DE102007003014A1 - Vehicle position determining device, has evaluating unit including digital card, at which position of uneveness is stored, where evaluating unit is formed for determining limited spatial area depending on spatial area and sensor signal - Google Patents

Abstract

The device (10) has a global positioning system-unit (18) for determining a spatial area of vehicle position using satellite signals. A nick sensor e.g. acoustic and/or optical sensor such as camera, is provided for detecting road surface unevenness e.g. bulge, which is in surrounding of a vehicle. An evaluating unit (20) has a digital card, at which the position of the uneveness is stored, where the evaluating unit is formed for determining a limited spatial area for the indicated vehicle position depending on the spatial area and a sensor signal (24). An independent claim is also included for a system for positioning a vehicle.

Description

The The invention relates to a vehicle position determining device for a vehicle according to the preamble of claim 1, claim 7 and claim 9. Further The invention relates to a system for positioning a vehicle with such a vehicle position detecting device.

One automatic driving of a vehicle without any intervention from the sides the driver to control the speed or the direction of travel the vehicle requires that the vehicle in addition to a digital map also have a timely and accurate Location information. Such location information not just the road that the vehicle is currently driving, but also the lane used by the vehicle, the distances between the vehicle and the side wheels of the lane and the Position of the vehicle with respect to a longitudinal course include the lane.

aid a satellite device, such as a GPS device (Global Positioning System), can be a spatial area be determined within which equipped with the satellite device Vehicle is located. In this case, the determined spatial Range an extent of typically at least 10 meters on. A higher spatial resolution can be achieved by using of a differential GPS device. Indeed may be within a spatial environment of a roadway roofing, such as a bridge or a tunnel, no Satellite signal from a GPS device or a differential GPS device to be received. That's why in such places a location determination with a satellite device is not possible. One exclusively using a satellite device Positioning carried out is therefore for an automatic positioning of a moving vehicle too inaccurate.

traditionally, For example, optical sensors are used to determine a vehicle position. For example, using an optical sensor the distances to the two side lane markings the lane being driven. One speaks thereby often from a lateral location of the vehicle.

The Position of the vehicle with respect to the longitudinal course the busy lane, d. H. the longitudinal positioning of the vehicle, can be determined using the side lane markings however, do not determine. Thus, a conventional position determination using an optical sensor in conjunction with a satellite device not sufficient, for example, to turn Intersections without an intervention of the driver in the control of his Vehicle precise perform.

The EP 0 678 228 B1 relates to a method and apparatus for determining a vehicle position. In this case, a geomagnetic field sensor of an environment of a vehicle is determined by means of a geomagnetic field sensor. The values measured by the geomagnetic field sensor vary as soon as there is a bridge, tunnel or overpass around the vehicle. By means of a digital map, in which the position of bridges, tunnels or overpasses are registered, the spatial area of the vehicle position determined by a satellite device can be limited and a more accurate vehicle position can be determined. However, a suitable geomagnetic field sensor is relatively expensive. Furthermore, those in the EP 0 678 228 B1 described objects are used only for more accurate determination of a vehicle position when the vehicle is just close to a bridge, a tunnel or overpass.

The Object of the present invention is a cost-effective Device for more accurately determining the position of a vehicle and to provide for actively positioning the vehicle.

The The object is achieved by a vehicle position determination device according to claims 1, 7 and 9 and by a system for Positioning a vehicle according to the claim 10 solved.

In a first embodiment of the present invention The vehicle position detecting device has the features according to claim 1. Thus it is marked by a sensor unit for detecting a vehicle being driven by the vehicle or in the vicinity of the vehicle located roadway unevenness and for providing at least one corresponding sensor signal.

she includes an evaluation unit with a digital map on which the positions of road bumps are stored, wherein the evaluation unit is designed in dependence on the spatial area and the at least one sensor signal a limited spatial area as a subset of the spatial area for a more specified Determine vehicle position.

A sensor unit for detecting a road surface irregularity is often ready anyway or can be produced at low cost. Thus, the equipping of a vehicle with a vehicle position determination device according to the invention for the vehicle owner is not or with un significant costs.

The The road surface unevenness detected by the sensor unit can have a convexity, a groove and / or a hump in the road surface. For example the road surface unevenness goes on an expansion joint of the road surface back at a bridge or a change in the road surface. Since such road bumps relatively often of a Vehicle passes or runs over during a journey be, the vehicle position can then be determined by the respective road bumps determine more accurately.

