DE102019135767A1 - Sensor arrangement - Google Patents

Abstract

The invention relates to a sensor arrangement (100) for a driver assistance system, in particular a lane departure warning system, of a vehicle (1), preferably a highly automated or autonomously driving vehicle (1), comprising: at least one tire pressure sensor (RDS) for at least one wheel (10) of the vehicle (1) and a, in particular central, control unit (20), the at least one tire pressure sensor (RDS) being designed to accelerate (a) the at least one wheel (10), in particular accelerate (ay) the at least one wheel ( 10) in the vehicle transverse direction (y) and / or an acceleration (az) of the at least one wheel (10) in the vehicle vertical direction (z), and wherein the control unit (20) is designed to carry out a target acceleration (a *) of the at least one wheel (10) as a function of a steering direction and / or of a steering angle (W) of the vehicle (1) and with the detected acceleration (a) of the at least one wheel (10) to be compared in order to determine an unstable driving state as a function of the comparison.

Description

The invention relates to a sensor arrangement with at least one tire pressure sensor according to the independent device claim. In addition, the invention relates to the uses of the sensor arrangement according to the independent use claims. The invention also relates to a method for operating such a sensor arrangement according to the independent method claim.

Tire pressure sensors are generally known. They are used to monitor the tire pressure of a vehicle wheel. The tire pressure sensors send their measurements, for example by radio, to a central control unit which can analyze the measurements and issue a warning if the tire pressure is not correct. The control unit can basically be arranged anywhere in the vehicle.

Known tire pressure sensors send their measurements in connection with an identification code of the sensor. The control unit must be able to assign the respective identification code to a specific vehicle wheel in order to relate the position of the vehicle wheel to the measurement.

The position of the tire pressure sensors on the vehicle can be assigned in a special preparation process. The control unit can query the codes of each tire pressure sensor in a defined sequence. This preparation process can take a certain amount of time. In addition, the preparation process must be repeated every time you change tires. If the driver forgets to carry out the preparation process after changing a tire, there is a risk that the positions of the vehicle wheels will not be correct and the measurements will be assigned incorrectly.

Other methods are known which automatically assign the position of the tire pressure sensors to the vehicle. For this purpose, additional sensors are mostly used, which, for example, measure the acceleration, in particular the centripetal acceleration, of the vehicle wheels and can differentiate the positions of the tire pressure sensors on the basis of the acceleration values. However, such methods usually require expensive acceleration sensors.

Known sensor arrangements with tire pressure sensors also have limited functionality, which depend on the assignment of the position of the tire pressure sensors on the vehicle and which are designed only for measuring the tire pressure.

The invention is therefore based on the object of providing an improved sensor arrangement with at least one tire pressure sensor. In particular, it is the object of the invention to provide a sensor arrangement with at least one tire pressure sensor, which is simple in design, which can autonomously assign the position of the tire pressure sensors on the vehicle and which has an expanded functionality. It is also the output of the invention to provide advantageous uses of the sensor arrangement. It is also the object of the invention to enable an improved method for operating such a sensor arrangement.

The object of the invention is achieved by a sensor arrangement with at least one tire pressure sensor according to the independent device claim, by the uses of the sensor arrangement according to the independent usage claims and by a method for operating such a sensor arrangement according to the independent method claim.

Further features and details of the invention emerge from the respective subclaims, the description and the drawings. Features and details that are described in connection with the door handle according to the invention and / or with the handle arrangement according to the invention apply, of course also in connection with the method according to the invention, and vice versa, so that with respect to the disclosure of the individual aspects of the invention, reference is always made to one another or respectively . can be.

The object described above is achieved by a sensor arrangement for a driver assistance system, in particular a lane departure warning system, of a vehicle, preferably a highly automated or autonomously driving vehicle, for example a motor vehicle, a hybrid vehicle or an electric vehicle, comprising: at least one tire pressure sensor for at least one wheel of the vehicle and a, in particular central, control unit, which can preferably be arranged at any suitable point in the vehicle, the at least one tire pressure sensor being designed to accelerate the at least one wheel, in particular to accelerate the at least one wheel in the transverse direction of the vehicle and / or an acceleration of the at least one wheel in the vertical direction of the vehicle, and possibly a temperature of the at least one wheel, and wherein the control unit is designed to determine a target acceleration of the at least one wheel in dep dependence to a steering direction / or of the steering wheel and a steering angle or position of the vehicle and, if a target temperature of the at least one wheel calculate and compare with the detected acceleration of the at least one wheel and possibly the temperature of the at least one wheel in order to determine an unstable driving state as a function of the comparison.

Within the scope of the sensor arrangement according to the invention, at least one or more tire pressure sensors can advantageously be used. It is conceivable within the scope of the invention that the sensor arrangement can have a tire pressure sensor for each wheel of the vehicle. All tire pressure sensors can be designed to detect an acceleration of the associated wheel, in particular an acceleration of the associated wheel in the transverse direction of the vehicle and / or an acceleration of the associated wheel in the vertical direction of the vehicle, and possibly the temperature of the associated wheel. Gyroscopic sensors, for example, can be used as tire pressure sensors.

The control unit can act as a central control unit for the at least one or for all tire pressure sensors, i. H. for the sensor arrangement and / or for a driver assistance system, in particular a lane departure warning system. In addition, it is conceivable that the control unit can be integrated in a central control unit of the vehicle or can be connected to it.

