WO2009015778A1

WO2009015778A1 - Method and device for driver support when routing a vehicle or vehicle combination

Info

Publication number: WO2009015778A1
Application number: PCT/EP2008/005841
Authority: WO
Inventors: Stefan Hahn; Tobias Ehlgen; Markus Glaser; Thomas Ruland
Original assignee: Daimler Ag
Priority date: 2007-08-01
Filing date: 2008-07-17
Publication date: 2009-02-05
Also published as: DE102008006309A1

Abstract

The invention relates to a method and a device for driver support when routing a vehicle or vehicle combination (1) comprising vehicle elements (2, 3) that are bendable relative to one another. The method provides for a future vehicle course (11) to be predicted that shows the position at which the vehicle or series of vehicles (1) will attain a straight-line orientation (12).

Description

Method and device for driver assistance when maneuvering a vehicle or vehicle combination

The invention relates to a method and a device for driver assistance when maneuvering a vehicle or vehicle combination, which has a plurality of vehicle elements which can be bent relative to each other.

In order to avoid accidents when driving a vehicle, it is necessary for a driver to be able to optimally view the surroundings of the vehicle. The detection of the environment of the vehicle takes place here essentially by a visual inspection of the driver. In particular, when maneuvering a vehicle, such as a commercial vehicle is due to the sitting position of the driver, the problem that a large part of the vehicle rear space to be viewed is covered by the vehicle body itself, especially box bodies or containers. As a solution to the problem a variety of mirror and lens designs for mounting on the vehicle are known. Alternatively, camera devices are installed, whereby the rear space of the vehicle is detected and the image data obtained in this way are clearly visible to the driver on a screen in the dashboard area.

From DE 102005051804 Al is a maneuvering assistance for drivers of vehicles and vehicle combinations, which against each other Knickbare vehicle elements have known. Here, the current rearward environment of the vehicle or vehicle combination is detected by a camera. In addition, there is a detection of a current steering angle of at least one steerable axle of the vehicle and a current detection of a bending angle of at least the mutually bendable vehicle elements. The detected values as well as the dimensions of the vehicle or vehicle combination stored in a storage unit are fed to a processor module. On the basis of the detected values and the dimensions of the vehicle or vehicle combination, a future course of the journey, comprising a driving and / or towing lane, is predicted in the processor module and the images captured by the camera superimposed on the driver are displayed as a maneuvering aid on the screen.

The invention has for its object to provide an improved method and apparatus for performing the method as a maneuvering for a driver of a vehicle or vehicle combination, which has mutually kinkable vehicle elements specify.

The object is achieved by a method and an apparatus for performing the method with the features specified in claims 1 and 9. Advantageous developments of the invention are the subject of the dependent claims.

The method according to the invention predicts a future driving course, comprising a driving and / or towing lane, which indicates at which position the vehicle or vehicle combination, which has mutually bendable vehicle elements, a rectilinear position in the future driving course, in particular in one Reverse course will reach. The method provides that a rear instantaneous environment, an instantaneous steering angle of at least one steerable axle and an instantaneous articulation angle of at least the mutually bendable vehicle elements of the vehicle or vehicle combination are detected, based on the possible future reversing course in the circumference of a lane and / or a towing lane is determined. In this way, a driver can be informed at an early stage, which driving course brings the vehicle or vehicle combination when reversing in the final position. Thus, the driver is advised early on a possible misadjustment, so that the driver can correct, for example, by timely changing the current steering angle, the determined reversing course such that a forward drive is avoided. In contrast, to determine a future forward travel course, the front-end environment is detected.

To ensure a largely real-time predicted driving course and to take account of strong variations within short shunting distances, the values of the surroundings, the steering angle and the bending angle are continuously recorded and fed to a processor module where it is processed to the future driving course, which can then be optically output, for example , In particular, on the basis of the acquired data by means of the processor module, the future driving course is predicted and, in perspective, correctly, superimposed symbolically on the image data taken by a camera of the surroundings. In a particularly advantageous embodiment, objects detected in the environment, for example plants or buildings, are classified according to their passability. Traversable, for example, sewer covers or low Curbs, while driving over, for example, plants or walls should be avoided.

In addition, the currently detected by the processor module values of the environment, the steering angle and the bending angle and the determined driving and / or towing track are fed to a display unit and the driver on a visible from this while driving screen symbolically output superimposed in the captured environmental image data. In another possible embodiment, distance lines may be displayed superimposed on the displayed route and / or the displayed environment, which assists the driver in estimating distances during the reverse routing.