For example the sensor unit comprises an acoustic and / or optical sensor, like a camera or a reflection sensor. In a special Embodiment of the invention, the acoustic and / or optical sensor also used for a distance warning system become. For example, during a Scanning the road ahead of the vehicle for a road bump Also, determine if the distance between the vehicle and the vehicle ahead is large enough for a sufficient braking distance. Such an optical and / or acoustic sensor can thus fulfill several functions.

When Alternatively or in addition to this, the sensor unit comprise a sensor for detecting an inclination of the vehicle. Because a vehicle is often equipped with such a sensor There is thus the possibility of one already on the vehicle existing sensor for the realization of the vehicle position detecting device to use.

As well For example, the sensor unit may include a sensor for detecting a steering torque include, for driving over a road bump through a vehicle often causes a short jump in the steering torque or an excitation of the landing gear without the driver being active causes or something noticed. As an alternative or as a supplement For this purpose, the sensor unit and a sensor for detecting a Have spring travel of a Radstützfeder. For example passing a hump leads to a short-term Compressing the support springs first front, then back, which proved with the help of such a sensor can be. Another alternative would be the use a 3D yaw rate sensor possible.

In another embodiment of the present invention has the vehicle position determination device according to the invention the features according to claim 7. Consequently It is characterized in that the evaluation unit is a digital Map includes, on which for at least one lane marking a road a coordinate of the lane marking re a longitudinal course of the road is stored, wherein the evaluation device is adapted to the coordinate of the vehicle with respect to the longitudinal course of Road in the street section in dependence from the lane marking coordinate.

aid the information stored on the digital map about the location of a detected lane marking with respect to the Longitudinal course of a vehicle used by the road section can a sensor unit already mounted on a vehicle for determining the distances between the vehicle and the lateral lane boundaries, such as a camera or a laser scanner, in addition for determining the attitude of the vehicle with respect to the longitudinal course of the traveled road section be used. This ensures a multifunctionality the already existing sensor unit.

For example the lane marking is a stop line, a crosswalk and / or a directional arrow. Likewise, a change in the road surface, which causes a change of reflection, by a Camera or a laser scanner are detected. Because such road markings often can be detected on lanes, it is possible They often for a more accurate determination of the current position of a vehicle.

In another embodiment of the present invention The vehicle position detecting device has the features according to claim 9. Thus, it includes a satellite tracking device that is designed to use a satellite signal received from an off-board satellite to determine a spatial area of the vehicle position, a sensor unit for detecting a roadway roofing, under which the vehicle passes and for providing at least one corresponding sensor signal and an evaluation unit with a digital map on which the positions of road roofs are stored are, wherein the evaluation unit is designed, depending on from the spatial area and the at least one sensor signal a limited spatial area for to determine a more specified vehicle position, and is thereby in that the sensor unit is a brightness sensor or a rain-light sensor comprises.

To control the power level of an air conditioner and / or to activate the vehicle lights, many are equipped with a brightness sensor. Instead of the brightness sensor, they can also have a rain-light sensor. An ent speaking rain-light sensor measures the light intensity in an environment of the vehicle, from which then a piece of information about the current weather is determined. By means of the present invention, it is thus possible to increase the possibilities of application of these sensors already present on the vehicle.

In Another aspect of the present invention is a system for positioning a vehicle with an inventive Vehicle position detecting device equipped. Based on from the vehicle position determining device current vehicle position may be a unit for accelerating, for Delay and / or steer the vehicle automatically be controlled without the driver himself to control his Vehicle must operate the unit.

A preferred embodiment of the present invention will now be described with reference to the attached 1 explained in more detail, with reference to the operation of a vehicle position determination device according to the invention can be explained.

