DE102018219762A1 - System for the overall status detection of a means of transport - Google Patents

Abstract

A system for overall condition detection of a means of transport (1) is provided, which has a basic sensor set for providing basic data on the environmental condition of the means of transport (1), the system comprising at least one additional sensor (21-) arranged on or in the means of transport (1). 23), which is formed in such a way that it acquires additional information on the state of the means of transport (1) and / or the ambient state of the means of transport (1) in addition to the basic information acquired by the basic sensor set and makes it available for evaluation. A corresponding method is also provided.

Description

The present invention relates to a method and system for the overall status detection of a means of transport.

A large number of sensors are used in current and future vehicles, the objects in the environment e.g. recognize on the basis of their optical, electrical and / or acoustic properties. The sensor data are then evaluated and e.g. Using appropriate algorithms in an in-vehicle control unit, an evaluation that is used to influence the driving strategy.

However, the systems are still in need of improvement. It is therefore an object of this invention to provide a system and a method by means of which an improved overall status detection of a means of transport can be made possible. This object is achieved by the features of the independent claims. Advantageous refinements are the subject of the dependent claims.

A system for overall status detection of a means of transport is provided, which has a basic sensor set for providing basic data on the environmental state of the means of transport, the system having at least one additional sensor arranged on or in the means of transport, which is formed such that it provides additional information about the state of the means of transport and / or the environmental state of the means of transport in addition to the basic information acquired by the basic sensor set and made available for evaluation.

Additional sensors can be used to carry out an expanded detection and thus subsequent assessment of the state of the environment of the means of transport, but also of the state of the means of transport itself. The environmental status basically includes at least the object detection in the environment or in the environment of the means of transport, i.e. whether objects such as means of transport, e.g. Vehicles, road users, e.g. People or traffic lights etc., are in the vicinity of the means of transport. Road markings can also be recorded as objects. Based on this acquired data, an evaluation of the environmental status has so far been carried out to determine whether an object e.g. is or will be on a collision course. By evaluating and evaluating the additional information, the detection can be made more precise and the driving strategy can also be adapted in order to do justice to the environmental state and / or the state of the means of transport.

In one embodiment, the system also has at least one evaluation device which is in communication connection with the basic sensor set and the at least one additional sensor. This evaluation device is set up to process the basic data and the additional information and to determine a current overall state from the processed data. Depending on the determined overall current state, it carries out an evaluation as to whether a given current driving strategy should continue unchanged or whether another driving strategy adapted to the current overall state should be carried out. It is also set up to determine the (new or adapted) driving strategy if the driving strategy is to be changed.

By evaluating additional sensor data, the driving behavior of the means of transport, also referred to as the driving strategy, can be made more precise depending on the choice of the type of additional sensor and more adapted to human behavior.

In one embodiment, the evaluation device is also operatively connected to one or more actuators of the means of transport which at least serve to fulfill the driving strategy. In this case, the evaluation device is set up to control the one or more actuators in order to execute the driving strategy when a driving strategy adapted to the current overall state is determined.

The newly determined driving strategy can be implemented directly through the active connection between the evaluation device and actuators.

In one embodiment, the additional sensor is one of or a combination of a sound sensor, a vibration sensor, a vibration sensor and acceleration sensors that are operatively connected to it, a force sensor, a temperature sensor, a smoke sensor, and a gas sensor , a pollutant sensor, a level sensor, an image capture sensor.

Each of the sensors mentioned can help to further improve the status detection of the means of transport in a specific area, as described in detail below.

In one embodiment, the additional sensor is either a separate component and / or a functional extension of at least one sensor of the basic sensor set and / or an extension of the evaluation of basic data acquired by the basic sensor set.

As a result, the state detection is expanded and thus improved and specified. Space and costs are saved and the efficiency of the existing sensor is improved by using already existing sensors, which are either expanded in their functionality or whose existing data are subjected to an extended evaluation.

In one embodiment, the evaluation device is operatively connected to an output system of the means of transport, which is set up to output information into the interior of the means of transport and / or outside of the means of transport and / or to other means of transport and / or depending on the result of the evaluation to issue an external institution.

Information on both the overall condition and the adapted driving strategy can be sent to the driver, e.g. through the existing navigation or infotainment system, on the other hand to other means of transport and central units, which are used to pass on the information, via appropriate interfaces such as Car2X can be passed on. This means that the information can also be used by other road users.

In addition to the proposed system, a method for overall status detection of a means of transport is provided, additional information on the state of the means of transport and / or the state of the environment of the means of transport being recorded and made available for evaluation in addition to providing basic data on the state of the environment of the means of transport.

