DE102019200592A1 - Control device and method and computer program product for an autonomous or semi-autonomous vehicle - Google Patents

Abstract

Control device (10) for an autonomous or semi-autonomous vehicle (50), comprising an input interface (12) for obtaining environmental and / or vehicle status data (43, 45) recorded by a sensor device (40), an evaluation unit (14) for evaluating the received one Environment and / or vehicle status data (43, 45) to identify a change in an environment and / or a status of the vehicle (50), a signal generation unit (16) for generating a control signal for a light source, a visualization unit (30) and / or an acoustic unit so that the light source emits a light signal, the visualization unit (30) visualizes a pattern (32) on a display surface (34), or the acoustic unit emits an acoustic signal, the light signal, the acoustic signal, the choice of the Pattern (32) and / or the display area (34) based on the change identified by the evaluation unit (14) is variable, and an output interface le (18) for outputting the control signal to the light source, the visualization unit (30) or the acoustic unit.

Description

TECHNICAL AREA

The present invention relates to the field of autonomously or partially autonomously driving vehicles. In particular, it relates to a control device and a control method as well as a computer program product for such a vehicle.

TECHNICAL BACKGROUND

In the field of autonomous or semi-autonomous vehicles, it is a challenge to ensure road safety. In both open and closed areas, it is essential to avoid collisions between vehicles and between them on the one hand and passers-by and other objects on the other.

Numerous approaches have been proposed for these purposes in the past. Among other things, driver assistance systems have been developed and improved to assist the driver in detecting collision risks at an early stage and taking countermeasures as far as possible.

Nevertheless, these approaches are only partially effective with regard to collision avoidance. In particular, such solutions lack interaction between the vehicle and the passer-by. This means that in many situations the passer-by is not sufficiently sensitized to the approaching vehicle. The passer-by cannot therefore take timely actions that could have avoided a collision.

The invention is therefore based on the object of realizing a control device and method for an autonomous or semi-autonomous vehicle, which reduces collision avoidance and better ensures safety.

The object is achieved by a control device, a control method and a computer program product according to the independent claims.

The vehicle can be, for example, an autonomous or semi-autonomous passenger or truck, an autonomous or semi-autonomous off-road and / or utility vehicle, an autonomous or semi-autonomous industrial and / or agricultural machine.

The control device can be, for example, an electronic control unit (ECU), an electronic control module (ECM = electronic control module) or a control unit for autonomous driving (e.g. an "autopilot"). The control device can be used, for example, for an autonomous vehicle, so that it can operate in whole or in part without the influence of a human driver. The control device can be located in the vehicle, or also outside or partially outside the vehicle. For example, it can be an algorithm that runs on a server or a cloud system.

The sensor device is, for example, one or more radar, lidar and / or ultrasonic sensors. Alternatively, this can be one or more cameras that have image sensors, in particular in the form of a CCD or CMOS. The image data generated by the image sensors can consist, for example, of luminance data (gray values, brightness) or also contain chrominance data (color).

The sensor device preferably contains at least one environment sensor and / or at least one vehicle condition sensor. The environment sensor is designed to monitor the environment of the vehicle and, if necessary, to recognize objects on a roadway. For example, sensor data are generated by the environment sensor that relate to a person approaching the vehicle or another vehicle approaching the vehicle. The vehicle state sensor is designed, for example, to detect the speed, the acceleration, the orientation, the position in at least one, preferably three spatial directions, the rotational speed and direction of one or more wheels or another vehicle state parameter.

The evaluation unit is designed to detect a change in the environment or vehicle status data. The evaluation unit can be designed to evaluate the local distribution and variation of gray values and / or of chrominance values in the camera-based image data. For example, the evaluation unit can recognize in the environment data a person entering a zone to be driven by the vehicle in which there were no people previously. The evaluation unit can determine, for example, in the vehicle status data that a speed limit, a wheel angular speed has been exceeded or a critical battery charging capacity has been undershot.

