DE102017205513B4 - Method and device for setting an operating strategy for a vehicle - Google Patents

Abstract

Method for setting an operating strategy for a vehicle (1), at least position data of objects (3) arranged in an environment of the vehicle (1) being detected by at least one radar sensor (2) and transmitted to a control and evaluation device (4), wherein the at least one radar sensor (2) is inclined relative to a vehicle longitudinal axis (5) in the direction of a vehicle (1) drivable surface (6) inclined to the vehicle (1), wherein vehicle operating data for comparison with those of the at least one radar sensor ( 2) detected position data of the control and evaluation device (4) are provided to adjust by means of the control and evaluation device (4) adapted to the environment of the vehicle (1) operating strategy for the vehicle (1), characterized in that the at least one Radar sensor (2) emits radar beams in a plane which is formed perpendicular to the vehicle (1) passable surface (6), wherein the wheel arsensor (2) is provided to detect height information for the position data of objects (3) located in the vicinity of the vehicle (1) by means of meridian angles,

Description

The invention relates to a method for setting an operating strategy for a vehicle by means of at least one sensor, in particular a radar sensor. Furthermore, the invention relates to a device for setting an operating strategy for a vehicle and a computer program product. In particular, the invention relates to a construction or working machine with such a device.

For example, goes from the DE 102 56 726 A1 a method for generating signals in a motor vehicle depending on the road condition. A reflection signal emanating from the roadway is picked up by a sensor, wherein the sensor of an evaluation unit supplies an input signal relating to the roadway condition. In the evaluation unit, the input signal is compared with a reference signal. A signal generator generates an output signal if the deviation between the input signal and the reference signal is above a threshold. In this case, the height of the threshold is varied depending on the degree of deviation between a plurality of input signals within a time interval and the reference signal.

DE 12 69 902 A discloses a method for controlling a vehicle suspension depending on the road condition, in particular in all-terrain vehicles. In this case, a deviation of the actual roadway from an imaginary plane roadway in the direction of travel in front of the wheel or the axle is determined by a measuring beam. The cited document formulates the object to provide an improved method for controlling a vehicle suspension.

Out DE 34 47 015 C2 For example, an apparatus for detecting the condition of a road surface in the area of a road vehicle having a radiation source is known. Furthermore, a device for receiving the reflected beam from the road surface and for converting this reflecting beam into a corresponding signal is known. Thus, it is intended to provide a device which allows a suspension of a road vehicle to be controlled without substantial delay on the basis of a recognized condition of a road surface.

DE 690 03 901 T2 relates to a system for detecting irregularities, for example, sleepers or potholes in a road surface. Furthermore, a system for modifying an operating system of the vehicle is included, by which is meant, for example, a suspension system. The change in the operating system is made depending on the nature and severity of the detected irregularity.

Also DE 10 2004 036 120 A1 relates to a device for improving the driving behavior of a motor vehicle and / or increasing the ride comfort of a motor vehicle. In particular, a device is required, which allows the required information acquisition (detection of the planarity of the road course) to control an active suspension control. In this case, two different detection devices are to be used in the front region of the vehicle, in particular to detect longer bumps or longer bumps in the road surface.

Further shows DE 102 19 270 C1 an agricultural vehicle with slip control equipment and a slip control system. In addition to devices for determining the rotational speed of each individual and / or all drive wheels, the vehicle also has devices for determining the actual travel speed over land, such as a radar device and / or GPS device. As soon as a slip is above a preset value, the four-wheel drive and possibly the differential lock is activated automatically. The disclosed vehicle and method is intended to reduce energy consumption, improve traction, simplify operation and improve driving safety.

Out DE 10 2010 053 659 A1 For example, a road vehicle and a method for operating such a road vehicle are known. It should be achieved by adjusting a spring preload of the spring device in response to a height gradient in the direction of travel in front of the vehicle lane increased ride comfort. In this case, a roadway sensor system is used for example by means of laser beam scanning, radar beam scanning or by means of ultrasound or other distance measuring systems.

