DE102019007494A1 - Method for determining a wheel-saving wheel trajectory for a vehicle, control device and vehicle - Google Patents

Abstract

The invention relates to a method for determining a wheel-saving vehicle trajectory (1), in particular four wheel trajectories (3), for a vehicle (5), preferably an autonomously driving vehicle, the following method steps being carried out: a) Checking whether a predeterminable vehicle trajectory (1 ) has driving on an offset lane (7), in particular a curb (9), this checking being carried out by comparing a surrounding road surface contour of the surroundings (11) of the vehicle (5) with the predetermined vehicle trajectory (1) predeterminable vehicle trajectory (1) has a lane offset (7), the method is continued with method step b), wherein, if the predefinable vehicle trajectory (1) has no lane offset (7), the method is continued by repeating method step a), b) Determination of an optimal vehicle trajectory (1) in such a way that when driving onto the lane offset (7) an angle between a longitudinal direction of one of the two front wheels and / or one of the two rear wheels and the lane offset (7) is at least 45 °, preferably at least 60 °, particularly preferably at least 75 °, particularly preferably at least 85 °, andc) providing the certain optimal vehicle trajectory (1).

Description

The invention relates to a method for determining a wheel-saving vehicle trajectory for a vehicle, a control device and a vehicle.

• - Mitbenutzung des Fußgängerwegs als Fahrweg durch eine Fahrspurverengung,
• - Einparkvorgang, wobei die Räder einer Seite des Fahrzeugs auf einem breiten Gehweg abgestellt werden müssen.

In road traffic situations can arise in which extremely high loads are exerted on a wheel, and in particular on a tire of the wheel. A typical scenario for this is crossing a curb. Two scenarios can be mentioned as examples:

• - Shared use of the pedestrian path as a route through a narrowing of the lane,
• - Parking process, whereby the wheels on one side of the vehicle must be parked on a wide sidewalk.

All passengers, and in particular the driver of a vehicle, have a particular interest in reducing wear and tear and possibly resulting damage to the wheels or tires of the vehicle to a minimum. In addition to the obvious consequences of excessive wear and / or damage, such as too short a running time and correspondingly higher costs, in particular maintenance costs, there is in particular the risk of damage to the wheel, especially the tire, but also the rim, that the tire is irreversible is damaged and can burst accordingly in the event of a subsequent high load. But the rim could also be damaged and break under high stress. In addition, it is also possible that not only the wheel but also the vehicle, in particular a track of the vehicle or a steering linkage of the vehicle, is distorted and / or damaged.

As a result, the vehicle safety of a vehicle is considerably impaired, in particular at high speeds. In addition, rim scratches are to be avoided purely for cosmetic and cost reasons. Unfortunately, it can be observed in everyday road traffic that the high sensitivity of the wheel and its components as well as the corresponding components in the vehicle is not known to the same extent by all road users. When the vehicle is parked, it can often be observed that the tires are squashed directly against the curb.

However, with regard to autonomously driving vehicles, there is also a need to provide a method and / or a control device which enables the wheel and its components to be handled with particular care.

The German Offenlegungsschrift DE 10 2014 006 546 A1 A motor vehicle can be seen, comprising a driver assistance system for determining curbs in the area around the vehicle and for issuing a warning or for carrying out a longitudinal or lateral guidance intervention, the driver assistance system at least one camera for recording images of the vehicle surroundings and a control device for evaluating the images Determination of any curb shown in the image, wherein the control device is assigned a memory with stored therein, different curb types showing comparison images, the control device for classifying a curb determined in an image by comparing the image with a comparison image and for outputting the warning or for Implementation of the intervention is designed as a function of the classification result.

The invention is therefore based on the object of creating a method for determining a wheel-conserving vehicle trajectory for a vehicle, a control device and a vehicle, the disadvantages mentioned not occurring.

The object is achieved in that the present technical teaching is provided, in particular the teaching of the independent claims and of the preferred embodiments and exemplary embodiments disclosed in the dependent claims and the description.