The signal generation unit is able to react based on the evaluation of the environment or vehicle status data and to generate a control signal. The signal generation unit can, for example, generate a first control signal based on a first environment or vehicle status data record, so that the light source emits a first light signal, preferably a colored (eg red, blue and / or green) light signal. Alternatively or additionally, the control signal can serve for the visualization unit to visualize a first pattern on a first display surface. Alternatively or additionally, the control signal can be used for the acoustic unit to send out a first acoustic signal. When a change in the environment or vehicle status data is detected, the signal generation unit generates a second control signal, so that the light source emits a second light signal (for example with a different color or color combination) that differs from the first light signal. Additionally or alternatively, when the change is recognized, the visualization unit can visualize a second pattern on the first display area that is different from the first pattern or alternatively on a second display area that is different from the first display area. Alternatively or additionally, when the change is detected, the acoustic unit can emit a second acoustic signal that is different from the first acoustic signal (for example with a different frequency or amplitude curve).

The visualization unit is designed to visualize the respective pattern on the output surface using a laser, a projector or another imaging method suitable for the respective environment and for the output surface. In the case of a projector, the output surface is a projection surface, the pattern being a projection pattern. The present invention is explained in more detail below on the basis of the example in which the visualization unit has a projector. The measures described below using the example of the projector can generally be transferred to any visualization unit.

The sensor device and / or the projector can be attached to the vehicle. Alternatively, the sensor device and / or the projector can be stationed in a surrounding area. A control system can be used which communicates with a plurality of sensors and / or a plurality of projectors in order to assign a corresponding projection pattern to each projector. The control system can be attached to an environment and / or communicate with a server, such as a cloud system.

The control signal can also be forwarded to a control system, so that visualization units located in the environment (or in the detection area of the control system) can be activated. These visualization units can be installed on the infrastructure (such as surrounding buildings) or on other vehicles in the vicinity.

The present invention is thus able to draw the attention of the people and other vehicles in the vicinity of the vehicle to the vehicle for which the invention is used by projecting projection patterns. This reduces the risk of collisions in advance and leads to increased safety.

Advantageous refinements and developments are specified in the subclaims.

According to one embodiment, the projection pattern comprises a trajectory of the vehicle that is predicted or recommended based on the surroundings and / or vehicle state data.

In response to the change in the environment and / or vehicle status identified in the environment and / or vehicle status data, the control signal is designed in such a way that the projector projects the predicted or recommended trajectory of the vehicle. For example, based on the determination that a person is entering a zone planned for the vehicle, the route of the vehicle can be changed and the changed route or the new trajectory that is recommended to the driver or the driver's assistance of the vehicle can be projected onto the road. This can significantly reduce the risk of a traffic accident.

According to a further embodiment, the projection pattern comprises a trajectory recommended based on the environment and / or vehicle status data and / or a safety zone recommended for another object based on the environment and / or vehicle status data.

In this way, the other object, which is in particular a road user such as a person or another vehicle, receives an indication of a safe route. This increases safety when using autonomous or semi-autonomous vehicles. Alternatively or additionally, the projection pattern can contain an action instruction in the form of one or more text instructions and / or in the form of one or more symbols which can be recognized by the person or the driver / the driver assistance system of the other vehicle.

According to a further embodiment, the projection surface is in a location predicted based on the vehicle status data, at which the vehicle will be at a point in time in the future.

In this way, the projection surface can be changed or adapted on the basis of a change identified in the environment and / or vehicle status data. For example, the route length to be covered by the vehicle within a time interval can be determined on the basis of the detected speed of the vehicle. A warning pattern or the trajectory can then be projected onto a projection surface located in the location by the vehicle arriving after the time interval. A risk of collision can thus be effectively counteracted in advance.

According to a further embodiment, the projection surface is located in a location predicted based on the surroundings data, at which another object will be located at a point in time in the future.

In this way, the projection surface can be changed or adapted on the basis of a change identified in the environment and / or vehicle status data. For example, the distance traveled by the other road user within a time interval can be determined on the basis of the detected speed of the other road user. A warning pattern or the trajectory can then be projected onto a projection surface located in the location, in that the other road user will arrive after the time interval. A risk of collision can thus be effectively counteracted in advance.

The computer program product according to the invention for detecting an environment of a vehicle is designed to be loaded into a memory of a computer and comprises software code sections with which the method steps of the method according to the invention are carried out when the computer program product runs on the computer.

A program belongs to the software of a data processing system, for example an evaluation device or a computer. Software is a collective term for programs and related data. The complement to software is hardware. Hardware refers to the mechanical and electronic alignment of a data processing system. A computer is an evaluation device.