DE 10 2011 054 852 A1 relates to a method for detecting levels or obstacles and / or errors at or at the level. Suitable sensors include ultrasonic and radar sensors, and also laser scanners. If an obstacle is detected, the speed of the vehicle is controlled delayed.

The object of the present invention is to provide an alternative method and apparatus for setting an operating strategy for a vehicle.

The object is solved by the subject matter of claims 1 and 9. Preferred Embodiments are to be taken from the dependent claims.

The inventive device for setting an operating strategy for a vehicle comprises at least one radar sensor, which is inclined relative to a vehicle longitudinal axis in the direction of a vehicle accessible surface inclined to the vehicle arranged and provided by means of meridian angle height information for position data of objects located in the vicinity of the vehicle capture, and a control and evaluation device, which is provided for the evaluation of position data and vehicle operating data and for adjusting an operating strategy adapted to the environment of the vehicle. In particular, the device according to the invention is used in a work machine.

A working machine is to be understood as a machine which, according to its design and special equipment fixed to the vehicle, is intended and suitable for carrying out work, but not for the transport of persons or goods. For example, a working machine is understood to mean a agricultural or forestry machine, a wheel loader, a so-called dump truck or other construction machine.

According to a method according to the invention for setting an operating strategy for a vehicle, at least position data of objects arranged in an environment of the vehicle are detected by means of at least one radar sensor and transmitted to a control and evaluation device, wherein the at least one radar sensor obliquely relative to a vehicle longitudinal axis in the direction of from Vehicle drivable background arranged inclined to the vehicle and is intended to detect by means of meridian angle height information for the position data from the objects located in the vicinity of the vehicle, wherein vehicle operating data for comparison with the detected by the at least one radar sensor position data of the control and evaluation provided to set by means of the control and evaluation device adapted to the environment of the vehicle operating strategy for the vehicle.

The setting of an operating strategy is to monitor and regulate vehicle operating states, for example, a vehicle speed, an engine speed, a transmission shift strategy or a driving dynamics influence of the drive train (for example, the disengagement / locking of differential gears in the drive train, the influence of damper characteristics in adaptable suspension - / damping systems of the chassis) can be adjusted according to the method of the invention.

The position data acquired by the at least one radar sensor include, for example, the height and dimensions of the objects arranged in the surroundings of the vehicle, which can act, for example, on a ground or roadway drivable by the vehicle, a bridge crossing the roadway, treetops, signs or similar objects. In particular, height information, distance information, angle information and / or a radial velocity of the objects are to be understood as position data.

The at least one radar sensor is essentially a component that emits bundled electromagnetic waves as a primary signal, which is reflected by the objects and received as a reflection signal and evaluated according to various criteria. In particular, a plurality of radar sensors can be arranged on a vehicle, which are fastened at different heights and at different angles to the vehicle. The use of multiple radar sensors improves the sensitivity and accuracy of the system. Radar sensors which are already known from applications in the automotive sector can be used in a suitable manner, for example in use for driver assistance systems such as blind spot / lane change assistants or else adaptive cruise control systems (so-called ACC systems). The opening angle of the radar sensor is substantially 70 °, wherein the radar sensor is rotated by 90 ° to the drivable ground, thus in contrast to the previously described applications in the automotive sector in the perpendicular emits a signal cone to determine by means of meridian angle height information for the position data. In further embodiments, the plurality of radar sensors can be provided so that they are arranged at an angle to each other with respect to a vehicle vertical axis in order to detect a larger area of the preceding travel path. In the case of overlapping detection regions of the plurality of radar sensors, it is also possible to generate a redundancy which can be used for a plausibility check of the signals and / or used to increase the system accuracy. Alternatively, the use of pivotable about the vertical axis radar sensors is conceivable, in which case additionally the pivot angle must be detected in order to be able to assign detected obstacles locally. The center axis of the opening angle of the radar sensor is arranged inclined relative to the vehicle longitudinal axis in the direction of the drivable ground, wherein the radar sensor detects a substantially conical region in front of the vehicle. Reflection signals in the form of position data of objects arranged in the surroundings of the vehicle and / or the roadway are detected and provided to the control and evaluation device. This position data depends on the Mounting height and mounting angle of the radar sensor on the vehicle. Alternatively, other sensors can be used which can send and / or receive optical signals and provide these signals in the form of position data of the control and evaluation device.