In one embodiment, the basic data and the additional information are evaluated in order to determine a current overall status, with an assessment depending on the current overall status being ascertained as to whether a given current driving strategy should be continued unchanged or another one based on the current overall -Conditioned driving strategy to be executed.

In one embodiment, if a adapted driving strategy is to be carried out, a driving strategy adapted to the current overall condition is determined and executed and / or information is output inside the means of transport and / or outside the means of transport and / or to other means of transport and / or issued to an external institution.

In one embodiment, additional information is at least: detection of acoustic and / or optical signals of the surroundings of the means of transport, e.g. other road users, but also shocks, vibrations, acceleration to detect bumps in the road and or at least parts of the chassis, including the axle and / or tires. Furthermore, additional information includes at least one detection of a force absorption at predetermined points on the means of transport, a temperature at predetermined points in the means of transport, but also detection of smoke and / or gas and / or pollutants, detection of fill levels, detection of a surface condition, a Contamination and / or clouding of air, further predetermined external signals to be observed outside the means of transport.

A combination of the above-mentioned additional information obtained by the corresponding acquisitions can also be carried out either by an additional sensor or a combination of several sensors if several sensors are provided. Several additional sensors or a combination of one or more sensors of the basic sensor set and one or more additional sensors can be used.

To record the above-mentioned properties, either the existing basic sensor set can be expanded by functions, or previously measured data can be subjected to an extended evaluation, as described for the system. But additional physically existing sensors can also be installed to expand the status detection. All measures improve or clarify the condition detection and approximate it to human detection.

Human drivers are able to use their available senses for generally successful, safe and low-accident traffic in public and other areas by converting their perception into the task to be solved, e.g. a driving task, let it flow in and take appropriate actions e.g. react to unusual situations. This applies in particular to moving in traffic, e.g. in order to drive as accident-free as possible when driving the car, depending on the ambient conditions. The senses are also used as pedestrians to move as safely as possible in traffic.

Conventional systems, which are also intended for use in at least partially automated to autonomous driving, are currently limited to relatively few methods in order to master the primary task of object detection in the environment, i.e. the detection of the environmental status. However, there are numerous secondary tasks which would already represent a significant improvement in at least partially automated driving, but for which no sensor function has yet been provided. This means that current systems are still relatively limited in terms of their sensor equipment and functionality and there is room for improvement. Current systems and methods have so far only been equipped with a basic sensor system or a basic sensor set with corresponding sensors for object detection in the environment, ie both for recognizing objects such as people, traffic lights etc., but also for recognizing the environment, ie for example, that the vehicle is on a freeway or in the city, or that it is raining, or that a lane is being crossed. Furthermore, the basic sensor set also includes other sensors, which are located, for example, in the vehicle, that is to say, for example, a status display of the tire pressure, which until now has only been limited to displaying the tire pressure under certain conditions. A level indicator of lubricants, fuel, cooling water etc. is also included.

All of the data previously determined by the basic sensor set usually represent the overall condition of the means of transport, in particular a vehicle such as a motor vehicle or automobile, sufficiently for previous applications.

This also applies to at least partially automated vehicles. With the existing basic sensor set, a driving strategy can be carried out that brings the vehicle to a destination and can react to many situations. For example, many vehicles can already follow the vehicle in front at a predetermined distance, initiate emergency braking, if detected, etc.

Transportation, also referred to as a vehicle, is not only to be understood as a motor vehicle or automobile. Rather, the proposed system and method can also be used in other means of transport such as trucks or rail-bound means of transport, e.g. Means of transport such as train, tram, tram, but also in buses etc. are provided.

But, as already mentioned above, the driving strategies available so far are in need of improvement. The proposed system and method make it possible to include situations that have not yet been taken into account in the driving strategy by providing data from one or more additional sensors, as described below. The current driving strategy, e.g. driving from one place to another can be adapted according to the acquisition, evaluation and evaluation of the additionally available data.

The invention is particularly helpful in means of transport with a high degree of automation. But also in partially automated means of transport or those that cannot automatically adapt their driving strategy, they can be supplemented by corresponding additional sensors and thus an improvement in the detection of the overall condition. In this case, the driving strategy is not automatically adapted, but a signal such as a display or warning to the driver that the driving strategy should be adapted because an error or problem is present. A suggestion for the adjustment can also be issued.

