DE102017001363A1 - Method for determining a surface condition of a roadway of a motor vehicle and measuring device for a motor vehicle - Google Patents

Abstract

The invention relates to a method for determining a surface condition (22) of a roadway (12) of a motor vehicle (12), in which a surface region (20) of the roadway (12) by means of a laser device (14) of the motor vehicle (10) with a plurality of laser beams (12). 18, 30, 32) is irradiated and corresponding reflected laser beams (28, 34, 36) are detected by a detection device (16) of the motor vehicle (10), wherein the surface condition (22) of the irradiated surface area (20) of the carriageway (12). as a function of intensities of the respective corresponding reflected laser beams (28) and respective time differences between the emission of the laser beams (18) and the detection of the corresponding reflected laser beams (28) is determined. Furthermore, the invention relates to a measuring device for a motor vehicle (10) for determining a surface condition (22) of a roadway (12).

Description

The invention relates to a method for determining a surface condition of a roadway of a motor vehicle according to the preamble of claim 1. Furthermore, the invention relates to a measuring device for a motor vehicle for determining a surface condition of a roadway according to the preamble of claim. 7

From the DE 100 11 219 A1 is a method for predictive detection of the surface condition of a road in the direction of travel of a motor vehicle as known to remove. In this case, laser beams are emitted with a laser device on a surface area located in front of the motor vehicle in the direction of travel. On the basis of characteristics of the laser beams reflected from the surface area, the road condition is determined.

Object of the present invention is to provide a method and a measuring device of the type mentioned, by means of which a surface condition of a roadway of a motor vehicle is particularly easy and quick to detect.

This object is achieved by a method having the features of claim 1 and by a measuring device with the features of claim 7. Further developments of the invention are specified in the respective dependent claims.

To provide a method by means of which a surface condition of a roadway of a motor vehicle can be determined particularly easily and quickly, a method according to the preamble of patent claim 1 is developed such that the surface condition of the irradiated surface area of the roadway as a function of intensities of the respective corresponding reflected laser beams and respective temporal differences between the emission of the laser beams and the detection of the corresponding reflected laser beams is determined.

This means that the surface area of the roadway is irradiated by means of the laser device with a plurality of laser beams. These laser beams are emitted, for example, at different angles obliquely to the road. Since the laser beams are emitted at different angles onto the surface area of the roadway, the respective laser beams strike the area of the roadway, for example, after different time intervals.

The laser beams radiated onto the surface area of the road are reflected by the surface area of the road in response to a condition of the area of the roadway as reflected laser beams assignable to the respective laser beams. For example, the respective laser beams are scattered by roughnesses of the surface area of the road. The laser beams reflected from the surface area of the roadway are evaluated by the detection device, both with respect to their intensity and with respect to a time span required by the respective laser beam, from the emission by the laser device via the reflection through the surface area up to the detection by the detection device, for example by means of the detection device , By way of example, the detection device can use the elapsed time period to determine the angle at which the respective laser beam was emitted by the laser device onto the surface area of the roadway. Thus, the detection device can determine, for example, at which positions of the surface area are unevenness of the roadway. Advantageously, a vehicle component of the motor vehicle can be adjusted depending on the surface condition of the surface area.

Preferably, the surface area of the roadway is at least partially in front of the motor vehicle. This results in the advantage that by means of the detection device, the surface condition of at least partially located in front of the motor vehicle surface area can be detected and, for example, individual components of the motor vehicle depending on the surface condition of at least partially before the motor vehicle lying surface area can be set. As a result, the at least one vehicle component can be adapted particularly early to the surface condition of the surface area.

In an advantageous embodiment of the invention, based on the transmitted surface condition of the roadway, a ground model of at least the surface area of the roadway is created. The floor model can be forwarded, for example, to a driver assistance system which adjusts the vehicle component according to the surface condition of the area. Advantageously, for example, a trip planning of an autonomous driving system can be adapted to the surface condition of the surface area.

In a further embodiment of the invention, a chassis of the motor vehicle is changed depending on the determined surface condition. Advantageously, for example, coarse Unevenness of the road are at least substantially offset by the change of the chassis, so that the greatest possible comfort for the vehicle occupants.