By sensing the vehicle surroundings and thus also the drivable subsoil, it is possible by means of the control and evaluation device to set an operating strategy adapted to the environment of the vehicle, which is further dependent on the vehicle operating data, such as speed, transmission ratio or steering angle.

The control and evaluation device preferably determines a first speed of the vehicle by means of the position data of the objects arranged in the surroundings of the vehicle. The first speed corresponds to a vehicle speed determined by means of a radar sensor. A measuring cycle of the radar sensor preferably lasts 40 ms, the duration of the measuring cycles being variable. In particular, the duration of the measuring cycles and the distance between two measuring cycles can be dependent on the vehicle speed. From the position data determined by the radar sensor, a radial velocity of the objects arranged in the surroundings of the vehicle in a vehicle speed in the longitudinal direction of the vehicle is determined as a function of the mounting height and the mounting angle of the radar sensor. All speeds determined during the respective measuring cycle are loaded into a band filter, which filters outliers or extreme values. The filter range of the bandpass filter is dynamic and may be, for example, dependent on the vehicle operating data. If no measured values are present in a predefined band of the bandpass filter, all read-in radial velocities measured by the radar sensor, with the exception of the minimum and maximum values, are used to determine the first velocity.

In a further step, a median value of the radial velocities in the band is formed, and then an arithmetic mean of the median values of successive measurement cycles is calculated. The mean value from the at least three last measuring cycles is preferably used to determine the vehicle speed, wherein alternatively the average values from four or more measuring cycles can be used. Furthermore, an acceleration or deceleration of the vehicle can be determined by means of the radar sensor and the calculated mean values of the vehicle speeds. The values determined are used to simulate a 2D Kalman filter in a subsequent step, whereby the Kalman filter is variable and can be updated after each measurement cycle.

According to a first embodiment, the control and evaluation device determines a second speed from respective wheel speeds of respective vehicle wheels, in particular driven vehicle wheels, of the vehicle. Alternatively, the speed of the output shaft of the transmission or the respective drive / wheel shaft can be measured to determine the second speed. To set the operating strategy of the vehicle, the speed difference value is formed from the first and second speeds, the two speeds being subtracted from each other.

The control and evaluation device preferably actuates a differential lock of the vehicle when an upper limit is exceeded (for example when a nonzero differential value is present) of the speed difference value and / or at least indirectly controls slip at a respective vehicle wheel of the vehicle. The slip describes the speed difference value from the first and second speeds, the second speed being greater than the first speed in the case of a slip. Furthermore, the speed difference value can be reduced by a reduction of the engine speed or by active actuation of wheel brakes, for example also targeted at individual vehicle wheels.

According to a second exemplary embodiment, the control and evaluation device determines a safety distance between the vehicle and the respective object, at least by means of the position data of the objects arranged in the surroundings of the vehicle and the first speed of the vehicle. The greater the first speed of the vehicle, the greater the safety distance between the vehicle and the respective object is provided, wherein the safety margin increases in particular exponentially to the speed of the vehicle. In particular, the safety distance results from an emergency braking distance, which is necessary for the deceleration of the vehicle to a standstill in order to avoid a collision with the object, as well as an additional buffer distance, which is required for the safe detection of the object.

When the safety distance between the vehicle and the respective object is undershot, the control and evaluation device preferably emits a warning signal and / or initiates emergency braking of the vehicle. In particular, first the warning signal is output and subsequently initiated the emergency braking. In particular, the emergency braking can be prevented by a vehicle driver initiated deceleration of the vehicle or an evasive maneuver to prevent collision with the object.

The at least one radar sensor is preferably provided to determine an incline of the ground drivable by the vehicle. For this purpose, elevation information for the position data of the objects located in the surroundings of the vehicle is determined by means of meridian angle, and from this the slope of the ground drivable by the vehicle is determined.

