DE102009013176A1 - Motor vehicle e.g. passenger car, operating method, involves determining information about route lying in front of vehicle and/or vehicle speed, from images that are recorded using image recording unit - Google Patents

Abstract

The method involves determining information (SI) about route i.e. sloping route, lying in front of a vehicle, and/or a vehicle speed (v), from images (B1, B2) that are recorded using an image recording unit (2), which comprises a charge coupled device-camera. The vehicle speed is adjusted in dependent upon a parameter of the route, based on the determined information, by controlling and/or regulating fuel injection and/or throttle valve position (KD), a driving stage (FS) and/or a brake torque (B) using a control-and/or regulating unit (4). The unit controls or regulates a drive strand. An independent claim is also included for a device for implementing the method for operating a vehicle.

Description

The The invention relates to a method for operating a vehicle the features of the preamble of claim 1 and an apparatus for Implementation of the method according to the features of the preamble of claim 9.

From the DE 103 45 319 A1 For example, a method and a device for operating a separate vehicle are known, wherein a cruise control unit is provided. The cruise control unit uses information about the current vehicle position as well as upcoming terrain to control the speed of the vehicle with the aim of saving fuel and increasing ride comfort. The current vehicle position is determined by a signal received from a Global Positioning System (GPS). In this case, a speed of the vehicle is controlled on the basis of this information. A cruise control unit that performs such speed control is referred to as an IPPC (Integrated Predictive Powertrain Control) system.

From the not yet published font DE 10 2008 09 174.4 For example, a system is known that includes a method and apparatus for operating a vehicle. In this case, a current vehicle position, information about a present route and / or a vehicle speed are determined, the vehicle speed being controlled and / or regulated on the basis of the ascertained information. Furthermore, a predefined vehicle speed, an instantaneous drive step, a momentary drive and / or brake torque are adapted, in particular regulated and / or controlled, as a function of at least one parameter of the upcoming route and / or as a function of at least one parameter of a preceding vehicle.

Of the Invention is based on the object, an improved method for operating a vehicle and a device for implementation of the procedure.

The The object is achieved by a method to operate a vehicle with the features of claim 1 solved. With regard to the device, the object is achieved by the in claim 9 specified characteristics solved.

preferred Embodiments and developments of the invention are in the dependent Claims specified.

In A method of operating a vehicle becomes route information a distance ahead of the vehicle and / or a vehicle speed determined, based on the determined route information the Vehicle speed by controlling and / or regulating a Fuel injection or throttle, a gear and / or a braking torque as a function of at least one Parameter of the line ahead of the vehicle is adjusted.

According to the invention the route information about the vehicle ahead Distance from at least one by means of at least one image capture unit detected image.

The Solution according to the invention allows a Reducing fuel consumption and minimizing fuel consumption driving-related wear, for example, the service brake, the information about the distance ahead of the vehicle by an image evaluation by means of at least one image capture unit detected images are determined. As a result, both height changes as well as changes in direction of a lying in front of the vehicle Track can be determined. By the invention Solution is a technical effort and the result of this Cost associated with technically complex Navigation solutions and the required three-dimensional Map material for identifying information about the Savings in front of the vehicle can be saved. Such methods Furthermore, some of the prior art are subject to considerable inaccuracies Afflicted, which in the inventive solution do not occur.

embodiments The invention will be explained in more detail with reference to drawings.

there demonstrate:

1 an apparatus for carrying out the method,

2 a first captured image of a link,

3 a subsequently acquired image of the route section,

4 a comparison of the in the 1 and 2 displayed captured images in an image evaluation unit,

5 a first recorded image of a further route section,

6 a subsequently acquired image of the route section,

7 a first captured image of a wide ren track section with a preceding vehicle, and

8th a subsequently captured image of the route section.

each other corresponding parts are in all figures with the same reference numerals Mistake.