1. a) Prüfen, ob eine vorgebbare Fahrzeugtrajektorie eine Befahrung eines Fahrbahnversatzes, insbesondere eines Bordsteins, aufweist, wobei dieses Prüfen - vorzugsweise - mittels eines Vergleichs einer Umfeldstraßenoberflächenkontur der Umgebung des Fahrzeugs mit der vorgegebenen Fahrzeugtrajektorie ausgeführt wird, wobei die Umfeldstraßenoberflächenkontur vorzugsweise mittels einer Umfeldsensoreinrichtung bestimmt wird, wobei, falls die vorgebbare Fahrzeugtrajektorie - vorzugsweise für wenigstens ein Rad, insbesondere Radtrajektorie - einen Fahrbahnversatz aufweist, das Verfahren mit Verfahrensschritt b) fortgesetzt wird, wobei, falls die vorgebbare Fahrzeugtrajektorie keinen Fahrbahnversatz aufweist, das Verfahren durch Wiederholen des Verfahrensschritts a) fortgesetzt wird,
2. b) Bestimmen einer optimalen Fahrzeugtrajektorie derart, dass bei einem Auffahren auf den Fahrbahnversatz ein Winkel zwischen einer Längsrichtung von einem der beiden Vorderräder und/oder einem der beiden Hinterräder und dem Fahrbahnversatz mindestens 45°, bevorzugt mindestens 60°, besonders bevorzugt mindestens 75°, besonders bevorzugt mindestens 85°, beträgt, und
3. c) Bereitstellen der bestimmten optimalen Fahrzeugtrajektorie.

The object is achieved in particular by creating a method for determining a wheel-friendly vehicle trajectory, in particular four wheel trajectories, in particular for the rim and / or tires, for a vehicle, preferably an autonomously driving vehicle, the following method steps being carried out:

1. a) Check whether a predeterminable vehicle trajectory involves driving on a lane offset, in particular a curb, this checking - preferably - being carried out by comparing a surrounding road surface contour of the surroundings of the vehicle with the specified vehicle trajectory, the surrounding road surface contour preferably being determined by means of an environmental sensor device If the predeterminable vehicle trajectory - preferably for at least one wheel, in particular wheel trajectory - has a lane offset, the method is continued with method step b), wherein, if the predeterminable vehicle trajectory has no lane offset, the method is continued by repeating method step a) ,
2. b) Determining an optimal vehicle trajectory in such a way that when driving onto the lane offset, an angle between a longitudinal direction of one of the two front wheels and / or one of the two rear wheels and the lane offset is at least 45 °, preferably at least 60 °, particularly preferably at least 75 °, particularly preferably at least 85 °, and
3. c) Providing the determined optimal vehicle trajectory.

This makes it possible, in particular, for either a driver of a vehicle or an autonomously driving vehicle to be able to drive around construction sites, broken-down vehicles and / or other obstacles, such as lost cargo or a fallen tree, in a way that is gentle on the wheels. In such cases - in order to continue the journey - it is particularly necessary to be able to cross a curb, for example, in order to be able to continue the journey on the pedestrian path for a short time - at least with the wheels on one side of the vehicle - in order to ultimately avoid the obstacle to get around. It goes without saying that the pedestrian path must of course be free of other road users for this purpose, and if this is not the case, maintenance must be carried out accordingly.

A particular advantage of a wheel-friendly vehicle trajectory can also be seen in particular that the wheel-friendly vehicle trajectory also protects the tire and the rim, but also the curb and the occupants of the vehicle, in particular their nerves.

In connection with the present invention, the term “vehicle trajectory” but also the term “wheel trajectory” should be understood to mean a spatial path and the speed at each location of the spatial path for the corresponding components. When a “vehicle trajectory” is used in connection with the present invention, the “vehicle trajectory” is preferably the sum of all wheel trajectories of the wheels that the vehicle has. This can be taken into account in particular in the case of trucks with preferably twin tires and possibly with different track widths with a trailer or semitrailer that may be present. This also includes buses, in particular articulated buses, which accordingly do not only have four wheel trajectories. To simplify the statements made below, however, reference is only made to a simple vehicle, such as a car, for example.

Alternatively or additionally, it is preferably provided that the vehicle trajectory has at least four wheel trajectories, more precisely VR, VL, HR and HL, in order to be determined in the test according to method step a) by means of a comparison of the surrounding road surface contour of the surroundings of the vehicle with each individual wheel trajectory of the vehicle trajectory, whether, and preferably which, of the individual wheel trajectories of the vehicle trajectory has or includes driving on a road offset, in particular a curb.

In the context of the present invention, the term “lane offset” should be understood to mean an offset and / or edge in a lane section in front of the vehicle in the direction of travel, which is in an angular range of at least -45 ° to at most + 45 °, preferably at least -30 ° to a maximum of + 30 °, particularly preferably -15 ° to + 15 °, particularly preferably -7 ° to + 7 ° to the vehicle trajectory specified according to method step a), at least in some areas in relation to a lane width, a lane height difference of at least 1 cm, preferably of at least 2 cm, particularly preferably at least 5 cm. It is particularly preferred that the difference in roadway height is at most 25 cm, preferably at most 20 cm, particularly preferably at most 15 cm.

