DE102006057610A1 - Image-supported docking method for load-based ranking, involves determining vehicle height, consulting difference to vehicle height for docking in target object for vehicle treble control, and determining space and height data with sensor - Google Patents

Abstract

The method involves determining distance information from an environment of a vehicle (1) e.g. commercial motor vehicle, by an image sensor (3). The distance between the vehicle and a target object (2) e.g. swap trailer, is determined based on the distance information. The vehicle height is determined, and difference to the vehicle height for docking in the target object is consulted for the vehicle treble control. Space data and the height data are determined with the sensor. The vehicle height is adjusted depending on distance between the vehicle and the target object. An independent claim is also included for a device for image-supported docking in a target object with a vehicle.

Description

The The invention relates to a method and apparatus for image-based docking to a target object with a vehicle.

modern Commercial vehicles are equipped with a manual vehicle height adjustment. The driver In doing so, his vehicle must leave to adjust the vehicle height to operate manually and a damage-free and precise docking and coupling to a target object. From the prior art already assistance systems for automated or assisted docking to any objects, in particular for coupling trailers, semitrailers, Underride of swap bodies or for docking at loading ramps known, the vehicle height or load area specifically adjusted vertically. These assistance systems are included mainly for the Intended use in commercial vehicles, an application in the field of Passenger cars is also possible. In connection with Commercial vehicles, the vehicle height adjustment is usually done so far manually. To be precise Docking or entering a target object requires the driver to do so drive in front of the object, that he alights by visually aiming and Control the required vehicle height can adjust.

At the Practical use, the driver partially waive a correct Vehicle height adjustment, which, despite the presence of mechanical guide aids, leads to increased wear and accidents. driver dock very often by ear What proves to be a recurring cause of accidents. By an incorrectly selected vehicle height adjustment when coupling, retracting or docking to a trailer hitch, guide rails or a loading ramp, the respective target object is moved, which usually causes damage the target objects themselves, the cargo and / or other objects leads in the vehicle environment or on the vehicle. By an incorrectly selected vehicle height adjustment can but also when uncoupling followers or extending out of semi-trailer damage, for example jumps at a wrong chosen Vehicle height adjustment to Leaving the trailer, the clutch up or the trailer slips and damage occurs. Fully automated systems are not known for this purpose. From the state of the art automatic couplings are known, only the coupling process is automated. Assistance systems, which automate the complete coupling process so far not known. Furthermore, systems are known in which the vehicle control partially automated.

DE 29720258 U1 shows a device for converting a container from the transport position to a position for loading and unloading and vice versa. As means for raising and lowering the vehicle, the movable of an air spring chassis of a truck or a trailer is provided. The transshipment process can be carried out semi-automatically both manually by the driver and by means of control devices. The locking of the closures by sensors, which determine the correct position of the container, also triggered fully automatically. Finally, the system operates safely in an automation of the locking operations using a locking system even without the presence of operating personnel.

In the DE 69815816 T2 a ride height control for vehicles is shown. Here, the distance between the wheel axle and the load supporting structure is pneumatically adjustable by means of a control unit. If the control unit is set in its parking or deployment mode, the distance between the wheel axle and the load-carrying structure is adjusted within a first larger range. If the control unit is set in its driving mode, the distance between the wheel axle and the load carrying structure is adjustable within a second smaller range, the second smaller range being within the first larger range. The vehicle comprises a measuring device for determining the distance between the wheel axle and the load-carrying structure, wherein the distance is adjustable such that the measurement corresponds to the desired size of the distance.

DE 10327075 A1 shows a length-adjustable container chassis. The loading upper frame of the container chassis is height adjustable in a second operating position between a driving height and a displacement height of a loading plane. This manual operations of the container chassis can also be performed automatically and wired or wireless remotely controlled by towing vehicle, with the height adjustment on the chassis sensors and the towing vehicle corresponding display or reporting devices are provided.