Computer program products typically include a sequence of instructions that cause the hardware, when the program is loaded, to perform a specific procedure that leads to a specific result. When the program in question is used on a computer, the computer program product produces a technical effect, namely more effective collision avoidance and increased security.

The computer program product according to the invention is platform independent. That means it can be run on any computing platform. The computer program product is preferably executed on an evaluation device according to the invention for detecting the surroundings of the vehicle.

The software code sections are written in any programming language, for example in Python.

• 1 eine schematische Darstellung einer Steuervorrichtung gemäß einer Ausführungsform in Zusammenwirkung mit einer Sensoreinrichtung und einem Projektor;
• 2 eine schematische Darstellung eines Fahrzeugs, einer Sensoreinrichtung und eines Projektors;
• 3 eine schematische Darstellung eines weiteren Fahrzeugs, wobei der Projektor am Fahrzeug angebracht ist;
• 4 eine schematische Darstellung eines weiteren Fahrzeugs, wobei der Projektor und die Sensoreinrichtung am Fahrzeug angebracht sind;
• 5 eine schematische Darstellung eines weiteren Fahrzeugs in Form eines Gabelstaplers, an dem die Sensoreinrichtung und der Projektor angebracht sind;
• 6 eine weitere schematische Darstellung des Gabelstaplers aus 5, wobei der Projektor eine einer Palette ausweichende Trajektorie des Gabelstaplers projiziert; und
• 7 eine schematische Darstellung eines Steuerverfahrens gemäß einer Ausführungsform.

Embodiments will now be described by way of example and with reference to the accompanying drawings. Show it:

• 1 a schematic representation of a control device according to an embodiment in cooperation with a sensor device and a projector;
• 2nd a schematic representation of a vehicle, a sensor device and a projector;
• 3rd is a schematic representation of another vehicle, wherein the projector is attached to the vehicle;
• 4th is a schematic representation of another vehicle, wherein the projector and the sensor device are attached to the vehicle;
• 5 is a schematic representation of another vehicle in the form of a forklift, to which the sensor device and the projector are attached;
• 6 a further schematic representation of the forklift 5 , wherein the projector projects a forklift trajectory evading a pallet; and
• 7 is a schematic representation of a control method according to an embodiment.

In the figures, the same reference numerals refer to the same or functionally similar reference parts. The relevant reference parts are identified in the individual figures.

1 shows a schematic representation of a control device 10th according to an embodiment in cooperation with a sensor device 40 and a projector 30th . The control device 10th includes an input interface 12th for obtaining environment and vehicle condition data 43 , 45 by the sensor device 40 that in this Example an environment sensor 42 and a vehicle condition sensor 44 includes, are recorded.

The control device 10th also includes an evaluation unit 14 for evaluating the environmental and vehicle status data received 43 , 45 to a change in an environment and / or a state of the vehicle 50 (please refer 2nd to 4th ) to identify.

The control device 10th further includes a signal generating unit 16 for generating a control signal for the projector 30th so that this 30 is a projection pattern 32 (please refer 5 ) on a projection surface 34 (please refer 2nd to 5 ) projected. Here is the choice of the projection pattern 32 and / or the projection surface 34 based on that of the evaluation unit 14 identified change variable.

The control device 10th also includes an output interface 18th to output the control signal to the projector 30th .

2nd to 4th each show a schematic representation of the vehicle 50 , the sensor device 40 and the projector 30th . In these examples the arrangement of the sensor device is 40 or the projector 30th differently.

In in 2nd The example shown are the sensor device 40 and the projector 30th on an external building 70 outside the vehicle 50 arranged. The sensor device 40 communicates with the control device via a communication medium, such as near-field communication (NFC), BlueTooth, infrared or wireless LAN (WLAN) 10th out in this and the examples 3rd and 4th in the vehicle 50 included, or alternatively outside the vehicle 50 can be located. The projector too 30th communicates with the control device 10th via one of the above communication channels. The sensor device 40 can also be partially outside the vehicle 50 and partly in the vehicle 50 be included. For example, the environment sensor 42 the sensor device 40 placed outside of the vehicle while the vehicle condition sensor 44 at the vehicle 50 appropriate.

If the control device 10th a change in the environment or vehicle condition in that of the sensor device 40 delivered sensor data 43 , 45 identified, causes the control device 10th projecting a projection pattern onto the projection surface by means of a control signal 34 through the projector 30th .