According to a third exemplary embodiment, the control and evaluation device adjusts longitudinal dynamics of the vehicle as a function of the gradient of the vehicle driveable ground and the first speed of the vehicle. Thus, the longitudinal dynamics of the vehicle, in particular the drive train is anticipated adapted to the changing driving conditions. For example, the engine speed and transmission ratio are adjusted as the vehicle travels from a level course to an uphill distance, providing a higher torque to handle the grade. Also, an imminent switching operation can be prevented if it is foreseeable that the resulting gear ratio is unsuitable for driving on an upcoming determined route. By way of example, reference is made here to a possible upshift into a higher gear, which represents an unsuitable ratio for driving on a detected gradient, which is why a downshift would have to be feared while driving. By inhibiting such a (pendulum) circuit, sometimes the driving operation of the vehicle can be significantly optimized and wear in particular of shifting elements in the transmission can be minimized. Also, the risk that the vehicle can not cope with the slope due to a power interruption due to a break in power during the downshift also decreases the risk that the vehicle.

The method according to the invention can be carried out in particular by a computer or by the control and evaluation device. Thus, the method can be implemented in software. The corresponding software is therefore an independently salable product. Therefore, the invention also relates to a computer program product with machine-readable instructions which, when executed on a computer or on a control and evaluation device, cause the computer or the control and evaluation device to carry out a method according to the invention.

It is also possible to detect a loading point (for example a bulk pile) or an unloading point (for example a delimited area, conveyor belt, etc.) by means of the device and the method according to the invention. Accordingly, for example, influencing the operating strategy of the vehicle to take place to the effect that, for example, an adjustment of the power distribution between the working hydraulics and traction drive, if it is detected that there is a heap in front of the vehicle and bulk material to be recorded. Also, for example, an adjustment of the engine control can be done, in particular to reserve power reserves to operate the work hydraulics.

In further developments of the present invention, further sensor types can also be combined with the mentioned radar sensor (s). An example is the combination with GPS, gyroscope, acceleration and / or barometric height sensors. Photo-sensing sensors, such as camera-based detection, can also be combined. This leads to a further increase in system accuracy.

As far as a weight detection is provided, this can also be taken into account for influencing the operating strategy of the vehicle. The vehicle weight can for example be measured by means of axle sensors or derived from the pressure ratios of the working hydraulics. This can be an advantage, in particular for plausibility checks with regard to wheel slippage. But also with regard to a predictive operating strategy, vehicle weight can influence it. By way of example, it should be noted that the fact of whether a vehicle is loading or unloading a gradient / gradient, has a significant impact.

• 1a: eine vereinfachte schematische Darstellung eines Fahrzeugs mit einer erfindungsgemäßen Vorrichtung zum Einstellen einer Betriebsstrategie,
• 1b: eine weitere vereinfachte schematische Darstellung eines Fahrzeugs mit der erfindungsgemäßen Vorrichtung zum Einstellen einer Betriebsstrategie,
• 2: ein Blockschaltbild zur Darstellung eines erfindungsgemäßen Verfahrens zum Einstellen einer ersten Betriebsstrategie für ein Fahrzeug,
• 3: ein Blockschaltbild zur Darstellung eines erfindungsgemäßen Verfahrens zum Einstellen einer zweiten Betriebsstrategie für ein Fahrzeug, und
• 4: ein Blockschaltbild zur Darstellung eines erfindungsgemäßen Verfahrens zum Einstellen einer dritten Betriebsstrategie für ein Fahrzeug.

In the following, embodiments of the invention will be explained in more detail with reference to the figures, wherein the same or similar elements are provided with the same reference numerals. This shows

• 1a FIG. 2: a simplified schematic illustration of a vehicle having a device according to the invention for setting an operating strategy, FIG.
• 1b FIG. 2 shows a further simplified schematic representation of a vehicle with the device according to the invention for setting an operating strategy, FIG.
• 2 1 is a block diagram illustrating a method according to the invention for setting a first operating strategy for a vehicle,
• 3 : a block diagram for illustrating a method according to the invention for adjusting a second operating strategy for a vehicle, and
• 4 : a block diagram illustrating a method according to the invention for setting a third operating strategy for a vehicle.

