# US 9,517,769 B2 · Motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,769 B2 - Document ID: US9517769B2 - Status: Granted - Kind: B2 - Application number: 14/888,095 - Filed: 2014-06-17 - Published: 2016-07-07 - Granted: 2016-12-13 - Earliest claimed: 2013-06-21 - Assignees: Audi AG - Applicants: Audi AG - Inventors: Erwin Roth; Rudolf Leinfelder; Matthias Burger; Ulrich Hammes; Chao Chen; David Lenz; Pascal Minnerup - Web page: https://patentgrep.com/patent/US9517769B2 ## CPC - B60W 30/18009: {related to particular drive situations} - B60K 31/0008: {including means for detecting potential obstacles in vehicle path} - B60W 30/18181: {Propulsion control with common controlling member for different functions} - B62D 1/04: Hand wheels - B62D 15/0285: {Parking performed automatically} - B60K 2026/029: {Joystick type control devices for acceleration} - B60W 2050/0064: {using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A motor vehicle has a control device to control automated longitudinal and/or transverse guidance of the motor vehicle within the scope of a specific driving maneuver. The motor vehicle also has an operator control element to communicate with the control device and to transfer control information, relating to the at least partially automated longitudinal and/or transverse guidance, to the control device. The control device is configured in such a way that activation or deactivation of the longitudinal and/or transverse guidance can be controlled by means of an operator-side first operator-control action at the operator-control element, and at least one driving parameter which influences the longitudinal and/or transverse guidance of the motor vehicle, controlled by the control device, can be modified by means of an additional operator-side, second operator-control action at the operator-control element, which second operator-control action is in particular different from the first operator-control action. ## Claims ### Claim 1 A motor vehicle comprising: a control device which is designed to control at least partially automated longitudinal and/or transverse guidance for a driving maneuver of the motor vehicle; and an operator control element to communicate with the control device and to transfer control information relating to the longitudinal and/or transverse guidance, to the control device, the control device being configured in such a way that activation or deactivation of the longitudinal and/or transverse guidance is controlled by an operator-side first operator control action at the operator control element, and a driving parameter which influences the longitudinal and/or transverse guidance is modified by an operator-side second operator control action which is different from the first operator control action, at the operator control element, wherein the motor vehicle further comprises at least one of the following to process vehicle surroundings information which is acquired by a vehicle surroundings sensor system and communicated with the control device: a resetting device provided in the operator control element to provide a resetting force counter to the second operator control action, the resetting force being varied as a function of the vehicle surroundings information which is acquired during the driving maneuver, and an output device to output feedback signals, the feedback signals being at least one of acoustic signals, haptic signals and visual signals, the output device being provided at or controlled by the operator control element, the feedback signals being output as a function of the vehicle surroundings information, the feedback signals having an intensity that is varied as a function of the vehicle surroundings information. ### Claim 2 (depends on 1) The motor vehicle as claimed in claim 1, wherein the first operator control action is a translational movement of the operator control element along a translational axis starting from a home position into a first operator control position, and the second operator control action is a rotational movement of the operator control element, located in the first operator control position, about the translational axis or another rotational axis. ### Claim 3 (depends on 2) The motor vehicle as claimed in claim 2, wherein clockwise rotation of the operator control element increases the driving parameter, and counter-clockwise rotation of the operator control element reduces the driving parameter. ### Claim 4 (depends on 1) The motor vehicle as claimed in claim 1, wherein the first operator control action is a translational movement of the operator control element in an activation direction along a translational axis starting from a home position into a first operator control position, and the second operator control action is a further translational movement of the operator control element in the activation direction along the translational axis starting from the first operator control position. ### Claim 5 (depends on 1) The motor vehicle as claimed in claim 1, wherein the operator control element has an operator control section, the first operator control action is a translational movement of the operator control section along a translational axis starting from a home position into a first operator control position, and the second operator control action is a pivoting movement of the operator control element, when the operator control section is located in the first operator control position, about a bearing point starting from a home position. ### Claim 