DE102022112820A1 - Method of assisting a truck driver to cross a level crossing - Google Patents

Abstract

The invention relates to a method for supporting a driver of a truck (1) with a towing vehicle (2) and a trailer (3) when crossing a level crossing (4), a first distance (A1) of the truck (1) being set by means of a distance-dependent speed control system. to a vehicle in front (5) in its direction of travel and in its lane, and a speed of the vehicle in front (5) are determined, the level crossing (4) and a second distance (A2) of the truck (1) to the level crossing (4) being determined by means of a navigation system ( 12), an available length (VL) behind the level crossing (4) being determined by subtracting the second distance (A2) and a width (B) of the level crossing (4) from the first distance (A1), a total length ( GL) of the truck (1) using a mirror camera (6) on the tractor (2), which is aligned against a direction of travel, or by querying a type of trailer (3) m by means of an electrical connection between the tractor (2) and a control unit in or on the semi-trailer (3), the level crossing (4) and the second distance (A2) being determined alternatively or additionally by means of recognizing characteristic features of the level crossing (4) or an approach to the level crossing (4) can be detected by a camera sensor (8), with a warning being issued to the driver if the available length (VL) is less than the total length (GL).

Description

The invention relates to a method for assisting a driver of a truck when crossing a level crossing according to the preamble of claim 1.

When a lorry is crossing level crossings, it is important for the driver to be sure that the tractor unit and semi-trailer or trailer will not come to a stop over the railroad tracks due to an obstacle, such as another vehicle which may be behind the level crossing, for example instead, the truck always completely crosses the level crossing so that it cannot be hit by an approaching train.

The driver of the truck must therefore judge and/or estimate before crossing the level crossing whether the distance to a vehicle in front on the other side of the level crossing is sufficient for the complete length of the truck. Here, the driver usually takes a conservative approach, so that the level crossing is only crossed if the gap on the other side is more than big enough for the truck. However, misjudgment or inattentiveness can lead to accidents where part of the truck remains on the level crossing and is hit by a train, especially when the flow of traffic comes to a sudden standstill and the truck is forced to stop abruptly at the level crossing.

Stationary systems for monitoring level crossings are known which display a warning or a live video image to the train driver to alert him to a blockage of the level crossing so that he can initiate emergency braking. Furthermore, these systems can issue additional warnings at the level crossing itself through light signals or announcements. The disadvantage of these systems is that they have to be additionally installed at the level crossing itself. Furthermore, these systems are only reactive, which means that they react to a blockage of a level crossing and do not prevent it beforehand. In addition, the train driver is not always able to stop in front of the level crossing due to the construction of the railway line. Furthermore, the driver of the truck is not always able to leave the level crossing in time, despite a warning.

• - eine Fernsensorik zur Erfassung eines vorhandenen Freiraumes hinter der Kreuzung oder Einmündung,
• - eine Frontsensorik zur Erfassung von Gesten und/oder Lichtsignalen eines weiteren Fahrzeugs,
• - eine Rückraumsensorik zur Erfassung nachfolgender weiterer Fahrzeuge und
• - eine Recheneinheit zur Auswertung erfasster Signale und zur Freiraumberechnung, wobei das im autonomen Fahrbetrieb fahrende Fahrzeug anfährt, wenn ein ermittelter Freiraum zumindest dem erforderlichen Freiraum entspricht, oder wenn eine vorgegebene Zeitdauer vergangen ist und/oder erfasste Gesten und/oder Lichtsignale eine Aufforderung zum Anfahren darstellen.

DE 10 2018 004 113 A1 describes a device for a vehicle for determining a free space required for the vehicle after passing an intersection or junction. The device includes:

• - a remote sensor system for detecting an existing free space behind the crossing or junction,
• - a front sensor system for detecting gestures and/or light signals from another vehicle,
• - A rear space sensor for detecting other following vehicles and
• - a computing unit for evaluating detected signals and for calculating free space, with the vehicle driving in autonomous driving mode driving off when a determined free space corresponds at least to the required free space, or when a specified period of time has elapsed and/or detected gestures and/or light signals indicate a request to start represent.

