DE102017204319A1 - Method for determining data in a vehicle - Google Patents

Abstract

The invention relates to a method for determining data in a vehicle (12) that moves relative to an object (14), the data comprising relative movement of the object (14) to the vehicle (12) caused by movement of the vehicle (12), which is defined by a steering angle of the vehicle (12), from the steering angle of the vehicle (12) the movement of the vehicle (12) is calculated and from this the data representing the relative movement of the object (12) 14) to the vehicle (12) can be determined.

Description

The invention relates to a method for determining data in a vehicle and to an arrangement for carrying out the method.

State of the art

In motor vehicles, so-called driver assistance systems are increasingly being used to assist the driver in certain driving situations. These are used on the one hand for safety reasons and on the other to increase driving comfort. For this purpose, they intervene autonomously or partially autonomously in the drive, the control or in signaling devices of the vehicle and possibly warn the driver of dangers via suitable man-machine interfaces.

Such driver assistance system can thus be basically provided to provide the driver with information to allow this safe and comfortable operation. Furthermore, it can be provided that they actively intervene in the operation.

In order to indicate to the driver in which direction and with which path the vehicle will move, possibly in relation to other objects, it is known to display a so-called travel tube, which typically comprises two trajectories. For this purpose, displays are provided which represent the vehicle, its trajectory and possibly moving or static objects. A trajectory is thus a trajectory or space curve along which the vehicle moves. The use of a vehicle trajectory offers the possibility of estimating the movement and orientation of the vehicle while driving depending on the steering angle in surround view systems and reversing camera systems.

With vehicle assistance systems set up for this purpose, virtual camera positions of top and all-round visibility with the vehicle and the surroundings can be visualized, which show the current orientation of the vehicle to the surroundings, for example to parking lines. It should be noted, however, that in these systems, the driver does not get help on how to maneuver his vehicle to a desired orientation or position to objects.

Disclosure of the invention

Against this background, a method according to claim 1 and an arrangement according to claim 8 are presented. Furthermore, a computer program according to claim 9 and a machine-readable data carrier according to claim 10 are presented. Embodiments emerge from the dependent claims and from the description.

The presented method thus provides to determine data in a vehicle that moves in relation to an object. In particular, these data directly describe a relative movement or path of movement of the object relative to the vehicle caused by the movement of the vehicle. For this purpose, a movement of the vehicle is calculated, typically with the aid of a steering angle and possibly a direction of travel of the vehicle, and on the basis of which the data describing the relative movement of the object is determined. This data can be displayed on a display.

Should the object be a moving object, the movement of the object which influences the relative movement of the object to the vehicle should also be taken into account in the determination of the data.

It has been recognized that it is helpful for the driver to search for an object, e.g. As a static object, such as. A battery replacement, a dispenser, a ticket machine in the parking garage, a post, etc., or even for a moving object to display its trajectory with reference to the vehicle reference system and the current steering angle in a typical virtual view , In this case, it is shown or indicated in an embodiment how the object will be aligned with the vehicle after driving to a destination region of the vehicle. The driver is thus enabled to verify whether the currently selected steering direction leads to a successful alignment of object and vehicle or to estimate which steering maneuver leads to a successful alignment.

The proposed method thus assists the driver in the orientation of the vehicle to special, stationary structures. This is applicable in many driving situations. But even with moving structures, if their trajectory and possibly alignment is known, the method can be applied.

Other examples of the use of the method are the approach of ticket machines to barriers, gas pumps, battery replacement or battery charging stations for electric cars.

Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

It is understood that the features mentioned above and those yet to be explained not only in the respectively specified Combination, but also in other combinations or alone, without departing from the scope of the present invention.

list of figures

• 1 shows a visualization with object trajectory.
• 2 shows in a flowchart an embodiment of the presented method.

Embodiments of the invention

The invention is schematically illustrated by means of embodiments in the drawings and will be described in detail below with reference to the drawings.

1 shows the visualization by means of an object trajectory. The illustration shows a first view 10 in which a vehicle 12 and an object 14 are reproduced. Furthermore, on the vehicle 12 a target region 16 indicated on the object 14 to place. In a second view 20 is the vehicle 12 with a conventional driving tube 22 shown. This driving tube 22 indicates the driver on which lane the vehicle 12 will move at a given steering wheel angle.

In a third view 30 that can be provided according to the presented method are also the vehicle 12 , the driving tube 22 and the object 14 is reproduced. In addition, further or future positions 32 . 34 and 36 of the object 14 displayed to clarify on which lane the object is 14 relative to the vehicle 12 caused by its movement is moving. In the last displayed position 36 is the object 14 on the target area 16 exactly like the object 14 should be placed. In the view 30 can this position 36 by an additional feature, for example, by a selected color, for example. Green, be marked to make it clear that the object 14 at the selected steering wheel, which also by the driving tube 22 is clarified, will be placed correctly.

In a fourth view 40 , which is also the vehicle 12 , the object 14 , the target region and the route 22 shows are future positions 42 . 44 and 46 displayed. to clarify which lane the object is 14 relative to the vehicle 12 caused by its movement is moving. In the last displayed position 46 is the object 14 although in the area of the target region 16 but not aligned as desired. This can also be indicated by an additional feature, for example by a selected hue, for example. Red, to make it clear that the object 14 at the selected steering wheel, which also by the driving tube 22 is clarified, will not be placed correctly.

