DE102019205504A1 - Control device and method as well as computer program product - Google Patents

Abstract

Control device (10) for a vehicle (50) with a cabin part (52) and a trailer part (54) coupled to the cabin part (52), comprising a first input interface (12) for receiving first sensor data from a first sensor (42), the Cabin part (52) is assigned, a second input interface (14) for receiving second sensor data generated by a second sensor (44) assigned to the trailer part (54) and then preprocessed by a preprocessing unit (18), a fusion unit (22) for Merging the first sensor data with the second sensor data in order to generate merged sensor data, and a main processing unit (16) for processing the merged sensor data in order to generate a control signal for actuating the vehicle (50).

Description

TECHNICAL AREA

The present invention relates to the field of autonomous or partially autonomous vehicles, for example a truck or an agricultural machine. In particular, the present invention relates to a control device and a control method as well as a computer program product for such a vehicle, for example an articulated vehicle.

TECHNICAL BACKGROUND

Object recognition plays a central role for autonomous or semi-autonomous vehicles. For this purpose, sensors, for example environment sensors, cameras, radar sensors, lidar sensors and / or ultrasonic sensors are used, which monitor the environment of the vehicle. From this detection of the surroundings, sensor data are generated that are processed in order to identify certain objects, such as moving or stationary vehicles, people, buildings and / or plants, in good time and precisely. Based on the sensor data, control signals can be generated that allow the vehicle to take a specific evasive action. In this way, collisions with these objects can be effectively avoided or at least reduced.

In the case of vehicles with an oversized size, in particular trucks, industrial vehicles or agricultural machines, it is often more difficult than, for example, in the case of passenger vehicles, to detect the surroundings of the vehicle with the required precision. There is a comparatively large area of the blind spot that cannot be seen by the driver using the rear and side mirrors. The situation becomes particularly critical when an articulated vehicle is affected. Because of the flexibility between the cabin part and the trailer part articulated to it, degrees of freedom of movement arise, with which the complexity of the perception of the surroundings increases.

In order to increase safety in autonomous or semi-autonomous vehicles despite this much larger blind spot area, sensor systems are known from the prior art in which the sensors are arranged not only on the cabin part but also on the trailer part articulated to it. Such a sensor arrangement is, for example, off US2018170369A1 known. This enlarges the viewing angle of the sensor system, so that more extensive coverage of the surroundings is possible.

As the number of sensors increases, so does the amount of data generated by these sensors. It is correspondingly more computationally demanding to process this data. Unfortunately, the known systems are not able to process sensor data with a satisfactory efficiency. The sensor-based object recognition can consequently not be carried out with the required reliability. This leads to considerable safety concerns for the vehicles concerned.

The present invention is therefore based on the object of making autonomous or partially autonomous driving, in particular with articulated vehicles, safer.

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

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 main processing unit used / built into the control device can comprise a central processing unit (CPU) or a graphic processing unit (GPU). Alternatively, the main processing unit can be an ECU or an ECM. In this case, the control device is a device / arrangement that is superordinate to the ECU or the ECM.

The control device can be used, for example, for an autonomous or partially autonomous vehicle so that it can act entirely or partially 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 first sensor and / or the second sensor are, 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 for example consist of luminance data (gray values, brightness) or also contain chrominance data (color). The first and / or second sensor therefore also functions as an environment sensor in order to monitor the environment of the vehicle and, if necessary, to detect objects on a roadway. There the first sensor preferably detects a first environment of the cabin part. The second sensor preferably detects a second environment of the trailer part.

The first and / or second sensor can be arranged on the vehicle or outside the vehicle, for example as part of a central monitoring device. The first and / or second input interface is preferably a wireless data interface that is connected to a server or a cloud system. Alternatively, the first and / or second input interface can be a wired data interface.

The preprocessing unit is, for example, a CPU, GPU, ECU or an ECM. The preprocessing unit is a different processing unit from the main processing unit and interacts with the second sensor. The preprocessing unit receives raw data from the second sensor and carries out a preprocessing of these raw data in order to generate the second sensor data. The first and second sensor data are then merged by the fusion unit in order to generate fused sensor data. Based on the processing of the merged sensor data, control signals for activating the vehicle can be generated. The latter can be generated by a signal generating unit of the control device according to the invention, or alternatively by an external unit. The fusion unit can be contained in the main processing unit or arranged separately therefrom.

The control device according to the invention is advantageous over the known control systems. On the one hand, the processing time can be reduced due to the preprocessing of the sensor data generated by the second sensor, which can take place parallel to the processing of the first sensor data generated by the first sensor. The latency is reduced so that the control device works more efficiently. This is particularly advantageous since, in many dangerous situations, sensor data have to be processed very quickly in order to generate and output control signals to avoid or reduce risks.

On the other hand, the main processing unit can also be relieved as a result, since no raw data from the second sensor but rather preprocessed (second) sensor data are fed to the main processing unit. This slows down the use-related aging process of the main processing unit, whereby its service life is extended in a cost-effective manner.