In a further advantageous embodiment of the invention, a circuit of a transmission is triggered depending on the determined surface condition. For example, if a strong increase or a steep slope of the surface area detected by the detection device, so the circuit of the transmission can be triggered. This has the advantage that the gear can be adjusted to the surface condition of the surface area particularly early. This can, for example, keep energy consumption of the motor vehicle particularly low.

In a further advantageous embodiment of the invention, it is provided that the laser beams are emitted by means of a lidar system comprising the laser device and the detection device, and the corresponding reflected laser beams are detected by means of the lidar system. The use of the lidar system allows a particularly compact construction, whereby the detection device and the laser device can advantageously be arranged in a particularly space-saving manner on or in the motor vehicle.

In order to further provide a measuring device for a motor vehicle for determining a surface condition of a roadway according to the preamble of claim 7, by means of which the surface condition of the roadway is particularly easy and quick to detect, it is further provided according to the invention that the surface condition of the surface area of the roadway in dependence of intensities of the respectively corresponding reflected laser beams and respective time differences between the emission of the laser beams and the detection of the corresponding reflected laser beams can be determined.

Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or in isolation, without the scope of To leave invention.

Showing:

1 a schematic side view of a motor vehicle with a laser device and a detection device;

2 a schematic front view of the motor vehicle with the laser device and the detection device;

3 a further schematic front view of the motor vehicle with the laser device and the detection device; and

4 a schematic perspective view of a traffic situation with the car.

In the figures, identical or functionally identical elements are provided with the same reference numerals.

In 1 is a schematic side view of a motor vehicle 10 on a roadway 12 shown. In 2 such as 3 is a schematic front view of the motor vehicle 10 on the roadway 12 shown.

The car 10 includes a laser device 14 and a detection device 16 , For example, by means of the laser device 14 laser beams 18 on a surface area 20 the roadway 12 be broadcast. In addition, the laser device can 14 and / or the detection device 16 For example, part of a lidar of the motor vehicle 10 be. In the 1 and 2 is shown in different views, like the laser beams 18 on the surface area 20 the roadway 12 to be sent out. In 3 is shown as respective laser beams 18 attributable to the area 20 reflected laser beams 28 from the detection device 16 be recorded.

In current motor vehicles, stereoscopic cameras are used to detect a surface condition 22 the roadway 12 used. In addition, technologies are known in which a pattern on the road 12 sent off the carriageway 12 reflected and a uniformity of the pattern by means of the detection device 16 is evaluated.

In a method for determining the surface condition 22 the roadway 12 by means of in the 1 to 3 shown motor vehicle 10 becomes the area area 20 the roadway 12 with several laser beams 18 irradiated. For example, at least one of the laser beams 18 obliquely on the surface area 20 the roadway 12 Posted. In particular, the laser beams become 18 for example, at different angles 24 . 26 on the surface area 20 Posted.

The respective laser beams 18 for example, when hitting the surface area 20 the roadway 12 scattered. For example, the laser beams become 18 from the surface area 20 reflected and can from the detection device 16 as the respective reflected laser beams 28 be recorded. The reflection of the respective laser beams takes place 18 for example, depending on the surface condition 22 of the surface area 20 , Meets one of the laser beams 18 for example, on a surface unevenness 20 that's how the laser beam points 18 for example, in its reflected form as a reflected laser beam 28 a different intensity distribution than a reflected laser beam 28 which does not depend on the unevenness of the surface area 20 was reflected.

The detection device 16 For example, it is designed to make intensity differences between those of the surface area 20 reflected laser beams 28 to distinguish. For example, those of the laser device 14 emitted laser beams 18 from the surface area 20 at least partially reflected and as respective reflected laser beams 28 from the detection device 16 detected. In this case, the respective laser beams 18 with respect to the intensity distribution on a Gaussian profile, which in an oblique impingement on the surface area 20 the roadway 12 be correspondingly deterministically distorted. Is a respective section of the surface area 20 to which the respective laser beam 18 impinges, not evenly, or the section has the unevenness, the intensity distribution of the laser beam changes 18 so that the respective laser beam 18 is changed in its intensity distribution and, for example, as a reflected laser beam 28 from the detection device 16 can be detected. The particular section of the surface area 20 can be considered as approximately homogeneous, since the respective laser beam 18 illuminated only a relatively small area at any time and thus deviations in the intensity distribution to changes in surface texture 22 of the surface area 20 the roadway 12 clues.

