DE102017212615A1 - Device and method for curved path guidance of a vehicle - Google Patents

Abstract

Device and method for curved path guidance for a vehicle (10) having a detection device (11) which detects a reference object (20) on a curved path (30) with respect to distance (22) to the detection device (11) and angle (23) and in dependence from this detection and data on the curved path (30) generates a signal for the curved path guidance and an interface (12) which outputs the signal for a vehicle guidance device.

Description

The invention relates to a device for cam track guidance for a vehicle according to claim 1 and a method for cam track guidance for a vehicle according to claim 12.

Methods and apparatus for tracking a vehicle are well known in the art. For example, the DE 103 16 413 A1 a tracking of a vehicle by means of lateral lane boundary markings.

When cornering, the direction of travel changes constantly and it is not always imperative enough lane boundary markings visible. Therefore, in particular, automatic control of the vehicle when cornering is difficult.

This is where the invention starts. The invention has the object to improve the known from the prior art devices and methods for tracking a vehicle, especially for a curved path guide to improve.

The object is achieved with a device having the features of claim 1 and with a method having the features of claim 12.

Further developments and advantageous embodiments of the invention are specified in the subclaims.

The device according to the invention for curved path guidance for a vehicle has a detection device which detects a reference object on a curved path with respect to distance to the detection device and angle and generates a signal for the curved path guidance in dependence on this detection and data on the curved path and an interface that the Output signal for a vehicle guidance device.

Vehicle according to the invention is a land vehicle, e.g. Car, truck or commercial vehicle, a watercraft, such as a ship, or an aircraft, such as a drone or a Zeppelin.

A traffic lane is a tram, a waterway or an airway.

A curved path is a traffic lane or a section of a traffic lane that is not straight but curved.

The invention thus provides a device for curved path guidance for example for cars, ships or aircraft. Of course, the invention can also be used for rail-bound vehicles, such as trains, but in rail vehicles due to the existing fixed connection of the vehicle to a rail guidance is automatically given.

A detection device is a device that is designed to detect an environment of a vehicle. For example, an image sensor is a detector.

A reference object is an object that awards a reference system. On the curved path means that the reference object is arranged such that it is detectable during cornering with the detection device. The reference object need not be arranged in the immediate vicinity of the curved path, but may preferably also be located in a curved path center.

The angle is preferably the angle at which the reference object spaced apart in the distance appears from the detection device with respect to a direction of travel of the vehicle.

Curve lane data are known curve history data related to the position of the reference object. For example, the curved path is known as a function of the distance and angle of curved track points to the reference object. In particular, each curved track point and the prevailing slope there, that is, the tangent of the curved path relative to the reference object is known. The data about the curved path can also be map data.

An interface is a device between at least two functional units, at which an exchange of logical quantities, e.g. Data, or physical quantities, e.g. electrical signals, takes place, either only unidirectional or bidirectional. The exchange can be analog or digital. An interface may exist between software and software, hardware and hardware, and software and hardware, and hardware and software.

For example, if the distance of the detector to the reference object is equal to the distance of a curved track point and the angle is equal to the angle the tangent at that curved track point includes with the line, hereafter called the tangent angle on which the reference object and the curved path point lie, then the vehicle moves along the curved path at that point. If the angle is different from the tangent angle, the interface outputs to the vehicle guidance device a signal to change the direction of travel such that the angle is equal to the tangent angle, so the direction of travel is parallel to the tangent.

In this case, a vehicle guidance device is a device that allows a vehicle guidance. For example, a unit for single-wheel braking that performs braking interventions on individual vehicle wheels in response to signals is a vehicle guidance device. Actuators, in particular mechatronic actuators with which the steering or the transmission of a vehicle are controlled, are also vehicle guidance devices.

Since the curved path is known with respect to the position of the reference object, and the detection device measures distance and angle to the reference object, the position of the vehicle to the curved path and thus a curved path guidance based on the information available on the ground is possible. The invention thus provides a ground truth, that is to say a curved path guidance determined in a field comparison, which can be carried out without a GPS signal.

For the cases that no reference object is within range of the detection device or the detection of the reference object has failed, for example because the reference object is obscured by an object, the view is poor or the detection device or the reference object has a defect, the detection device inputs Signal that detection is possible. Furthermore, the signal of the detection device can also contain information about the quality of the detection, that is, information about how reliable and / or high-quality the detection is. In addition, the signal may contain information about metrological tolerances for the currently detected distance and angle.