In the DE 102004029129 A1 a system for coupling a trailer to a motor vehicle is shown. The system includes an image sensor disposed in the docking area. By means of the image sensor, the movement of a closure element associated with the trailer coupling is detected during the coupling process, whereby a braking operation of the motor vehicle is initiated. The regulation of the motor vehicle or the tractor takes place both in the transverse direction and in the height in order to obtain a suitable position with respect to the trailer. there the altitude control is performed by a change in the level of the motor vehicle. The height of the motor vehicle required for coupling is determined on the basis of the data of the image sensor, wherein it is evaluated at which distance the trailer is located away from the motor vehicle or the tractor. The height of the trailer is known, so that and on the basis of the determined distance then the height of the motor vehicle or the tractor is determined.

Of the The invention is therefore based on the object, a method and a device for image-based Docking to provide a target object with a vehicle, which Reliable at low cost Allow docking.

The Task is according to the invention by a method having the features of claim 1 and a device with the features of claim 9 solved. advantageous Embodiments and developments are shown in the subclaims.

According to the invention is a method and apparatus for image-based docking a target object provided with a vehicle. The device essentially comprises an image sensor and a computing unit, with which environmental information is captured and evaluated. Farther There is a vehicle height adjustment facility. in the Framework of the method according to the invention Distance information from the environment of the vehicle by means of detected at least one image sensor. Due to the distance information then becomes the distance between the vehicle and the target object determined and and it finds a vehicle height control for docking the target object instead. In an inventive way, the vehicle height is determined and their difference from the vehicle height suitable for docking to the target object used for vehicle height control. The distance data and the elevation data become special advantageously determined by means of a single sensor. hereby With little effort a reliable docking to a target object possible. The single sensor can be a profitable one Way around a sensor with comparatively high range resolution, However, in the context of this invention is not a high-resolution camera needed. A single simple 2D sensor, like e.g. a laser scanner is for the use completely sufficient. It can be practical Use the target-specific height at least partially as are assumed to be known, for example, swap bodies have a standardized height, some are height information to vehicle targets or map information, e.g. to Loading ramps, deposited. Was a particular target object by a Scene analysis detected, then takes place an assignment to stored Model data, where the model data is one suitable for the default setting Guide value (for example, elevation value) deliver. In compliance with the default value, the Target object then approached and done based on the scene analysis then one, mostly small, correction of the benchmark. The target height of trailer drawbars, Semitrailers, height-adjustable targets usually needs to measure specifically just before docking targeted and the vehicle height accordingly be managed. There will be distance data to the target object and elevation data the vehicle by means of this single sensor in a particularly advantageous Way detected, as the straightening height of the target object, an accurate detection of the relative Height difference between the vehicle and the target object for readjustment, in particular at height adjustable Target objects or when bumps occur. Because of the engagement a single sensor, the processing costs can be significantly reduced and thus the time required for the sensor-assisted vehicle height adjustment be reduced. Furthermore deleted by automatically adjusting the vehicle height before, during and after docking operations for the driver time-consuming, usually even multiple entries and exits during a charge change. With this solution the driver can look to the monitoring task concentrate and will not be unnecessary distracted. Continuous sensory measurement also damages and Collisions with target objects are avoided, with a faulty manual height adjustment and misjudgments be avoided by the driver, so that becomes more profitable Way a reduced wear on Vehicle, target objects and other objects in the vehicle environment reached.

In the context of this invention are understood as vehicles all utility and towing vehicles, which have at least one actuator for height adjustment. In this case, usually both the height above the rear axle and independently of or parallel to the height adjustment can be controlled via the front axle, wherein the single sensor is arranged in this case at the rear of the vehicle. As vehicles but also articulated trains are to be understood, which have at least one actuator for height adjustment, usually both the height above the rear axle of the trailer and regardless of or parallel to the height adjustment can be controlled via the front axle of the trailer. In this case, at least one sensor is located at the rear of the trailer. Vehicles are also to be understood as semitrailers which have at least one actuator for height adjustment, wherein the height is usually regulated via the rear axle. In this case, at least one sensor is attached to the rear of the trailer orderly.