The invention recognizes that the tire pressure sensors can detect not only the tire pressure, but also the temperature and / or the acceleration (different measured values), so that, for example, exactly one wheel load (connected, for example, to the temperature of the at least one wheel), a wheel load (connected e.g. to the acceleration of the at least one wheel in the vehicle vertical direction) and / or a change of direction (connected e.g. to the acceleration of the at least one wheel in the vehicle transverse direction) is detected quickly, in particular within a few milliseconds can be.

A quick detection of a change in direction of travel can be advantageous in the case of a lane departure warning system. This applies not only in curves, but for all deviations from the theoretical route of the vehicle. The different measured values are compared in the control unit with the steering wheel position, calculated and, if necessary (if there is no preprogrammed change in direction of travel), the corresponding countermeasures, in particular including a correction of a direction of travel and / or a targeted braking of the at least one wheel, are immediately derived and initiated. The countermeasures can advantageously be carried out within a few milliseconds.

A rapid detection of a wheel load, a lateral acceleration and / or a wheel load can be advantageous in the case of an assignment of the position of the tire pressure sensors on the vehicle (so-called location of the vehicle wheels). Thus, additional expensive sensors, such as. B. acceleration sensors avoided. From the pull of the different measured values of the at least one or more tire pressure sensors, not only the tire pressure (by direct measurement) is obtained, but also the position of the wheel on the vehicle (using a conversion). Certain defined principles or principles can be used for the conversion. E.g. can be determined that the left front wheel is the most stressed and therefore the most heated in a left turn. Furthermore, it can be determined that the leftmost front wheel experiences the highest acceleration in the vehicle transverse direction (due to the greatest centrifugal force) and / or the highest acceleration in the vehicle vertical direction (due to the smallest wheel load). In addition, a principle is conceivable that the wheels on a drive axle follow the steering direction of the vehicle the most. The principles can be combined with one another in an advantageous manner within the scope of the invention. The individual different measured values can also be scaled to each other. In this way, the different measured values can deliver the exact position of the wheel on the vehicle even for a single wheel.

With the aid of the invention, new functions can be integrated into existing and / or retrofittable tire pressure sensors. An increase in safety can be achieved in the context of driver assistance systems, in particular a lane departure warning system, of a vehicle, preferably a highly automated or autonomously driving vehicle, for example a motor vehicle, a hybrid vehicle or an electric vehicle. Unstable driving conditions can advantageously be corrected in a few milliseconds. In addition, there is a significant increase in comfort because the ride is softer overall and because fewer shocks will be felt.

Furthermore, the invention can provide in a sensor arrangement that the control unit is designed to obtain a speed of the vehicle, in particular to actively query it, and to take it into account when calculating the target acceleration of the at least one wheel. With this data, a desired driving maneuver can be determined depending on the speed of the vehicle. For each driving maneuver, certain measured values (including, among other things, the target acceleration) of the at least one or expected from the multiple tire pressure sensors. The established principles can be expanded and / or specified by taking into account the speed of the vehicle. This means that not only the position of the respective wheel or wheels, but also the smallest deviation from the expected measured values can be precisely recognized. Any deviation from the expected measured values can mean an unstable driving condition and can be corrected as quickly as possible. For this purpose, the sensor unit can initiate and / or interrupt stabilizing measures, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel, in order to stabilize the determined unstable driving state.

Furthermore, in the case of a sensor arrangement, the invention can provide that the control unit is designed to take a stabilizing measure, in particular comprising a correction of a direction of travel and / or depending on the comparison, in particular in the event of a deviation, the calculated target acceleration and the detected acceleration of the at least one wheel. or a targeted braking of the at least one wheel to be carried out and / or maintained in order to stabilize the determined unstable driving state. In the event of a strong cross wind (overtaking trucks, on bridges, on open routes, etc.) or in aquaplaning, the vehicle often leaves the calculated theoretical lane. The stabilization of the driving maneuver and the return to the lane can be carried out very quickly, imperceptibly for the driver, using the invention. The driver does not have to steer or adjust the vehicle control. Driving comfort can thus be increased considerably.

Furthermore, it is conceivable within the scope of the invention that a stabilizing measure is only initiated when the vehicle is moving at a sufficient speed that is greater than a certain minimum value, for example in order not to disrupt a maneuvering process of the vehicle.

In addition, it is conceivable within the scope of the invention that a stabilizing measure is carried out with increasing speed of the vehicle with a decreasing strength. At high speeds, a small correction of the direction of travel may already be sufficient to enable the driver to return to the lane, while at lower speeds, more extensive corrections, for example braking the wheels more strongly, may be necessary in order to stabilize the driving maneuver.

In addition, the invention can provide in a sensor arrangement that the sensor arrangement has a tire pressure sensor for each wheel of the vehicle. This means that a complete package of tire pressure sensors can be provided.