6 (depends on 5) The motor vehicle as claimed in claim 5, wherein an upward pivoting of the operator control element toward the operator increases the driving parameter, and a downward pivoting of the operator control element away from the driver decreases the driving parameter. ### Claim 7 (depends on 1) The motor vehicle as claimed in claim 1, wherein the operator control element has a touch-sensitive operator control surface, the first operator control action is a touch at a first operator control position on the operator control surface, and the second operator control action is a movement along the operator control surface, starting from the first operator control position. ### Claim 8 (depends on 1) The motor vehicle as claimed in claim 1, wherein the control device takes into account a limiting value for the driving parameter such that the driving parameter cannot be modified by the second operator control action to exceed the limiting value. ### Claim 9 (depends on 8) The motor vehicle as claimed in claim 8, wherein the driving parameter is a velocity of the motor vehicle during the longitudinal and/or transverse guidance, and the limiting value is a limiting velocity. ### Claim 10 (depends on 9) The motor vehicle as claimed in claim 9, wherein the limiting velocity is adapted as a function of the vehicle surroundings information which is acquired during the driving maneuver. ### Claim 11 (depends on 1) The motor vehicle as claimed in claim 1, wherein the driving parameter is a velocity or a speed profile of the motor vehicle during the longitudinal and/or transverse guidance. ### Claim 12 (depends on 1) The motor vehicle as claimed in claim 1, wherein the operator control element is installed in the motor vehicle or in a smartphone. ### Claim 13 (depends on 1) The motor vehicle as claimed in claim 1, wherein the control device is configured such that when the first operator control action is carried out, longitudinal and/or transverse guidance is activated using a predefined value of the driving parameter. ### Claim 14 (depends on 1) The motor vehicle as claimed in claim 1, wherein the motor vehicle comprises the resetting device. ### Claim 15 (depends on 1) The motor vehicle as claimed in claim 1, wherein the motor vehicle comprises the output device. ### Claim 16 (depends on 1) The motor vehicle as claimed in claim 1, wherein the motor vehicle comprises both the resetting device and the output device. ### Claim 17 (depends on 1) The motor vehicle as claimed in claim 1, wherein the driving maneuver is an automatic parking process, and the driving parameter is a velocity during the automatic parking process. ### Claim 18 (depends on 1) The motor vehicle as claimed in claim 1, wherein the motor vehicle comprises the resetting device, and a higher resetting force is generated and applied to the operator control element when an increased collision probability is identified. ### Claim 19 (depends on 1) The motor vehicle as claimed in claim 1, wherein the motor vehicle comprises the output device, and the intensity of the feedback signals is increased when a hazard for the motor vehicle is identified. ### Claim 20 (depends on 1) The motor vehicle as claimed in claim 1, wherein the resetting force and/or the intensity of the output signals is increased if the operator attempts to increase the driving parameter beyond what is considered safe in a traffic situation. ### Claim 21 (depends on 1) The motor vehicle as claimed in claim 1, wherein the longitudinal and/or traverse guidance of the motor vehicle is deactivated by cancelling the first operator control action such that the driving maneuver is ended when the operator control element is released. ### Claim 22 A method for operating a motor vehicle, comprising: controlling at least partially automated longitudinal and/or transverse guidance for a driving maneuver of the motor vehicle, the longitudinal and/or transverse guidance being controlled by a control device; communicating between an operator control element and the control device; transferring control information, relating to the longitudinal and/or transverse guidance, from the operator control element to the control device; activating or deactivating the longitudinal and/or transverse guidance by an operator-side first operator control action at the operator control element; modifying a driving parameter which influences the longitudinal and/or transverse guidance by an operator-side second operator control action which is different from the first operator control action, at the operator control element; and acquiring vehicle surroundings information by a vehicle surroundings sensor system that communicates with the control device, wherein the method further comprises at least one of the following: providing a resetting force by a resetting device provided in the operator control element, the resetting force being counter to the second operator control action, the resetting force being varied as a function of vehicle surroundings information which is acquired during the driving maneuver, and outputting feedback signals by an output device, the feedback signals being at least one of acoustic signals, haptic signals and visual signals, the output device being provided at or controlled by the operator control element, the feedback signals being output as a function of the vehicle surroundings information, the feedback signals having an intensity that is varied as a function of the vehicle surroundings information.