DE102019005491A1 - Method and driver assistance system for preventing a collision of a tire of a vehicle, in particular an omnibus, with a low obstacle to be driven over - Google Patents

Abstract

The invention relates to a method for preventing a collision of a tire of a vehicle, in particular a bus, with a low obstacle (23) to be driven over, in which the obstacle (23) is detected by the vehicle (1) and a collision course of the tire ( 11) is monitored with the obstacle (23), a warning signal being output when a collision course is determined. In a method that can be implemented inexpensively and nevertheless works reliably, an orientation of the vehicle (1) in relation to the obstacle (23) is calculated after detection of the obstacle (23) and a prediction is made as to whether the at least one tire (11 ) and / or at least one vehicle axis are on a collision course with the obstacle (23) and, if the collision course and critical time-to-collision are detected, a trajectory (15) of the vehicle (1) is calculated, which the vehicle (1) is still along the obstacle (23) leads, the warning being output if the calculated trajectory (15) is exceeded.

Description

The invention relates to a method for preventing a collision of a tire of a vehicle, in particular a bus, with a low obstacle to be driven over, in which the obstacle is detected by the vehicle and a collision course of the tire with the obstacle is monitored, with the detection of a collision course a warning signal is output, and a driver assistance system for performing the method.

Vehicles that drive in inner-city areas are often confronted with narrow roads and curves. City buses, in particular, also have to regularly stop at stops, sidewalks and / or curbs to allow passengers to get on and off. Due to the vehicle geometry, for example in the form of a vehicle with or without a trailer or rear car, and the street architecture, the driver may accidentally rub the curb with the front tire in order to get as close to it as possible and have a barrier-free entry - To enable and disembark passengers or drive with the or one of the rear tires over the curb, which is the case when cornering with a large steering angle. Both scenarios result in excessive tire wear and reduced driving comfort.

From the DE 10 2013 019 371 A1 a method for operating a driver assistance system for protecting a motor vehicle against damage during a maneuvering operation is known. If a collision risk value that meets a warning criterion for at least one wheel of the motor vehicle is present, warning information is output to the driver. Depending on a current steering angle, a future driving hose of the vehicle that exists when this steering angle is observed is determined and reproduced as a display element in a representation that also includes an environment of the motor vehicle, the warning information being at least partially integrated into the representation element of the driving hose. With the environmental information, curbs are monitored and it is determined whether a collision between the wheels of the vehicle and the curb can occur at the given steering angle. However, this proposed solution expects a corresponding reaction from the driver.

The object of the invention is to provide a method and a driver assistance system in which the collision of a tire of the vehicle with an obstacle is reliably avoided without a driver having to intervene.

The invention results from the features of the independent claims. Advantageous further developments and refinements are the subject of the dependent claims. Further features, possible applications and advantages of the invention result from the following description and the explanation of exemplary embodiments of the invention, which are shown in the figures.

The object is achieved with a method in that after the detection of the obstacle an orientation of the vehicle in relation to the obstacle is calculated and a prediction is made as to whether the at least one tire and / or at least one vehicle axis are on a collision course with the obstacle and at detected collision course and critical time-to-collision, a trajectory of the vehicle is calculated which leads the vehicle parallel to the obstacle, the warning being output if the calculated trajectory is exceeded. This has the advantage that, by preventing the tire from touching the obstacle, the tire is protected and thus tire wear is reduced, which saves the operator and operator time and costs. Driving comfort for drivers and passengers is also increased if the obstacle is not touched or run over. The prevention of touching or driving over the obstacle prevents strong impulses that are directed into the vehicle, which can cause people standing in the bus to fall. At the same time, the road infrastructure is protected because these obstacles, such as curbs, do not have to be renewed as quickly.

Advantageously, the continuous calculation and check whether the at least one tire and / or at least one vehicle axis are on a collision course with the obstacle is carried out by means of odometry. Odometry is a method of estimating the position and orientation of a vehicle based on the data from the tunneling system. This makes it easy to determine the collision course.

