DE102013209873A1 - Apparatus and method for collision avoidance for vehicle loads and superstructures - Google Patents

Abstract

According to the invention, a device and a method for determining a passageway for a vehicle (1) under an obstacle (100) are proposed, wherein a first sensor unit (2) for measuring a passage height (H) under the obstacle (100) and an evaluation unit ( 5) are provided, wherein the evaluation of the determined passage height (H) with a current vehicle height (ha) is compared such that a warning is issued in the event that the determined passage height (H) a passage of the vehicle (1) below the obstacle (100) does not allow. For this purpose, according to the invention, the current vehicle height (ha) is determined by means of a second sensor unit (4), which is arranged in particular on a roof (10) of the vehicle (1).

Description

State of the art

The invention relates to a device for determining a passageway possibility for a vehicle according to the preamble of the main claim.

It is already known to use in motor vehicles a variety of sensors for environmental detection. Ultrasonic sensors are known for measuring the distance between a vehicle and obstacles during a parking operation. For a distance-controlled following driving radar sensors or laser sensors are used, depending on their measurement data, the vehicle speed is adapted to the speed of a preceding vehicle. Furthermore, camera systems are known which detect and evaluate objects in the vehicle environment. These environmental monitoring sensors generally serve to detect obstacles and to indicate to the driver the distance between his vehicle and the obstacles or the speed with respect to the obstacles.

The term driver assistance systems (FAS) summarizes the integrated into a motor vehicle electronic, electro-mechanical or mechatronic additional devices that serve to support and relieve the driver. Driver assistance systems primarily serve to prevent and prevent critical or dangerous situations in traffic. The FAS autonomously or partially autonomously intervene in drive, control (eg gas and brake) and signaling devices of the vehicle. Furthermore, the driver is warned by suitable display devices shortly before or during critical situations.

In addition to the safety aspect, driving comfort and traffic efficiency are further motivations for the ongoing development of such systems. Among the three categories mentioned (safety, ride comfort, traffic efficiency) are each a variety of driver assistance systems known, which are already installed in large numbers in various vehicles today.

This invention mainly relates to the field of safety driver assistance systems. Some of these systems, such as ABS (Anti-lock Braking System), ASR (Traction Control) and ESP (Electronic Stability Program) are now standard on many vehicles and have been established in the market for years. Due to the continuous development of vehicle sensor technology and more powerful control units, increasingly intelligent safety-related assistance systems can be integrated into vehicles today. These systems include Brake Assist, Adaptive Cruise Control (ACC), Traffic Sign Detection, Lane Assistant, Collision Warning Systems, Automatic Emergency Braking Systems, Driver Status Detection, and more.

In this case, not only the information of the current vehicle situation is evaluated in these assistance systems, but also a variety of information of the vehicle environment. For this purpose, the following environment sensors are usually used in the vehicle: radar sensors (eg for lane assistant and adaptive cruise control), light detection and ranging (lidar) sensors (eg for blind spot monitoring and proximity control), camera sensors (eg for traffic sign recognition and lane assistant) and Ultrasonic sensors (eg for parking assistance). The sensor systems are often multifunctional, i. Usually a sensor system has to cover several assistance systems. In addition, the sensor data fusion is also used for certain driver assistance systems. This means that certain information is formed by the combination of different sensor signals to a more accurate system or. Rule intervention to achieve.

Hazardous situations can arise from roof structures on motor vehicles. Critical situations with roof structures, such as Bicycles on a car roof rack, arise especially when entering parking garages or when driving through driveways with low height. A possible scenario would be that the driver simply forgets his roof structure on longer trips. The consequences are often severe damage to the vehicle and the roof structure, as well as damage to the following vehicles.

From the DE 10 2004 015 749 A1 a device for determining a passageway for a vehicle is known. For this purpose, distance sensors are arranged on the roof of the vehicle, which can radiate measuring signals in or against the direction of travel. The reflection of these measurement signals indicates the presence of an obstacle. A computing device can determine from the sensor signals and the known position of the sensors on the vehicle the headroom of the obstacle. About a corresponding output device, the driver is warned of impending collision. Furthermore, it is provided that with mounted components on the roof of the vehicle, such as a roof rack or a bicycle, the sensors are mounted on the roof structures. In this way you can also temporary structures on the roof of the vehicle be considered for the determination of the passage possibilities.

