DE102014217849A1 - Control device, vehicle and structure control device - Google Patents

Abstract

The present invention discloses a control device for a vehicle for a drive of the vehicle in a structure with at least two superposed driving levels, with a model memory, which is designed to store an environmental model of an environment of the vehicle, wherein the environmental model for each of the driving levels a separate Has area, and with a computing device which is adapted to detect a transition of the vehicle from a first of the driving levels in a second of the driving levels and to select the corresponding second Fahrbahnebene separate area for the further control of the vehicle. Further, the present invention discloses a vehicle and a structure control device.

Description

The present invention relates to a control device for a vehicle for a drive of the vehicle in a structure with at least two superimposed driving planes. Furthermore, the present invention relates to a corresponding vehicle and to a structure control device for a structure having at least two superimposed driving planes.

State of the art

Modern vehicles today have a variety of electronic systems that assist the driver in handling the vehicle. The so-called driver assistance systems can inform the driver, e.g. Assist in keeping the lane when the driver is distracted, or initiate an automatic braking for this.

There exist first driver assistance systems which remove the driver from controlling the vehicle. These driver assistance systems enable a so-called autonomous or highly automated driving of the vehicle, i. without intervention of a driver.

Typically, such driver assistance systems use satellite navigation systems installed in the vehicle and appropriate sensors to determine the position of the vehicle and control the vehicle. In this case, a destination can be e.g. be specified via the navigation system.

In such situations, the driver assistance system takes over the violence on the transverse and longitudinal guidance of the vehicle. However, if required, the driver is requested to take on the driving task.

Especially in confusing driving situations or in buildings, such. Parking garages, the driver often has to take control of the vehicle. Among other things, this is due to the fact that the environment of the vehicle can not be detected sufficiently well by the vehicle.

Known environmental models often describe the static environment of the vehicle as a two-dimensional surface. This is e.g. sufficient for normal roads. However, structures exist which have several driving levels one above the other. This can lead to errors in the environment modeling.

Disclosure of the invention

It is therefore an object of the present invention to provide an improved control for vehicles.

This object is solved by the features of the independent claims.

Accordingly, it is provided:

A control device for a vehicle for a drive of the vehicle in a structure with at least two superposed driving planes, with a model memory, which is designed to store an environmental model of an environment of the vehicle, wherein the environmental model for each of the driving planes has a separate area, and with a computing device which is designed to detect a transition of the vehicle from a first of the driving planes to a second of the driving planes and to select the separate area assigned to the corresponding second roadway plane for the further control of the vehicle.

It is also provided:

A vehicle with a control device according to the invention.

Finally, it is planned:

A structure control device for a structure having at least two superimposed vehicle levels, with a vehicle position detection device, which is designed to detect the current position of at least one vehicle in the structure, and with a second communication interface, which is configured to transmit the detected current position to the respective vehicle ,

Advantages of the invention

The underlying insight of the present invention is that an environment modeling common today can not correctly capture all possible constellations.

The idea underlying the present invention is now to take account of this knowledge and to provide a possibility, in a structure with different driving levels, to take account of these different driving levels.

The present invention therefore provides a control device with a model memory, in which the individual driving levels are represented by separate areas. The computing device detects a transition of the vehicle from one of the driving levels to another of the driving levels and then selects the corresponding area in the environment model for further control, e.g. a highly automated driving, of the vehicle.

The present invention further provides a structure control device that can assist a control device in a vehicle by transmitting to the control device the current position of the vehicle.

The present invention thus makes it possible to detect situations with several superposed driving planes, e.g. in parking garages or motorway junctions, and handles the situation in the environmental model accordingly.

Advantageous embodiments and further developments emerge from the dependent claims and from the description with reference to the figures.

In one embodiment, the control device has a card memory which has a map of the structure in which connection points between the driving planes are identified. Furthermore, the computing device is designed to detect a transition of the vehicle from a first of the driving levels to a second of the driving levels on the basis of a localization of the vehicle and the marked connecting points. This makes it possible to accurately determine the position of the vehicle in the structure.

The map of the structure may already be in the vehicle, e.g. be stored in a navigation system. Alternatively, the map of the structure may be provided by an electronic system of the structure. For this, the system of the structure of the control device can use the card e.g. transmit via a wireless interface. Alternatively, a server, e.g. in a back-end system, from which the card can be retrieved.