According to the 1a and 1b is a respective vehicle according to the invention 1 designed as a work machine, wherein the respective vehicle 1 a respective device for setting an operating strategy for the respective vehicle 1 having. The respective device comprises a radar sensor 2 that relates to a vehicle's longitudinal axis 5 diagonally in the direction of one of the respective vehicle 1 drivable underground 6 inclined to the respective vehicle 1 is arranged. The respective radar sensor 2 is not as generally known in the automotive field arranged such that an azimuth angle is resolved and thus the radar beams in a plane parallel to the roadway or to the vehicle 1 drivable underground 6 run, but essentially rotated by 90 °. Consequently, the radar beams of the radar sensor run 2 in a plane perpendicular to the roadway or to the vehicle 1 drivable underground 6 are formed, wherein the radar sensor 2 is intended to dissolve a meridian angle. By means of meridian angle, height information for position data from in the environment of the vehicle 1 located objects 3 detected. Furthermore, the device according to the invention comprises a control and evaluation device 4 for evaluating position data and vehicle operating data and for adjusting the environment of the vehicle 1 adapted operating strategy is provided.

In 1a drives the vehicle 1 a background 6 with gradient. The radar sensor 2 is active and captures position data from in an environment of the vehicle 1 arranged objects 3 , thus also a slope profile of the underground 6 , These position data are sent to the control and evaluation device 4 transmitted. Further, vehicle operating data is compared with that of the radar sensor 2 recorded position data of the control and evaluation device 4 provided. The vehicle operating data are present wheel speeds of respective vehicle wheels 7 of the vehicle 1 , wherein the wheel speeds via a respective sensor 8th at the respective vehicle wheel 7 be recorded. The control and evaluation device 4 determined by means of the position data in the environment of the vehicle 1 arranged objects 3 a first speed of the vehicle 1 , Furthermore, the control and evaluation device determines 4 from the respective wheel speeds of the respective vehicle wheels 7 of the vehicle 1 a second speed, wherein a speed difference value is formed from the first and second speeds. In the present case, the speed difference value is used to determine a slip on the respective vehicle wheel 7 , When an upper limit of the speed difference value is exceeded, the control and evaluation device actuates 4 a - not shown here - differential lock of the vehicle 1 To improve traction and slip on the vehicle wheels 7 to reduce. Thus, by a nominal-IstVergleich means of the radar sensor 2 and the control and evaluation device 4 a performance improvement of the vehicle 1 realized.

Further, the radar sensor 2 provided an incline of the vehicle 1 drivable underground 6 to determine, with the control and evaluation device 4 a longitudinal dynamics of the vehicle 1 depending on the determined slope of the vehicle 1 drivable underground 6 as well as the first speed of the vehicle 1 established. Thus, by means of radar sensor 2 detects the topography of the environment using the altitude information of the position data to realize a predictive ride. The predictive approach allows you to determine if, by a certain time or within an upcoming next period, there is a height difference through the vehicle 1 must be mastered, assuming a constant speed of the vehicle 1 requires a significantly changing drive torque. Thus, predictively an adaptation of the drive train of the vehicle 1 be made, in particular the switching strategy and or an operating point of the drive motor to be adjusted.

To 1b drives the vehicle 1 a background 6 , wherein the radar sensor 2 is active and position data of one in the environment of the vehicle 1 arranged object 3 detected. These position data are sent to the control and evaluation device 4 transmitted. The control and evaluation device 4 determined by means of the position data of the environment around the vehicle 1 arranged object 3 a speed of the vehicle 1 , Furthermore, the control and evaluation device determines 4 by means of the position data of the environment around the vehicle 1 arranged object 3 as well as the speed of the vehicle 1 a safety distance between the vehicle 1 and the respective object 3 , In particular, vehicle operating data, such as, for example, a steering angle and a load state of the vehicle, are used 1 also from the control and evaluation device 4 considered. In case of falling below the safety distance between the vehicle 1 and the detected object 3 gives the control and evaluation device 4 a warning signal and directs emergency braking of the vehicle 1 a to make a collision with the object 3 to avoid. Consequently, a predictive approach is also followed in this operating strategy.