Depending on the use of the vehicle or vehicle combination, in particular when using other structures or trailers, various dimensions of the vehicle or vehicle combination are expediently stored as a function of the number and / or type of the respective bendable vehicle elements. In one possible embodiment of the method, depending on the number and / or the type of vehicle elements currently used, their associated dimensions are automatically or manually read out of the memory when determining the predicted driving course. This makes it possible that when determining the predicted driving course for a Rückwärtsrangieren of the vehicle or vehicle combination, the associated dimensions or changes this, z. B. new trailer, other structures, are taken into account. Such changes can be made without much technical effort in the process by, for example, the corresponding new dimensions are entered into the memory of a mobile and / or static processing unit. In a corresponding embodiment, this can also be done wirelessly in particular. In the case of frequently repeated (same) changes (eg driving with a loaded or unloaded container), several different vehicle contours or dimensions can be contained in the memory of the processor module and retrieved.

In addition, the predicted driving course, which includes a driving and / or towing lane dependent on the instantaneous steering and articulation angle, is displayed superimposed in an image representing the rearward environment. With the help of this superimposed representation, it is possible to optimally estimate distances in relation to the course of the journey and the rear environment.

In a further embodiment, the predicted driving course is adapted to respective changes in the rear environment, the current steering angle and / or the instantaneous bending angle, which are continuously detected by a corresponding device. In this case, in particular objects detected in the environment are determined, output and displayed in accordance with the classified drive-over capability. As a result, the driver is always updated on a screen in accordance with updated changes in the driving parameters updated predicted driving course and critical positions in the driving course.

The device for carrying out the method is designed so that it can be determined at which position the vehicle or vehicle combination, which has mutually bendable vehicle elements, a rectilinear position in the future driving course, for. B. in a reversing course, achieved. In this case, the device comprises a measuring unit for detecting the rear environment, a measuring unit for detecting the steering angle of at least one steerable axle, a measuring unit for detecting the bending angle of at least the mutually bendable vehicle elements, a processor module and a display unit. The processor module, the currently detected values of the environment, the steering angle and the bending angle for processing and determination of the future driving course, in particular a reverse driving course supplied, which can be displayed on the display unit.

The measuring units for determining the steering or bending angle are preferably designed as position sensors, in particular angle sensors in the form of magnetoresistive angle sensors or Hall sensors.

The processor module has at least one processing unit and a memory unit. Preferably, the processing unit is for processing the detected values of the environment, the steering angle, and the bend angle. In this case, the dimensions of different vehicles or vehicle combination depending on the number and / or type of the respective vehicle elements are stored in the memory unit and are retrievable depending on the use of one of the vehicles or vehicle combination. By means of the processing unit, the current rearward environment, the instantaneous steering angle, the instantaneous articulation angle as well as the dimensions on which the currently used vehicle or vehicle combination is based are taken into account in the determination of the predicted driving course.

For a comprehensive determination of the rear environment, a measuring unit is provided which, for example, as a camera, in particular a omnidirectional camera or a radar / lidar is formed. The camera can take pictures in all directions. Thus, the use of another measuring unit, such as another camera can be avoided. In addition, by taking all around the environment both a forward and a reverse course can be determined. In this case, the area of the environment is detected by the camera, which for the driver, for example, due to a separate vehicle body, z. B. a charged container or a box body, is not visible.

To display the driving course, in particular superposed in image data of the detected environment are particularly arranged in the area of the dashboard display units, eg. As a screen or a so-called head-up display, in which the image data to be displayed are projected on existing surfaces in the vehicle, in particular the windshield. In addition, the image display can be integrated in one or in the area of a rearview mirror of the vehicle or the driving team. This has the advantage that the image is displayed in places that need to be inspected regularly by the driver while driving or maneuvering anyway; A combination of rear view mirror and camera image display thus leads to an ergonomic improvement of the shunting assistance.

Embodiments will be explained in more detail with reference to drawings.

Showing:

Fig. 1 is a schematic representation of a vehicle or vehicle combination, and Fig. 2 is a schematic representation of a predicted reversing course of a vehicle.

Corresponding parts are provided in all figures with the same reference numerals.

1 shows a schematic representation of a vehicle or vehicle combination 1 with mutually bendable vehicle elements 2 and 3 (hereinafter referred to as vehicle 1).