In an embodiment, the control device has a localization sensor, in particular a camera, which is designed to provide localization data to the computing device, which enable a localization of the vehicle in the structure. Furthermore, localization data in particular data on landmarks mounted in the structure or stationary features of the structure, in particular parking lot numbers, on. By matching the acquired localization data and localization data stored in the map, the position of the vehicle can be determined very simply and accurately.

In one embodiment, the control device has a first communication interface, which is designed to receive the current position of the vehicle from a positioning system of the structure and forward it to the computing device. This allows a localization of the vehicle in the structure, without causing a computational effort in the control device.

In one embodiment, the control device has a detection device, in particular a camera, which is designed to detect the connection points between two of the driving planes, in particular by means of markings attached to the respective connection point, and to provide data on recognized connection points of the computing device. Furthermore, the computing device is designed to detect a transition of the vehicle from a first of the driving levels to a second of the driving levels based on the data provided by the recognition device. This provides an easy way to detect the transition of the vehicle and to switch the areas of the environment model.

In one embodiment, the control device has at least one inertial sensor which is designed to detect the movement and / or the acceleration of the vehicle in at least one spatial axis and to output corresponding movement data. Furthermore, the computing device is configured to detect a transition of the vehicle from a first of the drive levels to a second of the drive levels based on the movement data provided by the at least one inertial sensor. Since a plurality of vehicles already have an inertial sensor, e.g. in an ESP system, a transition of the vehicle between two driving levels can be detected without additional sensors.

In one embodiment, the at least one inertial sensor is configured to detect a movement of the vehicle in a plane. Furthermore, a gradient sensor, in particular a stereo camera and / or a LIDAR sensor and / or a camera with a structure-from-motion function, is provided, which detects a gradient of the vehicle path and / or a rate of increase of the vehicle. This allows the detection of a transition even if the inertial sensor works only in one plane.

In one embodiment, the computing device is designed to update the environmental model based on environment sensor data of an environment sensor. Furthermore, the computing device is in particular designed to prevent the updating of data from different driving levels in the environment model, in particular in one of the separate areas. This enables the exact mapping of the reality in the environment model, without causing errors due to a change of the driving plane.

If a complete inertial sensor system is installed in the vehicle, which has three acceleration sensors and three gyro sensors, the driving, for example, of a spiral between two driving levels can also be read directly from the vehicle movement.

In one embodiment, the computing device is configured to erase data in the environment model based on a threshold for a yaw angle of the vehicle, wherein the limit is in particular less than 360 ° minus an opening angle of the environment sensor. In parking garages, the connections between the levels often lead in a circle or around a curve. By means of the limit value, therefore, a fusion of the data of different driving levels in the environmental model can be excluded.

In one embodiment, the computing device is designed to map the structure by means of a mapping, in particular a bijective or unique mapping, in the environment model. For example, the circular or curved connections between the driving planes can be stretched and thus all driving planes can be displayed side by side in a two-dimensional model. This we related with 4 explained in more detail.

In one embodiment, the vehicle position detection device has at least one camera. This allows a very simple position determination for vehicles.

The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations of features of the invention which have not been explicitly mentioned above or described below with regard to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.

Brief description of the drawings

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings. It shows:

1 a block diagram of an embodiment of a control device according to the invention;

2 a block diagram of an embodiment of a vehicle according to the invention;

3 a block diagram of an embodiment of a structure according to the invention with a structure control device; and

4 a representation of an embodiment of an environmental model according to the invention.

In all figures, the same or functionally identical elements and devices - unless otherwise stated - have been given the same reference numerals.

Embodiments of the invention

1 shows a block diagram of an embodiment of a control device according to the invention 1 ,

The control device 1 of the 1 has a model memory 5 on, which with a control device 8th is coupled. The control device 1 serves a vehicle 2 when driving in a structure 3 , eg a parking garage, with at least two superimposed driving levels 4-1 - 4-x to control.

The model memory 5 stores an environment model 6 an environment of the vehicle 2 , To control the vehicle 2 in the several driving levels 4-1 - 4-x to enable, has the environment model 6 for each of the driving levels 4-1 - 4-x a separate area 7-1 - 7-x on.

Furthermore, the computing device recognizes 8th a transition of the vehicle 2 from a first of the driving levels 4-1 - 4-x in a second of the driving levels 4-1 - 4-x , Detects the computing device 8th such a transition selects these for the steering of the vehicle 2 that of the second level of the road 4-1 - 4-x assigned separate area 7-1 - 7-x out.

The computing device 8th may recognize in different embodiments such a transition in different ways. This will be explained in detail in connection with the following figures.