As in 1 can be seen, the laser beams 18 in different angles 24 . 26 on the surface area 20 the roadway 12 Posted. A laser beam 30 for example, at an angle 26 on the surface area 20 broadcast. At the same time, for example, a laser beam 32 at an angle 24 from the laser device 14 on the surface area 20 broadcast. For example, the laser beam is needed 30 a longer time interval than the laser beam 32 until he reaches the area area 20 incident. The laser beam 32 and the laser beam 30 are each of the surface area 20 reflected and changed in their intensity distribution. For example, the laser beam becomes 30 as a reflected laser beam 34 from the detection device 16 captured while the laser beam 32 as a reflected laser beam 36 from the detection device 16 is detected. It requires the reflected laser beam 34 in particular a longer time interval than the reflected laser beam 36 from the time of reflection on the area 20 until detected by the detection device 16 , Overall, for example, passes a longer period of time from the emission of the laser beam 30 through the laser device 14 until the detection of the reflected laser beam 34 by the detection device 16 compared with the time which elapses from the radiation of the laser beam 32 through the laser device 14 until the detection of the reflected laser beam 36 by the detection device 16 ,

In particular, the detection device 16 on the basis of an elapsed time between the emission of the respective laser beams 18 and detecting the respective associated reflected laser beams 28 by the detection device 16 assign which respective emitted laser beams 18 with respective reflected laser beams 28 correspond. About this temporal relationship and the respective angles in which the laser beams 18 through the laser device 14 were broadcast, the detection device 16 for example, the surface texture 22 of the surface area 20 derived. In particular, the detection device 16 from a temporal resolution of the reflected laser beams 28 the surface texture 22 derive or a section-wise deviation from a uniform surface of the surface area 20 the roadway 12 determine.

For example, the detection device 16 based on the temporal resolution of the respective intensity distribution of the reflected laser beams 28 a floor model of the surface area 20 the roadway 12 create. For example, the laser beams become 18 at regular intervals from the laser device 14 emitted and the reflected laser beams 28 continuously from the detection device 16 recorded and evaluated to changes in the surface texture 22 the roadway 12 to be able to determine.

For example, based on information about the surface texture 22 the roadway 12 , in particular based on the floor model of the roadway 12 , a landing gear 38 of the motor vehicle 10 be adjusted. By adjusting the suspension 38 can the car 10 be driven preventively, giving the comfort for vehicle occupants of the motor vehicle 10 optimized. The detection of the surface condition 22 the roadway 12 can Furthermore, it can be used to detect small, otherwise difficult to detect obstacles.

Alternatively or additionally, it is possible that, for example, based on the floor model, a performance of the motor vehicle 10 is adjusted. In addition, for example, a transmission of the motor vehicle 10 be switched depending on the ground model. Is by the detection device 16 For example, found that the roadway 12 has a slope, so the transmission can be switched for example in a lower gear and / or the power can be increased. Is by the detection device 16 For example, found that the roadway 12 a gradient 40 has, for example, the transmission can be switched to a higher gear and / or the power can be reduced. This can be advantageous, for example, to energy consumption of the motor vehicle 10 impact.

In 4 is the car 10 shown in a schematic perspective view in a traffic situation. In this traffic situation is the car 10 on the roadway 12 , This roadway 12 indicates a gradient 40 and opens into an underpass 42 , The underpass 42 serves to underpass the carriageway 12 under a railway track 44 which, for example, from a train 46 is drivable. In addition to the laser device 14 and the detection device 16 includes the car 10 , as in 4 shown, a sensor device 48 , This sensor device 48 For example, it is designed to be at vehicle height of the motor vehicle 10 located area 50 , which, for example, in the direction of travel in front of the car 10 is to analyze.

