 8 in a

Steering device of the motor vehicle 1 automatically engages to steer the steerable wheels of the motor vehicle 1 driver independently, so that the motor vehicle 1 is parked along the calculated parking path in the parking space. In addition, the

Control device 8 also actuate a drive train of the motor vehicle 1 automatically or driver independent to give or decelerate gas. In this case, the driver then only needs to release the parking procedure and if necessary to interrupt it.

During the measurement of the parking spaces as well as during the execution of a parking operation, the driver receives a variety of information from

Driver assistance system 2 output, and the driver can also make a variety of inputs, for example, on an operating device of the

Driver assistance system 2. There is essentially an interactive communication between the driver assistance system 2 and the driver. In the present case, the interest is directed in particular to the output of the information from the driver assistance system 2 to the driver. For this purpose, the driver assistance system 2 includes an optical display device 9.

The display device 9 may be a stationary or stationary mounted in the interior of the motor vehicle 1 device; For example, it can be firmly integrated into an instrument panel or center console. Alternatively, this display device 9 may also be a detachably mounted and mobile or portable device. The

Display 9 may be an LCD display; she can alternatively also

Be image projector, by means of which information can be projected onto a windshield 10 of the motor vehicle 1 (head-up display).

The display device 9 is electrically coupled to the control device 8 and is controlled by the control device 8. The control device 8 can therefore specify which information is to be displayed on the display device 9. There are shown on the display device 9 information 1 1, which on the

Environmental information based - they are detected by the ultrasonic sensors 3, 4.

The control device 8 may include, for example, a signal processor, as well as a microcontroller and a memory 12. In the memory 12 a variety of data may be stored. For example, 12 symbols can be stored in memory 12, which can be displayed on the display device 9. It can, for example, a

Vehicle symbol to be stored, which symbolizes the motor vehicle 1 schematically. Such a vehicle symbol can be, for example, a rectangle or a plan view of the motor vehicle 1.

The information displayed 1 1 are generated in the embodiment alone based on the environmental information of the ultrasonic sensors 3, 4. In particular, a camera system is dispensed with or the information 1 1 is independent of

Image data of a camera system generated. Referring now to FIGS. 2 to 13, a method according to FIG

Embodiment of the invention explained in more detail:

Figures 2 to 13 show a schematic representation of the display device 9 with the information 1 1, as they are displayed during a measurement of parking spaces and during a parking operation of the motor vehicle 1 on the display device 9. FIGS. 2 to 13 thus show, in principle, a time sequence of optical displays, as they are displayed on the display device 9 during parking. As already stated, the information 11 is generated solely on the basis of the environmental information of the ultrasonic sensors 3, 4. Because the

Environment information can be continuously collected, the displayed

Information 1 1 can also be adapted dynamically or in real time. This means that the displayed information 1 1 are displayed realistically. On the display device, the surrounding area 5 is imaged both on the left and on the right side 6, 7 of the motor vehicle 1.

First, the motor vehicle 1 moves forward along a series of other motor vehicles; the motor vehicle 1 drives on the row of other motor vehicles and optionally on formed between the other motor vehicles

Parking spaces over. During this passage, the parking spaces which may be present on the left and the right side 6, 7 are measured, namely on the basis of the environmental information. During this passage, a display as shown in FIG. 2 is displayed on the display 9. On the display device 9, a vehicle symbol 13 is shown, which symbolizes the motor vehicle 1. This vehicle symbol 13 may be a rectangle or a plan view of the motor vehicle 1. Furthermore, object symbols 14, which each symbolize an object external of the vehicle, which is detected by the driver assistance system 2 based on the environmental information, are also shown on the display device 9. Since the motor vehicle 1 moves forward and drives past the row of other motor vehicles (object symbols 14), those objects which are located substantially at the height of the motor vehicle 1 or next to the motor vehicle 1 can currently be detected by the ultrasonic sensors 3, 4 , It can thus be detected on the basis of the detected by the ultrasonic sensors 3, 4 environmental information those objects that are either already behind the motor vehicle 1 or but located next to the motor vehicle 1. To detect objects located in front of the motor vehicle 1, for example, further ultrasonic sensors can be used on the front bumper. Alternatively, the driver assistance system 2 can manage without further ultrasonic sensors. In this case, an object symbol 14 can nevertheless be displayed in front of the vehicle symbol 13, without an object external to the vehicle actually being detected for this object symbol 14. Such an object symbol 14 can then be verified and adapted during the further travel of the motor vehicle 1.