In addition, in a sensor arrangement, the invention can provide that the control unit is designed to automatically locate the wheels, in particular a left wheel or a right wheel, preferably a front wheel, as a function of the comparison of the calculated target acceleration and the detected acceleration of the wheels or a rear wheel, preferably a wheel on the drive axle of the vehicle. Knowing different measurement values from tire pressure sensors of all vehicle wheels can provide an exact picture of the positions of the vehicle wheels. A left wheel and a right wheel can be easily distinguished on the basis of accelerations in the vehicle transverse direction and / or in the vehicle vertical direction if the steering angle or the steering wheel position is known. A principle can be determined in such a way that the wheels on the inside of the curve are accelerated less (in the vehicle transverse direction and / or in the vehicle vertical direction) than the wheels on the outside of the curve. When driving to the left, due to the centrifugal force, the right wheel is accelerated and / or canceled more strongly than the left wheel in the opposite direction, i.e. to the right. When driving to the right, due to the centrifugal force, the left wheel is accelerated and / or canceled more than the right wheel in the opposite direction, i.e. to the left. The front wheels are usually accelerated more when cornering (in the vehicle transverse direction and / or in the vehicle vertical direction) than the rear wheels. The reverse is true of the temperature of the wheels. The wheels on the inside of the curve are stressed more and thus warmed more than the wheels on the outside of the curve. The front wheels are generally warmed more when cornering than the rear wheels. The front wheels and the rear wheels can be easily distinguished if it is known which wheels belong to the drive axle and which wheels follow the steering angle the most. The different temperature increase or the different acceleration in the transverse direction of the vehicle and / or in the vertical direction of the vehicle or the different offspring corresponding to the steering angle on the different wheels can thus serve to clearly locate different wheels of the vehicle. Together, the different measured values on different wheels can enable an improved location of the wheels without additional sensors.

The at least one tire pressure sensor can advantageously be designed in the form of a gyroscopic sensor. Such sensors have an improved sensitivity and improved resolution in different directions. With the help of gyroscopic sensors, the accelerations in the transverse direction of the vehicle and / or in the vertical direction of the vehicle can thus take place with high sensitivity and high resolution.

Furthermore, the invention can provide in a sensor arrangement that the at least one tire pressure sensor has a transmission unit in order to send the detected acceleration of the at least one wheel and in particular an individual identification code to the control unit. The tire pressure sensors can thus be designed autonomously and communicate with the control unit independently of one another. It is also conceivable that the transmission unit can transmit a signal, in particular a radio signal, preferably a radio signal in the low-frequency range. With the help of radio signals, certain transmission frequencies can be used to communicate with the control unit. With the help of radio signals in the low frequency range, frequency bands can be used that do not interfere with further communications inside and outside the vehicle.

Furthermore, the invention can provide in a sensor arrangement that the at least one tire pressure sensor has its own energy supply unit. The at least one tire pressure sensor can thus be operated autonomously.

The invention advantageously provides for the use of a sensor arrangement, which can be configured as described above, for a lane departure warning system of the vehicle.

According to a further advantage, the invention provides for the use of a sensor arrangement, which can be designed as described above, for automatic location (or for an automatic location system) of the wheels of the vehicle.

1. 1) Erfassen einer Beschleunigung des mindestens einen Rads, insbesondere einer Beschleunigung des mindestens einen Rads in die Fahrzeugquerrichtung und/oder einer Beschleunigung des mindestens einen Rads in die Fahrzeughochrichtung,
2. 2) Berechnen einer Sollbeschleunigung des mindestens einen Rads in Abhängigkeit von einer Lenkrichtung und/oder von einem Lenkwinkel des Fahrzeuges durch die Steuereinheit,
3. 3) Vergleichen der erfassten Beschleunigung des mindestens einen Rads mit der berechneten Sollbeschleunigung des mindestens einen Rads durch die Steuereinheit, um in Abhängigkeit von dem Vergleich einen instabilen Fahrzustand zu ermitteln.

Furthermore, the object according to the invention is achieved by a method for operating a sensor arrangement for a driver assistance system of a vehicle, which can be configured as described above, the sensor arrangement having the following elements: at least one tire pressure sensor for a wheel of the vehicle and a, in particular central, control unit , the method comprising the following steps:

1. 1) detecting an acceleration of the at least one wheel, in particular an acceleration of the at least one wheel in the transverse direction of the vehicle and / or an acceleration of the at least one wheel in the vertical direction of the vehicle,
2. 2) calculation of a target acceleration of the at least one wheel as a function of a steering direction and / or a steering angle of the vehicle by the control unit,
3. 3) comparing the detected acceleration of the at least one wheel with the calculated target acceleration of the at least one wheel by the control unit in order to determine an unstable driving state as a function of the comparison.

With the aid of the method according to the invention, the same advantages are achieved which were described above in connection with the sensor arrangement according to the invention. These advantages are referred to in full in the present case.

Advantageously, in the crotch 2nd ) the calculated target acceleration of the at least one wheel for the steering direction and / or for the steering angle of the vehicle is calculated as a function of a speed of the vehicle. In other words, in the crotch 2nd ) a desired driving maneuver can be determined as a function of a speed. With the help of the detected acceleration in the step 1 ) a quick comparison can be carried out as to whether the intended driving maneuver actually takes place or whether there is an unstable driving condition which can advantageously be corrected quickly in the sense of the invention.

Furthermore, in step 3rd ) the comparison is carried out by forming the difference between the detected acceleration of the at least one wheel and the calculated target acceleration of the at least one wheel. A simple comparison can thus be carried out, which takes up little computing line.

Furthermore, the invention can provide in a method for operating a sensor arrangement for a driver assistance system of a vehicle that a stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel, depending on the comparison, in particular in the event of a deviation , the calculated target acceleration and the detected acceleration of the at least one wheel is initiated in order to stabilize the determined unstable driving state. The driving maneuver can be stabilized very quickly and even imperceptibly for the driver with the aid of the invention. The driver is relieved because he does not have to steer to return to the lane.

