DE102021004423A1 - Method for lowering a low-floor bus in a bus stop area - Google Patents

Abstract

The invention relates to a method for lowering a low-floor bus (1) in a bus stop area (H). According to the invention it is provided that - a side area of the bus (1) with an entry and exit is monitored on the basis of recorded image signals from at least one sensor, - the image signals are monitored by means of an algorithm for edge detection in relation to a curb (B) and a lower edge ( K) of the low-floor bus (1) are evaluated, - it is then determined whether the curb (B) and the lower edge (K) of the low-floor bus (1) are on the same level, - if it is determined that the lower edge ( K) of the low-floor bus (1) is not at the same level as the curb (B), a height difference (d) between the lower edge (K) and the curb (B) is determined to bring the low-floor bus (1) to the level of the Lower the curb edge (B), - in addition, a detection area (E) of the at least one sensor is divided into a monitoring area (U) and a danger area (G) located directly next to the low-floor bus (1), whereby i- in the case of a detection of an object (4) located in the monitoring area (U) and / or danger area (G), a message is issued to a bus driver and- the low-floor bus (1) is only lowered when the bus driver is present Has checked the situation and approved a lowering process.

Description

The invention relates to a method for lowering a low-floor bus in a bus stop area.

From the WO 2018/039140 A1 a protection device for a laterally lowerable bus is known. The safety device comprises a holder and a brush, the brush being held by the holder, and the holder being on an underside of the lowerable bus.

The invention is based on the object of specifying a method for lowering a low-floor bus in a bus stop area.

The object is achieved according to the invention by a method which has the features specified in claim 1.

Advantageous refinements of the invention are the subject matter of the subclaims.

• - ein seitlicher Bereich des Busses mit einem Ein- und Ausstieg anhand erfasster Bildsignale zumindest eines Sensors überwacht wird,
• - die Bildsignale mittels eines eine Kantengleichung beinhaltenden Algorithmus zur Kantenerkennung, in Bezug auf eine Bordsteinkante und eine untere Kante des Niederflurbusses, ausgewertet werden,
• - anschließend ermittelt wird, ob sich die Bordsteinkante und die untere Kante des Niederflurbusses auf ein und demselben Niveau befinden,
• - wenn ermittelt wird, dass sich die untere Kante des Niederflurbusses nicht auf demselben Niveau befindet wie die Bordsteinkante, eine Höhendifferenz zwischen der unteren Kante und der Bordsteinkante ermittelt wird, um den Niederflurbus auf das Niveau der Bordsteinkante abzusenken,
• - zusätzlich ein Erfassungsbereich des zumindest einen Sensors in einen Überwachungsbereich und einen unmittelbar neben dem Niederflurbus befindlichen Gefahrenbereich unterteilt wird, wobei
• - im Fall einer Detektion eines sich in dem Überwachungsbereich und/oder Gefahrenbereich befindlichen Objektes ein Hinweis an einen Busfahrer ausgegeben wird und
• - der Niederflurbus erst dann abgesenkt wird, wenn der Busfahrer die vorliegende Situation überprüft und einen Absenkvorgang freigegeben hat.

According to the invention, a method for lowering a low-floor bus in a bus stop area provides that

• - a side area of the bus with an entry and exit is monitored using captured image signals from at least one sensor,
• - the image signals are evaluated by means of an edge equation containing algorithm for edge detection, in relation to a curb and a lower edge of the low-floor bus,
• - it is then determined whether the curb and the lower edge of the low-floor bus are on the same level,
• - if it is determined that the lower edge of the low-floor bus is not at the same level as the curb, a height difference between the lower edge and the curb is determined in order to lower the low-floor bus to the level of the curb,
• - In addition, a detection area of the at least one sensor is divided into a monitoring area and a danger area located directly next to the low-floor bus, wherein
• - in the case of a detection of an object located in the monitoring area and / or danger area, a message is issued to a bus driver and
• - The low-floor bus is only lowered when the bus driver has checked the current situation and approved a lowering process.

By using the method, it is possible to detect the height of the curb, i.e. its level, and thereby enable the low-floor bus to be lowered precisely to this level, with essentially no difference in level between the lower edge of the low-floor bus and the curb. As a result, v. a. physically disadvantaged people and people with a stroller, getting in and out of the low-floor bus is made much easier.

In addition, the method enables the detection of unevenness in the course of the curb edge as well as objects on a curb which are in the danger area and thus in an area relevant for the lowering process. On the basis of the detection, the bus driver can be signaled that the lowering process is not possible without problems, so that the bus driver can point this out to the passengers in and outside the low-floor bus. As a result, it can be largely excluded that an object, for example luggage, is damaged or that limbs of a person or an animal are trapped between the curb and the lowered low-floor bus.