In the display according to FIG. 2, the vehicle symbol 13 is preferably shown stationary or immovable centrally between a left and a right edge 15, 16 of the display device 9. The vehicle symbol 13 is thus a stationary symbol. By contrast, the object symbols 14 are displayed as moving symbols and are moved on the display device 9 while the motor vehicle 1 passes, namely according to the arrow representation 17. The speed of movement of the object symbols 14 with respect to the fixed vehicle symbol 13 then preferably corresponds to the actual speed of the motor vehicle 1 during the passage. Thus, a "rolling" series of object symbols 14 is displayed on the display device 9, each of which is an external vehicle object or a stationary one

Symbolize motor vehicle. The relative movement of the vehicle symbol 13 and the object symbols 14 corresponds to the real relative movement of the motor vehicle 1 with respect to the vehicle-external objects.

In FIG. 2, the object symbols 14 are shown only on the right side of the vehicle symbol 13. But there may also be object icons 14 on the left side of the

Vehicle symbol 13 are shown, since the environmental information on both the left side 6 and on the right side 7 of the motor vehicle 1 are detected.

The control device 8 can also determine an imaginary boundary line running along the direction of travel of the motor vehicle 1, up to which a collision-free maneuvering of the motor vehicle 1 is made possible. This boundary can be set for both the left and the right side 6, 7. Appropriate

Boundary lines 18, 19 can also be displayed on the display device 9 next to the vehicle symbol 13. That way, the driver gets over it informed how far he can steer with the motor vehicle 1 collision-free to the left and to the right.

As already stated, the display according to FIG. 2 is displayed during a time interval during which parking spaces are measured by the driver assistance system 2. The ultrasonic sensors 3, 4 thus continuously detect the

Environmental information. The operation of the ultrasonic sensors 3, 4 or the

Measurement of the parking spaces can also be displayed on the display device 9, namely with corresponding symbols 20, for example.

With respect to the vehicle icon 13, the object icons 14 are displayed to scale and positionally on the display device 9. This is made possible by the fact that during the passing of the motor vehicle 1 to the other

Vehicles, the environmental information is continuously detected by the ultrasonic sensors 3, 4 and the dimensions of the other vehicles can be determined based on the environmental information. So it will both the

Dimensions of other vehicles as well as the distances between the

Motor vehicle 1 and the other motor vehicles displayed to scale.

Thus, the row of the object symbols 14 is moved on the display device during the passage of the motor vehicle 1, namely as indicated by the arrow 17. Parking spaces are also displayed on the display device 9, which are located between the other motor vehicles. As shown in FIGS. 3 to 6, a parking space 21 can be detected and displayed on the display device 9 while the motor vehicle 1 is passing by. The parking space 21 is directly bounded by two object symbols 14. The parking space 21 can for example be displayed in such a way that simply no other symbol is displayed at this point. But it is also possible to display a parking space symbol, which symbolizes the parking space 21. The parking space 21 is displayed on the display while the motor vehicle 1 is moving. In FIGS. 3 to 6, however, the vehicle symbol 13 becomes stationary or

shown immovable, while the object symbols 14 and the parking space 21 are moved in accordance with the arrow 17. In FIGS. 3, 5 and 6, a curb symbol 22 is displayed on the display device 9. FIGS. 3 to 6 show various possibilities for the representation of the curb symbol 22. The control device 8 continuously checks whether the detected parking space 21 is a parking space suitable for parking or not. If the parking space 21 is suitable for the parking operation of the motor vehicle 1, then the driver is informed accordingly. For example, here an acoustic signal can be output, by means of which the finding of the appropriate parking space is signaled. However, this signaling is carried out in particular - in addition or as an alternative - with the aid of the display device 9. For example, as shown in FIG. 7, a character "R" on the

Vehicle symbol 13 are displayed, with which the driver is requested to insert the decrease. If a suitable parking space 21 is found, then the movable object symbols 14 and the movable parking space 21 on the

Display device can be stopped, and the vehicle symbol 13 can be moved with respect to the object symbols 14. If the motor vehicle 1 is stopped, then the vehicle symbol 13 can be stopped, as shown in Fig. 7.