Advantageous refinements and developments are specified in the subclaims.

According to one embodiment, the second sensor data include position data relating to an object in a second environment of the trailer part.

The position data are generated by preprocessing the raw data received from the second sensor. The preprocessing unit thus takes on a significant part of the data processing based on the raw data from the second sensor. The data processing of the control device is therefore particularly efficient.

According to a further embodiment, the control device further comprises a communication interface for transmitting a command containing a predefined preprocessing stage to the preprocessing unit.

According to the transmitted predefined preprocessing stage, the preprocessing unit can preprocess the raw data generated by the second sensor. The predefined preprocessing stage can be determined by the main processing unit and / or the fusion unit or transmitted to it. The fusion unit and / or the main processing unit can therefore take into account the preprocessing stage of the second sensor data when the first and second sensor data are merged or the predefined preprocessing stage during the main processing of the merged sensor data. The main and preprocessing operations can advantageously be coordinated with one another in order to avoid unnecessary processing steps and, as a result, to use the computing capacity more efficiently.

According to a further embodiment, the fusion unit is designed to calibrate the first sensor data and / or the second sensor data.

The first sensor data normally relate to a first coordinate system of the first sensor. The second sensor data normally relate to a second coordinate system of the second sensor, which is different from the first coordinate system. As a result of the calibration, both sensor data sets are brought to a common coordinate system, for example one of the first and second coordinate systems or a third coordinate system, which simplifies the main processing by the main processing unit.

According to a further embodiment, the fusion unit is designed to calibrate the first and / or second sensor data based on angle data relating to an angle between the cabin part and the trailer part articulated on the cabin part.

In this case, the vehicle is an articulated vehicle. The angle can relate to a relative angular position between the longitudinal axis of the cabin part and the longitudinal axis of the trailer part. The angle is preferably determined from the first sensor data and / or by an angle determination unit of the control device. Alternatively, the relative angle can be transmitted from an external unit to the control device. The relative angle between the two vehicle parts is advantageously taken into account in the sensor data calibration, so that the control signal generated on the basis of the merged and calibrated sensor data is more reliable and autonomous driving with the articulated vehicle is safer.

According to a further embodiment, the main processing unit is assigned to the cabin part or the trailer part, preferably arranged on the cabin part or on the trailer part.

If the main processing unit is assigned to the booth part or is arranged on it, this is a booth processing unit. Since the overall control of the vehicle is usually carried out in the cabin part, this measure is particularly advantageous in terms of computing and signal transmission efficiency for data processing and generation of the control signal.

According to a further embodiment, the control device further comprises the preprocessing unit.

In this case, the control device according to the invention has a main processing unit and a preprocessing unit. The control device is thus expanded in its computing and signal transmission capacity. Both processing units are preferably assigned to different vehicle parts or are arranged on different vehicle parts. In particular, if the vehicle comprises several trailer parts, several preprocessing units can be used which are each assigned to one of the trailer parts or are each arranged on one of the trailer parts. This measure improves the efficiency of the sensor data transmission.

The computer program product according to the invention 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 is running 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 associated data. The complement to software is hardware. Hardware describes the mechanical and electronic alignment of a data processing system. A computer is an evaluation device.

Computer program products generally comprise a sequence of instructions which, when the program is loaded, cause the hardware to carry out a specific method that leads to a specific result. When the program in question is used on a computer, the computer program product produces the inventive technical effect described above.

The computer program product according to the invention is platform independent. That means it can 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 Python.

• 1 eine schematische Darstellung einer Steuervorrichtung gemäß einer Ausführungsform;
• 2 eine schematische Darstellung eines Fahrzeugs mit einem Kabinenteil und einem an diesem gelenkig gekoppelten Anhängerteil in einer Draufsicht, wobei dem Kabinenteil eine Steuervorrichtung aus 1 zugeordnet ist; und
• 3 eine schematische Darstellung des Fahrzeugs aus 2 in einer Seitenansicht.

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;
• 2 a schematic representation of a vehicle with a cabin part and a trailer part articulated to this in a plan view, the cabin part from a control device 1 assigned; and
• 3 a schematic representation of the vehicle 2 in a side view.

In the figures, the same reference symbols relate 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 10 according to one embodiment. The control device 10 is used to evaluate sensor data to generate control signals for controlling a vehicle 50 with a cabin part 52 and a trailer part coupled to this 54 to create.

The control device 10 comprises a first input interface 12 for obtaining first sensor data from a first sensor 42 , the cabin part 52 assigned. The control device 10 further comprises a second input interface 14th for obtaining second sensor data from one of the trailer part 54 associated second sensor 44 generated and then by a preprocessing unit 18th are preprocessed. As in 1 The second sensor data from the preprocessing unit are shown by way of example 18th the second input interface 14th fed directly. Alternatively, a further data interface can be interposed. The main processing unit can preferably 16 a preprocessing stage for the preprocessing unit 18th establish.