What is particularly advantageous about the aforementioned method is that in particular autonomous vehicles or a driver of a vehicle is enabled to drive over a lane offset, such as a curb, in a way that is gentle on wheels and tires, and is thus enabled to close bottlenecks pass and / or to move a vehicle into a parking position while protecting the wheels and tires. For a driver, this particularly addresses an assistance system which makes the driver of the vehicle aware of trajectories that damage wheels and tires and informs him accordingly of a trajectory that is particularly gentle on wheels and tires. In this context, however, a correspondingly arranged and set up parking system could also be addressed which, according to the current state of the art, often do not use optimal trajectories that are gentle on wheels and tires and / or the tires do not have full wheel tread floor contact in the parking position reached.

According to a development of the invention, it is provided that after method step c) the determined optimized vehicle trajectory is output to a driver of the vehicle, in particular acoustically and / or visually. It is particularly addressed here that if the system determines a trajectory that damages wheels and / or tires, a warning is issued to the driver of the vehicle, in particular acoustically and / or visually. This has the particular advantage that vehicle trajectories that are gentle on wheels and tires can also be used in vehicles that are driven by a driver.

According to a further development of the invention, it is provided that the vehicle is an autonomously driving vehicle, the specific optimized vehicle trajectory being transmitted to a control module, in particular an actuator system, such as steering, accelerator and braking, of the autonomously driving vehicle according to method step c). With regard to autonomous vehicles, it is provided in particular that a curb-access module is used to check whether a lane narrowing is in front of the vehicle in the vehicle's direction of travel and, if so, a corresponding adaptation of the speed is carried out and a method according to the invention is carried out becomes.

According to a further development of the invention it is provided that before method step b) in method step b0) a driver of the vehicle receives a message, in particular acoustically and / or visually, that a lane offset is to be driven over, which is why a speed reduction to a predefinable speed is necessary and / or is advantageous. This has the particular advantage that, in addition to a route over the lane offset that is particularly gentle on wheels and tires, a speed at which the lane offset is driven over can be made correspondingly low and thus less harmful.

Furthermore, it is preferably provided that the vehicle is an autonomously driving vehicle, wherein a planning module and / or an actuator system of the autonomously driving vehicle is instructed to reduce the speed to a predeterminable value if the predeterminable trajectory has a roadway offset in method step a). What is achieved hereby in particular is that a speed that is accordingly gentle on wheels and tires is used for driving over the lane offset, even in autonomous vehicles.

According to a further development of the invention it is provided that the vehicle is an autonomously driving vehicle, wherein in method step a) the predeterminable vehicle trajectory is specified by a planning module of the autonomously driving vehicle. It is provided in particular that the planning module has an internal map of the surroundings, in particular based on GPS data, a curb access module and a trajectory generator.

According to a further development of the invention it is provided that in method step b) it is additionally avoided that both wheels of an axle of the vehicle drive over the lane offset. In other words, a further criterion is included as a further criterion for method step b), taking into account in particular that not both wheels of an axle drive over a - specific - roadway offset. This ensures, in particular, that a road offset, such as a curb, is not unnecessarily driven over.

Furthermore, it is preferably provided that in method step b) it is additionally avoided that each wheel of the vehicle always has full tread floor contact during an overrun at no point in time or when it is reduced to a minimum. This in particular prevents the wheel, in particular the tire, from being damaged by partial tread load.

The object is also achieved in that a control device is created, the control device being set up to carry out a method according to the invention or a method according to one of the aforementioned embodiments. In connection with the control device, the advantages already explained in connection with the method are realized in particular.

The object is also achieved in particular by creating a vehicle having a control device according to the invention or having a control device according to the aforementioned exemplary embodiment as well as a surroundings sensor device, the surroundings sensor device being set up to determine a surrounding road surface contour. In connection with the vehicle, the advantages already explained in connection with the method or the control device are realized in particular.

According to a development of the invention it is provided that the environment sensor device has at least one environment sensor, the at least one environment sensor being selected from a group consisting of an optical sensor, in particular a camera, preferably a stereo camera, and lidar. This has the particular advantage that an environment sensor device that is optimally designed for the use provided for the vehicle can be created in a simple manner.

The invention is explained in more detail below with reference to the drawing.