In a particularly profitable way of the invention is the vertical Distance between the vehicle and the target object determined. By means of the single sensor will, while the vehicle for docking or retracting or recording along a calculated trajectory approximates the target object, the vertical distance between the vehicle and the target object is determined, i. it is based on the known target height or by measuring at relevant Characteristics determines the required working height of the target object and then depending the detected vehicle height the required vehicle height adjustment calculated and sensor controlled by at least one actuator set.

In In another advantageous way of the invention, the vehicle height is dependent on Distance between the vehicle and the target object set. By means of the at least one sensor is the vehicle height above the Ground detected, for example, this is a simpler laser-based beam sensor with sufficiently accurate distance and angular resolution. The Detecting the vehicle height takes place while the vehicle is preferably sensor-controlled along the calculated Trajectory approximates to the target object, with the docking or retracting or picking respectively required vehicle height pre-set distance-dependent becomes. In this context, it is in a further advantageous manner the invention also conceivable that in the adjustment of the vehicle height on or several expected value (s) taken into account become. The or the expected value (s) for the vehicle height are while distance-dependent specified or stored in a memory unit, so that the vehicle height depending on distance to the target object to the respective expected value quickly and with low processing costs can be adjusted so that then only a readjustment, for example, by directly measuring the vehicle height or the target height, he follows.

From great Advantage is it in connection with the invention, if the vehicle height adjustment fully automatic. Based on the sensor data and by means of at least a suitable actuator, it is possible, the vehicle height fully automatically so that the driver is only monitoring of the docking or retracting or Take care of the recording process can. The sensor-controlled vehicle height setting is automated even then for one complete docking or changing process usable when the vehicle no actuator, e.g. For has an active steering and / or an active braking intervention, but merely designed as an assistance function and the driver supported with visual and / or acoustic steering / braking assistance. Of the Driver is relieved by the use of the invention and the risk reduced collision.

Farther exists in the context of the invention the possibility that the height of the target object is determined on the basis of sensor data, as a known size of the detected Target objects is deposited or transmitted by radio into the vehicle becomes. As a result, in a profitable way, the vehicle height already in advance or during the approach to the known target height be adjusted.

Also it is advantageous if the sensor data in addition to collision avoidance be used. In doing so, all sensor data except the vehicle height setting parallel also in the context of a collision and damage avoidance used. On the basis of sensor data recognized, threatening, collisions and / or implausible states lead the way to reactions such as deceleration of the vehicle, cancellation of the vehicle height adjustment, evasive action and / or error messages or driver warnings. For example, can the invention can also be advantageously used about a load-dependent To adjust or readjust to a desired target working height, e.g. when loading or unloading on loading ramps. Here are the deviations, Changes or disorders detected by the single sensor by the vehicle height above the Ground or vertical to the target object is determined. Furthermore, it is suitable the invention for a use in connection with the determination of the nominal height of the vehicle over the Driveway to while driving e.g. When maneuvering to monitor the load condition and possibly error conditions to recognize. The detection of error conditions is for example to detect overcharging, too low tire pressure and further errors on the vehicle. The detection takes place by the vehicle height preferably by means of the actuator recorded in the lowest position. In this lowest position for the vehicle height sets a certain minimum value for the vehicle height, which previously for example about level ground. If then later, a lower value the vehicle height is measured, it may be an error condition which is indicated or reported to the driver becomes. In determining the vehicle height is preferably about a Averaged route section, causing local deviations due to bumps or potholes then do not distort the measurement result.

Also, due to the vehicle height control, the detection range of the sensor nachge be regulated. While approaching a target object, the vehicle height control can also be used selectively in the given work area, for example, to vertically adjust the viewing angle of the sensor and thus optimize the view of the target object, especially when driving on uneven ground in connection with a docking of great advantage. As a result, the robustness of the measurement is increased in a profitable manner. In this case, the recognizer controls the actuator. Certain operations with height adjustment, such as the inclusion of swap bodies in the guide pins of the vehicle, may only be carried out if exactly reached to a predetermined position on the target object. In this case, the sensor also monitors the stable position during the height adjustment and regulates the height adjustment to the predetermined program sequence and in conjunction with an automated clutch mechanism. Any non-plausible deviations from the nominal procedure lead to error messages.

at In an advantageous embodiment, it is the only Sensor around a laser scanner. The laser scanner is preferably on Rear of the vehicle, articulated or the trailer or the tractor or the trailer. Here is the mounting height of the laser scanner known and calibrated its optical axis (visual axis). The means the laser scanner obtained distance data and / or height data are processed by means of a computing unit and thereby control data for controlling or regulating at least one actuator for the vehicle height adjustment calculated. Preferably, in the horizontal direction of the object distance and angles over Object features recorded and in the vertical upward direction of the vertical distance to the target object (working height). In vertical Direction down the distance to the ground is detected and thus indirectly the vehicle height certainly.