From the DE 10 2007 053 989 A1 is a warning system for obstacles with insufficient clearance. For this purpose, a distance sensor is preferably present, which detects the lying in front of the vehicle driving space. In this case, the installation location and the sensor type are selected such that obstacles lying ahead as well as the road surface can be detected. The sensor can now detect angles and distance information, thus measuring obstacles ahead. In an evaluation device, the clearance height is finally determined.

Subsequently, the driver can be warned acoustically, visually or haptically against a low headroom.

From the DE 10 2010 012 662 A1 For example, an apparatus and method for determining a headroom for a vehicle is known. It uses two different sensor types, a radar sensor and a camera, whose data is combined for accurate measurement of an obstacle. The data from the camera are used in accordance with the so-called structure-from-motion method in order to be able to determine the position of the obstacle limiting the passage in three-dimensional space. Since the position of the camera on the vehicle and thus in space is known, a clearance height of the obstacle can be determined from the location data of the obstacle and the position of the camera. With the aforementioned radar sensors, the method can be improved by determining the distance of the vehicle to the obstacle by the radar sensors. This distance can be included in the calculation of the headroom.

The document DE 10 2006 028 625 A1 describes a method for measuring vehicles by determining from a fixed obstacle the height of the vehicle passing under the obstacle. The vehicle height determined by the stationary sensor is transmitted to a driver assistance system of the vehicle via radio. Thus, the vehicle has accurate altitude information so that the driver does not need to estimate the height of his own vehicle. Should the vehicle now approach an obstacle, either the driver can compare the previously measured vehicle height with the height restriction road signs, or a camera can detect said road signs, so that the comparison is automatically made. The obstacle itself, however, will not be measured.

Disclosure of the invention

The object of the invention is to provide an apparatus and a method in which the headroom under an obstacle is determined, wherein the driver is warned if the vehicle can not drive without collision under the obstacle due to its current vehicle height. The current vehicle height is determined in particular by roof loads or roof structures.

It should therefore be possible to determine the height of passages such as bridges, underground garages, carports and the like, and provide information to the driver as to whether the passage under the obstacle can be passed without collision on the basis of the current vehicle height with his own vehicle without it this needs a conversion or a special adaptation or arrangement of sensors on roof structures or the like and without the driver must automatically determine the current vehicle height and make the driver assistance system available. It should be possible to reliably determine the current vehicle height even with mounted on the roof of the vehicle bodies without costly adaptation measures.

This object is achieved by a device for determining a passageway possibility for a vehicle under an obstacle a according to claim 1 and by a method for assisting a driver of a vehicle according to claim 8. Advantageous developments of the invention are specified in the subclaims.

According to the invention, a device for determining a passageway for a vehicle under an obstacle is proposed which has a first sensor unit for measuring a passage height under the obstacle and an evaluation unit. The headroom determined by the evaluation unit is compared with a current vehicle height in such a way that a warning is issued in the event that the determined headroom does not allow a passage of the vehicle under the obstacle. For this purpose, according to the invention, the current vehicle height is determined by means of a second sensor unit, which is arranged in particular on the roof of the vehicle.

By the device according to the invention, a current, ie actual vehicle height is determined and compared with the measured available headroom under the obstacle. If the comparison reveals that the current vehicle height is too high to pass under the obstacle without a collision, the driver, taking into account various boundary conditions, For example, the current distance to the obstacle or the current vehicle speed, issued a warning.

To determine the passage height under the obstacle, a first sensor unit is provided according to the invention. The first sensor unit may comprise one or more sensors, which are designed, for example, as camera sensors or radar sensors. It is also possible already existing sensors that are part of a distance control system or traffic sign recognition, for example. The first sensor unit is preferably designed both to determine the passage height under an obstacle and the distance of the vehicle to the obstacle, in other words the current distance of the vehicle in the direction of travel to the obstacle.