In one embodiment, a curb is detected as a low obstacle to be driven over. This curb must be approached by buses in such a way that it is possible for passengers to get in and out of the vehicle without obstacles, and on the other hand the flow of passengers when getting in and out should not be influenced by gaps between the vehicle and the curb that are too large, so that wheelchairs too , Strollers and the like can be easily transported from the bus to the sidewalk and back.

In one variant, if the calculated trajectory is exceeded, there is a warning automatic brake intervention and / or an automatic steering intervention. This supports the driver in his driving task and his stress level drops, especially in inner-city traffic.

In one embodiment, the steering intervention is carried out by a counter-steering torque on the steering wheel, in which the vehicle is kept at a minimum distance from the obstacle. This ensures that the vehicle can always be driven parallel to the obstacle and parked with it.

After the vehicle has reached the minimum distance to the obstacle, it is advantageously carried out by a transverse guide for parallel travel to the obstacle. The vehicle is actively kept at this distance after reaching the minimum distance from the curb. It is therefore not guided in the middle of the track, but the track guidance can be set using this minimal distance.

In an embodiment with active transverse guidance, the transverse guidance is designed so that it can be switched off. This shutdown takes place, for example, when oversteering, when the vehicle accelerates or when a vehicle door is opened.

In order to set a precise distance between the vehicle and the curb, the trajectory is determined and monitored for one or all tires of the multi-axle vehicle. As a result, the method can also be used for double-articulated buses or for combining a bus / articulated bus with a passenger trailer.

• - eine Fahrzeugsensorik zur Erfassung und Überwachung eines niedrigen, zu überfahrenden Hindernisses, insbesondere eines Bordsteines,
• - eine Recheneinheit zur Bestimmung einer Ausrichtung des Fahrzeuges in Relation zu dem Hindernis,
• - eine Odometrie-Schätzeinheit zur kontinuierlichen Berechnung und Überprüfung der Eigenbewegung, und Berechnung und Überprüfung, ob sich zumindest ein Reifen und/oder zumindest eine Fahrzeugachse des mehrachsigen Fahrzeuges auf einem Kollisionskurs mit dem Hindernis befinden,
• - eine Trajektorie-Berechnungseinheit, die bei erkanntem Kollisionskurs und kritischer Time-to-Collision eine Trajektorie zur Führung des Fahrzeuges parallel zum Hindernis bestimmt und
• - eine Warneinrichtung, die bei Überschreitung der errechneten Trajektorie eine Warnung ausgibt, wobei die Recheneinheit einen automatischen Eingriff und/oder einen automatischen Lenkeingriff veranlasst.

In a further embodiment, the warning is given optically and / or haptically and / or acoustically. On the basis of these various warning systems, the driver is reliably informed that the trajectory has been exceeded and thus that the obstacle has been touched.
A development of the invention relates to a driver assistance system for preventing a collision of a tire of a vehicle, in particular an omnibus, with a low obstacle to be driven over. This driver assistance system includes:

• a vehicle sensor system for detecting and monitoring a low obstacle to be driven over, in particular a curb,
• a computing unit for determining an orientation of the vehicle in relation to the obstacle,
• an odometry estimation unit for continuously calculating and checking the own movement, and calculating and checking whether at least one tire and / or at least one vehicle axis of the multi-axis vehicle is on a collision course with the obstacle,
• - A trajectory calculation unit, which determines a trajectory for guiding the vehicle parallel to the obstacle when a collision course is detected and a critical time-to-collision occurs
• - A warning device that issues a warning if the calculated trajectory is exceeded, the computing unit initiating an automatic intervention and / or an automatic steering intervention.

The implementation of such a driver assistance system enables the sensor system to be adopted by other assistance systems, which reduces the costs for the driver assistance system. At the same time, driving comfort for drivers and passengers is increased if the obstacle is not touched or run over.