Advantageously, the reference object can be detected at any time during the curved path travel with the detection device. This makes it possible to guide the vehicle at any given time during the curved path in the curved path.

Preferably, the detection device is designed to detect the distance and the angle in pairs in time intervals whose duration is preferably dependent on a vehicle speed. Thus, advantageously, the frequency of the detection of the distance and the angle to the vehicle speed can be adjusted. In particular, when the vehicle is traveling at an increased vehicle speed, the distance and angle of the detection device to the reference object must be measured more frequently than when driving at a lower vehicle speed.

In an advantageous embodiment of the invention, the detection device is designed to detect the distance traveled by the vehicle during the curved path travel and to generate depending on the distance traveled and a length of the curved path an indication signal. The path traveled during the curved path may be e.g. simply be detected with an odometer. The length of the curved path is known from the known curved path course relative to the reference object. This makes it possible in particular to generate a warning signal when an end of the curve and thus an end of the curved path guide is reached. It is also possible to point out a change in the course of the curved path, for example from a left-hand bend to a right-hand curve or a curve increasing in the curve.

In a further embodiment of the invention, the position of the reference object in a circular or at least arcuate curved path is the center of the circle, wherein in the curved path along the circle or arc of the distance of the vehicle to the reference object, the radius of the circle and the angle, below to which the reference object spaced apart in the distance appears from the detecting means relative to the traveling direction of the vehicle, a right angle. In a circular curved path, the curved path guide is comparatively simple. It only has to be ensured that the vehicle moves tangentially to the radial direction at a constant distance, which is equal to the radius of the circle, to the reference object.

Position of the reference object designates the position of the reference object on the ground, without a specific determination of a height above ground.

Preferably, the reference object is cylindrically symmetrical with preferably perpendicular to a curved track plane arranged symmetry axis.

An object is cylindrically symmetric when rotating at any angle around a given axis maps the object to itself. The current radial direction of the circular path is always known on a circular path around a cylindrically symmetrical object.

Preferably, the detection device is arranged on a vehicle side. With such an arrangement, a reference object in the center of a curved path can be relatively easily detected. The detection device can be arranged at further positions, for example at the roof center of the vehicle or at the front of the vehicle. Depending on the position this can be determined by known or determinable sizes of the mounting of the detection device on Vehicle subsequently be applied by the detection device as a correction.

In a preferred development of the invention, the detection device has a camera, a radar and / or a lidar. On the one hand, the reference object can be captured easily with a camera, a radar and / or a lidar. On the other hand, further environment information can be detected with such environment detection sensors.

According to a preferred embodiment of the invention, the detection device generates a signal for a guidance of the vehicle along an ideal line within the curved path as a function of the detection of distance and angle and data on the curved path.

An ideal line is an imaginary line that describes the fastest way possible through a curved path. The fastest possible way may depend on a vehicle type and a driving style. Thus, the invention allows a curve cutting, so an increase of the curve radius, so that you can drive faster through the curve. This is particularly advantageous in racing.

Another embodiment of the invention is a vehicle with a device according to the invention.

A development of the invention is a vehicle with a navigation system and a device according to the invention, wherein the device is a verification and / or redundancy for a curved path guidance by means of the navigation system.

The navigation system enables guidance of a vehicle by means of position determination, for example via satellite, and geographic information, for example map data.

The inventive device allows a ground truth curved path guide in addition to the curved path guide, which is possible with a navigation device. This means, in particular, that the device is not only suitable for guiding the curved path, but also for testing an alternative curved path guidance to the navigation device. For example, the cam track guidance determined by the device is supplied to the cam track guidance of the navigation device to a comparator which outputs a quality signal for optimum cam track guidance.

The inventive method for curved path guidance of a vehicle has the following steps: a detection device detects a reference object on a curved path with respect to distance to the detection device and angle and generates a function of this detection and data on the curved path a signal for the curved path guidance, an interface that Output signal for a vehicle guidance device.

Advantageously, a device according to the invention is used in the method.