1 shows a device 1 for performing the method in a vehicle. The device 1 includes at least one image capture unit 2 for capturing images B1, B2 of a distance S ahead of the vehicle, an image evaluation unit 3 and a control and / or regulating unit 4 , which is preferably a cruise control device and expediently a storage unit 5 comprising an optimization algorithm. The image capture unit 2 comprises at least one camera, for example a CCD camera, or a stereo camera system. This image capture unit 2 is arranged, for example, behind a windshield of the vehicle in an elevated position and directed forward, so that a vehicle environment, in particular the distance S in front of the vehicle can be detected.

The image evaluation unit 3 receives as further input signals preferably information of a tilt sensor 6 of the vehicle, spring travel sensors 7 a chassis of the vehicle and / or yaw, pitch and / or roll angle sensors 8th , The control and / or regulating unit 4 receives next to the image evaluation unit 3 supplied route information SI as further input signals, a current speed v of the vehicle and a desired speed vg, which is predetermined by a driver. The control and / or regulating unit 4 controls and / or regulates a braking torque B, a fuel injection or a throttle position KD and / or a driving level FS of the vehicle. In the following figures, that is with this device 1 feasible method described in more detail.

The 2 and 3 show by means of the image capture unit 2 consecutively captured images B1, B2 of a distance ahead of the vehicle S. These images B1, B2 become the image evaluation unit 3 transmitted and evaluated by this, as in 4 shown. By this evaluation is an angle or an angle change between an optical axis of the image acquisition unit 2 and the distance S ahead of the vehicle can be determined. If the distance S in front of the vehicle were flat, the two captured images B1, B2 would be largely identical, in particular a position of a horizon line H, H 'as well as positions and orientations of road markings FM, FM'. By comparing the two captured images B1, B2, however, it is found in the example shown here that the horizon line H in the first captured image B1 is at a lower position than the horizon line H 'in the subsequently acquired image B2.

The positions and orientations of the road markings FM, FM 'have also changed in the successive images B1, B2. From this it can be determined that the distance S in front of the vehicle is a gradient. In the example shown here, this can be determined both from the change in the position of the horizon line H, H 'and from the change in the positions and orientations of the road markings FM, FM' in the successive images B1, B2. For the method, however, it is already sufficient if, for example, only the road markings FM, FM 'with the image acquisition unit 2 are detected, that is, if the horizon line H, H ', for example, due to a very steep slope in front of the vehicle is no longer detected.

To ensure a correct evaluation of the images B1, B2, the device comprises 1 preferably the inclination sensor arranged in the vehicle 6 in particular to detect an inclination of the vehicle in the vehicle longitudinal direction and this information to the image evaluation unit 3 to convey. On the basis of the detected vehicle longitudinal inclination can be determined whether the vehicle is currently driving a level, a slope distance or a downgrade. In addition, preference is given by means of this inclination sensor 6 and / or by means of other sensors, such as the spring travel sensors 7 on the chassis of the vehicle and / or by means of one or more yaw, pitch and / or roll angle sensors 8th the vehicle detects current short-term vehicle movements and this information also to the image evaluation unit 3 transmitted.

In this way, during violent movements of the vehicle, for example, a pitching motion during a strong braking operation or when driving over bumps, an evaluation during which means of the image capture unit 2 detected images B1, B2 interrupted or these captured images B1, B2 are not taken into account in the evaluation, or these strong short-term vehicle intrinsic movements in the image analysis by means of the image evaluation unit 3 are taken into account, for example, by a corresponding correction of the position of the horizon line H, H ', the position of a preceding vehicle VF, VF' or the positions and orientations of the road markings FM, FM 'in the images B1, B2 acquired during strong short-term proper movements. As a result, the method is optimized and error sources, which are faulty or inaccurate route information SI over a course of the front of the vehicle the route S can be eliminated.

By means of the method is not only a vertical course of lying in front of the vehicle route S, but also determined their horizontal course. As in the 5 and 6 is represented by means of the image acquisition unit 2 and by evaluating acquired images B1, B2 on the basis of the road markings FM, FM ', a curve can be detected on the distance S ahead of the vehicle and, in particular, a radius of curvature of the curve can also be determined. From this it can be deduced how close the curve lying in front of the vehicle is, ie with which speed v it can be traversed optimally, in particular without danger.