It is provided that the current driving strategy is only adapted, whereby an output of a proposal for adaptation is also included if it is determined in the evaluation of the current overall condition that this is necessary, i.e. if an error and / or a problem situation is recognized during the evaluation of the data and the corresponding evaluation. Otherwise, the current driving strategy will continue unchanged. A necessary adjustment can be made, for example, if errors or problems are detected, e.g. Predefined limit values for measured values are exceeded or undershot, or if an object detection follows a certain pattern, e.g. a certain movement pattern, or certain colors in combination with a certain object shape etc. In the following, some examples are explained when the driving strategy is adjusted.

As already mentioned, the evaluation is based on predetermined criteria which are dependent on the sensor system used, that is to say on the measured or detected conditions. The specified limit values, patterns, detection situations etc. are specified by the person skilled in the art and stored, for example, in a corresponding table, so that the evaluation device can access them for evaluation. The evaluation device is usually a mixture of hardware and software. This means that there is, for example, a control unit which has the corresponding physical connections to sensors, actuators, etc. in the vehicle, that is to say is therefore in communication and / or operative connection. A communication link is essentially to be understood to mean that data can be exchanged, that is to say that, for example, measurement data from a sensor can be passed on to the control unit or the evaluation and / or evaluation implemented therein. An active connection is essentially to be understood to mean that - in addition to the communication connection - signals or commands can also be sent to an executing unit such as an actuator. This means that there is not only an exchange of information or data, but also concrete ones Action signals can be given. An actuator is used to move components belonging to it, e.g. an actuator can be used to close or open a brake, it can serve as an actuator, etc. This means that an actuator converts an input variable into a corresponding output variable by one achieve predetermined effect.

The evaluation device provided serves to control at least the actuators used to fulfill the driving strategy in order to implement both the current and an adapted driving strategy. The evaluation device can be provided in or as a control unit. The evaluation and assessment of the sensor data is usually carried out with at least software support. This means that the data is processed by means of a suitable algorithm implemented in the evaluation device, i.e. evaluated and evaluated.

The proposed additional sensor can be designed in a wide variety of ways. It can be set up to detect acoustic and / or optical signals from other road users. The detection comprises a recognition and / or localization and / or identification of human words, but also of animal sound reports. For this purpose, the additional sensor can be formed as a sound pickup, which is arranged on an outside of the means of transport and can pick up sound impinging on the means of transport. The arrangement should be chosen so that sound e.g. can be picked up from the roadside. This means that the arrangement should advantageously be on the right side of the vehicle for right-hand traffic and advantageously on the left side of the vehicle for left-hand traffic. This example shows that the arrangement of the sound pickup must be provided depending on the expected sound event and can be transferred accordingly to each additional sensor used.

Furthermore, the additional sensor can be used to detect shocks, vibrations, acceleration, but also to detect bumps in the road and or at least parts of the chassis, e.g. axle and / or tire. Depending on the application and design of the sensor, this is then provided at least in the vicinity of the component to be monitored.

Furthermore, the additional sensor for detecting a force absorption, e.g. be provided as a piezo sensor at predetermined locations on the vehicle, e.g. to detect whether a brake has not opened correctly or whether a bearing is starting to seize up.

Furthermore, the additional sensor can be provided for detecting a temperature at predetermined points in the vehicle, e.g. in the engine compartment, on the gearbox, on the axles and / or tires, in the loading space or in other places in or on the means of transport, which could be damaged due to temperature changes and could therefore also cause errors.

Furthermore, the additional sensor can be provided for detecting smoke and / or gas and / or pollutants. It can be designed as a fire detector and / or a pollutant detector and can be arranged at corresponding critical points in the vehicle, e.g. Detect gases from flammable liquids, acids, smoldering gases, fire gases, etc. It can also be used to measure fill levels, e.g. for fuels, auxiliary materials, cargo, etc. Pollutant sensors can also support human drivers who e.g. have a cold or are otherwise impaired in their sense of smell, so that in the event of gas escaping in the vehicle the driver is warned or the window (s) are opened etc.

Furthermore, the additional sensor can be used to detect a surface condition, contamination and / or turbidity of air, and / or external signals to be observed outside the vehicle. For this purpose, it can be designed as a camera or another (classic) sensor, and an expansion of the existing detector capabilities can be provided. For example, contamination or turbidity of air e.g. caused by loss of charge due to wind or a defect and e.g. be recognized by a camera. A warning triangle on the roadside or a red light from a police trowel can also be recorded using a camera. The evaluation and assessment would then result in a need to change the driving strategy, e.g. stopping or at least slowing the vehicle would provide until another clear signal is recognized as to whether or not to stop. So far, a vehicle would have adhered to its current driving strategy, i.e. it would neither slow nor stop. A detection of people in need, for example with a help sign or a deaf sign held up, e.g. through image capture. As a result of the evaluation or assessment, e.g. an emergency call signal is triggered, a stop and, if necessary, aids such as first-aid kits are made available.

