DE102023102756A1 - Method for determining a distance between a motor vehicle and a loading ramp and electronic computing device - Google Patents

Abstract

The invention relates to a method for determining a distance (ΔD) between a lower edge (A*) of a container (12) on a rear (14) of a motor vehicle (10) and a loading edge (A) of a loading ramp to be approached by the motor vehicle (10). (16) while reversing, in which at least one recording of a rear area (H1) of the rear (14) is generated by means of a mirror camera (20a) on a driver-side exterior mirror (18a) of the motor vehicle (10), and the at least one recording by means of a software of an electronic computing device (24) coupled to the mirror camera (20a). The invention also relates to such an electronic computing device (24).

Description

The invention relates to a method for determining a distance between a motor vehicle and a loading ramp according to the preamble of patent claim 1 and an electronic computing device according to the invention.

An approach of a motor vehicle, in particular a truck to a loading ramp or a loading ramp, is associated with various problems. In particular, a trailer with a roller door has other problems than a trailer with folding doors that must be taken into account during the approach. There are already solutions using ultrasound or camera systems that are attached to the rear of a trailer of the motor vehicle.

From the DE 10 2004 028 763 A1 a method for image data-based support of vehicle guidance of a motor vehicle, in particular for maneuvering trucks to docking stations, has already been disclosed, in which image data from the surroundings of the motor vehicle are obtained by means of an image sensor. The position parameters relative to the motor vehicle of at least one potential destination are extracted from the image data obtained, and as a result a trajectory describing an optimized route is calculated for at least one of the potential destinations to support subsequent vehicle guidance.

The object of the invention is to provide a method and an electronic computing device by means of which it is possible to measure the distance between a motor vehicle and a loading ramp using an already existing mirror camera.

This object is achieved by means of a method having the features of patent claim 1 and by means of an electronic computing device according to the invention. Advantageous configurations with expedient developments of the electronic computing device are to be regarded as advantageous configurations of the method and vice versa. Further advantages and features can be found in the dependent claims.

One aspect of the invention relates to a method for determining a distance between a lower edge of a container at the rear of a motor vehicle and another edge, in particular a loading edge of a loading ramp to be approached by the motor vehicle, during reverse travel, in particular during a linear reverse movement. The distance results accordingly between the loading ramp and the lower edge of the container, with other edges of the motor vehicle being applicable as relative points or relative straight lines. The distance thus becomes smaller and smaller during reversing, depending on the speed of the motor vehicle. In this case, the motor vehicle should stop at a predetermined value of the distance, in particular without approaching the loading ramp and thus in order to avoid contact that could lead to damage, the specified value of the predetermined distance having to be as small as possible. This makes it possible to carry goods in and out of the trailer or into the container of the motor vehicle via the loading ramp or to drive them in and out without having to bridge a gap between the lower edge and the loading ramp.

Due to the lack of hinged doors, at least one folding element is used in the method, which is intended to simulate the opening of a door of the trailer by means of an opening movement. After an at least partially automatic opening of the folding element, the opening of a driver-side door of the container of the motor vehicle is to be simulated in order to detect the opening of the folding element by means of a mirror camera on a driver-side exterior mirror of the motor vehicle and at least one recording of a rear area of the rear and the opened folding element to generate and capture. The at least one recording is evaluated using software in an electronic computing device coupled to the mirror camera. This means that the mirror camera produces a picture of one side of the motor vehicle, which is forwarded to the electronic computing device, whereby the software uses the picture to calculate the distance between the bottom edge and the loading dock. In order to determine the distance, an essentially vertical vertical edge of the container is determined from the at least one recording in a first method step. A lower folding element edge of the opened folding element is also determined from the at least one recording. A digital optical point of intersection is then calculated using the ascertained vertical edge and the ascertained folding element edge. A digital lower edge of the container is calculated using the calculated optical point of intersection and then the lower edge is compared with a loading edge, the loading ramp to be approached or another object to be approached from the at least one recording. A pixel distance between the calculated digital lower edge and the determined loading edge is then calculated. Finally, the pixel distance is converted into the distance to be measured in SI units and in a final ver Driving step transmitted the distance from the electronic computing device to the motor vehicle.