The invention is based on the object of specifying a novel method for assisting a driver of a truck when crossing a railroad crossing.

The object is achieved according to the invention by a method for supporting a driver of a truck when crossing a level crossing according to claim 1.

Advantageous configurations of the invention are the subject matter of the dependent claims.

In a method according to the invention for supporting a driver of a truck when crossing a railroad crossing, the truck comprising a tractor unit and a semitrailer or at least one trailer, a distance-dependent cruise control system is used to calculate a first distance between the truck and a vehicle in front in its direction of travel and lane, as well as a The speed of the vehicle in front is determined, the level crossing and a second distance from the truck to the level crossing being recognized by a navigation system, with an available length behind the level crossing being determined by subtracting the second distance and a width of the level crossing from the first distance. According to the invention, an overall length of the truck is determined using a mirror camera on the tractor, which is aligned against a direction of travel, or by querying a type of semitrailer or trailer using an electrical connection between the tractor and a control unit in or on the semitrailer or trailer, wherein the level crossing and the second distance alternatively or additionally by detecting characteristic features of the level crossing or an approach to the level crossing by a camera sensor, with a warning being issued to the driver if the available length is less than the total length.

By applying the method according to the invention in the tractor, additional assistance is provided to ensure that the driver can cross the level crossing without having to stop the tractor, semi-trailer or trailer over the railroad tracks.

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

• 1 eine schematische Ansicht eines Lastkraftwagens, und
• 2 eine schematische Ansicht einer Verkehrssituation mit einem Lastkraftwagen, der sich einem Bahnübergang nähert.

show:

• 1 a schematic view of a truck, and
• 2 a schematic view of a traffic situation with a truck approaching a railroad crossing.

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

The idea of the present invention is to present in a truck tractor an assisting device that assists the truck driver to cross the railroad crossing without stopping the tractor, a semi-trailer or a trailer over the railroad tracks.

1 1 is a schematic view of a truck 1 comprising a tractor 2 and a semi-trailer 3. In other embodiments, instead of the semi-trailer 3, at least one trailer can be provided. 2 Fig. 12 is a schematic view of a traffic situation with a truck 1 approaching a level crossing 4 behind which there is an obstacle 5 in the form of a vehicle 5 in front, for example another truck.

In one step of a method to support the driver when crossing a railroad crossing 4, a total length GL of the truck 1 is determined, for example with the help of a mirror camera 6 (mirror cam) on the tractor 2, opposite to the direction of travel, i.e. to the rear , is aligned. The total length GL can be determined, for example, when cornering, since the semi-trailer 3 or trailer can be seen more easily through the mirror camera 6 and can be measured by an algorithm based on the steering angle. The known position of the mirror camera 6 on the tractor 2 also takes into account that part of the tractor 2 which may be in front of the mirror camera 6 in the direction of travel.

Another way of identifying the overall length GL of the truck 1 is to identify the trailer 3 or trailer via an electrical connection between the tractor 2 and a control unit, for example an ABS control unit, in or on the trailer 3 or the at least one trailer and thus to determine its length depending on its type.

In a further step of the method, a first distance A1 of the truck 1 to an obstacle 5 in its direction of travel and/or lane, for example a vehicle 5 in front, and a speed of the obstacle 5 are determined, for example by means of a distance-dependent cruise control system. For this purpose, the cruise control system can comprise at least one radar sensor 7 and/or camera sensor 8 and/or lidar sensor, for example.

In a further step of the method, the level crossing 4 and its position, and thus the position or a second distance A2 of the truck 1 to the level crossing 4, are recognized. On the one hand, this can also be done via the camera sensor 8 , so that the level crossing 4 is recognized on the basis of characteristic features of the level crossing 4 and/or the access road in the direction of the level crossing 4 . Characteristic features of the level crossing 4 can be, for example, a signal system or a traffic sign, in particular a red/white cross, also called St. Andrew's Cross 9 . Characteristic features of the approach to the level crossing 4 can be, for example, rectangular traffic signs with red stripes, also called beacons 10, or the level crossing traffic sign 11. The number of stripes on the beacon 10 indicates the distance to the level crossing 4.