A second sensor device is provided to determine the current vehicle height. For this purpose, a possibly existing roof structure or a load is preferably measured. From this it is possible to determine the current, actual vehicle height in the case of a known position of the second sensor arrangement. Preferably, the height of a load, in particular a roof load is detected by the second sensor unit and added to a stored standard vehicle height, which is determined for example by the vehicle type or the vehicle model.

The warning of the driver in the event of a possible collision with the obstacle to be driven through can take place, for example, in the form of a visual display and / or an acoustic warning and / or a haptic warning.

In a preferred embodiment of the invention, the device additionally has a third sensor unit, which is designed to detect a loading state, in particular a roof load, of the vehicle. This makes it possible, for example, to determine whether there is even a roof structure or a load that makes a determination of the current vehicle height necessary, or whether the vehicle currently has no roof structure and therefore can be assumed that a standard vehicle height. The third sensor unit is preferably designed as a detection device for detecting a roof load and connected to the evaluation unit. For example, the third sensor unit may be formed as an interruptible circuit, in addition or alternatively, the third sensor unit may comprise micro-switches and / or optical sensors.

Preferably, the first sensor unit has one or more sensors, which are arranged on a vehicle front side and / or on a vehicle rear side and thus detect the area in front of and / or behind the vehicle and can detect obstacles.

Information about the headroom and / or the passageway of the vehicle is preferably visually displayed to the driver of the vehicle. For this purpose, the evaluation unit has a display unit. For example, the measured headroom and the current vehicle height and the difference can be displayed. A warning of the driver in the event that the determined headroom does not allow a passage of the vehicle under the obstacle can also be done via the display unit.

In a particularly preferred embodiment of the invention, the evaluation unit is connected to a brake system of the vehicle. In the event that at a determined headroom, which does not allow passage of the vehicle under the obstacle and a minimum distance of the vehicle is less than the obstacle, an automatic braking intervention can take place and a collision can be avoided, even if the driver or not responded to the warning late. Preferably, the warning of the driver takes place at a time interval before the automatic braking intervention. The minimum distance below which the automatic intervention in the brake system takes place may depend on the current speed and direction of travel of the vehicle.

In addition or as an alternative, an automatic steering intervention can take place in order to avoid the obstacle and thus avoid a collision. However, it must be ensured that there is a free alternative path for the vehicle, otherwise collisions with other obstacles could occur. For example, to determine whether there is a free escape path, an on-vehicle sensing system may be used, such as a vehicle. a parking aid, a side-view assist system or similar. The evaluation unit can determine from the surroundings information whether there is a free escape path and, if appropriate, intervene in a corresponding intervention in the steering system of the vehicle in order to avoid a collision with the obstacle. It would also be conceivable that the first sensor unit supplies the environmental information.

In the event that a headroom and a current vehicle height is determined, which do not allow a passage of the vehicle under the obstacle, it is preferably provided that the evaluation unit calculates a possible collision time from the distance of the vehicle to the obstacle. The warning of the driver can thus be timely enough that the driver by appropriate, manual intervention in the Brake system and / or steering system of the vehicle can prevent the collision.

• a) Messung einer Durchfahrtshöhe unter einem Hindernis mittels einer ersten Sensoreinheit
• b) Bestimmung der aktuellen Fahrzeughöhe mittels einer zweiten Sensoreinheit
• c) Vergleich der ermittelten aktuellen Fahrzeughöhe mit der gemessenen Durchfahrtshöhe
• d) Ausgabe einer Warnung an den Fahrer, falls die ermittelte Durchfahrtshöhe eine Durchfahrt des Fahrzeugs unter dem Hindernis nicht zulässt.

The invention also relates to a method for assisting a driver of a vehicle with the steps:

• a) Measurement of a passage height under an obstacle by means of a first sensor unit
• b) Determining the current vehicle height by means of a second sensor unit
• c) Comparison of the determined current vehicle height with the measured headroom
• d) issuing a warning to the driver if the determined headroom does not allow passage of the vehicle under the obstacle.

Preferably, for example, before the execution of step b) is detected by means of a third sensor unit, whether the vehicle has a load, in particular a roof load. In the event that a load is detected, the height of the load is measured by means of the second sensor unit.