Furthermore, in a method for operating a sensor arrangement for a driver assistance system of a vehicle, the invention can provide that a stabilizing measure is only initiated when the vehicle is moving at a sufficient speed that is greater a certain minimum value, so as not to disturb a maneuvering of the vehicle, for example.

In addition, in a method for operating a sensor arrangement for a driver assistance system of a vehicle, the invention can provide that a stabilizing measure is carried out with increasing speed of the vehicle with a decreasing strength. At high speeds, even a small correction of the direction of travel may be sufficient to enable the driver to return to the lane, while at lower speeds, more extensive corrections, e.g. more braking of the wheels, may be necessary in order to be able to carry out a planned driving maneuver.

In addition, in a method for operating a sensor arrangement for a driver assistance system of a vehicle, the invention can provide that the stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel, is carried out as a function of the wheel position on the vehicle. In other words, the control unit according to the invention can selectively actuate the wheels in order to carry out the planned driving maneuver as desired or to support the driver and / or to keep the lane. The invention can advantageously use the same principles or principles that can be useful for locating the wheels on the vehicle and / or that were described above in connection with the sensor arrangement according to the invention. For example, when cornering, brief braking of the wheels on the outside of the curve, in particular the front wheels on the wheels on the outside of the curve, can be sufficient to prevent the vehicle from breaking away. When cornering, for example, a brief braking of wheels on the inside of the curve, in particular the rear wheels on the inside of the curve, can be sufficient to prevent the vehicle from understeering.

In addition, in a method for operating a sensor arrangement for a driver assistance system of a vehicle, the invention can provide that the method is carried out for each wheel of the vehicle. Thus, an improved method for operating a sensor arrangement on tire pressure sensors can be provided, which can advantageously have a complete package of tire pressure sensors. It is conceivable that an automatic location of the wheels, in particular a left wheel or a right wheel, preferably a front wheel or a rear wheel, preferably a wheel on the drive axle, as a function of the comparison, in particular in the event of a deviation, of the calculated target acceleration and the detected acceleration of the wheels is carried out. Principles or principles which were described above in connection with the sensor arrangement in the sense of the invention are advantageously used. These principles are referred to in full in the present case.

Furthermore, the invention can provide in a method for operating a sensor arrangement for a driver assistance system of a vehicle that the at least one wheel is automatically located independently of a measurement of the rotational speed and / or the centripetal acceleration of the at least one wheel. This means that no further sensors are required to locate the positions of the wheels on the vehicle.

Furthermore, the invention can provide in a method for operating a sensor arrangement for a driver assistance system of a vehicle that the at least one wheel is automatically located as a function of a running time and / or of an intensity of a signal from the at least one tire pressure sensor to the control unit. A simple principle can thus be used, which has to do with the position or the distance of the at least one tire pressure sensor or the tire pressure sensors with respect to the control unit. Each tire pressure sensor is at a different distance from the sensor unit from the other tire pressure sensors. Depending on the distance from the sensor unit, the transit time or the intensity of the signals from the at least one tire pressure sensor to the control unit can vary, which in turn enables the positions of the tire pressure sensors to be clearly assigned. This provides easy location for all bikes individually or in combination.

Furthermore, in a method for operating a sensor arrangement for a driver assistance system of a vehicle, the invention can provide that the at least one wheel is automatically located as a function of a steering direction of the vehicle. In this way, a simple recognition of the wheels on the drive axle can be carried out, since these wheels can follow most of the steering direction of the vehicle.

In addition, the object according to the invention is achieved by a vehicle, in particular a highly automated or autonomously driving vehicle, having a sensor arrangement for a driver assistance system of the vehicle, which can be designed as described above and / or can be operated as described above, the sensor arrangement comprising the following elements comprises: at least one tire pressure sensor for at least one wheel of the vehicle and a, in particular central, control unit. For this purpose, it is provided according to the invention that the at least one tire pressure sensor is designed to detect an acceleration of the at least one wheel, in particular an acceleration of the at least one wheel in the transverse direction of the vehicle and / or an acceleration of the at least one wheel in the vertical direction of the vehicle, and that the control unit is designed to calculate a calculated target acceleration of the at least one wheel for a steering direction and / or for the steering angle of the vehicle and compare it with the detected acceleration of the at least one wheel in order to determine an unstable driving state as a function of the comparison. With the aid of the vehicle according to the invention, the same advantages are achieved which were described above in connection with the sensor arrangement according to the invention and / or with the method according to the invention. These advantages are referred to in full in the present case.

A tire pressure sensor can also be provided for each wheel of the vehicle in the context of a vehicle, in particular to provide a complete package of tire pressure sensors.

In the context of the invention, it is conceivable that the at least one tire pressure sensor on a valve of the at least one wheel, in particular within the valve or on a valve cap, on a rim of the at least one wheel, on a tire of the at least one wheel, in particular within the tire (attached to an inner surface of the tire or embedded in the material of the tire) or on the tire, for example by means of a band or belt, preferably a steel or plastic band. Thus, the at least one tire pressure sensor can be attached to the associated wheel of the vehicle in a flexible manner.

• 1 eine schematische Darstellung einer Sensoranordnung im Sinne der Erfindung an einem möglichen Fahrzeug im Sinne der Erfindung.