Further advantages, features and details result from the following description, in which - if necessary with reference to the drawing - at least one exemplary embodiment is described in detail. Described and / or illustrated features can form the subject matter of the invention individually or in any meaningful combination, possibly also independently of the claims, and can in particular also be the subject of one or more separate applications. Identical, similar and / or functionally identical parts are provided with the same reference symbols.

• 1 ein Ausführungsbeispiel des erfindungsgemäßen Fahrzeuges mit dem Fahrerassistenzsystem,
• 2 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens.

Show it:

• 1 an embodiment of the vehicle according to the invention with the driver assistance system,
• 2nd an embodiment of the method according to the invention.

In 1 is an embodiment of a vehicle in the form of a bus 1 with a driver assistance system according to the invention 3rd shown. The driver assistance system 3rd includes a vehicle sensor system, for example in the form of a camera 5 which on the outside of the bus 1 is attached and the area surrounding the bus 1 regarding a curb 23 supervised. This monitoring takes place in particular whenever the bus 1 starts a stop. The vehicle sensors 5 is with an arithmetic unit 7 connected to determine an orientation of the omnibus 1 in relation to the curb 23 is trained. The from this computing unit 7 certain data are an odometry estimation unit 9 fed to the continuous calculation and review of the data whether at least one tire 11 and / or at least one vehicle axle of the multi-axle bus 1 on a collision course with the curb 23 are located. This forecast is for all vehicle axles or tires 11 of the omnibus 1 continuously calculated.

If one of the tires 11 of the omnibus 1 is on a collision course and time-to-collision (TTC) becomes critical, becomes a trajectory 15 of the omnibus 1 calculated which the omnibus 1 still parallel to the curb 23 leads and thus avoids a collision ( 2nd ). Is used by the trajectory calculation unit 13 but found that the collision course has been exceeded and there is a risk that the omnibus 1 with at least one tire 11 the curb 23 is touched, an optical, haptic and / or acoustic warning unit 17th driven to warn the driver. The warning warns the driver that he is about to collide with the curb 23 stands. The driver can then countersteer in time to avoid the collision.

Analogous to the warning, the trajectory calculation unit can 13 automatically a brake actuator 19th to cause a brake intervention, which is a kind of emergency braking assistance for curbs 23 represents. If the trajectory is exceeded 15 towards the curb 23 is counter steering torque on the steering wheel in a steering of the bus 1 intervened. This is done by one of the trajectory calculation unit 13 controlled steering actuator 21 . Leaving this trajectory 15 in the direction of the road axis is possible at any time. The driver assistance system 3rd in the event of an intervention then ensures that the omnibus 1 with a minimum distance to the curb 23 drives and the curb 23 not touched. As soon as the omnibus 1 the minimum distance to the curb 23 reached, this is also automatically kept at this distance, ie not only is a counter-steering torque set to avoid the collision, but a lateral guidance of the bus is also carried out 1 for a parallel drive to the curb 23 .

Furthermore, various options for using the driver assistance system when approaching a stop are to be considered. The driver steers the bus 1 into a stop and becomes a trajectory 15 of the front tire 11 along the curb 23 calculates which of the omnibus 1 a warning is triggered if the driver steers too far. This warning is given by a warning light, the vibration of a seat and / or by the issuing of a warning tone.

The driver steers the bus 1 in another example in a stop, the trajectory is also 15 of the front tire 11 along the curb 23 calculates which of the omnibus 1 must not exceed. If the driver steers too far, the bus will 1 braked.

The driver steers the bus 1 into a stop and becomes a trajectory 15 of the front tire 11 along the curb 23 calculates which of the omnibus 1 must not be exceeded if the driver steers too far. As soon as the omnibus 1 the optimal stopping distance to the curb 23 reached, the distance can be frozen and the bus 1 takes over the entire lateral guidance, so that the distance between the bus 1 and curb 23 remains constant. If the omnibus 1 wants to leave again, this intention is recognized. By opening a door or accelerating the bus 1 the system-controlled lateral guidance is canceled.