Furthermore, by comparing the in 5 represented captured image B1 and the in 6 represented, subsequently captured image B2 in the image evaluation unit 3 , Analogous to the procedure already described, also a vertical course of lying in front of the vehicle track S detectable. It can be seen from the comparison of the two images B1, B2 that the distance S ahead of the vehicle not only comprises a curve, but is also a gradient as the position of the horizon line H, H 'in the successive images B1, B2 changes, ie the horizon line H is in the in 5 represented image B1 at a lower position than the horizon line H 'in the in 6 illustrated, captured below B2. Furthermore, changes in the positions and orientations of the road markings FM, FM in the successive images B1, B2 can also be determined in the case of this curved path S, so that, in particular, the inclination sensor information is included 6 it can be determined that the vehicle is currently traveling on a plane and is approaching a gradient route and a curve, in the illustrated example a left-hander.

In the 7 and 8th is shown a further possibility to the course of lying in front of the vehicle route S by means of the image acquisition unit 2 to investigate. In the embodiment shown here is in the means of the image capture unit 2 consecutively acquired images B1, B2 to detect a preceding vehicle VF, VF '. On a flat, straight stretch S, its position in the consecutively acquired images B1, B2 would not change or only insignificantly. In a curve, not shown here, on the distance S ahead of the vehicle, which already passes through the preceding vehicle VF, VF ', the position of the preceding vehicle VF, VF' in the consecutively acquired images B1, B2 in the horizontal direction would be corresponding change the curve, so that both a curve on the lying in front of the vehicle S trackable and their curve can be determined.

Im in the 7 and 8th illustrated embodiment is in front of the vehicle a slope distance, which is already traveled by the preceding vehicle VF, VF '. This is determined by comparing the positions of the preceding vehicle VF, VF 'in the consecutively acquired images B1, B2. In the in 7 represented image B1 is the position of the preceding vehicle VF lower than the position of the preceding vehicle VF 'in the in 8th illustrated, below by means of the image acquisition unit 2 captured image B2.

through of the method can also be determined analogously to the illustrated examples, whether the lying in front of the vehicle route S a downgrade is, or if the vehicle, when it drives a slope distance, approaching one end of this uphill stretch, or if it goes down a slope, whether it is the Near the end of the downhill approach.

The thus determined route information SI on the course of lying in front of the vehicle route S, as in 1 represented, the control and / or regulating unit 4 transmitted to the control and / or regulation of a drive train of the motor vehicle. Further input signals of this control and / or regulating unit 4 are the current speed v of the vehicle and preferably the desired speed vg, which can be specified by the driver. The in the control and / or regulating unit 4 expediently integrated storage unit 5 includes the optimization algorithm for reducing fuel consumption and / or driving wear, such as wear on a service brake of the vehicle.

The control and / or regulating unit 4 determines, based on the input signals SI, v, vg using the optimization algorithm, an optimal speed v or an optimal speed curve of the vehicle for the distance S in front of the vehicle and controls and / or regulates accordingly the fuel injection or throttle position KD, the speed FS and / or the braking torque B of the vehicle. In this way, for example, even before reaching the end of a gradient section, a drive torque of the vehicle is reduced in order to save fuel over it, even if the speed v of the vehicle drops below the desired speed vg specified by the driver. On a subsequent downgrade, the vehicle can then increase the speed v fuel-saving again only by rolling on the downhill slope, a use of the service brake is due to the initially low speed or not at a later date.

is the vehicle gets on a downhill slope and becomes one Ascending slope distance on the distance S ahead of the vehicle, For example, the vehicle may also be legal in compliance with legal requirements Regulations and safety for vehicle and driver, by a failure to use the service brake to a limited extent the desired by the driver specified Speed vg be accelerated, thereby causing the wear of the Service brake and by taking advantage of the higher speed v of the vehicle for the subsequent uphill section of Fuel consumption is reduced.

Becomes determines a curve on the distance S ahead of the vehicle, Thus, the drive torque of the vehicle already early be reduced, creating a strong braking immediately before the curve and thus a high wear of the service brake is avoided and the curve at a safe speed v is passed through. Through the early recognition of a Curve and in particular its curve on the front of the vehicle lying route S is by means of the method not only the fuel consumption and the wear of the vehicle reducible, but also a Danger of accidents considerably reduced, since the vehicle is no longer with an excessive speed v enters curves.