In 1 is a vehicle position determination device 10 shown schematically. The vehicle position determination device 10 includes a rain-light sensor 12 , a nicksensor 14 , a camera and image processing unit 16 , a GPS unit 18 and an evaluation unit 20 ,

The rain-light sensor 12 is a brightness sensor, which is designed to determine the light and weather conditions in an environment of a vehicle. Such a rain-light sensor 12 is often attached to a vehicle anyway. In the basis of the 1 explained embodiment of the invention can by means of the rain-light sensor 12 a short-term reduction in light intensity in the environment of the vehicle can be detected. Such a short-term reduction in light intensity is often due to the vehicle passing under a pavement roof, such as a bridge or tunnel. Will such a short-term reduction in light intensity from the rain-light sensor 12 measured, so does the rain-light sensor 12 a corresponding light change signal 22 to the evaluation unit 20 ready. The evaluation unit 20 evaluates the light change signal 22 in accordance with the duration of the reduction of the light intensity as underrunning a bridge, a roadway roof or as passing through a tunnel.

Instead of the rain-light sensor 12 Underriding a pavement can also be detected using a conventional brightness sensor. Vehicles are often equipped with such a brightness sensor in order to adapt the air conditioning system and / or the vehicle lights to the prevailing light and weather conditions in the vehicle environment.

The nicksensor 14 According to the invention, it is used for passing over a roadway unevenness running transversely to the road through the vehicle position determining device 10 determine equipped vehicle. Such uneven road surface may be a road curvature, a groove, a hump, a road surface expansion joint before or after a bridge or a change in the road surface.

When the vehicle tilts while passing a rough road through the vehicle, the Nicksensors 14 a tilt signal 24 to the evaluation unit 20 out. The evaluation unit then determines from the tilt signal 24 the type and size of the roadway ride over.

Instead of the nick sensor 14 or in addition to the nicksensor 14 For detecting a roadway unevenness, a camera, a sensor for detecting an optical or acoustic signal reflected from the roadway, a steering angle sensor or a sensor for monitoring the spring travel of the supporting springs of the vehicle wheels may also be used. Corresponding sensors are conventionally installed on many vehicles and therefore can cost-effectively for the vehicle position detecting device 10 be used.

Using the camera and image processing unit 16 can lane markings, such as stop lines, crosswalks and / or direction arrows, detect and determine a distance between the vehicle and the respective detected lane markings. The camera and image processing unit 16 gives an image signal 26 to the evaluation unit 20 off which the image signal 26 subsequently evaluated with respect to a lane marking. The camera and image processing unit attached to the vehicle 16 can also be used for other vehicle equipment. For example, the camera and image processing unit 16 be used for determining a distance between the vehicle and a preceding vehicle or for determining the distance between the vehicle and the lateral lane boundaries of the lane just being driven.

As an alternative to the camera and image processing unit 16 can the vehicle position he mediation device 10 for detecting lane markings also have a laser scanner. By way of example, the laser scanner detects a change in the reflection of the emitted optical signals reflected on the roadway, by means of which subsequently a lane marking from the evaluation unit 20 is determined.

The GPS unit 18 uses a detected satellite signal to determine a spatial area within which the vehicle position detection device 10 equipped vehicle is located. The extent of the determined spatial area is conventionally at least 10 meters. Then there is the GPS unit 18 a GPS signal 28 with the data of the determined spatial area to the evaluation unit 20 out.

The evaluation unit 20 is designed by the GPS unit 18 to investigate the determined spatial area of the approximate vehicle position on a possibly existing roadway roofing, a roadway unevenness or a lane marking. For this purpose, the evaluation unit 20 a digital map on which the respective layers of road roofs, road bumps and lane markings are stored. The evaluation unit 20 compares the location of that of the GPS unit 18 determined spatial area stored road roofs, road bumps and lane markings with the light change signal 22 , the tilt signal 24 and the image signal 26 , In this way, the functionality of the sensors 12 to 16 and the GPS unit 18 through the evaluation unit 20 checked. Retrieves the GPS unit 18 For example, a spatial area for which a bridge is stored on the digital map, without the presence of such a bridge using the rain-light sensor 12 is detected in the vicinity of the vehicle, so the evaluation unit 20 this as a malfunction of the rain-light sensor 12 or the GPS unit 18 , The evaluation unit 20 then gives a signal to check the affected sensors 12 to 16 and the GPS unit 18 out.

In contrast, in such a situation, the presence of the bridge in the vicinity of the vehicle using the rain-light sensor 12 detected, the vehicle position can be determined more accurately based on the determined position of the bridge. Similarly, the positions of other road canopies, road bumps, or lane markings may also be used to confine the GPS unit 18 determined spatial area and thus be used for a more accurate determination of the vehicle position.