Further advantages, features and details of the invention emerge from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawing. The features mentioned in the claims and in the description can be essential to the invention individually or in any combination. It shows:

• 1 a schematic representation of a sensor arrangement in the sense of the invention on a possible vehicle in the sense of the invention.

In the following description, the same reference numerals are used for the same technical features of different exemplary embodiments.

The 1 shows a sensor arrangement 100 for a driver assistance system, in particular a lane keeping assistant, of a vehicle 1 , preferably a highly automated or autonomous vehicle 1 , for example a motor vehicle, a hybrid vehicle or an electric vehicle. The sensor arrangement 100 has the following elements: at least one tire pressure sensor RDS for at least one wheel 10th of the vehicle 1 , but preferably a tire pressure sensor RDS for each bike 10th of the vehicle 1 and a, in particular central, control unit 20th , which is basically at any suitable location in the vehicle 1 can be arranged.

The at least one tire pressure sensor RDS is designed to accelerate a of the at least one wheel 10th , especially acceleration ay of the at least one wheel 10th in the vehicle transverse direction y and / or an acceleration az of the at least one wheel 10th in the vehicle vertical direction az , and further preferably a temperature of the at least one wheel 10th capture. All tire pressure sensors can advantageously RDS to be run an acceleration a of the associated wheel 10th , especially acceleration ay of the associated wheel 10th in the vehicle transverse direction y and / or an acceleration az of the associated wheel 10th in the vehicle vertical direction e.g. , and possibly the temperature of the associated wheel 10th capture. As tire pressure sensors RDS For example, gyroscopic sensors can be used.

The control unit 20th is designed to perform a target acceleration a * of the at least one wheel 10th , in particular a target acceleration a * y of the at least one wheel 10th in the vehicle transverse direction y and / or a target acceleration a * z of the at least one wheel 10th in the vehicle vertical direction az , depending on a steering direction and / or a steering angle W or steering wheel position of the vehicle 1 to calculate (and / or a target temperature of the wheel 10th ) and with the detected acceleration a of the at least one wheel 10th (or the temperature of the at least one wheel 10th ) to compare to determine an unstable driving condition depending on the comparison. The control unit 20th can act as a central control unit 20th for the at least one or all tire pressure sensors RDS , ie for the sensor arrangement 100 and / or for a driver assistance system, in particular a lane keeping assistant, of the vehicle 1 be executed. It is also conceivable that the control unit 20th in a central control unit of the vehicle 1 can be integrated or complement it.

The tire pressure sensors according to the invention RDS can not only the tire pressure, but also the temperature and / or the acceleration a (different measured values) so that, for example, a wheel load (connected e.g. B. with the temperature of the at least one wheel), a wheel load (connected z. B. with the acceleration az of the at least one wheel 10th in the vehicle vertical direction e.g. ) and / or a change of direction (connected e.g. with the acceleration ay of the at least one wheel 10th in the vehicle transverse direction y ) can be recognized immediately within a few milliseconds.

A rapid detection of a change in direction of travel can be used according to the invention in the context of a lane departure warning system, and not only in curves, but in the event of all deviations from the theoretical route of the vehicle. In strong cross winds, when overtaking trucks, on bridges, on open routes etc. or when aquaplaning, the vehicle leaves 1 the intended lane. Stabilization and return to the lane can be initiated immediately and automatically. The driver can be relieved of the need to steer. The different measured values are in the control unit 20th compared to the current steering wheel position. In the event of a deviation, appropriate countermeasures can be initiated within the scope of the invention, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel 10th .

A rapid detection of a wheel load, a lateral acceleration and / or a wheel load can be carried out according to the invention in the context of an assignment of the position of the tire pressure sensors RDS at the vehicle 1 (so-called location of the vehicle wheels or tire pressure sensors RDS ) be an advantage. Thus, additional expensive sensors, such as. B. acceleration sensors and / or speed sensors avoided. Alone from the pull of the different measured values of the at least one or more tire pressure sensors RDS In the sense of the invention, not only the tire pressure (by direct measurement) is recorded, but also the position of the respective wheel 10th at the vehicle 1 (using principles) evaluated.

E.g. a principle can be established according to which the left front wheel is in a left turn Lv the most stressed and therefore the most heated. It can also be specified that the front right wheel in a left turn Rev the highest acceleration ay in the vehicle transverse direction y (due to the greatest centrifugal force) and / or the highest acceleration az in the vehicle vertical direction (due to the smallest wheel load).

Another principle is conceivable that the wheels 10th on a drive axle most of the steering direction of the vehicle 1 consequences.

The principles can be combined with one another in an advantageous manner within the scope of the invention.

In addition, in the context of the invention, the different measured values of the tire pressure sensors in an advantageous manner within the scope of the invention RDS can be scaled and / or combined with one another. This means that the different measured values can be measured by just one tire pressure sensor RDS be sufficient to the position of the associated wheel 10th close. If the different readings from different tire pressure sensors RDS can be combined, improved results in the location of the vehicle wheels or the tire pressure sensors RDS be achieved.

With the aid of the invention, a sensor arrangement as a whole 100 provided with an expanded as well as improved functionality.

Furthermore, the control unit 20th to run a speed V of the vehicle 1 to receive, in particular actively query, and in calculating the target acceleration a * of the at least one wheel 10th to consider. These data can advantageously be used to determine a desired driving maneuver more precisely, which can be compared with the current driving maneuver, in order, if necessary, to quickly implement a stabilizing measure, in particular comprising a correction of a driving direction and / or a targeted braking of a specific wheel 10th to be able to perform.