Thus, during recording, the edges are calculated together and the point of intersection is used to calculate a digital distance, which is then converted and forwarded to the motor vehicle, whereby the motor vehicle receives a command, for example, to stop at a predetermined value of the distance. In other words, a vertical edge of the container is determined by a mirror camera or a mirror cam. When the door is imitated by the at least one folding element of the container, which is carried out with each start-up process, the lower folding element edge of the folding element becomes visible. This folding element edge forms an optical point of intersection with the vertical edge, which represents the lower edge of the container or a point on a horizontal line, which is noted as the lower edge. This lower edge is compared with an edge behind the container, namely the loading edge of the loading ramp. The comparison yields a pixel distance, which is converted into a distance in SI units and forwarded to the motor vehicle. A particular advantage of this is that there is no damage when approaching the loading ramp and the maneuvering process is efficient. In addition, there is a relief for the driver, since maneuvering is now also simplified for inexperienced drivers. Finally, there is an opportunity to automate the process. By using simple folding elements as the doors, it is possible to also use the system for detecting door edges on trailers that have a roller shutter, for example. Thus, the opening of a door is imitated or simulated by the folding element, in particular it is provided that the folding element is easily attached to the trailer. For example, a simple suspension can be arranged on the trailer, which is designed by means of a simple actuator to unfold the folding element when the motor vehicle is reversing.

In particular, it is possible to capture a large number of recordings and thereby generate a large number of digital optical points of intersection, by means of which a meridian is calculated and a more precise lower edge is thus determined. This allows external influences to be better corrected, which means that the distance to the loading ramp is calculated more accurately. This means that the recordings are also carried out continuously, so that the distance is calculated continuously and all distances for the motor vehicle are thus provided. In particular, this makes it possible to track the reverse gear of the motor vehicle towards the loading ramp. In particular, a lighting device arranged on the motor vehicle can be used during the method. The quality of the recordings is crucial for calculating the distance, which means that lighting the rear area improves the quality of the recordings. With an existing lighting device or an additional lighting device arranged on the motor vehicle, it is possible to illuminate the field of view of the mirror camera and thus counteract external influences in order to improve the quality of the recording. The software can also process the recordings from both sides in parallel. This means that images are generated on both sides, which are calculated by the electronic computing device and by the software, and thus two intersection points are measured and two distances are calculated, which are compared with one another. This leads, for example, to a meridian of the distances, whereby an improvement and a safeguarding of the reversing of the motor vehicle are carried out. Likewise, the optical intersections of both sides can create a more accurate bottom edge. Furthermore, the electronic computing device can be electronically connected to a driver assistance system of the motor vehicle. The driver assistance system can use the distance to help the driver of the motor vehicle when reversing. For example, a signal for an alarm is also generated at a predetermined distance value. In particular, the signal is generated by the electronic computing device and forwarded to an alarm device, as a result of which the alarm device generates an alarm which, for example, warns the driver and/or persons in the vicinity of the motor vehicle when the motor vehicle approaches the loading ramp and also warns the driver that the motor vehicle is already in the predetermined value of the distance to the loading ramp and can therefore brake manually, for example. This enables the shunting process to run more efficiently. In addition, there is a relief for the driver, since maneuvering is now also simplified for inexperienced drivers.

An advantageous embodiment of the invention provides that the distance is determined as a function of a height of the folding element relative to the rear. A large number of clamping elements can be arranged for this purpose, which are arranged at a respective height relative to the floor or relative to the vertical edge. The electronic computing device is able to record the respective heights and carry out the respective calculation as a function of the respective height, with the height already recorded being able to calculate the distance from the loading ramp in a particularly precise manner. In particular For example, height differences can also be detected from a predetermined height, for example a lower rear edge can be detected as a zero point and respective folding elements can be arranged above and/or below the zero point in the vertical direction of the vehicle, for example in 5 cm increments. In this way, an offset can be provided at which a deviation, which occurs as a result of a load in the trailer, can be detected from a rear edge or lower edge that is driven up to the loading ramp.

A further advantageous embodiment of the invention provides that the height of the folding element relative to the rear is detected as a function of a pattern on the folding element. By providing a pattern, the mirror camera and the software can be used to quickly determine which folding element was detected and, depending on this, pre-stored variables, for example a height of the folding element relative to the floor, can be taken from a database. The respective patterns thus have respective values, and the patterns can accordingly be detected quickly.

An embodiment of the invention in which further recordings are generated by means of a second mirror camera on an outside mirror of the motor vehicle on the passenger side has also proven to be advantageous. In addition, further recordings can thus be generated by means of a second mirror camera on an exterior mirror of the motor vehicle on the passenger side. The recording by means of a second mirror camera means that recordings are generated both on the driver's side and on the passenger's side of the motor vehicle, which would make it possible, for example, to determine the distance even if objects and/or other obstacles would prevent the recordings . A folding element on the passenger side is also used for this purpose, which is folded out like the folding element on the driver's side and can be captured by the mirror camera on the passenger side.