Alternatively, the character "R" can also be displayed only when the driver has already engaged the reverse gear.

The control device 8 then calculates a parking path along which the

Motor vehicle 1 can be parked in the parking space 21. The end position of the motor vehicle 1 in the parking space is thus known. This end position can be displayed on the display device 9 even before the parking process is initiated, namely with a corresponding symbol 23, which may be a rectangle, as shown in FIG. Referring to FIG. 10, before the initiation of the

Park process also be noted that there are more obstacles next to the motor vehicle 1. Such obstacles can be determined by means of a

Exclamation mark 24, 25 will be displayed. The exclamation marks 24, 25 are also displayed true to position; in Fig. 10 is on the display device 9 a

Exclamation mark 24 is displayed on the left side of the vehicle symbol 13 and thus symbolizes a located on the left side 6 of the motor vehicle 1 obstacle. The second exclamation mark 25 is located in the parking space 21 and symbolizes a potential obstacle in the parking space. The driver can now decide whether he wants to initiate the parking process anyway or not. As shown in FIG. 10, an object icon 14 may also be displayed as an unusual icon, namely with the help of a question mark. This means that this object symbol 14 does not symbolize another motor vehicle, but another, unspecified vehicle-external object. Again, the driver must decide for himself whether he wants to initiate the parking process or not.

As already stated, the object symbols 14 with respect to the vehicle symbol 13 are displayed realistically - true to scale and true to position. Thus, if two motor vehicles are detected on the basis of the environmental information that are not in a line to each other, object symbols 14 correspondingly offset from one another are displayed for these motor vehicles. Such a situation is depicted in FIG. 11. The object symbols 14 are displayed offset on the display device 9 in the direction of the respective transverse axes. In such a case, several end positions for the motor vehicle 1 are possible in the parking space 21 in principle. As shown in Fig. 1 1, two symbols 23 a, 23 b are displayed in this case, each symbolizing a different end position in the parking space 21. The driver can now choose with which of the other motor vehicles the motor vehicle 1 is to be brought into line during the parking process.

If the parking operation is triggered and the motor vehicle 1 is moved into the parking space along the calculated parking path, the vehicle symbol 13 can also be displayed as a movable symbol, while the object symbols 14 can be displayed stationary. Alternatively, however, it may also be provided that the vehicle symbol 13 is fixed and the object symbols 14 are displayed in a movable manner. FIGS. 8 and 9 show a chronological sequence of displays as they are displayed on the display device 9 during parking in the parking space 21. In this case, the vehicle icon 13 is moved, and the object icons 14 are displayed stationary. The vehicle symbol 13 is moved into the parking space 21 located between the object symbols 14, namely realistically and in real time or dynamically. The driver thus perceives a continuous movement of the vehicle symbol 13, which corresponds to the movement of the motor vehicle 1 into the parking space.

A symbol 26 for the steering angle can also be displayed on the vehicle symbol 13. With the icon 26, the steering direction is displayed, in which the driver is to steer the steering wheel in order to guide the motor vehicle 1 in the parking space. If the control device 8 actuates the steering of the motor vehicle 1 automatically, then only the direction in which the steerable wheels are taken automatically is symbolized by the pictogram 26.

As shown in FIGS. 12 and 13, the fact that the ultrasonic sensors 3, 4 and / or further ultrasonic sensors continuously measure the distances between the motor vehicle 1 and the objects external to the vehicle can be signaled by means of a symbol 27. If a critical minimum is exceeded, the color of the symbol 27 can be changed. For example, a yellow icon 27 can be changed to a red icon 27 if the distance between the motor vehicle 1 and an object external to the vehicle falls below a predetermined limit. In this way, the driver is warned of an impending collision, and he can interrupt the parking process or the parking process is automatically interrupted by the controller 8.