In the context of the invention, it is conceivable that a stabilizing measure is only initiated when the vehicle 1 moves at a certain minimum speed that is greater than a certain minimum value, for example a maneuvering process of the vehicle 1 not to hinder.

In addition, it is conceivable within the scope of the invention that a stabilizing measure with increasing speed V of the vehicle 1 is carried out with a decreasing strength because the stabilizing measures can have a stronger effect with increasing speed.

The following are some of the principles for locating the wheels possible within the scope of the invention 10th described as an example. A left wheel Lv , Lh and a right wheel Rev , Rh can easily be based on accelerations ay , az in the vehicle transverse direction y and / or in the vehicle vertical direction e.g. be distinguished when the steering angle W or the steering wheel position is known. The wheels on the inside of the curve 10th can do less accelerated (in the vehicle transverse direction y and / or in the vehicle vertical direction e.g. ) than the wheels on the outside of the curve 10th . The front wheels Lv , Rev are usually accelerated more when cornering (in the vehicle transverse direction y and / or in the vehicle vertical direction e.g. ) than the rear wheels Lh , Rh . The wheels on the inside of the curve 10th are more stressed and therefore warmed more than the wheels on the outside of the curve 10th . The front wheels Lv , Rev are generally warmed more when cornering than the rear wheels Lh , Rh . The front wheels Lv , Rev and the rear wheels Lh , Rh can be easily distinguished if it is known which wheels belong to the drive axle and which wheels 10th most the steering angle W consequences.

Basically all tire pressure sensors can RDS in the context of the invention based on the transit time and / or the intensity of your transmission signals to the control unit 20th be distinguished.

Like it from the 1 can be seen, the at least one tire pressure sensor RDS a transmission unit S has to by using the at least one tire pressure sensor RDS detected acceleration a of the at least one wheel 10th and in particular an individual identification code to the control unit 20th to send. The sending unit S generates a signal, in particular a radio signal, preferably a radio signal in the low-frequency range, for sending the different measured values of the at least one tire pressure sensor RDS to the control unit 20th . Within the scope of the sensor arrangement according to the invention 100 can any tire pressure sensor RDS one transmitter unit each S exhibit.

Furthermore shows the 1 schematically that the at least one tire pressure sensor RDS its own energy supply unit E , for example in the form of a battery. Within the scope of the sensor arrangement according to the invention 100 can any tire pressure sensor RDS each with its own power supply unit E exhibit.

The invention provides advantageous uses of the sensor arrangement 100 , which can be configured as described above, for a lane departure warning system of the vehicle 1 and / or for automatic location of the wheels 10th of the vehicle 1 .

1. 1) Erfassen einer Beschleunigung a des mindestens einen Rads 10, insbesondere einer Beschleunigung ay des mindestens einen Rads 10 in die Fahrzeugquerrichtung y und/oder einer Beschleunigung az des mindestens einen Rads 10 in die Fahrzeughochrichtung z, und/oder einer Temperatur des mindestens einen Rads 10,
2. 2) Berechnen einer Sollbeschleunigung a* des mindestens einen Rads 10, insbesondere einer Sollbeschleunigung a*y des mindestens einen Rads 10 in die Fahrzeugquerrichtung y und/oder einer Sollbeschleunigung a*z des mindestens einen Rads 10 in die Fahrzeughochrichtung z, in Abhängigkeit von einer Lenkrichtung und/oder von einem Lenkwinkel W des Fahrzeuges 1 und/oder einer Solltemperatur des mindestens einen Rads 10 durch die Steuereinheit 20,
3. 3) Vergleichen der erfassten Beschleunigung a des mindestens einen Rads 10 mit der berechneten Sollbeschleunigung a* des mindestens einen Rads 10 und/oder der Temperatur mit der Solltemperatur des mindestens einen Rads 10 durch die Steuereinheit 20, um in Abhängigkeit von dem Vergleich einen instabilen Fahrzustand zu ermitteln.

The method according to the invention serves to operate the sensor arrangement 100 , which can be designed as described above, the method comprising the following steps:

1. 1) Detect an acceleration a of the at least one wheel 10th , especially acceleration ay of the at least one wheel 10th in the vehicle transverse direction y and / or an acceleration az of the at least one wheel 10th in the vehicle vertical direction e.g. , and / or a temperature of the at least one wheel 10th ,
2. 2) Calculate a target acceleration a * of the at least one wheel 10th , in particular a target acceleration a * y of the at least one wheel 10th in the vehicle transverse direction y and / or a target acceleration a * z of the at least one wheel 10th in the vehicle vertical direction e.g. , depending on a steering direction and / or a steering angle W of the vehicle 1 and / or a target temperature of the at least one wheel 10th by the control unit 20th ,
3. 3) Compare the detected acceleration a of the at least one wheel 10th with the calculated target acceleration a * of the at least one wheel 10th and / or the temperature with the target temperature of the at least one wheel 10th by the control unit 20th to determine an unstable driving condition depending on the comparison.

In step 2nd ) the calculated target acceleration ( a * ) of the at least one wheel 10th for the steering direction and / or for the steering angle W of the vehicle depending on a speed V of the vehicle can be calculated. Consequently, in step 2nd ) a desired maneuver can be determined. With the help of the recorded (i.e. actual) acceleration a in step 1 ) a comparison can be made as to whether the intended driving maneuver is actually taking place or whether there is an unstable driving state which can advantageously be corrected quickly in the sense of the invention.