2 shows a block diagram of an embodiment of a vehicle according to the invention 2 with a control device according to the invention 1 ,

The control device 1 of the 2 based on the control device 1 of the 1 , Next to the model memory 5 and the computing device 8th this also has a card memory 9 on which a card 10 the structure 3 in which the vehicle 2 moves. The model memory 5 , the computing device 8th and the card store 9 are with a first communication interface 15 coupled, which in turn with a radio interface 30 of the vehicle 2 is coupled. About the first communication interface 15 receives the computing device 8th the current position 16 of the vehicle 2 in the structure 3 , For this purpose, the structure in one embodiment has a positioning system 17 on which the current position 16 of the vehicle 2 determined and the vehicle 2 eg via a wireless data transmission and the radio interface 30 telling.

In 2 are also the model store 5 and the card store 9 with the first communication interface 15 coupled. Consequently, via the first communication interface 15 also the environment model 6 or part of the environment model 6 or the card 10 to the control device 1 be transmitted. The map 10 Alternatively, it may also be part of a navigation map of a navigation system of the vehicle 2 or be provided by a central server.

The control device 1 of the 2 also has a localization sensor 12 and a recognizer 18 up, both together as a camera 12/18 are formed. Furthermore, the control device 1 an environment sensor 23 on which in 2 merely as an example ultrasonic sensors 23 is trained. The camera 12/18 and the environment sensors 23 are via a sensor interface 28 with the computing device 8th coupled. In one embodiment, the location sensor 12 , the detection device 12 and the environment sensors 23 Sensors of the vehicle 2 be, for example via a communication bus, such as a CAN bus or a FlexRay bus or the like, with the sensor interface 28 are coupled. Alternatively, the localization sensor 12 , the detection device 12 and the environment sensors 23 also sensors one already in the vehicle 2 integrated system, which the sensor data of the control device 1 , eg via one of the already mentioned bus systems. Alternatively, the localization sensor 12 , the detection device 12 and the environment sensors 23 directly or via discrete lines with the computing device 8th be coupled.

Finally, the control device 1 an inertial sensor 20 and a gradient sensor 22 on, with the inertial sensor 20 the computing device 8th Transaction data 21 to move the vehicle 2 in at least one spatial axis supplies.

The computing device 1 can in the in 2 illustrated embodiment based on a location of the vehicle 2 and in the map 10 marked connection points 11-1 - 11-x between the different driving levels 4-1 - 4-x the structure 3 a change or transition of the vehicle 2 between the driving levels 4-1 - 4-x recognize and the corresponding of the separate areas 7-1 - 7-x of the environment model 6 select to the vehicle 2 to control.

The location of the vehicle 2 can be done in different ways. For example, the control device 1 the current position 16 of the vehicle 2 from the positioning system 17 the structure 3 receive. Alternatively, the computing device 8th the current position 16 also based on the movement data 21 of the inertial sensor 20 and / or the data of the gradient sensor 22 to capture. For example, an odometry function and / or a dead reckoning function can be provided for this purpose. As a method for detecting the slope, for example, a structure-from-motion approach, a stereo camera and / or Lidarsensoren can be used. If the inertial sensor 20 Allowing complete detection of movement with three accelerometers and three gyroscopes can control the movement of the vehicle 2 also from the movement data 21 be derived.

Another way to localize the vehicle 2 is that the control device 1 over the camera 12/18 landmarks 13-1 - 13-x or fixed features 14-1 - 14-x the structure 3 recognizes. landmarks 13-1 - 13-x For example, can be used for the localization of the vehicle 2 be attached markings. These can be, for example, barcodes, barcodes, QR codes or the like. Other optical landmarks, audio brands or the like are also possible. In contrast, stationary features 14-1 - 14-x Eg be features that are in the structure 3 regardless of the location of the vehicle 2 are attached. Is the structure 3 eg a parking garage 3 , the fixed features 14-1 - 14-x eg be parking numbers.

To detect a transition between two driving levels 4-1 - 4-x the structure 3 can with the help of the camera 12/18 also the connection points 11-1 - 11-x be recognized, which two driving levels 4-1 - 4-x the structure 3 connect. In this case, the connection points 11-1 - 11-x can be detected directly or it can be attached to the joints markings 19-1 - 19-x be recognized.

The computing device 8th is also designed, the environmental model 6 based on environment sensor data from the environment sensor 23 to update. This is related to 4 explained in detail.