• 1 ein Ausführungsbeispiel einer aus dem Stand der Technik bekannten Vorrichtungen zur Spurführung eines Fahrzeuges,
• 2 ein Ausführungsbeispiel einer erfindungsgemäßen Vorrichtung zur Kurvenbahnführung eines Fahrzeuges auf einer Linkskurve,
• 3 ein Ausführungsbeispiel eines Fahrzeuges mit einer Vorrichtung nach 2,
• 4 ein Ausführungsbeispiel einer Vorrichtung nach 2 zur Kurvenbahnführung eines Fahrzeuges auf einer kreisförmigen Kurvenbahn, und
• 5 ein Ausführungsbeispiel eines erfindungsgemäßen Verfahrens.

The invention will be described in detail with reference to the following figures. Show it:

• 1 An embodiment of a known from the prior art devices for tracking a vehicle,
• 2 An embodiment of a device according to the invention for the curved path guidance of a vehicle on a left-hand bend,
• 3 an embodiment of a vehicle with a device according to 2 .
• 4 an embodiment of a device according to 2 for the curved path guidance of a vehicle on a circular curved path, and
• 5 an embodiment of a method according to the invention.

In the figures, like reference numerals designate like or functionally similar parts.

1 shows a vehicle 10 with a tracking device. The vehicle 10 is a car, but can also be a ship or another vehicle 10 be. The tracking device recognizes by means of corresponding sensors lateral lane boundary markings 34 , Based on the detected lane markings 34 the vehicle is going along a curved path 30 guided.

A detection area 33 the sensors are in the direction of travel 14 directed. Along a straight path 32 The sensors detect lateral lane boundary markings 34 ,

Along the curved path 30 However, the direction of travel always changes 14 , There are not always enough marks within the coverage area 33 detectable. For example, the lane boundary is located 34 outside the detection area 33 and thus can not be detected by the sensors.

In 2 is the drive of a vehicle 10 on a left turn at a first vehicle position A , a second vehicle position B and a third vehicle position C shown.

Within the curved path 30 is at a position 21 a reference object 20 arranged. The reference object 20 is a bicone, whose Symmetry axis is perpendicular to the plane in which the curved path 30 lies.

In terms of position 21 of the reference object 20 the curved path is known. This means that the course of the curved path 30 in a frame of reference whose origin is the position 21 of the reference object 20 is known. In particular, the slope of the curved path is known at every point of the curved path. For example, the reference system is a polar coordinate system. Each curved path point of a plane curve is then defined by its distance 22 to the reference object 20 and by a track angle 24 which is equal to the polar angle.

The vehicle 10 has a detection device 11 on. The detection device 11 is in the direction of travel 14 seen on the left side of the vehicle 10 arranged and can in this arrangement, the reference object 20 recognize at any time during the curved path. The detection device 11 is a side camera.

In the first vehicle position A is the vehicle 10 Although in a curved track point, that is, the distance 22 the detection device 11 is equal to the distance 22 the curved track point to the reference object 20 , However, an angle 23 under which the reference object 20 from the detection device 11 in terms of the direction of travel 14 out, greater than an angle, the tangent at this curved track point appears with the connecting line between the reference object 20 and detection means 11 includes. The direction of travel 14 does not point in the direction of the curved path in this curved path point 30 , The detection device 11 generated in the first vehicle position A a signal that is an interface 12 to a vehicle guidance device 13 outputs. The vehicle guidance device 13 For example, uses the wheel positions of the vehicle 10 to, to the direction of travel 14 parallel to the direction of the curved path 30 , that is, parallel to the tangent at this curve point.

the interface 12 and the vehicle guidance device 13 are in 3 shown.

In the second vehicle position B is the detection device 11 in a curved track point. This means that the distance 22 the detection device 11 to the position 21 of the reference object 20 equal to the distance of the cam track point to the position 21 is. Further, the angle 23 under which the reference object 20 from the detection device 11 in terms of the direction of travel 14 off, equal to the angle of the tangent at this curved track point and the connecting straight line between the reference object 20 and detection means 11 is included. In other words, in the curved track point, the direction of travel 14 towards the tangent at this curved track point.