In this case, the vehicle element 2 with the vehicle element 3, for example by a flexible connection 4, z. As a joint or a trailer device connected. The vehicle element 2 is for example a tractor and the vehicle element 3 is a trailer.

In the vehicle element 2, which is a tractor of a vehicle combination, a screen display 5 visible to the driver is arranged at a suitable position.

A measuring unit, which is designed in particular as a position sensor, for example an angle sensor in the form of a Hall or magnetoresistive angle sensor, continuously measures a steering angle 8 on at least one steerable axle 9. This steering angle 8 results from a steering movement performed by the driver. In addition, the steering movement in the course of the journey is transmitted via the connection 4 from the vehicle element 2 to the vehicle element 3. This change in the angle between the mutually bendable vehicle elements 2, 3 is continuously recorded as a bending angle 9 by another measuring unit. This measuring unit is as a position sensor, in particular a Angle sensor formed in the form of a Hall or magnetoresistive angle sensor. As a measuring unit, in the context of this invention, alternatively or additionally, at least one camera can also be used. It is particularly advantageous in this case, if the at least one camera is an omnidirectional camera, with which environmental ranges of up to 360 ° can be detected.

At the front and / or rear end of the vehicle element 3, a further measuring unit not shown in detail, in particular a camera 6 is arranged beyond which detects, for example, the rear environment 7 of the vehicle 1 continuously. For optimal detection of the rear environment 7, the camera 6, in particular as an omnidirectional camera 6 may be formed. By means of this camera 6 images can be taken in all directions. Alternatively, instead of a camera 6, a radar or lidar or another suitable image recording unit may also be used.

The steering angle 8 resulting from the steering movement on the steerable axle 9 of the vehicle 1, the bending angle 10 between the mutually bendable vehicle elements 2, 3 and the captured images of the rear environment 7 are fed to a processor module, not shown.

The processor module has at least one processing and one memory unit. In the processing unit, a future driving course 11, in particular a reverse driving course, is predicted from all supplied values. This predicted driving course 11 indicates at which position, with respect to the rear environment 7, for example, the vehicle 1 with mutually bendable vehicle elements 2, 3 reaches a rectilinear position 12. In addition, respective dimensions of the vehicle 1 are stored in the storage unit as a function of the number and / or type of the respective mutually bendable vehicle elements 2, 3. According to the use of the vehicle 1, the dimensions are automatically or manually retrieved.

FIG. 2 schematically shows a representation of an exemplary forecasted reversing course 11 of a vehicle 1 with vehicle elements 2, 3 which can be bent relative to one another.

The measuring unit, in particular camera 6, which is arranged at the rear end of the vehicle element 3, continuously detects the rear environment 7 of the vehicle 1. In addition, the instantaneous steering angle 8 and the instantaneous bending angle 10 are detected continuously by means of further measuring units. The dimensions of the vehicle or vehicle combination 1 are stored and retrievable in the storage unit as a function of the number and / or type of the respective mutually bendable vehicle elements 2, 3. On the basis of these acquired and retrievable values, the future reversing course 11 is calculated in the processing unit of the processor module in the form of a driving and towing lane, which indicates at which position the vehicle 1 reaches a rectilinear position 12. The reversing course 11 is shown in the form of contour lines of the vehicle 1 in various positions along the predicted course.

Depending on the type and embodiment of the method, the display of the reverse travel course 11 may be stepped, ie, as shown with different positions of the vehicle 1, or continuously as a continuous travel curve with driving direction. and / or towing track. In addition to such a different line design, a different color design can be used, which indicates, for example, possible collisions in the predicted reversing course 11.

Also in the output display of the predicted driving course 11, environmental image data can be superimposed, so that in the rear environment 7 existing objects, such as, for example, low curb edges, parking limiters, or the like, are shown. In this way, the driver is warned of objects without being distracted by unnecessary detail information. In addition, the recorded objects can be additionally classified into drive-over and non-drive-over objects. If one of the identified objects is classified as traversable, then by means of the method according to the invention, this object can be removed from the image data by appropriate image processing so as to free the output representation with the predicted driving course 11 from "irrelevant" objects. In contrast, non-drivable objects, such as trees, traffic signs, which are on a collision course, are marked in color. In addition, the driver can be warned acoustically.