The method provides, in particular, that by means of the first sensor unit, a distance of the vehicle to the obstacle is determined and falls below a minimum distance, an automatic intervention in a brake system and / or a steering system of the vehicle is made, if the determined clearance height a passage of the vehicle below the obstacle does not allow.

In the implementation of the method, the speed of the vehicle is preferably less than a predefined maximum speed, in particular less than 50 km / h.

The advantages of the invention result from the possibility by means of a driver assistance system to avoid critical situations or accidents due to roof structures or high bodies or payloads. The device according to the invention is able to independently and early detect possible collisions of high vehicle superstructures in order to warn the driver and / or to actively intervene in the vehicle control (automatic braking and / or steering). The system can preferably be overruled by the driver at any time or even, if desired, be deactivated or activated at the push of a button.

Brief description of the drawings

1 schematically shows a device for determining a passage possibility for a vehicle under an obstacle according to a first embodiment of the invention to a vehicle with a roof structure.

2 schematically shows a possible embodiment of the second sensor arrangement in a device according to the invention

3 schematically shows a device for determining a passageway for a vehicle under an obstacle according to a second embodiment of the invention.

4 shows a flowchart of an embodiment of the inventive method for assisting a driver of a vehicle.

Embodiments of the invention

In 1 is a side view of a vehicle 1 , in this example, a car, shown, which moves in the direction of travel F and an obstacle 100 approaches. The obstacle may be, for example, a driveway or a bridge under which the vehicle is to pass.

The vehicle has a device for determining a passageway for a vehicle under the obstacle 100 according to a first embodiment of the invention. For this purpose, a first, aligned in the direction of travel F sensor unit 2 with a measuring range 11 for measuring a headroom H under the obstacle 100 on the roof 10 of the vehicle 1 intended. By means of the first sensor unit 2 can determine the height and distance of a forward passage under the obstacle 100 , be determined. The sensors of the sensor unit 2 For example, they can be designed as optical sensors, ie ultrasound sensors, or as radar sensors. For this purpose, it is conceivable to use existing sensors in the vehicle such as radar sensors for distance control or camera sensors for traffic sign recognition.

A second sensor unit 4 with measuring range 40 is provided in the case of an existing roof structure 20 a height measurement of the roof structure 20 performs. In the example shown, a bicycle is on the vehicle roof 10 attached. The second sensor unit 4 determines the height h _{D of} the roof structure 20 , For this purpose, for example, laser triangulation sensors, light section sensors with a large measuring range, camera sensors or similar sensors for the height measurement of objects in question. The second sensor unit 4 can, as shown in this example with in the, often used on estate cars, "sharkfin" antenna 14 integrated or alternatively in the rear part of the vehicle roof 10 to get integrated.

Another alternative embodiment and arrangement of the second sensor unit 4 is 2 schematically shown in front view (opposite to the direction of travel F). A roof load 20 , such as a bicycle, is central to the vehicle roof 10 attached. The second sensor unit 4 includes two sensors 4a and 4b on opposite sides of the vehicle roof 10 are arranged. The height h _{D of} the roof load 20 can be measured from both sides.

The vehicle 1 preferably has a third sensor unit 3 on, as a presence detector for roof structures 20 serves. It should by the third sensor unit 3 preferably only the presence of a roof structure 20 detected and sent to the evaluation unit 5 , which is designed for example as an electronic control unit, report. The sensors of the third sensor unit 3 can do this, for example, directly into the vehicle roof 10 to get integrated. As a possible technology for detecting the presence of a roof structure 20 For example, ultrasonic sensors (similar to the known car parking aid), pressure sensors, light barriers or the like could be used.

The control unit 5 collects the data of the sensor units 2 . 3 and 4 and evaluate these. The transmission of the sensor data can take place, for example, by means of a suitable data bus system customary in the vehicle, such as, for example, a CAN, LIN or FlexRay bus system. The acquisition of the sensor data can be done constantly or at certain intervals. After the repeated evaluation of the sensor data, the control unit decides 5 Cyclical about whether the driver only needs to be warned about information in the cockpit or whether an active intervention, such as in the brake system 6 of the vehicle 1 necessary to make a collision with the obstacle 100 to avoid. For example, this is the distance to the obstacle 100 and / or the current vehicle speed considered.