In in 3rd The example shown is the projector 30th at the vehicle 50 attached while the sensor device 40 at least partially on the external development 70 arranged. In in 4th The example shown are both the projector 30th as well as the sensor device 40 at the vehicle 50 appropriate.

If the control device 10th a change in the environment or vehicle condition in that of the sensor device 40 delivered sensor data 43 , 45 identified, causes the control device 10th projecting a projection pattern by means of a control signal 32 onto the projection surface 34 through the projector 30th . Here the choice of the projection pattern 32 and / or the projection surface 34 adapted to the identified change and therefore variable.

5 shows a schematic representation of another vehicle 54 in the form of a forklift on which the sensor device 40 and the projector 30th are attached. The sensor device 40 includes several environment sensors here 42 that are in different positions of the forklift 54 are attached. The sensor device further comprises 40 multiple vehicle condition sensors 44 which, for example, the speed and / or direction of rotation of the front or rear wheel 56 , 58 detected. Also the control device 10th in the forklift 54 arranged. The projector 30th projected onto the control signal of the control device 10th towards a projection pattern 32 onto the projection surface 34 , the projection pattern 32 represents a stop sign.

6 shows a further schematic representation of the forklift 54 out 5 , the projector 30th one of a pallet 55 evasive trajectory 32a of the forklift 54 projected. For example, this measure can be triggered by the distance between the pallet 55 and the moving forklift 54 has fallen below a critical value. An environment sensor 42 captures this event. The control device 10th of the forklift 54 receives this change in the environment and generates a control signal which is sent to the projector 30th is issued. The evaluation unit 14 is preferably designed to the trajectory 32a or another projection pattern 32 to avoid a collision between the forklift 54 and the palette 55 to generate and integrate into the control signal.

The projector 30th also projects a warning pattern 32 on the floor area, for example by people on the premises 60 is walkable. The corresponding control signal can be triggered after the environment sensor 42 one yourself the palette 55 , the forklift 54 and / or the proposed and projected trajectory 32a approaching person 60 has detected. The control signal can alternatively be triggered after the evaluation unit 14 has taken from the environment data that the distance between the people 60 one hand and the palette 55 , the forklift 54 and / or the proposed and projected trajectory 32a on the other hand has fallen below a critical value.

7 a schematic representation of a control method 100 according to one embodiment. In a first step S1 are from a sensor device 40 recorded environment and / or vehicle status data 43 , 45 receive. In a second step S2 the environmental and / or vehicle status data obtained 43 , 45 evaluated to a change in an environment and / or a state of the vehicle 50 to identify. In a third step S3 becomes a control signal for a projector 30th generated that serves the projector 30th a projection pattern 32 onto a projection screen 34 projected, choosing the projection pattern 32 and / or the projection surface 34 based on that of the evaluation unit 14 identified change is variable. In a fourth step S4 will send the control signal to the projector 30th spent.

With the present invention, even more information can be projected by projecting the projection pattern 32 being represented. For example, safe areas can be marked dynamically, so that these areas change in shape and / or size when a change in the environment and / or vehicle state data is identified. In addition, the braking distance of a vehicle 50 depending on his current driving speed. So pedestrians know in the vicinity of the vehicle 50 which area is not to be entered.

By means of further symbols, the present invention can represent possible actions in critical situations. For example, these options can be to remove obstacles. A person in the area can also be alerted to an impending danger or complication by means of warning signals or patterns, so that they can control the vehicle 50 Can influence.

In addition, the environment sensors can recognize where potential routes or routes potentially run. With this knowledge, a collision can be predicted early. This increased security risk is caused by the evaluation unit 14 taken from the sensor data. Based on the recognized security risk, a projection pattern can be projected onto a projection surface in accordance with the warning.

Furthermore, projection patterns containing work processes can be projected onto a projection surface on a high rack. The driver can thus be shown, for example, the space for storing or picking up the goods. He can also be supported when positioning the forklift or another industrial machine and sensitized to safety-critical circumstances with the help of warning patterns and signals.

Furthermore, the size of the load can be determined and this information can be projected onto the high rack, for example. The driver can thus assess whether the load fits on the shelf or whether the correct unloading height has already been reached. In addition, based on the knowledge from the vehicle status data that the battery charging capacity of the vehicle has fallen below a critical value, the driver can then be shown the shortest route to the charging station in the form of projection patterns.