Alternatively or additionally, the position or the second distance A2 of the truck 1 relative to the level crossing 4 can be detected by means of a navigation system 12 . In this case, the level crossing 4 is usually known in the navigation system 12 . Based on the position of the truck 1 that is also determined, it can be determined where the truck 1 is located relative to the level crossing 4 and whether the truck 1 is driving towards the level crossing 4 .

A control unit 13 can be provided in the truck 1, which from these three items of information, i.e. the total length GL of the truck 1, the first distance A1 of the truck 1 to the obstacle 5 and its speed and the second distance A2 of the truck 1 relative to the level crossing 4 , an available length VL behind the level crossing 4 is determined in order to determine whether the truck 1 can drive over the level crossing 4 without a part of it, for example the trailer or semi-trailer 3 remaining above the level crossing 4.

In the simplest case, the first distance A1 to the obstacle 5 minus the second distance A2 of the truck 1 to the level crossing 4 minus a width B (e.g. a fixed value or determined by means of the navigation system 12 and/or via the camera sensor 8) of the level crossing 4 must be greater than the overall length GL of the truck 1. When calculating the available length VL, a safety buffer can also be taken into account to allow for possible measurement inaccuracies.

If the available length VL determined in this way is too small to safely cross the level crossing 4 , a warning can be issued to the driver so that he can stop in front of the level crossing 4 . This warning can, for example, be output acoustically and/or optically, for example in a display device.

In an exemplary embodiment, the method can also be used in an autonomously driving truck 1 . In this case, a virtual driver only crosses the level crossing 4 if the determined available length VL is sufficient.

Reference List

1

truck

2

tractor

3

trailer

4

Railroad Crossing

5

Obstacle, vehicle in front

6

mirror camera

7

radar sensor

8th

camera sensor

9

St. Andrew's cross

10

beacon

11

Traffic sign level crossing

12

navigation system

13

control unit

A1

first distance

A2

second distance

B

Broad

GL

overall length

VL

available length

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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

• DE 102018004113 A1 [0005]

Claims (8)

Method for supporting a driver of a truck (1) when crossing a railroad crossing (4), the truck (1) comprising a tractor (2) and a trailer (3) or at least one trailer, a first distance ( A1) of the truck (1) to a vehicle in front (5) in its direction of travel and in its lane, and a speed of the vehicle in front (5) are determined, with the level crossing (4) and a second distance (A2) of the truck (1) to the level crossing (4) are recognized by a navigation system (12), with an available length (VL) behind the level crossing (4) by subtracting the second distance (A2) and a width (B) of the level crossing (4) from the first distance (A1) is determined, characterized in that a total length (GL) of the truck (1) with the aid of a mirror camera (6) on the tractor (2), which is aligned against a direction of travel is correct, or by querying a type of semi-trailer (3) or trailer by means of an electrical connection between the tractor (2) and a control device in or on the semi-trailer (3) or trailer, is determined, with the level crossing (4) and the second Distance (A2) can be detected alternatively or additionally by detecting characteristic features of the level crossing (4) or an approach to the level crossing (4) by a camera sensor (8), and if the available length (VL) is less than the total length (GL ), a warning is issued to the driver. procedure after claim 1 , characterized in that the total length (GL) is determined by means of a mirror camera (6) when cornering. procedure after claim 1 or 2 , characterized in that the control unit in or on the trailer (3) or trailer is an ABS control unit. Method according to one of the preceding claims, characterized in that a signal system and/or a St. Andrew's cross (9) is used as characteristic features of the level crossing (4). Method according to one of the preceding claims, characterized in that at least one beacon (10) and/or the traffic sign level crossing (11) is used as characteristic features of the approach to the level crossing (4). Method according to one of the preceding claims, characterized in that a safety buffer is taken into account when calculating the available length (VL) in order to take possible measurement inaccuracies into account. Method according to one of the preceding claims, characterized in that the warning is output acoustically and/or optically. Method according to one of the preceding claims, carried out in an autonomously driving truck (1).

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