Both the communication of height information to the driver's seat and the control of the brake system 6 , About control of a special brake control device, preferably via one of the aforementioned motor vehicle data bus systems. In data transmission, a distinction is made between sensor data 15 , Informational signals 55 for information and / or warning of the driver and control signals 65 to the braking system of the vehicle 1 ,

The second sensor unit 4 determines the height h _{D of} one in the measuring range 40 located roof structure 20 relative to the vehicle roof 10 , which in advance through the third sensor unit 3 was detected. From this, the current total vehicle height h _a , which is derived from the known vehicle height h and the height h _{D of} the measured roof structure 20 results are determined. Furthermore, the distance, ie the distance, and the headroom H of the measuring range are constantly changing 11 the first sensor unit 2 located obstacle 100 certainly. From this height measurement, a maximum permissible total vehicle height is then derived. The with the help of the sensor systems 2 and 4 determined sizes H and h _a , as well as the distance to the obstacle 100 and the current vehicle speed, form the input parameters for a safety assistance system according to the invention. Based on these parameters, a corresponding software algorithm (see 4 ), which in the control unit 5 of the safety assistance system is implemented, decide on a meaningful reaction of the vehicle in a corresponding dangerous situation.

in 3 is an alternative implementation of a device according to the invention in a transport vehicle, which is a cargo area 25 having. The height of the cargo 20 exceeds the height h of the unloaded vehicle 1 , According to the invention, a first sensor unit 2 at the front of the roof 10 of the cab of the vehicle 1 arranged, which is an obstacle 100 in their measuring range 11 recorded and a headroom H under the obstacle 100 certainly. A second sensor unit 4 is on the roof surface 10 of the driver's cab, whose measuring range 40 opposite to the direction of travel F on the load 20 is aligned. The second sensor unit 4 determines the height h _{D of} the load 20 that is about the height h of the unloaded vehicle 1 goes. From this, the current total vehicle height h _a , which is derived from the known vehicle height h and the height h _{D of} the measured charge 20 results are determined.

In 4 is a possible algorithm for implementing the invention in a security assistance system shown in detail.

After starting the vehicle (step 501 ) will be in step 502 checks whether the current vehicle speed is less than a defined limit speed (eg 50 km / h) and the system is activated at the driver's seat. If one of the two conditions is not met, the safety assistance system remains inactive (normal driving 515 ) and the query starts again. If the entry conditions are met, then in step 503 the third sensor unit 3 the device according to the invention activated. The third sensor unit 3 checked in step 504 whether a roof construction 20 is available. Once a roof construction 20 was detected, the second sensor unit begins 4 in step 505 with the height measurement h _{D of} the roof structure 20 , From the height measurement h _{D of} the roof structure 20 and the already known vehicle height h (without roof structure), the current total vehicle height h _{a is} calculated. The first sensor unit 2 subsequently missing in step 506 the distance and the headroom H of an obstacle in the direction of travel 100 with passageway.

From this height measurement, a maximum permissible total vehicle height is then derived. The maximum permissible total vehicle height and that via the second sensor unit 4 determined instantaneous total vehicle height h _a are constantly compared. As soon as the maximum permissible total vehicle height has been exceeded (query 507 ), is in step 508 cyclically checks whether a previously defined critical distance to an obstacle lying in direction of travel F (in / transit) 100 already reached. If this is the case, the driver will be in step 509 at the driver's seat, for example by means of a display signal and / or a warning tone, indicating that a critical situation with respect to its roof structure 20 imminent. The driver now has the opportunity for a defined time to independently intervene in the dangerous situation, eg by braking or change of direction (if possible). If an intervention by the driver is detected by the safety assistance system (query 510 ), the warnings are canceled at the driver's seat and the system goes back to "normal driving" 515 above. The algorithm would then begin again when polling the entry conditions. If the driver, despite the warning, does not intervene independently in the dangerous situation, the distance to the entrance / transit is again measured (step 511 ). Subsequently, in step 512 checks whether a second, previously defined, critical distance has also been reached. The second critical distance-2 characterizes the latest possible braking time around a collision of the roof structure 20 with the obstacle 100 to avoid. Consequently, when this limit is reached, the safety assistance system actively intervenes in the braking system of the vehicle (step 513 ) and brakes the vehicle to a standstill. If the vehicle speed is equal to 0 km / h (query 514 ), the vehicle returns to the "normal drive" mode ( 515 ) and the algorithm starts again with the query of the entry conditions. The driver must now either remove the roof structure or adjust in height to pass through the entrance / transit or the system is deactivated by a switch on the driver's seat. For example, after the system is deactivated, the driver could leave the car park entrance in the reverse direction. After deactivation of the system, a permanent warning signal (eg acoustically or on a display) may preferably indicate to the driver that the system is currently inactive (not shown).