Claims

claims

1 . A method of assisting a driver in driving a motor vehicle (1) by means of a driver assistance system (2)

Detecting environmental information about a surrounding area (5) at least on one side (6, 7) of the motor vehicle (1) by means of at least one distance sensor (3, 4) during a drive of the motor vehicle (1) and

- Displaying information (1 1) on a display device (9) of the

Motor vehicle (1) based on the environmental information, characterized by

- Displaying a vehicle symbol (13) on the display device (9), which symbolizes the motor vehicle (1) and

for at least one object located in the surrounding area (5), which is detected on the basis of the environmental information, displays a

Object symbol (14) on the display device (9), which symbolizes the detected object.

2. The method according to claim 1,

characterized in that

the information (11) is displayed while potential parking spaces (21) located in the surrounding area (5) are measured by the driver assistance system (2) on the basis of the surroundings information during the drive of the motor vehicle (1) and / or while the motor vehicle (1) parked in a parking space (21) or parked out of the parking space (21).

3. The method according to claim 1 or 2,

characterized in that

the environment information is continuously recorded and / or on the display device (9) at least one of the displayed symbols (13, 14) relative to the respective other symbol corresponding to a real relative movement of the motor vehicle (1) with respect to the detected object, in particular in real time moves becomes.

4. The method according to any one of the preceding claims,

characterized in that

the environmental information about respective surrounding areas (6, 7) left and right next to the motor vehicle (1) in each case by means of at least one

Distance sensor (3, 4) are detected and to each in the left and in the right surrounding area (6, 7) located each object a schematic

Object symbol (14) is displayed on the display device (9), which symbolizes the detected object.

5. The method according to any one of the preceding claims,

characterized in that

in relation to the vehicle symbol (13), the object symbols (14) are displayed true to scale and / or true to position on the display device (9).

6. The method according to any one of the preceding claims,

characterized in that

Based on the environmental information at least one potential parking space (21, 23) detected by the driver assistance system (2) and displayed on the display device (9), in particular true to scale and / or positionally with respect to the vehicle symbol (13).

7. The method according to any one of the preceding claims,

characterized in that

at least for a predetermined time interval, the vehicle symbol (13) is displayed fixed on the display device (9), in particular centrally with respect to a left and a right edge (15, 16) of the display device (9), while the object symbols (14) as moving symbols are displayed.

8. The method according to claim 7,

characterized in that

the predetermined time interval is a time interval during which in the

Surrounding area (5) located potential parking spaces (21) by the Driver assistance system (2) are measured on the basis of the environmental information.

9. The method according to any one of the preceding claims,

characterized in that

when a measured parking space (21) is interpreted by the driver assistance system (2) as a parking space suitable for a parking operation (21), the finding of this parking space (21) is signaled by means of the display device (9).

10. The method according to any one of the preceding claims,

characterized in that

when, after signaling the detection of a parking space (21), the driver assistance system (2) receives an input made by the driver to initiate a parking operation, the parking operation is started by the driver assistance system (2), and starting the parking operation by means of Display device (9) is signaled.

1 1. Method according to one of the preceding claims,

characterized in that

during a parking operation, the vehicle symbol (13) as a movable symbol and / or the object symbols (14) as movable symbols on the

Display device (9) are displayed.

12. The method according to any one of the preceding claims,

characterized in that

by the driver assistance system (2) a parking path is calculated for a parking operation, along which the motor vehicle (1) is parked in a parking space (21), and the parking path is displayed on the display device (9).

13. The method according to any one of the preceding claims,

characterized in that

during a parking operation, at least one distance sensor (3, 4) of the

Driver assistance system (2) a distance to a vehicle external object measures and falls below a predetermined limit value by the distance by means of the display device (9) is signaled.

14. The method according to any one of the preceding claims,

characterized in that

when, after a parking operation, the motor vehicle (1) reaches a predetermined end position in a parking space, reaching this end position is signaled by means of the display device (9).

15. Driver assistance system (2) for a motor vehicle (1), for supporting a

Driver driving the motor vehicle (1), with:

at least one distance sensor (3, 4) for detecting

Environmental information about a surrounding area (5) of the

Motor vehicle (1) during a journey of the motor vehicle (1) and

a display device (9) for displaying information (1 1) based on the environment information,

characterized in that

on the display device (9) a vehicle symbol (13) which the

Motor vehicle (1) symbolizes, and at least one object symbol (14) can be displayed, which is located in the surrounding area (5), based on the

Environment information detected object symbolized.