The driver steers the bus 1 around a tight curve becomes a trajectory for all axles, including the rear axle 15 along the curb 23 calculates which of the omnibus 1 must not exceed. If the driver's steering lock is too great and there is a danger, the curb with the rear tire 23 To drive over, a warning, a brake intervention or a steering intervention is triggered analogously to the examples made in order to drive over the curb 23 to prevent.

Although the invention has been illustrated and explained in detail by means of preferred exemplary embodiments, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by a person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that there are a variety of possible variations. It is also clear that exemplary embodiments are only examples that are not to be interpreted in any way as a limitation of the scope, the possible applications or the configuration of the invention. Rather, the preceding description and the description of the figures enable the person skilled in the art to specifically implement the exemplary embodiments, the person skilled in the art having knowledge of the disclosed inventive concept being able to make numerous changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without the To leave the scope of protection, which is defined by the claims and their legal equivalents, such as further explanations in the description.

Reference list

1

omnibus

3rd

Driver assistance system

5

camera

7

Arithmetic unit

9

Odometry estimation unit

11

tires

13

Trajectory calculation unit

15

Trajectory

17th

Warning unit

19th

Brake actuator

21

Steering actuator

23

Curbside

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• DE 102013019371 A1 [0003]

Claims (10)

Method for preventing a collision of a tire of a vehicle, in particular a bus, with a low obstacle (23) to be driven over, in which the obstacle (23) is detected by the vehicle (1) and a collision course of the tire (11) with the Obstacle (23) is monitored, a warning signal being output when a collision course is determined, characterized in that after the detection of the obstacle (23) an orientation of the vehicle (1) in relation to the obstacle (23) is calculated and a prediction is made, whether the at least one tire (11) and / or at least one vehicle axis are on a collision course with the obstacle (23) and if the collision course and critical time-to-collision are detected, a trajectory (15) of the vehicle (1) is calculated, which Vehicle (1) still leads along the obstacle (23), the warning being output if the calculated trajectory (15) is exceeded. Procedure according to Claim 1 , characterized in that the continuous calculation and checking whether the at least one tire (11) and / or at least one vehicle axis are on a collision course with the obstacle (23) is carried out by means of odometry. Procedure according to Claim 1 or 2nd , characterized in that a curb (23) is detected as a low obstacle to be driven over. Procedure according to Claim 1 , 2nd , 3rd characterized in that when the calculated trajectory (15) is exceeded, in addition to the warning, an automatic brake intervention and / or an automatic steering intervention takes place. Procedure according to Claim 4 , characterized in that the steering intervention is carried out by a counter-steering torque on the steering wheel, in which the vehicle (1) is kept at a minimum distance from the obstacle (23). Procedure according to Claim 4 and 5 , characterized in that after the minimum distance to the obstacle (23) has been reached by the vehicle (1), takeover by transverse guidance for parallel travel to the obstacle (23). Procedure according to Claim 6 , characterized in that the transverse guide is designed to be switched off. Method according to at least one of the preceding claims, characterized in that the trajectory (15) for one or all tires (11) of the multi-axle vehicle (1) is determined and monitored. Method according to at least one of the preceding claims, characterized in that the warning is given optically and / or haptically and / or acoustically. Driver assistance system for preventing a collision of a tire of a vehicle, in particular an omnibus, with a low obstacle to be driven over, comprising a vehicle sensor system (5) for detecting and monitoring the low obstacle (23) to be driven over, in particular a curb, - a computing unit (7) for determining an orientation of the vehicle (1) in relation to the obstacle (23), - An odometry estimation unit (9) for continuously calculating and checking the own movement, and calculating and checking whether at least one tire (11) and / or at least one vehicle axis of the multi-axis vehicle (1) is on a collision course with the obstacle (23) are located, - A trajectory calculation unit (13) which determines a trajectory (15) for guiding the vehicle (1) parallel to the obstacle (23) when a collision course is detected and a critical time-to-collision occurs - A warning device (17) which issues a warning when the calculated trajectory (15) is exceeded, the computing unit (7) initiating an automatic brake intervention and / or an automatic steering intervention.

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