The step-by-step comparison 3rd ) can be done by subtracting the detected acceleration a of the at least one wheel 10th with the calculated target acceleration a * of the at least one wheel 10th be performed.

If by the control unit 20th an unstable driving state has been determined, in particular if the calculated target acceleration deviates a * and the detected acceleration a of the at least one wheel 10th , the control unit 20th a stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel 10th initiate to stabilize the determined unstable driving condition. The stabilizing measure can be carried out very quickly using the invention and even imperceptibly for the driver.

As above in connection with the sensor arrangement according to the invention 100 The stabilizing measure can already be described from a certain minimum value of the speed V of the vehicle 1 not be initiated, for example, to maneuver the vehicle disturb. In addition, the stabilizing measure can take place with increasing speed V of the vehicle 1 with a decreasing strength.

Advantageously, the stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel 10th , depending on the wheel position on the vehicle 1 be performed. In other words, the control unit according to the invention 20th the wheels 10th selectively control. The selective control of the wheels 10th can advantageously follow the same principles or principles for locating the wheels 10th at the vehicle 1 have been described. For example, when cornering, there may be a brief braking of wheels on the outside of the curve 10th , especially the front of the outside wheels 10th , help to break out the vehicle 1 to prevent. Also, when cornering, for example, a brief braking of wheels on the inside of the curve 10th , especially the rear wheel on the inside of the curve 10th , help to prevent understeering of the vehicle.

The method can advantageously be used for each wheel 10th of the vehicle 1 be carried out in order to obtain a detailed picture of the current driving maneuver. This can be particularly important for automatic wheel location 10th at the vehicle 1 be beneficial. Automatic location of the at least one wheel can be preferred 10th in the context of the invention independently of a measurement of the speed and / or the centripetal acceleration of the at least one wheel 10th respectively.

As above in connection with the sensor arrangement according to the invention 100 Already described, the at least one wheel can be automatically located 10th depending on a running time and / or on an intensity of a signal from the at least one tire pressure sensor RDS to the control unit 20th respectively. A simple principle can be used here, that with the growing distance of the at least one tire pressure sensor RDS to the control unit 20th the signal has a longer transit time and / or lower intensity. This principle is particularly useful when using any tire pressure sensor RDS one of the other tire pressure sensors RDS different distance from the sensor unit 20th having. It is thus easy to uniquely assign the positions of the tire pressure sensors RDS at the vehicle 1 be made possible.

In the method in the context of the invention, an automatic location of the at least one wheel 10th depending on a steering direction of the vehicle 1 be carried out, thus, as already mentioned above, simple recognition of the wheels 10th can take place on the drive axle of the vehicle.

A vehicle 1 , especially a highly automated or autonomous vehicle 1 which with the sensor arrangement 100 which can be configured as described above also represents an aspect of the invention. The vehicle 1 can advantageously within the scope of the sensor arrangement 100 one tire pressure sensor each RDS for each bike 10th having.

As in the 1 is indicated schematically, the at least one tire pressure sensor RDS on a valve (not shown for reasons of simplicity) of the at least one wheel 10th , for example. Inside the valve or on a valve cap, on a rim of the at least one wheel 10th , on a tire of the at least one wheel 10th , for example inside the tire or on the tire, e.g. B. attached using a tape or belt, preferably a steel or plastic tape.

The above explanation of the embodiments describes the present invention exclusively in the context of examples. Of course, individual features of the embodiments, if technically meaningful, can be freely combined with one another without departing from the scope of the present invention.

Reference list

1

vehicle

10th

wheel

20th

Control unit

100

Sensor arrangement

Lv

left wheel in front

Lh

left wheel behind

Rev

right wheel in front

Rh

right wheel behind

E

Power supply unit

S

Transmitter unit

V

speed

W

Head angle

RDS

Tire pressure sensor

a

acceleration

ay

Acceleration in the transverse direction of the vehicle

az

Acceleration in the vertical direction of the vehicle

a *

Target acceleration

a * y

Target acceleration in the transverse direction of the vehicle

a * z

Target acceleration in the vehicle vertical direction

x

Vehicle longitudinal direction

y

Vehicle transverse direction

e.g.

Vehicle vertical direction

Claims (22)