Farther it is profitable for the single sensor around a beam sensor with deflecting unit and / or beam splitter. For example If the beam sensor is a laser scanner, which is arranged so that at least one scan plane horizontally and nearly parallel to the ground. The laser beams are doing at the edge the at least one scan plane through the deflection unit and / or deflecting the beam splitter or mirror upwards and / or downwards in such a way, that both the distance to the target object and the target height and the Vehicle height over the Distance to the ground to be determined. In the event that, for example the viewing angle of the laser scanner is 240 ° and 180 ° viewing angle in one application for rear docking are sufficient, then you can those laser beams which cover the remaining 60 ° by means of the deflecting unit and / or the beam splitter or mirror (s) deflected become.

at Another advantageous embodiment is the only sensor arranged in a profitable manner at the rear of the vehicle. This allows target objects first and then a trajectory to the target object is planned. In this case, by means of at least one sensor continuously accurate the position (x, y) and the angle (α) of the vehicle relative to Target object and thus the distance between the vehicle and the Target object determined. Thus lets the vehicle movement to approach the target object either assist or automatically control.

Also it is possible, that in addition a tilt sensor is arranged on the vehicle. By means of the inclination sensor can then additionally for vehicle height adjustment also the vehicle inclination can be determined. Furthermore, in profitable Way in addition a sensor for the acquisition of distance and / or altitude information, e.g. the vehicle height above the Floor, be arranged at the front of the vehicle. When comparing the elevation data Both sensors can advantageously also the vehicle inclination be determined. The arranged on the front of the vehicle sensor can about that also in shunting to collision avoidance forward and be used to the side and for example during regular driving also used for distance control to vehicles in front become.

Also can in a profitable embodiment of the invention a Display unit be present, whereby the operations and / or conditions the sensor-regulated vehicle height adjustment being represented. For example, setpoints and actual values of the sensor-controlled vehicle height adjustment shown. The representation may be e.g. in the form of numerical values or represented graphically by means of arrows and bars. The Display unit can in this case both in the vehicle interior and on the vehicle outside be arranged. There is a possibility that the driver for monitoring the vehicle height adjustment is not must be in the vehicle. Similarly, controls can be provided his what the vehicle height adjustment can be influenced by the driver, e.g. activated or deactivated become. Also can about it In addition, the setpoint / actual value display of a manual vehicle height adjustment serve, the driver then the readjustment of the vehicle height accordingly the default takes over.

In a further advantageous embodiment of the invention, at least two actuators become part of the vehicle height control set. If two or more actuators are used for vehicle height adjustment, one of these actuators is preferably actively sensor-controlled. For example, an actuator is actively sensor-controlled at the rear axle of the vehicle and the at least one other actuator is located in a defined position, for example, depending on the particular application in the lowest or highest position. In connection with the actuators used in the context of this invention, there is the possibility that they themselves have encoders, whereby the height adjustment of the actuator can be detected.