• 1 eine schematische Darstellung eines Ablaufplans einer Ausführungsform des Verfahrens zur Bestimmung einer radschonenden Fahrzeugtrajektorie für ein Fahrzeug,
• 2 im linken Teilbild von 2 ein Bild eines optischen Sensors und im rechten Teilbild von 2 ein mittels einer Umfeldsensoreinrichtung ermittelten und/oder berechneten Umfeldstraßenoberflächenkontur,
• 3 eine schematische Darstellung eines Ausführungsbeispiels eines Fahrzeugs,
• 4 in drei Teilbildern verschiedene Fahrzeugtrajektorien, wobei von den Varianten A, B, C die Variante B die vorliegend optimale Variante ist.

It shows:

• 1 a schematic representation of a flow chart of an embodiment of the method for determining a wheel-saving vehicle trajectory for a vehicle,
• 2 in the left part of 2 an image of an optical sensor and in the right partial image of 2 a surrounding road surface contour determined and / or calculated by means of a surroundings sensor device,
• 3 a schematic representation of an embodiment of a vehicle,
• 4th Different vehicle trajectories in three partial images, with variant B being the optimal variant of variants A, B, C.

1. a) Prüfen, ob eine vorgebbare Fahrzeugtrajektorie 1 eine Befahrung eines Fahrbahnversatzes 7, insbesondere eines Bordsteins 9, aufweist, wobei dieses Prüfen mittels eines Vergleichs einer Umfeldstraßenoberfläche der Umgebung 11 des Fahrzeugs 5 mit der vorgegebenen Fahrzeugtrajektorie 1 ausgeführt wird, wobei die Umfeldstraßenoberflächenkontur vorzugsweise mittels einer Umfeldsensoreinrichtung 13 bestimmt wird, wobei falls die vorgebbare Fahrzeugtrajektorie 1 für wenigstens ein Rad, insbesondere Radtrajektorie 3, einen Fahrbahnversatz 7 aufweist, das Verfahren mit Verfahrensschritt b) fortgesetzt wird, wobei, falls die vorgebbare Fahrzeugtrajektorie 1 keinen Fahrbahnversatz 7 aufweist, das Verfahren durch Wiederholen des Verfahrensschritts a) fortgesetzt wird,
2. b) Bestimmung einer optimalen Fahrzeugtrajektorie 1 derart, dass bei einem Auffahren auf den Fahrbahnversatz 7 ein Winkel zwischen der Längsrichtung von einem der beiden Vorderräder und/oder einem der beiden Hinterräder und dem Fahrbahnversatz 7 mindestens 45°, bevorzugt mindestens 60°, besonders bevorzugt mindestens 75°, besonders bevorzugt mindestens 85°, beträgt, und
3. c) Bereitstellen der bestimmten optimalen Fahrzeugtrajektorie 1.

Of the 1 is a schematic flow chart of a method for determining a wheel-saving vehicle trajectory 1 , in particular four wheel trajectories 3 , for a vehicle 5 , preferably an autonomously driving vehicle, with the following method steps being carried out:

1. a) Check whether a predeterminable vehicle trajectory 1 driving on a lane offset 7th , especially a curb 9 , wherein this checking by means of a comparison of a surrounding road surface of the surroundings 11 of the vehicle 5 with the given vehicle trajectory 1 is carried out, the surrounding road surface contour preferably by means of a surrounding area sensor device 13 is determined, the predeterminable vehicle trajectory if 1 for at least one wheel, in particular wheel trajectory 3 , a lane offset 7th has, the method is continued with method step b), wherein, if the predefinable vehicle trajectory 1 no lane offset 7th the process is continued by repeating process step a),
2. b) Determination of an optimal vehicle trajectory 1 in such a way that when driving onto the lane offset 7th an angle between the longitudinal direction of one of the two front wheels and / or one of the two rear wheels and the lane offset 7th at least 45 °, preferably at least 60 °, particularly preferably at least 75 °, particularly preferably at least 85 °, and
3. c) Providing the determined optimal vehicle trajectory 1 .

Furthermore, it is preferably provided that after method step c) the determined optimized vehicle trajectory 1 to a driver of the vehicle 5 is output, in particular acoustically and / or visually.

Furthermore, it is preferably provided that the vehicle 5 is an autonomously driving vehicle, with the determined optimized vehicle trajectory according to method step c) 1 is transmitted to a control module of the autonomously driving vehicle.

Furthermore, it is preferably provided that before method step b) in a method step b0) a driver of the vehicle 5 receives an indication, in particular acoustically and / or visually, that a lane offset 7th is to be driven over, which is why a speed reduction to a predefinable speed is necessary and / or advantageous.