Finally, it is provided in a further advantageous embodiment of the invention that the folding element is opened mechanically or by means of an arranged actuator at least partially automatically. In particular, the electronic computing device can transmit a control signal to the folding element in order to be at least partially opened automatically by means of the arranged actuator, in particular during reversing, in order to thus enable the method according to the invention, in which the folding element is opened to detect the lower edge of the folding element.

Another aspect of the invention relates to an electronic computing device with processors and circuits as well as software for carrying out a method according to the invention for determining a distance between a lower edge of a container at the rear of a motor vehicle and a loading edge of a loading ramp to be approached by the motor vehicle during reverse travel, in which at least one recording can be generated using a mirror camera, and the at least one recording can be evaluated using the software.

Further advantages, features and details of the invention result from the following description of preferred exemplary embodiments and from the drawings. The features and combinations of features mentioned above in the description and the features and combinations of features mentioned below in the description of the figures and/or shown alone in the figures can be used not only in the combination specified in each case, but also in other combinations or on their own, without going beyond the scope of the leave invention.

• 1 zwei schematische Hinteransichten eines eine Laderampe anfahrenden Kraftfahrzeugs unter Anwendung von Klappelementen des erfindungsgemäßen Verfahrens;
• 2 zeigt eine schematische Draufsicht eines Kraftfahrzeugs, insbesondere eines Lastkraftwagens (LKW), an dessen Heck ein Container angeordnet ist und somit einen Aufbau des Kraftfahrzeugs darstellen.
• 3 eine schematische Hinteransicht des Kraftfahrzeugs zur Veranschaulichung eines Offsets; und
• 4 eine Vielzahl von Mustern jeweiliger Klappelemente für das erfindungsgemäße Verfahren.

show:

• 1 two schematic rear views of a motor vehicle approaching a loading ramp using folding elements of the method according to the invention;
• 2 shows a schematic plan view of a motor vehicle, in particular a truck, at the rear of which a container is arranged and thus represent a structure of the motor vehicle.
• 3 a schematic rear view of the motor vehicle to illustrate an offset; and
• 4 a variety of patterns of respective folding elements for the method according to the invention.

In the figures, identical and functionally identical elements are provided with the same reference symbols. In particular, reference numbers relating to digital elements are provided with an * and may not be shown in the figures.

The 1 shows two schematic rear views of a motor vehicle 10, in particular a truck, at the rear 12 of which a container 14 is arranged and thus represent a structure of the motor vehicle 10. The motor vehicle 10 in this case has a roller door 13 and on each side a hinged folding element 22a, 22b, the folding elements 22a, 22b on the rear 12 on the outside are arranged so that they can be folded outwards. In a first position P1, the folding elements 22a, 22b are folded inwards, in a second position P2, which takes place when the motor vehicle 10 is reversing, the folding elements 22a, 22b are folded out to imitate the opening of the doors of the container 14 and thus enabling the method according to the invention.

The 2 shows a schematic plan view of the motor vehicle 10, in particular designed as a truck, at the rear 12 of which the container 14 is arranged and thus represent the above-mentioned structure of the motor vehicle 10. The motor vehicle 10 is shown in a substantially linear backwards movement R while reversing and drives onto a loading ramp 16, with other objects also being able to be driven onto. In order to avoid a collision of the motor vehicle 10 with the loading ramp 16, in particular in order to avoid a collision between a loading edge A of the loading ramp 16 and a lower edge A* of the container 14, it is provided according to the invention to determine a distance D between them, which relative to the linear backward movement R becomes smaller.

In this case, the distance ΔD is to be determined by means of a method according to the invention and using at least one first mirror camera 20a arranged on a first driver-side exterior mirror 18a of motor vehicle 10 . As an alternative to the exterior mirror 18a on the driver's side, a second exterior mirror 18b on the passenger side is additionally arranged with a corresponding second mirror camera 20b, which is designed to have essentially the same function as the first mirror camera 20a. In a first case, in which the first mirror camera 20a is used, when the driver-side folding element 22a of the container 14 is unfolded at least partially automatically, the first mirror camera 20a takes at least a first recording of a first rear area B1 of the tail 12 and the opened driver-side folding element 22a generated. The at least one first recording is then evaluated using software in an electronic computing device 24 of motor vehicle 10 that is coupled to first and second mirror cameras 20a, 20b. In a second case, in which the second mirror camera 20b is used, the same procedure applies as in the first case, with at least one further recording of a further rear area B2 of the tail 12 and the unfolded passenger-side folding element 22b is generated. The respective rear areas B1, B2 and the respective folding elements 22a, 22b in the at least partially open state are therefore visible in the respective fields of view of the respective mirror cameras 20a, 20b and are at least partially recognizable in the respective recordings, as a result of which the software is able to evaluate recordings.