Due to the strong variations within a short maneuvering distance due to changes in steering angle 8 and / or articulation angle 10, the predicted driving course 11 can be adapted and output continuously to instantaneous changes in the rear environment 7, the instantaneous steering angle 8 and the instantaneous articulation angle 10. Thus, the driver can see the corrections made on the basis of driving measures, such as changed steering angle 8 Trace course 11 and possibly continue to correct a still wrong future course of the route 11.

In one embodiment of the invention, one or more distance lines can be displayed superimposed in the representation of the driving course 11 in a manner not shown. This assists the driver in estimating distances. The distance between distance lines is selected in an advantageous manner, for example, so that the distance lines are adjusted in relation to the vehicle and the vehicle environment. In connection with the invention, it has proven particularly useful if the distance lines are displayed at a corresponding distance of 1 meter and 5 meters behind the vehicle. This allows the driver to perceive the situation when maneuvering particularly intuitive.

The distance lines can be displayed over the entire course of the lane or limited to a certain distance. It is advantageous to select the restriction and the number of distance lines shown speed-dependent, in particular the form that at lower speeds, the display is limited to a smaller distance and thus a greater resolution.

LIST OF REFERENCE NUMBERS

Vehicle or vehicle combination Vehicle element Vehicle element Connection Screen Camera Rear environment Steering angle Steering axle Tilt angle Predicted driving course Straight line position

Claims

13Patentansprüche

1. A method for driver assistance when maneuvering a vehicle or vehicle combination (1), which has a plurality of mutually kinkable vehicle elements (2, 3), wherein a rear instantaneous environment (7), an instantaneous steering angle (8) at least one steerable axle (9) and an instantaneous bending angle (10) of at least the mutually bendable vehicle elements (2, 3) of the vehicle or vehicle combination (1) are detected, characterized in that based on the detected current rear environment (7), the current steering angle (8) and the instantaneous bending angle (10) a future driving course (11) is predicted, which indicates at which position the vehicle or vehicle combination (1) will reach a rectilinear position (12) in the future driving course (11).

2. The method according to claim 1, characterized in that the currently detected values of the environment (7), the steering angle (8) and the bending angle (10) are fed to a processor module.

3. The method according to claim 1 or 2, 14 characterized in that the currently detected values of the environment (7), the steering angle (8) and the bending angle (10) of a display unit (5) are supplied and output.

4. The method according to any one of claims 1 to 3, characterized in that different dimensions of the vehicle or vehicle combination (1) depending on the number and / or type of the respective bendable vehicle elements (2, 3) are stored.

5. The method according to claim 4, characterized in that the stored dimensions of the vehicle or vehicle combination (1) output and taken into account in the determination of the predicted driving course (11).

6. The method according to any one of claims 1 to 5, characterized in that the predicted driving course (11) comprising a current from the current steering (8) and articulation angle (10) dependent driving and / or towing lane, in a the rear environment ( 7) is displayed superimposed superimposed image.

7. The method according to any one of claims 1 to 6, characterized in that the predicted driving course (11) is adapted to a change of the rear environment (7), the current steering angle (8) and the instantaneous bending angle (10).

8. The method according to any one of claims 1 to 7, characterized in that continuously the rear environment (7), the steering angle (8) and the bending angle (10) are detected. 15

9. A device for carrying out the method according to one of claims 1 to 8, wherein a measuring unit, the rear environment (7), a measuring unit, the steering angle (8) at least one steerable axle (9) and a measuring unit, the bending angle (10) at least against each other detectable kinkable vehicle elements (2, 3), characterized in that a processor module is provided which predicts a driving course (11) on the basis of the detected rear environment (7), the detected steering angle (8) and the detected kink angle (10) can be dispensed, at which position the vehicle or vehicle combination (1) reaches a rectilinear position (12) in the future driving course (11).

10. The device according to claim 9, characterized in that the measuring unit for detecting the rear environment as a camera (6), the measuring unit for detecting the steering angle (8) at least one steerable axle (9) and the measuring unit for detecting the bending angle (10 ) are each formed as a position sensor, in particular angle sensor in the form of magnetoresistive angle sensors, Hall sensors and / or at least one camera.

11. The device according to claim 9 or 10, characterized in that the processor module has at least one processing unit and a memory unit.

12. Device according to one of claims 9 to 11, characterized in that different dimensions of the 16

Vehicle or vehicle combination (1) depending on the number and / or the type of the respective bendable vehicle elements (2, 3) are stored in the memory unit and retrievable.