3 shows a block diagram of an embodiment of a structure according to the invention 3 with a structure control device 25 ,

The structure 3 is, by way of example only, as a parking garage 3 formed, which a variety of driving levels 4-1 - 4-x having. The individual driving levels 4-1 - 4-x are each through joints 11-1 - 11-x coupled together. In 3 are the connection points 11-1 - 11-x formed as helical ramps. When driving from a driving plane 4-1 - 4-x to another driving level 4-1 - 4-x completes the vehicle 2 thus a 180 ° circular motion and an upward movement. Other forms of joints 11-1 - 11-x are also possible. For example, the connection points 11-1 - 11-x be straight ramps. Lifts as connection points 11-1 - 11-x are also possible.

The lowest driving level 4-1 has parking spaces, to each of which parking lot numbers 1-11 are attached. The second driving level 4-2 has parking spaces, to each of which parking lot numbers 12-22 are attached. Finally, the top driving level points 4-x Parking spaces, to each of which the parking numbers 23-33 are attached. The parking numbers 1-33 are stationary features 14-1 - 14-x represents.

Further driving levels are through three points between the second driving level 4-1 and the topmost driving level 4-x indicated. Each of the driving levels also has a landmark 13-1 - 13-x on and at each of the connection points 11-1 - 11-x is a mark 19-1 - 19-x attached, which marks these.

The landmarks 13-1 - 13-x and the marks 19-1 - 19-x can be graphic representations, for example, from a camera 12/18 of the vehicle 2 can be detected automatically. For this purpose, the graphical representations may have a code, which may be, for example, a bar code, a QR code or the like. The graphical representations may also have only geometric shapes.

In 3 is also a structure control device 25 provided, which a vehicle position detection device 26 having. In 3 is the vehicle position detecting device 26 as three cameras 26 formed with the structure control device 25 are coupled. With the help of the cameras 26 can the structure control device 25 a vehicle 2 recognize and determine its position.

The structure control device 25 is further provided with a second communication interface 26 coupled via which the structure control device 25 a vehicle 2 its current position 16 can communicate.

4 shows a representation of an embodiment of an environment model according to the invention 6 ,

In 4 is represented as a structure 3 with several driving levels 4-1 - 4-x through an illustration 24 in an environment model 6 is transferred.

The illustration 24 is as a bijective picture 24 trained, in which the superimposed driving levels 4-1 - 4-x the structure 3 in separate areas 7-1 - 7-x in the environment model 6 be transferred. Through the bijective mapping 24 is every point in the environment model 6 exactly one point in the structure 3 assigned.

So can for each of the driving levels 4-1 - 4-x a separate area 7-1 - 7-x in the environment model 6 be created similar to a building plan. It is in 4 to recognize that the curved joints 11-1 - 11-x through the picture 24 be shown as straight lines. The curved joints 11-1 - 11-x are handled, so to speak.

The computing device 8th updates the environment model 6 based on environment sensor data from the environment sensor 23 , Because the computing device 8th must prevent environment sensor data from a driving plane 4-1 - 4-x in the environment model 6 with the environmental sensor data of another driving level 4-1 - 4-x Fusion, thus superimposing this, can be used as an alternative to the bijective mapping 24 be provided that data in the environmental model 6 based on a threshold for a yaw angle of the vehicle 2 be deleted or in another of the separate areas 7-1 - 7-x of the environment model 6 is switched. By setting a limit for the yaw angle of the vehicle 2 can in particular with circular joints 11-1 - 11-x the fusion of the environmental sensor data is effectively avoided.

The limit value may in particular be less than 360 ° minus an opening angle of the environmental sensor system 23 be.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in a variety of ways. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention.

LIST OF REFERENCE NUMBERS

1

control device

2

vehicle

3

structure

4-1-4-x

driving levels

5

model memory

6

environment model

7-1-7-x

separate area

8th

computing device

9

card memory

10

map

11-1-11-x

joints

12

localization sensor

13-1-13-x

landmarks

14-1-14-x

fixed features

15

first communication interface

16

actual position

17

positioning system

18

recognizer

19-1-19-x

mark

20

inertial sensor

21

Transaction data

22

slope sensor

23

environment sensors

24

Illustration

25

Structure control device

26

Vehicle position detection device

27

second communication interface

28

Sensor interface

30

Radio interface

Claims (13)