The 2 . 3 and 4 show a respective block diagram for illustrating a method according to the invention for setting a respective operating strategy. The individual process steps are preferably carried out in the order given. If the technical conditions allow, but also a different order of the steps is possible.

2 shows a first embodiment of a method according to the invention for setting an operating strategy. In a first process step A Radar data, in particular position data from in an environment of the vehicle 1 arranged objects 3 cyclically from the control and evaluation device 4 accessed. The radar sensor 2 sends out a list of tracks and targets that are sent by the radar sensor 2 detected objects 3 or their position data include. In addition, a current wheel speed, which is a speed of a vehicle wheel 7 is calculated, read. According to a first arrow a becomes a second process step B initiated, in which the control and evaluation device 4 checks whether new radar data is available and adopts it for further calculation.

According to a second arrow b becomes a third process step C initiated, wherein a mounting bracket of the radar sensor 2 at the vehicle 1 retrieved and a radial velocity between an object 3 and the vehicle 1 is determined.

According to a third arrow c becomes a fourth process step D introduced, wherein the radial velocity of the control and evaluation device 4 in the vehicle longitudinal direction 5 is converted. In this case, the mounting angle of the radar sensor 2 at the vehicle 1 and an angle of the detected position points taken into account, wherein the angle of the detected position points from the radar sensor 2 is issued.

According to a fourth arrow d becomes a fifth process step e initiated, with all in a cycle of preferably 40ms detected speeds of the objects 3 that by means of radar sensor 2 be loaded into a band filter.

According to a fifth arrow e becomes a sixth process step F initiated, with all of the loaded into the band filter speeds of the objects 3 a median value is formed to determine a speed signal per measurement cycle.

According to a sixth arrow f becomes a seventh process step G initiated, wherein a vehicle model is formed by means of a Kalman filter with the speed signals. In this case, at least two consecutive measuring cycles become an acceleration of the vehicle 1 output.

According to a seventh arrow G becomes an eighth process step H initiated, wherein a vehicle speed of the vehicle 1 per measuring cycle with the median value of the respective measuring cycle and the acceleration of the vehicle 1 is determined.

According to an eighth arrow H becomes a ninth process step I initiated, with the median values from the preferably three last measurement cycles an average value is formed. In this case, the mean value of the vehicle speed is compared with the wheel speed and a speed difference value is formed.

According to a ninth arrow i becomes a tenth procedural step J initiated, wherein the speed difference value is compared with a difference threshold.

If the speed difference value is above an upper limit, a tenth arrow is used j an eleventh process step K initiated, preferably a differential lock of the vehicle 1 is pressed. Below an upper limit becomes process step K skipped.

According to an eleventh arrow k, the method is reset again, wherein the first method step A is initiated.

3 shows a second embodiment of a method according to the invention for setting an operating strategy. In a first process step A Radar data, in particular position data from in an environment of the vehicle 1 arranged objects 3 cyclically from the control and evaluation device 4 accessed. The radar sensor 2 sends out a list of tracks and targets that are sent by the radar sensor 2 detected objects 3 or their position data include. In addition, a current wheel speed, which is a speed of a vehicle wheel 7 is calculated, read.

According to a first arrow a becomes a second process step B initiated, in which the control and evaluation device 4 checks whether new radar data is available and adopts it for further calculation.
According to a second arrow b becomes a third process step C initiated, wherein a mounting bracket of the radar sensor 2 at the vehicle 1 retrieved and a radial velocity between an object 3 and the vehicle 1 is determined.

According to a third arrow c becomes a fourth process step D initiated, wherein the radial Speed of the control and evaluation device 4 in the vehicle longitudinal direction 5 is converted. In this case, the mounting angle of the radar sensor 2 at the vehicle 1 and an angle of the detected position points taken into account, wherein the angle of the detected position points from the radar sensor 2 is issued. Furthermore, a mounting height above the ground 6 taken into account, wherein by means of the mounting height and angle, the radar data or the radar points are converted to a vehicle reference height.

According to a fourth arrow d becomes a fifth process step e initiated, with all in a cycle of preferably 40ms detected speeds of the objects 3 the by means of radar sensor 2 be loaded into a band filter. A belt is placed around an output speed, which is preferably measured on the transmission or on the vehicle wheels, with only radar data arranged in this band being used for the next method steps. The width of the band is dynamically adaptable, with the width of the band being increased until at least two radar reflections are present.