Sensor arrangement (100) for a driver assistance system, in particular a lane departure warning system, of a vehicle (1), preferably a highly automated or autonomously driving vehicle (1), comprising: at least one tire pressure sensor (RDS) for at least one wheel (10) of the vehicle (1) and a, in particular central, control unit (20), wherein the at least one tire pressure sensor (RDS) is designed to detect an acceleration (a) of the at least one wheel (10), and wherein the control unit (20) is designed to calculate a target acceleration (a *) of the at least one wheel (10) as a function of a steering direction and / or a steering angle (W) of the vehicle (1) and with the detected acceleration (a) to compare the at least one wheel (10) in order to determine an unstable driving state as a function of the comparison. Sensor arrangement (100) after Claim 1 , characterized in that the control unit (20) is designed to obtain a speed (V) of the vehicle (1), in particular to actively query it, and to take it into account when calculating the target acceleration (a *) of the at least one wheel (10) . Sensor arrangement (100) after Claim 1 or 2nd , characterized in that the control unit (20) is designed to take a stabilizing measure as a function of the comparison, in particular in the event of a deviation, the calculated target acceleration (a *) and the detected acceleration (a) of the at least one wheel (10), in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel (10) in order to stabilize the determined unstable driving state. Sensor arrangement (100) according to one of the preceding claims, characterized in that the sensor arrangement (100) each has a tire pressure sensor (RDS) for each wheel (10) of the vehicle (1), the control unit (20) in particular being designed in Depending on the comparison of the calculated target acceleration (a *) and the detected acceleration (a) of the wheels (10), the wheels (10) are automatically located. Sensor arrangement (100) according to one of the preceding claims, characterized in that the at least one tire pressure sensor (RDS) is designed in the form of a gyroscopic sensor. Sensor arrangement (100) according to one of the preceding claims, characterized in that the at least one tire pressure sensor (RDS) has a transmission unit (S) in order to send the detected acceleration (a) of the at least one wheel (10) to the control unit (20) , wherein in particular the transmitter unit (S) sends a signal, preferably a steering angle, preferably a radio signal in the low frequency range. Sensor arrangement (100) according to one of the preceding claims, characterized in that the at least one tire pressure sensor (RDS) has its own energy supply unit (E). Using a sensor arrangement (100) according to one of the preceding Claims 1 to 7 for a lane departure warning system of the vehicle (1). Using a sensor arrangement (100) according to one of the preceding Claims 1 to 7 for automatic location of the wheels of the vehicle (1). Method for operating a sensor arrangement (100) for a driver assistance system of a vehicle (1), in particular according to one of the preceding Claims 1 to 7 The sensor arrangement (100) has the following elements: at least one tire pressure sensor (RDS) for a wheel (10) of the vehicle (1) and a, in particular central, control unit (20), the method having the following steps: 1) detecting a Acceleration (a) of the at least one wheel (10), 2) calculating a target acceleration (a *) of the at least one wheel (10) as a function of a steering direction and / or a steering angle (W) of the vehicle (1) by the control unit (20), 3) comparing the detected acceleration (a) of the at least one wheel (10) with the Calculated target acceleration (a *) of the at least one wheel (10) by the control unit (20) in order to determine an unstable driving state depending on the comparison. Method according to the preceding claim, characterized in that in step 2) the calculated target acceleration (a *) of the at least one wheel (10) is calculated as a function of a speed (V) of the vehicle (1). Method according to one of the preceding claims, characterized in that in step 3) the comparison is carried out by forming the difference between the detected acceleration (a) of the at least one wheel (10) and the calculated target acceleration (a *) of the at least one wheel (10) . Method according to one of the preceding claims, characterized in that a stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel (10), as a function of the comparison, in particular in the event of a deviation, of the calculated target acceleration ( a *) and the detected acceleration (a) of the at least one wheel (10) is initiated in order to stabilize the determined unstable driving state. Method according to the preceding claim, characterized in that the stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel (10), is initiated only when the vehicle is moving at a sufficient speed (V) moves, which is greater than a certain minimum value, and / or that the stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel (10), with increasing speed (V) of the vehicle (1) with a declining starch is carried out. Method according to one of the preceding claims, characterized in that the stabilizing measure, in particular comprising a correction of a direction of travel and / or a targeted braking of the at least one wheel (10), is carried out as a function of the wheel position on the vehicle (1). Method according to one of the preceding claims, characterized in that the method is carried out for each wheel (10) of the vehicle (1), in particular automatic location of the wheels (10) depending on the comparison, in particular in the event of a deviation, of the calculated Target acceleration (a *) and the detected acceleration (a) of the wheels (10) is carried out. Method according to one of the preceding claims, characterized in that the at least one wheel (10) is automatically located independently of a measurement of the speed and / or the centripetal acceleration of the at least one wheel (10). Method according to one of the preceding claims, characterized in that the at least one wheel (10) is automatically located as a function of a running time and / or of an intensity of a signal from the at least one tire pressure sensor (RDS) to the control unit (20) . Method according to one of the preceding claims, characterized in that the at least one wheel (10) is automatically located as a function of a steering direction of the vehicle (1). Vehicle (1), in particular a highly automated or autonomously driving vehicle (1), having a sensor arrangement (100) for a driver assistance system of the vehicle (1), in particular according to one of the preceding Claims 1 to 7 , which preferably according to one of the Claims 10 to 19th The sensor arrangement (100) has the following elements: at least one tire pressure sensor (RDS) for at least one wheel (10) of the vehicle (1) and one, in particular central, control unit (20), characterized in that the at least one tire pressure sensor (RDS) is designed to detect an acceleration (a) of the at least one wheel (10) and that the control unit (20) is designed to calculate a calculated target acceleration (a *) of the at least one wheel (10) for a steering direction and / or for the steering angle (W) of the vehicle (1) and to compare it with the detected acceleration (a) of the at least one wheel (10) in order to determine an unstable driving state as a function of the comparison. Vehicle (1) according to the preceding claim, characterized in that a tire pressure sensor (RDS) is provided for each wheel (10) of the vehicle (1). Vehicle (1) according to one of the preceding claims, characterized in that the at least one tire pressure sensor (RDS) on a valve of the at least one wheel (10), in particular inside the valve or on a valve cap, on a rim of the at least one wheel (10 ), on a tire of the at least one wheel (10), in particular within the tire or on the tire, preferably with the aid of a band or belt, preferably a steel or plastic band is arranged.

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