A fusion unit 22nd is also in the control device for merging the first sensor data with the second sensor data 10 provided to generate fused sensor data. The first and / or the second sensor data can be calibrated as part of the data fusion. This means the fusion unit 22nd can comprise a calibration module (not shown) in order to bring both sensor data sets to a common coordinate system.

The fused sensor data, which are preferably additionally calibrated, are processed by a main processing unit 16 the control device 10 processed to a control signal for driving the vehicle 50 to create. The signal generation can be carried out directly by the main processing unit 16 , as in 1 shown by way of example.

In addition, the main processing unit 16 also process the first sensor data separately in order to generate a corresponding control signal. This is in 1 shown schematically in dashed lines. There is no fusion of the data sets on this data processing path.

In 2 is the vehicle 50 shown schematically in a plan view. The vehicle 50 is shown here as an example of an articulated vehicle in which the trailer part 52 articulated on the cabin part 50 is coupled. The vehicle instructs you to do this 50 a joint part 58 to the both vehicle parts 52 , 54 rotated relative to each other and an angle 56 can include. The angle 56 refers here to the angle between the longitudinal axis 522 of the cabin part 52 and the longitudinal axis 542 of the trailer part 54 . In 3 Fig. 3 is a schematic side view of the vehicle 50 shown.

As in 2 Several first sensors are shown by way of example 42 on the cabin part 52 arranged. These first sensors 42 grasp a first environment 521 of the cabin part 52 . At the same time there are several second sensors 44 on the trailer part 54 arranged. These second sensors 44 capture a second environment 541 of the trailer part 54 . That angle 56 is extracted from angle data that can be found in the first and / or second sensor data, for example, or in addition to the first or second sensor data of the main processing unit 16 be fed.

Also is the main processing unit 16 on in 2 Example shown on the cabin part 52 arranged while the preprocessing unit 18th on the trailer part 54 is arranged. Next to the main processing unit 16 can the preprocessing unit 18th preferably to the control device according to the invention 10 belong.

Preferably a value for the angle 56 from the first sensor data of the first sensor 42 be estimated, the control device 10 is able, taking into account the second sensor data, the estimated value of the angle 56 to optimize. Thus is the angle 56 between the cabin part 52 and the trailer part 54 more precisely determinable.

List of reference symbols

10

Control device

12

first input interface

14th

second input interface

16

Main processing unit

18th

Preprocessing unit

22nd

Fusion unit

24

Communication interface

42

first sensor

44

second sensor

50

vehicle

52

Cabin part

521

first environment

522

Longitudinal axis

54

Trailer part

541

second environment

542

Longitudinal axis

56

angle

58

Joint part

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 2018170369 A1 [0004]

Claims (11)

Control device (10) for a vehicle (50) with a cabin part (52) and a trailer part (54) coupled to the cabin part (52), comprising: - A first input interface (12) for receiving first sensor data from a first sensor (42) which is assigned to the cabin part (52); - A second input interface (14) for receiving second sensor data which are generated by a second sensor (44) assigned to the trailer part (54) and are then preprocessed by a preprocessing unit (18); - A fusion unit (22) for merging the first sensor data with the second sensor data in order to generate fused sensor data; and - A main processing unit (16) for processing the merged sensor data in order to generate a control signal for controlling the vehicle (50). Control device (10) after Claim 1 , wherein the first sensor data comprise raw data relating to a first environment (521) of the cabin part (52). Control device (10) after Claim 1 or 2 , wherein the second sensor data comprises position data relating to an object (70) in a second environment (541) of the trailer part (54). Control device (10) according to one of the preceding claims, further comprising a communication interface (24) for transmitting a command containing a predefined preprocessing stage to the preprocessing unit (18). Control device (10) according to one of the preceding claims, wherein the fusion unit (22) is designed to calibrate the first sensor data and / or the second sensor data. Control device (10) after Claim 5 , wherein the fusion unit (22) is designed to perform the calibration of the first and / or second sensor data based on angle data relating to an angle (56) between the cabin part (52) and the trailer part (54) articulated to the cabin part. Control device (10) according to one of the preceding claims, wherein the main processing unit (16) is assigned to the cabin part (52) or the trailer part (54), preferably is arranged on the cabin part (52) or on the trailer part (54). Control device (10) according to one of the preceding claims, further comprising the preprocessing unit (18). Vehicle (50) comprising a control device (10) according to one of Claims 1 to 8th . Control method for a vehicle (50) having a cabin part (52) and a trailer part (54) coupled to the cabin part (52), comprising: - Obtaining first sensor data from a first sensor (42) associated with the cabin part (52); - Obtaining second sensor data which are generated by a second sensor (44) assigned to the trailer part (54) and are then preprocessed by a preprocessing unit (18); Merging the first sensor data with the second sensor data in order to generate fused sensor data; and - Processing the merged sensor data in order to generate a control signal for controlling the vehicle (50). Computer program product that is stored in a data carrier and is designed to use the control method Claim 10 performed when the computer program product is executed by a computer.

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