Further features and advantages of the invention will become apparent from the following description of an embodiment with reference to FIG. The figure shows a vehicle ( 1 ) when entering a target object ( 2 ), in particular in a swap body. When entering the swap body, the guide rollers of the vehicle ( 1 ) at an appropriate height to the guide rail of the swap body, in order to achieve optimum noise and wear-free retraction. Deadlocks due to excessive or too low retraction result in high wear, displacement of the swap body and damage to the swap body and the vehicle ( 1 ) or articulated train. The edge of the guide rail should therefore hit the guide rollers approximately centrally, this requires accurate control in the centimeter range. For driving under the target object ( 2 ), the vehicle initially moves at nominal ride height. Alternatively, a scene analysis by means of the image sensor ( 3 ) and, depending on the scene analysis, an optimum viewing height of the image sensor ( 3 ) are readjusted. If the image sensor ( 3 ) here is a laser scanner, this is the scan plane tilted slightly. In front of the target object ( 2 ) then the readjustment of the vehicle height to allow optimal docking or threading in the guide rails. Subsequently, the vehicle continues to move until a predetermined target point on the target object ( 2 ) and then finally stops. The evaluation of the image sensor ( 3 ) recorded height and distance values is thereby by means of the computer unit ( 4 ) carried out. At standstill then takes the recording of the swap, by this raised to a predetermined level, retracted the supports and then lowered to a predetermined driving level. The height of the vehicle ( 1 ) above the ground by means of the image sensor ( 3 ) and by means of the computer unit ( 4 ) evaluated. The vehicle height adjustment is carried out by means of an actuator ( 5 ).

Claims (18)

Method for image-based docking to a target object ( 2 ) with a vehicle ( 1 ), wherein distance information from the surroundings of the vehicle by means of at least one image sensor ( 3 ) is detected, wherein based on the distance information, the distance between the vehicle ( 1 ) and the target object ( 2 ) and wherein a vehicle height control for docking to the target object ( 2 ), characterized in that the vehicle height is determined and its difference to that for docking to the target object ( 2 appropriate vehicle height is then used for vehicle height control, and where the distance data and the altitude data are taken with a single sensor ( 3 ). Method according to claim 1, characterized in that the vertical distance between the vehicle ( 1 ) and the target object ( 2 ) is determined. Method according to one of the preceding claims, characterized in that the vehicle height as a function of the distance between the vehicle ( 1 ) and the target object ( 2 ) is set. Method according to one of the preceding claims, characterized in that when adjusting the vehicle height on or several expected value (s) taken into account become. Method according to one of the preceding claims, characterized characterized in that the vehicle height adjustment fully automatic he follows. Method according to one of the preceding claims, characterized in that the height of the target object ( 2 ) is determined on the basis of sensor data, stored as a known size or by radio in the vehicle ( 1 ) is transmitted. Method according to one of the preceding claims, characterized characterized in that the sensor data in addition to collision avoidance be used. Method according to one of the preceding claims, characterized in that due to the vehicle height control, the detection range of the sensor ( 3 ) is readjusted. Device for image-based docking to a target object with a vehicle, comprising an image sensor ( 3 ) with which distance information from the environment of the vehicle ( 1 ), a computing unit ( 4 ), which are based on the recorded Distance information the distance between the vehicle ( 1 ) and the target object ( 2 ) and a device for vehicle height control, characterized in that the arithmetic unit ( 4 ) is designed such that it determines the vehicle height and its difference to that for docking to the target object ( 2 ) vehicle height, which is then used for vehicle height control, using a single sensor ( 3 ) the distance data and the height data are determined. Device according to claim 9, characterized in that the single sensor ( 3 ) is a beam sensor with deflection unit and / or beam splitter. Device according to one of the preceding claims, characterized in that the single sensor ( 3 ) is a laser scanner. Device according to one of the preceding claims, characterized in that the single sensor ( 3 ) is arranged at the rear of the vehicle. Device according to one of the preceding claims, characterized in that in addition an inclination sensor on the vehicle ( 1 ) is arranged. Device according to one of the preceding claims, characterized characterized in that a display unit is provided, whereby the Driver operations and / or states the sensor-regulated vehicle height adjustment being represented. Device according to one of the preceding claims, characterized in that within the scope of the vehicle height control at least two actuators ( 5 ) are used. Device according to one of the preceding claims, characterized marked that in addition a sensor for detecting distance and / or altitude information arranged on the vehicle front is. Use of the method and / or the device for image-based Docking to a target object with a vehicle according to a or more of the claims 1 to 15 to the load-dependent Maneuvering. Use of the method and / or the device for image-based Docking to a target object with a vehicle according to a or more of the claims 1 to 15 for monitoring the loading condition.