In addition, recognized situations such as emergencies, vehicle fires, etc. can be reported to appropriate locations via an appropriate interface such as Car2X. Detected emergency situations can be reported, for example, via mobile services to corresponding control centers or emergency services. A second or another vehicle at an accident site can also be valuable, if no complete emergency call has been made by then, or if additional confirmations of the observation can contribute to the verification of the emergency situation for systematic reasons. Recognized problem situations can lead to an emergency running program that, for example, leads to a change in the route to the nearest suitable stop or to the next or most suitable service point or to a meeting point with a service person.

As already mentioned, the additional sensor can be provided as a separate component, that is to say as an additional component to existing sensors of the basic sensor set. But it can also represent a functional extension of the existing basic sensor set, or an extension of the evaluation of recorded data of the basic sensor set. This can e.g. be useful when evaluating images from a camera or data from a radar, LIDAR or other sensor.

As already mentioned, the method for evaluating and evaluating can be software-supported, that is to say implemented as a software program product. This is then advantageously implemented in the evaluation device and is carried out there.

Further features and advantages of the invention result from the following description of exemplary embodiments of the invention, with reference to the figures of the drawing, which shows details according to the invention, and from the claims. The individual features can each be implemented individually or in groups in any combination in a variant of the invention.

• 1 zeigt eine abstrahierte, schematische Ansicht möglicher Anordnungen unterschiedlicher Zusatzsensoren in oder an einem Fahrzeug, gemäß einer Ausführung der vorliegenden Erfindung.
• 2 zeigt ein Ablaufdiagramm zur Bestimmung, ob eine Fahrstrategie anzupassen ist oder nicht, gemäß einer Ausführung der vorliegenden Erfindung.

Preferred embodiments of the invention are explained below with reference to the accompanying drawings.

• 1 shows an abstracted, schematic view of possible arrangements of different additional sensors in or on a vehicle, according to an embodiment of the present invention.
• 2nd 10 shows a flowchart for determining whether a driving strategy is to be adapted or not, according to an embodiment of the present invention.

In the following description of the figures, the same elements or functions are provided with the same reference symbols.

1 shows an embodiment of the invention, in which several additional sensors 21st , 22 , 23 , which are part of the basic sensor set 21st are in or on a vehicle 1 are arranged. The vehicle is in this version 1 as a vehicle 1 shown for right-hand traffic. It has a previously described sound sensor on a front right area thereof, shown here near the wheel arch 23 on. But this can also, for example, on the edge between the front and side area of the vehicle 1 be arranged, for example in the vicinity of the front lights or the turn signals, depending on the version of the vehicle 1 . In this arrangement, the sound sensor 23 serve to record noise from the side or side of the front of the vehicle 1 occur from. For example, injured people or animals making noise can be noticed on the roadside. There are also two inside the vehicle 1 arranged sensors 22 shown, which can be designed for example as pollutant sensors. These serve to monitor the interior, so that in the event that pollutants such as exhaust gases enter, for example in the front area of the vehicle 1 arranged evaluation device 30th the actuators for opening one or more windows or the sunroof, if present, can be activated. An example of an additional sensor designed as part of the basic sensor set is one with reference numerals 21st provided and inside the vehicle 1 Camera attached, more precisely to the windscreen. Up to now, this has been provided - usually in combination with other detection devices - for detecting and assessing objects such as vehicles in front, lane lines, etc. or by means of the evaluation device 30th to be assessed whether the distance is sufficient, whether the lane is being kept, whether an object on the side of the road is moving in the direction of travel and therefore emergency braking has to be initiated, etc. The proposed system and method are used to perform an additional evaluation based on the recorded data , e.g. whether a detected object on the side of the road sends a message to the vehicle, e.g. a raised police trowel or a sign asking for help, as described above. This extends the range of functions.

The referring to 1 possible additional sensors described 21-23 are only described as examples. There can be many different additional sensors in or on the vehicle 1 be provided which perform a wide variety of tasks, as described above. The arrangement takes place mainly, as also described above, depending on the task of the sensor and on the means of transport on or in which it is arranged.