Control device ( 1 ) for a vehicle ( 2 ) for a journey of the vehicle ( 2 ) in a structure ( 3 ) with at least two superimposed levels ( 4-1 - 4-x ), with a model memory ( 5 ), which is designed to be an environment model ( 6 ) of an environment of the vehicle ( 2 ), whereby the environmental model ( 6 ) for each of the driving levels ( 4-1 - 4-x ) a separate area ( 7-1 - 7-x ) having; and with a computing device ( 8th ), which is formed, a transition of the vehicle ( 2 ) from a first of the driving levels ( 4-1 - 4-x ) into a second of the driving levels ( 4-1 - 4-x ) and that of the corresponding second road level ( 4-1 - 4-x ) associated with separate area ( 7-1 - 7-x ) for the further control of the vehicle ( 2 ). Control device according to Claim 1, with a card memory ( 9 ) which a card ( 10 ) of the structure ( 3 ), in which connection points ( 11-1 - 11-x ) between the driving levels ( 4-1 - 4-x ) Marked are; and wherein the computing device ( 8th ), a transition of the vehicle ( 2 ) from a first of the driving levels ( 4-1 - 4-x ) into a second of the driving levels ( 4-1 - 4-x ) based on a localization of the vehicle ( 2 ) and the marked connection points ( 11-1 - 11-x ) to detect. Control device according to Claim 2, having a localization sensor ( 12 ), in particular a camera, which is formed, the computing device ( 8th ) Localization data providing a localization of the vehicle ( 2 ) in the structure ( 3 ), the localization data in particular data in the structure ( 3 ) attached landmarks ( 13-1 - 13-x ) or fixed features ( 14-1 - 14-x ) of the structure ( 3 ), in particular parking lot numbers. Control device according to one of Claims 2 and 3, having a first communication interface ( 15 ), which is formed, the current position ( 16 ) of the vehicle ( 2 ) of a positioning system ( 17 ) of the structure ( 3 ) and the computing device ( 8th ) forward. Control device according to one of the preceding claims, having a recognition device ( 18 ), in particular a camera, which is adapted to the connection points ( 11-1 - 11-x ) between two of the driving levels ( 4-1 - 4-x ), in particular on the basis of at the respective connection point ( 11-1 - 11-x ) ( 19-1 - 19-x ), and data to recognized junctions ( 11-1 - 11-x ) of the computing device ( 8th ) to provide; and wherein the computing device ( 8th ), a transition of the vehicle ( 2 ) from a first of the driving levels ( 4-1 - 4-x ) into a second of the driving levels ( 4-1 - 4-x ) based on that of the recognition device ( 18 ) to detect provided data. Control device according to one of the preceding claims, with at least one inertial sensor ( 20 ), which is formed, the movement and / or the acceleration of the vehicle ( 2 ) in at least one spatial axis and corresponding movement data ( 21 ) issue; and wherein the computing device ( 8th ), a transition of the vehicle ( 2 ) from a first of the driving levels ( 4-1 - 4-x ) into a second of the driving levels ( 4-1 - 4-x ) based on the at least one inertial sensor ( 20 ) provided transaction data ( 21 ) to detect. Control device according to claim 6, wherein the at least one inertial sensor ( 20 ), a movement of the vehicle ( 2 ) in one plane; and wherein a gradient sensor ( 22 ), in particular a stereo camera and / or a LIDAR sensor and / or a camera with a structure-from-motion function is provided, which is an inclination of the vehicle path and / or a rate of increase of the vehicle ( 2 ) detected. Control device according to one of the preceding claims, wherein the computing device ( 8th ), the environmental model ( 6 ) based on environment sensor data of an environment sensor system ( 23 ) to update; wherein the computing device ( 8th ) is designed, in particular, to prevent the updating of data from different levels ( 4-1 - 4-x ) in the environment model ( 6 ), in particular in one of the separate areas ( 7-1 - 7-x ), merge. Control device according to claim 8, wherein the computing device ( 8th ), data in the environment model ( 6 ) based on a threshold for a yaw angle of the vehicle ( 2 ), wherein the limit value in particular less than 360 ° minus an opening angle of the environment sensor ( 23 ). Control device according to claim 8, wherein the computing device ( 8th ), the structure ( 3 ) by means of a figure ( 24 ), in particular a bijective or unique mapping ( 24 ), in the environment model ( 6 ). Vehicle ( 2 ) with a control device ( 1 ) according to one of the preceding claims. Structure control device ( 25 ) for a structure ( 3 ) with at least two superimposed levels ( 4-1 - 4-x ), with a vehicle position detection device ( 26 ), which is formed, the current position ( 16 ) at least one vehicle ( 2 ) in the structure ( 3 ) capture; and with a second communication interface ( 27 ), which is formed the respective vehicle ( 2 ) the recorded current position ( 16 ). A structure control device according to claim 12, wherein said vehicle position detection means (16) 26 ) has at least one camera.

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