In the vehicle position C is the vehicle 10 not in a curved track point. When the vehicle 10 not on the curved path 30 what can be determined by the detection of distance and angle and the curve data is given by the detection device 11 a corresponding signal via the interface 12 to the vehicle guidance device 13 out. The vehicle guidance device 13 then controls the vehicle 10 based on this signal 10 back to the curved path 30 ,

In 3 a curved path guide is shown on a circle. The vehicle 10 is on the circle when the distance 22 to the reference object 20 whose position 21 corresponding to the circle center, is equal to the radius of the circle and the angle 23 under which the reference object 20 from the detection device 11 out, a right angle is.

At a curved track 30 which is a full circle with a radius r, as in 4 shown is one length 31 the curved path 30 2 π r. If the vehicle 10 has an odometer, is the end of the curved path 30 then reached when the distance traveled is equal to 2 π r. This can be done by a notification signal, either acoustically, visually or haptically.

The curved path 30 can take any shape, for example, the curved path 30 to be a spiral. The invention also allows for guidance along an ideal line within a curved path.

The angle 23 below that in the distance 22 spaced reference object based on the direction of travel of the vehicle from the detection device 11 out, a right angle appears. The angle 23 is a relative heading. For real curves, the angle becomes 23 accept other values.

5 shows the inventive method. The detection device 11 captures the reference object 20 on a curved path 30 and measures the distance 22 to the detection device 11 as well as the angle 23 below the reference object 20 from the detection device 11 out appears. The detection device then generates 11 depending on this acquisition and data on the curved path 30 a signal for the curved path guidance, wherein an interface 12 the signal for a vehicle guidance device 13 outputs.

LIST OF REFERENCE NUMBERS

10

vehicle

11

detector

12

interface

13

Vehicle guide device

14

direction of travel

20

reference object

21

position

22

distance

23

angle

24

path angle

30

cam track

31

length

32

straight course

33

detection range

34

Track boundary marking

A

first vehicle position

B

second vehicle position

C

third vehicle position

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 10316413 A1 [0002]

Claims (13)

Curve track guidance device for a vehicle (10) having a detection device (11) which detects a reference object (20) on a curved path (30) with respect to distance (22) from the detection device (11) and angle (23) and in dependence thereon Detection and data on the curved path (30) generates a signal for the curved path guide and an interface (12) that outputs the signal for a vehicle guidance device. Device after Claim 1 , characterized in that the reference object (20) at any time during the curved path travel with the detection device (11) can be detected. Device according to one of the preceding claims, characterized in that the detection device (11) is designed to detect the distance (22) and the angle (23) in pairs in each case at time intervals whose duration is preferably dependent on a vehicle speed. Device according to one of the preceding claims, characterized in that the detection device (11) is designed to detect the distance traveled by the vehicle (10) during the curved path and depending on the distance covered and a length (31) of the curved path (30). to generate a notification signal. Device according to one of the preceding claims, characterized in that the position (21) of the reference object (20) in a circular or at least arcuate curved path is the center of the circle, wherein when the curved path along the circle or arc of the distance (22) of Vehicle (10) to the reference object, the radius of the circle and the angle (23) below which in the distance (22) spaced reference object (20) with respect to the direction of travel (14) of the vehicle (10) from the detection means (11 ) appears, a right angle (23) is. Device according to one of the preceding claims, characterized in that the reference object (20) is cylindrically symmetrical with preferably an axis of symmetry perpendicular to a curved track plane. Device according to one of the preceding claims, characterized in that the detection device (11) is arranged on a vehicle side. Device according to one of the preceding claims, characterized in that the detection device (11) comprises a camera, a radar, and / or a lidar. Device according to one of the preceding claims, characterized in that the detection device (11) in response to the detection of distance and angle and data on the curved path (30) generates a signal for a guidance of the vehicle (10) along an ideal line within the curved path , Vehicle with a device according to one of Claims 1 to 9 , Vehicle with a navigation system and a device according to the invention according to one of Claims 1 to 9 wherein the device is a verification and / or redundancy for a curved path guidance by means of the navigation system. A method for curved path guidance of a vehicle (10), comprising the steps: a detection device (11) detects a reference object (20) on a curved path (30) with respect to distance (22) to the detection device (11) and angle (23) and generated in dependence This detection and data on the curved path (30) a signal for the curved path guidance, wherein an interface (12) outputs the signal for a vehicle guidance device (13). Method according to Claim 12 , characterized in that a device according to one of Claims 1 to 9 is used.

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