The method is applicable for example in trucks, passenger cars and other motor vehicles and allows a reduction in fuel consumption and minimizing the operational wear, for example, the service brake. Since the route information SI via the distance S located in front of the vehicle by the image evaluation by means of at least one image acquisition unit 2 detected images B1, B2 are both height changes and changes in direction of the lying in front of the vehicle route S with a low technical complexity and consequently with a low cost feasible, especially compared to technically complex navigation solutions and required three-dimensional map material for the determination of route information SI about the distances ahead of the vehicle S. Such solutions according to the prior art are further in part subject to considerable inaccuracies, which do not occur in the described method.

1

contraption

2

Image capture unit

3

image evaluation

4

Tax- and / or control unit

5

storage unit

6

tilt sensor

7

spring travel sensors

8th

Greed-, Pitch and / or roll angle sensors

v

speed

vg

desired speed

SI

Driving information

B

braking torque

FS

driving position

KD

Fuel injection or throttle position

B1, B2

image

FM, FM '

road markings

H, H'

horizon line

S

route

VF, VF '

driving ahead vehicle

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

• - DE 10345319 A1 [0002]
• - DE 10200809174 [0003]

Claims (12)

Method for operating a vehicle, in which route information (SI) is determined via a distance (S) in front of the vehicle and / or a vehicle speed (v), the vehicle speed (v) being determined by means of a control, using the determined route information (SI) / or regulation of a fuel injection or throttle position (KD), a driving level (FS) and / or a braking torque (B) as a function of at least one parameter of the distance ahead of the vehicle (S) is adjusted, characterized in that the route information ( SI) via the distance (S) ahead of the vehicle from at least one by means of at least one image acquisition unit ( 2 ) detected image (B1, B2) are determined. Method according to claim 1, characterized in that that the track information (SI) about the front of the vehicle lying distance (S) by comparing several successive following detected images (B1, B2) are determined. Method according to claim 1 or 2, characterized that a horizontal course of the route (S) by a detection a course of road markings (FM, FM ') is determined. Method according to claim 2 or 3, characterized that a vertical course of the route (S) by a detection and evaluation of changes in position of a horizon line (H, H ') and / or position changes and alignments of Lane markings (FM, FM ') detected in succession Pictures (B1, B2) is determined. Method according to one of claims 2 to 4, characterized in that a horizontal course and / or a vertical course of the route (S) by a detection and Evaluation of position changes of a preceding vehicle Vehicle (VF, VF ') in consecutively acquired images (B1, B2) is determined. Method according to one of the preceding claims, characterized in that an inclination of the vehicle in the vehicle longitudinal direction is detected. Method according to one of the preceding claims, characterized in that yaw, pitch and / or roll movements of the vehicle detected and consecutive in the evaluation captured images (B1, B2) are considered. Method according to one of the preceding claims, characterized in that a drive train is controlled and / or is regulated. Contraption ( 1 ) for performing the method according to one of claims 1 to 8, wherein at least one detection units is provided, by means of which route information (SI) can be determined via a distance ahead of a vehicle (S), wherein a control and / or regulating unit ( 4 ) is provided, based on the determined route information (SI), a vehicle speed (v) by a control and / or regulation of a fuel injection or throttle position (KD), a gear (FS) and / or a braking torque (B) as a function of at least a parameter of the distance ahead of the vehicle (S), characterized in that the at least one detection unit comprises an image acquisition unit ( 2 ). Contraption ( 1 ) according to claim 9, comprising an image evaluation unit ( 3 ). Contraption ( 1 ) according to claim 9 or 10, comprising a tilt sensor ( 6 ), Spring travel sensors ( 7 ), Yaw, pitch and / or roll angle sensors ( 8th ). Contraption ( 1 ) according to one of claims 9 to 11, characterized in that the control and / or regulating unit ( 4 ) controls and / or controls a drive train.