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• DE 102004015749 A1 [0008]
• DE 102007053989 A1 [0009]
• DE 102010012662 A1 [0011]
• DE 102006028625 A1 [0012]

Claims (11)

Device for determining a passageway for a vehicle ( 1 ) under an obstacle ( 100 ), comprising a first sensor unit ( 2 ) for determining a passage height (H) under the obstacle ( 100 ) and an evaluation unit ( 5 ), whereby the evaluation unit ( 5 ) the determined passage height (H) is compared with a current vehicle height (h _a ) such that a warning is issued in the event that the determined passage height (H) a passage of the vehicle ( 1 ) under the obstacle ( 100 ), characterized in that the current vehicle height (h _a ) by means of a second sensor unit ( 4 ), in particular on a roof ( 10 ) of the vehicle ( 1 ) is determined. Device according to claim 1, characterized in that the device comprises a third sensor unit ( 3 ), which is used to detect a loading state, in particular a roof load ( 20 ), of the vehicle ( 1 ) is trained. Device according to one of the preceding claims, characterized in that a height (h _D ) of a load ( 20 ), in particular a roof load by the second sensor unit ( 4 ) is detectable. Device according to one of the preceding claims, characterized in that sensors of the first sensor unit ( 2 ) are arranged on a vehicle front side and / or on a vehicle rear side. Device according to one of the preceding claims, characterized in that the evaluation unit ( 5 ) comprises a display unit and that in the display unit, the determined passage height (H) and / or the current vehicle height (h _a ) is displayed. Device according to one of the preceding claims, characterized in that the evaluation unit ( 5 ) with a braking system ( 6 ) and / or steering system of the vehicle ( 1 ), wherein at a determined passage height (H), which does not allow passage of the vehicle under the obstacle and falls below a minimum distance of the vehicle to the obstacle ( 100 ) an automatic brake intervention and / or an automatic steering intervention takes place. Device according to one of the preceding claims, characterized in that the first sensor unit ( 2 ) is formed, the distance of the vehicle to the obstacle ( 100 ). Method for assisting a driver of a vehicle ( 1 ) comprising the steps of: a) measuring a headroom (H) under an obstacle ( 100 ) by means of a first sensor unit ( 2 b) determination of the current vehicle height (h _a ) by means of a second sensor unit ( 4 c) Comparison of the determined current vehicle height (h _a ) with the measured headroom (H) d) Output of a warning to the driver if the determined headroom (H) indicates a passage of the vehicle ( 1 ) under the obstacle ( 100 ) does not allow. Method according to claim 8, wherein by means of a third sensor unit ( 3 ) is detected, whether the vehicle ( 1 ) a burden ( 20 ), in particular a roof load, and in the presence of a load ( 20 ) the second sensor unit ( 4 ) is activated. Method according to one of claims 8 or 9, wherein, in particular by means of the first sensor unit ( 2 ), a distance of the vehicle to the obstacle ( 100 ) and if a minimum distance is undershot, an automatic intervention in a brake system ( 6 ) and / or a steering system of the vehicle is made, if the determined passage height (H) is a passage of the vehicle under the obstacle ( 100 ) does not allow. Method according to one of claims 8 to 10, characterized in that the speed of the vehicle in the implementation of the method is less than a predetermined maximum speed, in particular less than 50 km / h.

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