A drone can also mark its planned landing site in the form of a projection pattern. When a person is detected in the vicinity of the landing site, the projection pattern and / or the projection surface can be changed, in particular shifted.

The present invention is analogously conceivable in other off-road applications, e.g. for an agricultural or construction machine (off-road vehicles). The type of information to be projected depends on the corresponding driving assignment and the associated work process in the same way as described at the beginning.

Reference list

10th

Control device

12th

Input interface

14

Evaluation unit

16

Signal generation unit

18th

Output interface

30th

projector

32

Projection pattern

32a

Trajectory

34

Projection surface

40

Sensor device

42

Environment sensor

43

Environment data

44

Vehicle condition sensor

45

Vehicle condition data

50, 54

vehicle

52

Floor area

55

palette

56

Rear wheel

58

Front wheel

60

other object

100

Tax procedure

S1 to S4

Procedural steps

Claims (12)

A control device (10) for an autonomous or semi-autonomous vehicle (50), comprising: an input interface (12) for obtaining environmental and / or vehicle status data (43, 45) detected by a sensor device (40); an evaluation unit (14) for evaluating the environment and / or vehicle status data (43, 45) received in order to identify a change in an environment and / or a status of the vehicle (50); a signal generation unit (16) for generating a control signal for a light source, a visualization unit (30) and / or an acoustic unit, so that: the light source emits a light signal; the visualization unit (30) visualizes a pattern (32) on a display surface (34); or the acoustic unit emits an acoustic signal; wherein the light signal, the acoustic signal, the choice of the pattern (32) and / or the display area (34) is variable based on the change identified by the evaluation unit (14); and an output interface (18) for outputting the control signal to the light source, the visualization unit (30) or the acoustic unit. Control device (10) after Claim 1 , wherein the pattern (32) comprises a trajectory (32a) of the vehicle (50) predicted or recommended based on the environment and / or vehicle status data (43, 45). Control device (10) after Claim 1 or 2nd , wherein the pattern (32) a recommended trajectory based on the environment and / or vehicle status data (43, 45) and / or a recommended security zone for another object (60. based on the environment and / or vehicle status data (43, 45) ) includes. Control device (10) according to one of the preceding claims, wherein the display area (34) is in a location predicted based on the vehicle status data (43, 45), at which the vehicle (50) will be at a point in time in the future. Control device (10) according to one of the preceding claims, wherein the display area (34) is in a location predicted based on the environment data (43, 45), at which another object (60) will be located at a point in time in the future . Control device (10) according to one of the preceding claims, wherein the control device (10) is attached to the vehicle (50) or to a structure (70) in an environment of the vehicle (50). Control device (10) according to one of the preceding claims, wherein the control device (10) comprises a control system which is connected to a plurality of sensor devices (40) and / or visualization units (30). Vehicle (50), comprising a control device (10) according to one of the preceding claims. Vehicle (50) after Claim 8 , further comprising a sensor device (40) for acquiring environment and / or vehicle status data (43, 45). Vehicle (50) after Claim 8 or 9 , further comprising a visualization unit (30) for visualizing a pattern (32) on a predefined display area (34) based on environmental and / or vehicle status data (43, 45) detected by a sensor device (40). A control method (100) for an autonomous or semi-autonomous vehicle (50), comprising: a first step (S1) in which environment and / or vehicle status data (43, 45) acquired by a sensor device (40) are obtained; a second step (S2) in which the environment and / or vehicle status data (43, 45) obtained are evaluated in order to identify a change in an environment and / or a status of the vehicle (50); a third step (S3), in which a control signal for a light source, a visualization unit (30) and / or an acoustic unit is generated, which serves to: the light source emits a light signal; the visualization unit (30) visualizes a pattern (32) on a display surface (34); or the acoustic unit emits an acoustic signal; wherein the light signal, the acoustic signal, the choice of the pattern (32) and / or the display area (34) is variable based on the change identified by the evaluation unit (14); and a fourth step (S4) in which the control signal is output to the light source, the visualization unit (30) or the acoustic unit. Computer program product that is stored in a data carrier and is designed to follow the control method Claim 11 perform when the computer program product is executed by a computer.

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