The virtual views 10 . 20 . 30 and 40 can be based on map data or camera images. With these, the driver is the vehicle environment and in particular the object 14 visualized. This can, as in the views 10 . 20 . 30 . 40 shown, done from a fixed bird's eye view (top-down) or as a three-dimensional scene in particular moving camera positions.

The object data, what type, position and dimensions of the static object 14 can be determined by various methods. For example, map material, internet data, pattern recognition methods, placeable visual markers or user entries or details are conceivable.

From the type of object 14 is lockable, like this to the vehicle 12 to be aligned. In 1 is the object 14 For example, a battery changer to be placed under the vehicle battery of an electric vehicle. This ideal alignment, in the third view 30 through the last position 36 is displayed, can be drawn by means of a suitable visualization process in the virtual view. Possibilities for this are z. B. object borders by means of a polygon, symbols or semi-transparent three-dimensional objects.

To the to the vehicle 12 relative movement of the object 14 will represent the orbit of the object 14 clarified, for example visualized by a trajectory, or, as in the views 30 and 40 shown by future positions 32 . 34 . 36 . 42 . 44 . 46 indicated. It is important that the movement path or the trajectory of the object 14 becomes apparent. Furthermore, it can also be provided that the change in the orientation of the object caused by the steering movement is identified relative to the vehicle. It can thus be additionally displayed the orientation and / or the change of orientation.

2 shows a possible embodiment of the method. In a first step 50 the determination of the object data, such as position and orientation. This is done z. B. using a database, such as, for example, a database, the Internet, etc., or by means of image processing, such as. A pattern recognition, a data-driven marker, z. B. QR tags, or a user input.

In a further step 52 the vehicle data are determined. The determination of the relative position of the object to the vehicle can be carried out by the known position of both object from the database and vehicle, such as. Odometry, GPS or sensors installed on the vehicle, for example by means of image processing method.

In a further step 54 the calculation or prediction of the relative trajectory of the object relative to the vehicle is typically made from the steering angle and the expected direction of travel. Then done in one step 56 the determination or calculation of the best orientation to the target region in the future by means of a suitable distance measure for the evaluation of this. The result of this calculation may be that the orientation is sufficient or not sufficiently precise.

In a final step 58 the generation and display of the virtual environment takes place on a suitable display, such as a head unit.

It can be provided that the steering angle selected by the driver is detected and from this the data are determined which describe the relative movement of the object or its trajectory. If these are displayed, the driver recognizes whether he has selected the correct steering angle. If this is not the case, it can change the steering angle as long as it is indicated that the object, in particular with regard to position and orientation, will move on the desired path with respect to the vehicle. This can be identified, for example, by displaying a last position of the object and providing it with an additional feature, for example additional color information that the object will be correctly positioned and possibly aligned. Thus, the object can be displayed in a color in a last position, with the selected color indicating that the object is correctly positioned and possibly aligned. Thus, for example, the color is green to indicate a correct position. The color red, for example, can be selected to indicate an incorrect position. Alternatively or additionally, an acoustic signal can be emitted.

Thus, the driver is indirectly indicated the correct steering angle. Alternatively, it could be provided to also display this correct steering angle directly. In an autonomous vehicle, this steering angle could also be specified.

Of importance in the presented method, however, is that data is not determined for a movement path of the vehicle and then displayed, if necessary, but data that describe or represent the relative movement of the object and possibly its orientation to the vehicle. If these are displayed, the driver can see exactly how the object will be finally positioned and possibly aligned and he can control the vehicle so that the object comes to the desired position.

Claims (10)

A method of determining data in a vehicle (12) moving relative to an object (14), the data including relative movement of the object (14) to the vehicle (12) caused by movement of the vehicle (12 ), which is defined by a steering angle of the vehicle (12), wherein from the steering angle of the vehicle (12) the movement of the vehicle (12) is calculated and from this the data representing the relative movement of the object (14) to the Vehicle (12) describe determined. Method according to Claim 1 in which the relative movement of the object (14) with at least one trajectory is described. Method according to Claim 1 or 2 in which the relative movement of the object (14) with at least one future position (32, 34, 36, 42, 44, 46) of the object (14) is described. Method according to Claim 3 in which a last position (36, 46) of the object (14) is provided with an additional feature. Method according to one of Claims 1 to 4 in which additional data are determined which describe an orientation and / or a change in the orientation of the object (14) to the vehicle (12). Method according to one of Claims 1 to 5 in which the position and orientation of the vehicle (12) and the position and orientation of the object (14) are determined, from the determined positions and orientations a suitable trajectory of the object (14) is calculated, from which a steering angle is calculated, from which the appropriate trajectory of the object (14) results, and this steering angle is displayed. Method according to one of Claims 1 to 6 in which the data are displayed on a display (10, 20, 30, 40), so that a trajectory of the object (14) is identified. Arrangement for displaying information necessary for carrying out a method according to one of Claims 1 to 7 is set up. Computer program with program code means adapted to perform a method according to any one of Claims 1 to 7 execute when the computer program is executed on a computing unit. Machine-readable storage medium with a computer program stored thereon Claim 9 ,

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