According to a fifth arrow e becomes a sixth process step F initiated, with all radar points are loaded into a histogram. For example, this histogram stores the last three cycles. The cell size of the histogram may vary depending on the resolution of the radar sensor 2 to be changed. In particular, the cell size during operation of the radar sensor 2 changed. For example, the cell size is changed depending on the speed or depending on environmental conditions.

According to a sixth arrow f becomes a seventh process step G each column and row of the histogram are filtered to maxima and the histogram is converted into range data, where the range data consists of a distance and a height. Intermediate values are interpolated. Support points or segments are defined, for example, every two meters. The segments are filtered with a low-pass filter to output the slope of each segment. A longitudinal dynamics of the vehicle 1 will depend on the slope of the vehicle 1 drivable underground 6 set. Optionally, the determined slope may be compared to a previous or a subsequent slope to preferably form an average slope. However, information regarding a steering angle is necessary for this purpose. After a steering lock, which is accompanied by a change of direction of the vehicle, the old radar data are deleted.

According to a seventh arrow G the process is reset again, the first process step A is initiated.

4 shows a third embodiment of a method according to the invention for setting an operating strategy. In a first process step A Radar data, in particular position data from in an environment of the vehicle 1 arranged objects 3 cyclically from the control and evaluation device 4 accessed. The radar sensor 2 sends out a list of tracks and targets that are sent by the radar sensor 2 detected objects 3 or their position data include. In addition, a current wheel speed, which is a speed of a vehicle wheel 7 is calculated, read.

According to a first arrow a becomes a second process step B initiated, in which the control and evaluation device 4 checks whether new radar data is available and adopts it for further calculation.

According to a second arrow b becomes a third process step C initiated, wherein a mounting bracket of the radar sensor 2 at the vehicle 1 retrieved and a radial velocity between an object 3 and the vehicle 1 is determined.

According to a third arrow c becomes a fourth process step D introduced, wherein the radial velocity of the control and evaluation device 4 in the vehicle longitudinal direction 5 is converted. In this case, the mounting angle of the radar sensor 2 at the vehicle 1 and an angle of the detected position points taken into account, wherein the angle of the detected position points from the radar sensor 2 is issued. Furthermore, a mounting height above the ground 6 taken into account, by means of fastening height and angle, the radar data or the radar points are converted to a vehicle reference height.

According to a fourth arrow d becomes a fifth process step e initiated, with all in a cycle of preferably 40ms detected speeds of the objects 3 the by means of radar sensor 2 be loaded into a band filter. A belt is placed around an output speed, which is preferably measured on the transmission or on the vehicle wheels, with only radar data arranged in this band being used for the next method steps. The width of the band is dynamically adaptable, with the width of the band being increased until at least two radar reflections are present.

According to a fifth arrow e becomes a sixth process step F initiated, with all radar points are loaded into a histogram. For example, the histogram stores the last three cycles. The cell size of the histogram may vary depending on the resolution of the radar sensor 2 to be changed. For example, the cell size is changed depending on the speed or depending on environmental conditions.

According to a sixth arrow f becomes a seventh process step G initiated, whereby it is checked whether at the safety distance of the vehicle 1 objects 3 , the obstacles to the vehicle 1 can be represented by the radar sensor 2 be recognized. Obstacles can be, for example, scree, piles of material but also, for example, a precipice or the like. Also, a passage whose passage height is limited, be understood as an obstacle in this sense.

Unless there are objects 3 at the safety distance of the vehicle 1 be detected, according to the seventh arrow G an eighth process step H initiated, with a counter depending on the speed of the vehicle 1 is increased. Thereafter, process step G repeated.

If, however, objects 3 at the safety distance of the vehicle 1 will be detected according to an eighth arrow H a ninth process step I initiated, the counter depending on the speed of the vehicle 1 is lowered. A warning signal is output. It is also monitored whether the objects detected as obstacles can be driven under or overrun.