In particular, the lateral area is monitored using captured image signals from a mirror camera, i. H. a so-called mirror cam, which is used as an additional sensor and supports or replaces existing sensors. As a result, the method can be implemented comparatively inexpensively.

Embodiments of the invention are explained in more detail below with reference to drawings.

• 1 schematisch einen abgesenkten Niederflurbus mit einer Höhendifferenz zwischen einer Bordsteinkante und einer unteren Kante des Niederflurbusses,
• 2 schematisch eine Spiegelkamera des Niederflurbusses,
• 3 schematisch einen auf ein Niveau einer Bordsteinkante abgesenkten Niederflurbus,
• 4 schematisch eine Draufsicht des Niederflurbusses mit einem Erfassungsbereich der Spiegelkamera,
• 5 schematisch eine Draufsicht des Niederflurbusses mit einem im Erfassungsbereich der Spiegelkamera befindlichen Objekt und
• 6 schematisch eine Draufsicht des Niederflurbusses mit dem in verschiedene Bereiche unterteilten Erfassungsbereich der Spiegelkamera.

Show:

• 1 schematically a lowered low-floor bus with a height difference between a curb and a lower edge of the low-floor bus,
• 2 schematically a mirror camera of the low-floor bus,
• 3 schematically a low-floor bus lowered to the level of a curb,
• 4th schematically a top view of the low-floor bus with a coverage area of the mirror camera,
• 5 schematically a top view of the low-floor bus with an object located in the detection range of the mirror camera and
• 6th schematically a top view of the low-floor bus with the detection area of the mirror camera divided into different areas.

Corresponding parts are provided with the same reference symbols in all figures.

In 1 is one in a bus stop area H standing low-floor bus 1 shown, which is lowered on one side. According to the present 1 one level corresponds to a lower edge K of the low-floor bus 1 not a curb level B. . So there is a height difference d between the lower edge K and the curb B. .

Getting on and off a bus 1 can cause difficulties for older people or wheelchair users, for example. This is where low-floor buses come from 1 used to make it easier for passengers to get on and off. When the low-floor bus is lowered 1 , hereinafter referred to as the bus 1 referred to, however, it does not take into account whether the stop area H without curb B. and is located directly on a roadway, or whether a height of the curb B. in the stop area H varies. As a result, it is often not possible to ensure that the doors of the bus 1 in relation to a curb B. are optimally positioned and thus getting on and off the bus 1 is possible without hindrance.

Another problem arises from the carrying of objects on the part of the passengers. If a passenger is standing in the stop area H and his luggage is in front of him, the bus driver may not see the luggage. This can lead to the luggage becoming trapped between the curb B. and the lowered bus 1 come. This can damage the luggage and / or other items or the bus 1 not be lowered sufficiently. Further complications can arise from unevenness in the curb itself.

In order to avoid such situations as far as possible, a method described below is provided, with an entry and exit area of the bus 1 is monitored by means of sensors that are already available on the bus.

In particular, the bus has 1 via a mirror camera, a so-called mirror cam, with a camera shown as an example and in a greatly simplified manner 2 and one on the bus 1 arranged display unit 3 , as in 2 is shown. There is the camera 2 as part of the sensors in the roof area of the bus 1 , in particular on the side with an entry and exit, arranged and one in the 4th until 6th Detection area shown E. the camera 2 extends over this side of the bus 1 . The camera 2 recorded while the bus is in motion 1 continuously image signals, which by means of the display unit 3 in the bus 1 , especially to the bus driver.

By means of such a mirror camera, for example, a relatively efficient monitoring of a blind spot area of the bus is also possible 1 possible.

The camera 2 continuously captures image signals, with the side area of the bus 1 is monitored from above.

To the bus 1 optimally lower, so that essentially no height difference d between the lower edge K of the bus 1 and the curb B. is recorded, the captured image signals of the camera 2 evaluated by means of an algorithm which enables edge detection via an edge equation. The camera detects which edge is the lower edge K of the bus 1 and which around the curb B. acts. The image signals are then used to determine whether the curb is located B. and the bottom edge K of the bus 1 are on the same level. A level of the lower edge K and a level of the curb B. are in each case as a line L1 , L2 Are defined.

Then it is checked whether both lines L1 , L2 are on the same level. If this is not the case, an estimate of the height of the lower edge can be carried out, for example K of the bus 1 and the curb B. to the road, ie to the ground, ie to the level of the road. Conversely, the remaining height difference d between the lower edge can thus be reduced K of the bus 1 and the curb B. calculated using the algorithm and the bus 1 be lowered accordingly.