The evaluation unit determines the positions of the road roofs, road bumps or lane markings 20 a limited spatial area, which is a subset of that of the GPS unit 18 determined spatial area, for a more accurate vehicle position. The evaluation unit preferably determines 20 doing a probable position of the vehicle, where the evaluation of the unit 20 also determined inaccuracy of measurement is not more than half a meter.

The evaluation unit 20 then gives the specific probable position of the vehicle as a position signal 30 and optionally the determined inaccuracy of measurement to a vehicle component. Such a vehicle component may be, for example, a navigation system or a control system for automatically controlling the vehicle.

10

Vehicle position detection device

12

Rain light sensor

14

Nick sensor

16

Camera- and image processing unit

18

GPS unit

20

evaluation

22

Light change signal

24

tilt signal

26

image signal

28

GPS signal

30

position signal

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• EP 0678228 B1 [0006, 0006]

Claims (10)

Vehicle Position Determination Device ( 10 ) for a vehicle, comprising - a satellite tracking device ( 18 ), which is designed to determine a spatial range of the vehicle position by means of a satellite signal received from an external vehicle satellite, characterized by a sensor unit ( 14 ) for detecting an uneven road surface traveled by the vehicle or located in the vicinity of the vehicle and for providing at least one corresponding sensor signal ( 24 ) and - an evaluation unit ( 20 ) with a digital map on which the positions of road bumps are stored, wherein the evaluation unit ( 20 ) is designed, depending on the spatial area and the at least one sensor signal ( 24 ) to determine a restricted spatial area for a more accurately specified vehicle position, Vehicle Position Determination Device ( 10 ) according to claim 1, wherein the road surface unevenness is a bulge, a groove and / or a hump in the road surface. Vehicle Position Determination Device ( 10 ) according to claim 1 or 2, wherein the sensor unit ( 14 ) comprises an acoustic and / or optical sensor. Vehicle Position Determination Device ( 10 ) according to one of claims 1 to 3, wherein the sensor unit ( 14 ) comprises a sensor for detecting an inclination of the vehicle. Vehicle Position Determination Device ( 10 ) according to one of claims 1 to 4, wherein the sensor unit ( 14 ) comprises a sensor for detecting a steering torque. Vehicle Position Determination Device ( 10 ) according to one of claims 1 to 5, wherein the sensor unit ( 14 ) comprises a sensor for detecting a spring travel of a Radstützfeder. Vehicle Position Determination Device ( 10 ) for a vehicle, comprising - a satellite tracking device ( 18 ), which is designed to determine a spatial range of the vehicle position with the aid of a satellite signal received from an external vehicle satellite, - a sensor unit ( 16 ) for detecting a lane marking in an environment of the vehicle and - an evaluation unit ( 29 ) with a digital map, which is designed to allocate a road section to the spatial area as a function of the detected lane marking, characterized in that the evaluation unit ( 20 ) comprises such a digital map, on which for at least one lane marking of a road a coordinate of the lane marking with respect to a longitudinal course of the road is stored, wherein the evaluation device ( 20 ) is adapted to determine the coordinate of the vehicle with respect to the longitudinal course of the road in the road section in dependence on the coordinate of the lane marking. Vehicle Position Determination Device ( 10 ) Claim 7, wherein the lane marking is a stop line, a crosswalk and / or a direction arrow. Vehicle Position Determination Device ( 10 ) for a vehicle, comprising - a satellite tracking device ( 18 ), which is designed to determine a spatial range of the vehicle position with the aid of a satellite signal received from an external vehicle satellite, - a sensor unit ( 12 ) for detecting an undercut pavement and providing at least one corresponding sensor signal ( 22 ) and - an evaluation unit ( 20 ) with a digital map on which the positions of road roofs are stored, wherein the evaluation unit ( 20 ) is designed, depending on the spatial area - and the at least one sensor signal ( 22 ) to determine a limited spatial area for a more accurately specified vehicle position, characterized in that - the sensor unit ( 12 ) a brightness sensor or a rain-light sensor ( 12 ). System for positioning a vehicle with a vehicle position determination device ( 10 ) according to one of claims 1 to 9 for determining a current vehicle position and a control device for controlling a unit for accelerating, decelerating and / or steering the vehicle such that the vehicle is transferred to a desired vehicle position.