According to a ninth arrow i becomes a tenth procedural step J introduced, wherein the control and evaluation device 4 emergency braking of the vehicle 1 initiates a collision with the object 3 to avoid.

According to a tenth arrow j After emergency braking, the procedure is reset, the first step A is initiated.

LIST OF REFERENCE NUMBERS

1

vehicle

2

radar sensor

3

object

4

Control and evaluation device

5

vehicle longitudinal axis

6

underground

7

vehicle

8th

sensor

A

first process step

B

second process step

C

third process step

D

fourth process step

e

fifth process step

F

sixth process step

G

seventh process step

H

eighth process step

I

ninth process step

J

tenth process step

K

Eleventh process step

L

twelfth process step

a

first arrow

b

second arrow

c

third arrow

d

fourth arrow

e

fifth arrow

f

sixth arrow

G

seventh arrow

H

Eighth arrow

i

Ninth arrow

j

tenth arrow

Claims (11)

Method for setting an operating strategy for a vehicle (1), at least position data of objects (3) arranged in an environment of the vehicle (1) being detected by at least one radar sensor (2) and transmitted to a control and evaluation device (4), wherein the at least one radar sensor (2) is inclined relative to a vehicle longitudinal axis (5) in the direction of a vehicle (1) drivable surface (6) inclined to the vehicle (1), wherein vehicle operating data for comparison with those of the at least one radar sensor ( 2) detected position data of the control and evaluation device (4) are provided to adjust by means of the control and evaluation device (4) adapted to the environment of the vehicle (1) operating strategy for the vehicle (1), characterized in that the at least one Radar sensor (2) emits radar beams in a plane which is formed perpendicular to the vehicle (1) passable surface (6), wherein the Ra darsensor (2) is provided to detect by means of meridian angle height information for the position data of the environment of the vehicle (1) located objects (3), Method according to Claim 1 , characterized in that the control and evaluation device (4) determines a first speed of the vehicle (1) by means of the position data of the objects (3) arranged in the environment of the vehicle (1). Method according to Claim 2 , characterized in that the control and evaluation device (4) from respective wheel speeds of respective vehicle wheels (7) of the vehicle (1) determines a second speed, wherein from the first and second speed, a speed difference value is formed. Method according to Claim 3 , characterized in that the control and evaluation device (4) when exceeding an upper limit of the speed difference value either a differential lock of the vehicle (1) actuated and / or at least indirectly controls a slip on a respective vehicle wheel (7) of the vehicle (1). Method according to Claim 2 , characterized in that the control and evaluation device (4) at least by means of the position data of the surroundings of the vehicle (1) arranged objects (3) and the first speed of the vehicle (1) has a safety distance between the vehicle (1) and the respective Object (3) determined. Method according to Claim 5 , characterized in that the control and evaluation device (4) outputs a warning signal when falling below the safety distance between the vehicle (1) and the respective object (3) and / or initiates emergency braking of the vehicle (1). Method according to Claim 1 , characterized in that the at least one radar sensor (2) is provided to determine an incline of the vehicle (1) passable surface (6). Method according to Claim 7 , characterized in that the control and evaluation device (4) adjusts a longitudinal dynamics of the vehicle (1) in dependence on the slope of the vehicle (1) passable surface (6) and the first speed of the vehicle (1). Device for setting an operating strategy for a vehicle (1), comprising - at least one radar sensor (2) inclined with respect to a vehicle longitudinal axis (5) in the direction of a vehicle (1) passable surface (6) inclined to the vehicle (1) is, and - a control and evaluation device (4), which is provided for evaluating position data and vehicle operating data and setting an environment of the vehicle (1) adapted operating strategy, characterized in that the at least one radar sensor (2) is provided to Radiate radar beams in a plane perpendicular to the ground (6) drivable by the vehicle (1), in order to acquire height information for position data of objects (3) located in the vicinity of the vehicle (1) by means of meridian angles. A computer program product containing machine-readable instructions that when executed on a computer reconnect the computer to a device Claim 9 upgrade and / or cause the computer to perform a procedure according to one of Claims 1 to 8th perform. Use of a device according to Claim 9 in a work machine.

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