Another option is to check when the bottom edge is K and the curb B. are at the same level. This is done on the basis of edge detection and the lines defined in advance L1 , L2 for bus 1 and curb B. , an optical measurement was carried out. Based on the level, i.e. the line L2 for the curb B. which is a height of the curb B. corresponds, it is determined by means of image recognition when the line is L2 the curb B. and the line L1 the lower edge K of the bus 1 , i.e. an exit level. The bus 1 is then lowered until there is no height difference d between the two lines L1 , L2 , So between the two levels, there is more and there is the curb B. and the bottom edge K of the bus 1 are at the same level as in 3 is shown.

Furthermore, the method provides that on the basis of the captured image signals from the camera 2 an object recognition, in relation to an area of a curb in the bus stop area H , is carried out.

An algorithm is used for this, which determines the detection area E. the camera 2 in a surveillance area U and one right next to the bus 1 , ie in the area of the curb B. located danger area G , divided, as in 6th is shown.

4th Figure 3 shows a top view of the bus 1 and the detection area E. the camera 2 and in 5 is the plan view according to 4th shown, being in the danger area G of the detection area E. an object 4th is located.

The danger area G is the area in which there is before or during a lowering process of the bus 1 by no means an object 4th , for example a person, an animal and / or an object, e.g. B. a piece of luggage is allowed.

In order to be able to ensure such a circumstance as far as possible, the danger area G the monitoring area U upstream.

The bus is at a standstill 1 in the stop area H , the object detection is carried out, with objects 4th , such as people and bumps, can be perceived on the curb, leading to a potential collision when the bus is lowered 1 being able to lead.

Is the detected object 4th outside the danger area G and the monitoring area U , i.e. within a non-critical area with regard to the bus 1 , the lowering process of the bus can 1 can be carried out without any problems.

Becomes an object 4th within the monitoring area U or even in the danger area G is detected, the lowering process cannot be carried out. In such a case, the bus driver is informed of an existing situation, for example by outputting an optical, acoustic and / or haptic signal. The lowering process of the bus 1 can take place in the presence of such a situation, when the bus driver has checked the situation and instructs the lowering process by an explicit instruction, for example by actuating a switch, that is to say enables it.

In an additional embodiment of the method, provision can be made for dynamic object monitoring to be carried out. Moves an object 4th during the lowering process of the bus 1 in the monitoring area U inside, the lowering process is first stopped and the bus driver is informed of this situation, for example by outputting an optical, acoustic and / or haptic signal. The bus driver now has the opportunity to independently check the current situation and thus a collision between the bus 1 and the object 4th to prevent. If the present situation has been checked by the bus driver and the problem has been resolved, the lowering process can be released and continued, in particular by pressing the switch.

Becomes an object 4th in the danger area G is an automatic lowering of the bus 1 not possible without protection, ie checking by the bus driver and subsequent release by pressing the switch. In any case, there will be a collision of the bus 1 with the object 4th Avoided as far as possible, as the dynamic monitoring enables penetration into the danger area G due to premature interruption when passing the surveillance zone U can be prevented.

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

• WO 2018/039140 A1 [0002]

Claims (3)

Method for lowering a low-floor bus (1) in a bus stop area (H), characterized in that - a side area of the bus (1) with entry and exit is monitored using captured image signals from at least one sensor, - the image signals using an edge equation algorithm for edge detection in relation to a curb (B) and a lower edge (K) of the low-floor bus (1) are evaluated, - it is then determined whether the curb (B) and the lower edge (K) of the low-floor bus (1 ) are on the same level, - if it is determined that the lower edge (K) of the low-floor bus (1) is not on the same level as the curb (B), a height difference (d) between the lower edge (K) and the Curb edge (B) is determined in order to lower the low-floor bus (1) to the level of the curb edge (B), - additionally a detection area (E) of the at least one sensor in a monitoring s area (U) and a danger area (G) located directly next to the low-floor bus (1), whereby - in the case of a detection of an object (4) located in the monitoring area (U) and / or danger area (G), an indication is given a bus driver is issued and - the low-floor bus (1) is only lowered when the bus driver has checked the current situation and approved a lowering process. Procedure according to Claim 1 , characterized in that when an object (4) moves into the monitored area (U), the lowering process is stopped and the lowering process is continued after the bus driver has checked the current situation and has given the appropriate approval. Procedure according to Claim 1 or 2 , characterized in that the lateral area is captured using a camera (2), which is part of a mirror camera, and is monitored using image signals captured by means of the camera (2).

Images