During a drive of the motor vehicle 10 on the roadway 12 can the sensor device 48 For example, notice that at the height of the motor vehicle 10 in the analyzed area 50 an obstacle is located. Before the sensor device 48 For example, triggers a warning to a driver, for example, by means of the laser device 14 and by means of the detection device 16 the surface texture 22 of the surface area 20 recorded and evaluated. Based on the surface texture 22 the roadway 12 can, for example, be carried out on several surface measurements 22 of different surface areas 20 the roadway 12 by the detection device 16 be determined that the roadway 12 the slope 40 having.

For example, information of the sensor device 48 over the obstacle in the area 50 as well as information about the surface condition 22 the roadway 12 in the detection device 16 to a computing unit 52 of the motor vehicle 10 be transmitted. This arithmetic unit 52 can, for example, the information about the surface texture 22 the roadway 12 as well as the information about that in the area 50 bring the obstacles together and evaluate them as a function of each other. For example, the arithmetic unit 52 decide that no warning about the obstacle in the area 50 passed to the car driver, since the roadway 12 the slope 40 having. In addition, it is possible that the information about the surface texture 22 the roadway 12 with information from other sensors by the computing unit 52 be related and evaluated.

LIST OF REFERENCE NUMBERS

10

motor vehicle

12

roadway

14

laser device

16

detector

18

laser beam

20

area

22

surface finish

24

angle

26

angle

28

laser beam

30

laser beam

32

laser beam

34

laser beam

36

laser beam

38

landing gear

40

gradient

42

underpass

44

track work

46

train

48

sensor device

50

Area

52

computing device

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 10011219 A1 [0002]

Claims (7)

Method for determining a surface condition ( 22 ) of a roadway ( 12 ) of a motor vehicle ( 12 ), in which a surface area ( 20 ) of the roadway ( 12 ) by means of a laser device ( 14 ) of the motor vehicle ( 10 ) with several laser beams ( 18 . 30 . 32 ) is irradiated and corresponding reflected laser beams ( 28 . 34 . 36 ) by means of a detection device ( 16 ) of the motor vehicle ( 10 ), characterized in that the surface condition ( 22 ) of the irradiated area ( 20 ) of the roadway ( 12 ) as a function of intensities of the respective corresponding reflected laser beams ( 28 ) and respective time differences between the emission of the laser beams ( 18 ) and detecting the corresponding reflected laser beams ( 28 ) is determined. Method according to claim 1, characterized in that the surface area ( 20 ) of the roadway ( 12 ) at least in sections before the motor vehicle ( 10 ) lies. Method according to claim 1 or 2, characterized in that on the basis of the determined surface condition ( 22 ) of the roadway ( 12 ) a soil model of at least the surface area ( 20 ) of the roadway ( 12 ) is created. Method according to one of the preceding claims, characterized in that, depending on the determined surface condition ( 22 ) a chassis ( 38 ) of the motor vehicle ( 10 ) is changed. Method according to one of the preceding claims, characterized in that a circuit of a transmission depends on the determined surface condition ( 22 ) is triggered. Method according to one of the preceding claims, characterized in that the laser beams ( 18 ) by means of a laser device ( 14 ) and the detection device ( 16 ) Lidar system emitted and the corresponding reflected laser beams ( 28 ) are detected by means of the Lidar system. Measuring device for a motor vehicle ( 10 ) for determining a surface condition ( 22 ) of a roadway ( 12 ), with a laser device ( 14 ), by means of which a surface area ( 20 ) of the roadway ( 12 ) with laser beams ( 18 ) is irradiated, and with a detection device ( 16 ), by means of which reflected laser beams ( 28 ) are detectable, characterized in that the surface condition ( 22 ) of the surface area ( 20 ) of the roadway ( 12 ) as a function of intensities of the respective corresponding reflected laser beams ( 28 ) and respective time differences between the emission of the laser beams ( 18 ) and detecting the corresponding reflected laser beams ( 28 ) can be determined.

Images