2nd shows a schematic flow diagram of the proposed method. In a first step S1 data of the basic sensor set and the at least one additional sensor 21-23 recorded and sent to the evaluation device 30th provided for further processing. For this purpose, the recorded data can be sent to the evaluation device 30th be sent or by the evaluation device 30th can be called up by the respective sensors. In a second step S2 the data are then evaluated and an assessment is made as to whether the current driving strategy should be kept unchanged or whether it should be adapted. If it is determined that the driving strategy should remain unchanged, nothing further is done in 2nd with reference numerals END is marked. If it is determined that the driving strategy is to be adapted, the adapted driving strategy is in the evaluation device 30th in step S2 or another intermediate step is determined and it takes place in a further step S3 the forwarding of the adapted driving strategy to the corresponding actuators for carrying out and / or output of information into the interior of the means of transport, so that the driver can change the driving strategy himself or is informed about the automatic change. Additionally or alternatively, the information can be output to the outside of the means of transport and / or to other means of transport and / or to an external device, as already described above.

Reference symbol list

1

Means of transport or vehicle

21st

Additional sensor camera (part of the basic sensor set) inside the vehicle

22

Additional sensor Pollutant sensor inside the vehicle

22

Additional sensor Sound sensor on the front side area of the vehicle

30th

Evaluation device

Claims (10)

System for overall status detection of a means of transport (1), which has a basic sensor set for providing basic data on the environmental status of the means of transport (1), the system having at least one additional sensor (21-23) arranged on or in the means of transport (1) , which is formed in such a way that it acquires additional information on the state of the means of transport (1) and / or the environmental state of the means of transport (1) in addition to the basic information acquired by the basic sensor set and makes it available for evaluation. System according to Claim 1 The system further comprises at least one evaluation device (30) which is in communication connection with the basic sensor set and the at least one additional sensor (21-23) and is set up to process the basic data and the additional information and to combine one from the processed data to determine the current overall condition and, depending on the determined current overall condition, to carry out an evaluation as to whether a given current driving strategy is to be continued unchanged or to execute another driving strategy adapted to the current overall condition, and to determine the driving strategy . System according to Claim 2 , wherein the evaluation device (30) is also in operative connection with one or more actuators of the means of transport (1) serving at least to fulfill the driving strategy, the evaluation device (30) being set up for determining when a driving strategy adapted to the current overall condition is determined to control the one or more actuators in order to execute the driving strategy. System according to one of the preceding claims, wherein the additional sensor (21-23) is one of or a combination of: - a sound sensor (23), - a vibration sensor, - a vibration sensor and acceleration sensors connected to it, - a force sensor, - a temperature sensor, - a smoke sensor, a gas sensor, a pollutant sensor (22), - a level measuring sensor, - An image capture sensor (21). System according to one of the preceding claims, wherein the additional sensor (21-23) is either a separate component and / or or a functional extension of at least one sensor of the basic sensor set and / or an extension of the evaluation of basic data acquired by the basic sensor set. System according to one of the Claims 2 to 5 The evaluation device (30) is operatively connected to an output system of the means of transport (1), which is set up to output information into the interior of the means of transport (1) and / or outside of the means of transport (1 ) and / or to other means of transport (1) and / or to an external facility. Method for overall status detection of a means of transport (1), additional information on the state of the means of transport and / or the state of the environment of the means of transport being recorded and provided for evaluation in addition to providing basic data on the state of the environment of the means of transport (S1). Procedure according to Claim 7 , wherein the basic data and the additional information are evaluated in order to determine a current overall condition, with an assessment being carried out depending on the determined current overall condition as to whether a given current driving strategy is to be continued unchanged or another one based on the current overall condition. Condition adapted driving strategy is to be executed (S2). Procedure according to Claim 8 , wherein if an adapted driving strategy is to be carried out, a driving strategy adapted to the current overall condition is determined and executed and / or information is output inside the means of transport and / or outside the means of transport and / or to other means of transport and / or is output to an external device (S3). Procedure according to Claim 8 or 9 , Additional information comprising at least one of the following enumeration or a combination thereof: - A detection of acoustic and / or optical signals of the environment of the means of transport, - A detection of shocks, vibrations, acceleration to detect bumps on a road and or at least parts of the Chassis, - A detection of a force absorption at predetermined points on the means of transport, - A detection of a temperature at predetermined points in the means of transport, - A detection of smoke and / or gas and / or pollutants, - A detection of fill levels, - A detection of a surface Condition, contamination and / or cloudiness of air, further predetermined external signals to be observed outside the means of transport.

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