In addition, it is preferably provided that the vehicle 5 is an autonomously driving vehicle, with the predeterminable vehicle trajectory in method step a) 1 is specified by a planning module of the autonomously driving vehicle.

In addition, it is preferably provided that in method step b) it is additionally avoided that both wheels of an axle of the vehicle 5 the lane offset 7th run over.

The partial figure A from 2 is an image of a stereo camera of an environment sensor device 13 to be found, where in part B of the 2 one of all by the environment sensor device 13 determined data is shown certain surrounding road surface contour. In particular, in part B of the 2 a determined and / or determined lane offset 7th shown which one due to a construction site 23 (shown in both partial figures) is to be driven over.

Of the 3 is a vehicle 5 to be taken, comprising a control device 15th as well as an environment sensor device 13 .

Furthermore, the 3 it can be seen that the environment sensor device 13 at least one environment sensor 17th , that is to say in particular two environment sensors, the at least one environment sensor 17th is selected from a group consisting of an optical sensor, in particular a camera, preferably a stereo camera 19th and lidar 21st .

Also the 4th is the respective three sub-figures A, B, C a construction site 23 can be seen, which results in a narrowing of the lane. The sub-figures A to C show three different variants of how a vehicle could avoid the given narrowing of the lane. In particular, the partial figure A can be seen that the wheel trajectory 3 of the right front wheel in part A would have a very unfavorable angle and this is done much better in parts B and C. In order to determine which of the variants from part B or C is the better, it is particularly important to observe the Wheel trajectory 3 of the front left wheel, the left wheel being a variant of C. also a lane offset 7th would have to drive over, which is why variant B is the optimal, i.e. the most wheel and tire-friendly variant for driving over the lane offset 7th is.

QUOTES INCLUDED IN THE DESCRIPTION

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Patent literature cited

• DE 102014006546 A1 [0006]

Claims (9)

Method for determining a wheel-saving vehicle trajectory (1), in particular four wheel trajectories (3), for a vehicle (5), preferably an autonomously driving vehicle, the following method steps being carried out: a) Check whether a predeterminable vehicle trajectory (1) involves driving on a road offset (7), in particular a curb (9), this checking by means of a comparison of a surrounding road surface contour of the surroundings (11) of the vehicle (5) with the predetermined vehicle trajectory (1) is carried out, wherein, if the predeterminable vehicle trajectory (1) has a lane offset (7), the method is continued with method step b), and if the predefinable vehicle trajectory (1) has no lane offset (7), the method is carried out Repeating process step a) is continued, b) Determination of an optimal vehicle trajectory (1) in such a way that when driving onto the lane offset (7) an angle between a longitudinal direction of one of the two front wheels and / or one of the two rear wheels and the lane offset (7) is at least 45 °, preferably at least 60 °, particularly preferably at least 75 °, particularly preferably at least 85 °, and c) providing the determined optimal vehicle trajectory (1). Procedure according to Claim 1 , characterized in that, after method step c), the specific optimized vehicle trajectory (1) is output to a driver of the vehicle (5), in particular acoustically and / or visually. Procedure according to Claim 1 or 2 , characterized in that the vehicle (5) is an autonomously driving vehicle, wherein according to method step c) the determined optimized vehicle trajectory (1) is transmitted to a control module of the autonomously driving vehicle. Method according to one of the preceding claims, characterized in that before method step b) in a method step b0) a driver of the vehicle (5) receives an indication, in particular acoustically and / or visually, that a lane offset (7) is to be driven over, which is why a speed reduction to a predefinable speed is necessary and / or advantageous. Method according to one of the preceding claims, characterized in that the vehicle (5) is an autonomously driving vehicle, wherein in method step a) the predeterminable vehicle trajectory (1) is specified by a planning module of the autonomously driving vehicle. Method according to one of the preceding claims, characterized in that in method step b) it is additionally avoided that both wheels of an axle of the vehicle (5) drive over the lane offset (7). Control device (15), wherein the control device (15) is set up to carry out a method according to one of the preceding claims. Vehicle (5), having a control device (15) according to Claim 7 as well as a surroundings sensor device (13), the surroundings sensor device (13) being set up to determine a surrounding road surface contour. Vehicle (5) after Claim 8 , characterized in that the environment sensor device (13) has at least one environment sensor (17), the at least one environment sensor (17) being selected from a group consisting of an optical sensor, in particular a camera, preferably a stereo camera (19), and a lidar (21) .

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