After a recording has been made, several method steps are carried out, with a substantially vertical vertical edge Sz of the container 12 first being determined and then a lower folding element edge Sy of the opened folding element 22a being determined. Thus, the vertical edge Sz and the folding element edge Sy are two-dimensional to one another in the recording. A digital optical point of intersection S* of the vertical edge Sz and the folding element edge Sy is calculated from the relationship to one another that has now been determined. Based on this, the lower edge A* of the container 12 is calculated using the calculated optical point of intersection S* and this is set in relation to one another with the loading edge A of the loading ramp 16 to be approached, as a result of which the software now evaluates two essentially parallel digital lines. The distance ΔD to be measured can be determined by calculating a pixel distance ΔD* between the calculated lower edge A* and the loading edge A, with the pixel distance ΔD* being converted into the distance ΔD to be measured in SI units. The distance ΔD is then transmitted from the electronic computing device 24 to the motor vehicle 10, as a result of which the reverse movement R of the motor vehicle 10 can be braked in a controlled manner.

In particular, the vertical edge Sz extends essentially in the vehicle vertical direction Z, the lower edge A* and loading edge A in the vehicle transverse direction Y. The folding element edge Sy rotates about a folding element axis 23 that extends in the vehicle vertical direction z.

3 shows a schematic rear view of motor vehicle 10 to illustrate an offset H_0 of a determinable height H. Provision is made here to determine distance ΔD as a function of height H of folding element 22a, 22b relative to rear end 12. For this purpose, a large number of clamping elements 22a, 22b can be arranged, which are arranged at a respective height ΔH_1, ΔH 2, ΔH_3 relative to the ground or relative to the vertical edge Sz, in particular relative to the rear edge. The electronic computing device 24 is able to detect the respective heights H_1, ΔH 2, ΔH_3 and to carry out the respective calculation depending on the respective height H_1, ΔH 2, ΔH_3, whereby the already detected height H_1, ΔH 2, ΔH_3 a particularly precise calculation of the distance ΔD to the drawer ramp A can be calculated. In particular, height differences H_1, ΔH 2, ΔH_3 from a predetermined height H_0 can also be detected, for example, a lower rear edge can be detected as a zero point and respective folding elements 22a, 22b can be arranged above and/or below from the zero point in the vertical direction of the vehicle , for example in 5 cm steps. An offset can thus be provided at H_0, at which a deviation from a rear edge, lower edge A*, which is driven up to the loading ramp A, can be detected.

4 shows a large number of patterns 26a, 26b, 26c, 26d of respective folding elements 22a, 22b for the method according to the invention. It is provided here that the height of the folding element 22a, 22b relative to the rear is detected as a function of a pattern 26a, 26b, 26c, 26d on the folding element 22a, 22b. By providing such a pattern 26a, 26b, 26c, 26d, the mirror camera 20a, 20b and the software can be used to quickly detect which folding element 22a, 22b was detected and, depending on this, pre-stored variables, for example a height H_1, ΔH 2, ΔH_3 of the folding element 22a, 22b relative to the floor, can be taken from a database. The respective patterns 26a, 26b, 26c, 26d thus have respective values, the patterns 26a, 26b, 26c, 26d can accordingly be detected faster.

In particular, the invention provides a method for determining a distance ΔD between the lower edge A* of the container 12 on the rear 14 of a motor vehicle 10 and the loading sill A of the loading ramp 16 to be approached by the motor vehicle 10 during reverse travel, in which, by means of the mirror cameras 20a, 20b on the exterior mirrors 18a, 18b of the motor vehicle 10 at least one recording of the rear areas B1, B2 of the rear 14 is generated. The at least one recording is evaluated using software in the electronic computing device 24 coupled to the mirror cameras 20a, 20b.

• - Ermittlung der Vertikalkante Sz des Containers 12 aus der wenigstens einen Aufnahme;
• - Aufklappen der an dem Heck 14 angeordneten und aufklappbar ausgebildeten Klappelemente 22a, 22b;
• - Ermittlung der unteren Klappelementkanten Sy der aufgeklappten Klappelemente 22a, 22b aus der wenigstens einen Aufnahme;
• - Berechnung eines jeweiligen optischen Schnittpunktes S* aus der ermittelten vertikalen Vertikalkante Sz und der ermittelten unteren Klappelementkanten Sy;
• - Berechnung der Unterkante A* des Containers 12 mittels des berechneten jeweiligen optischen Schnittpunktes S*;
• - Vergleich der Unterkante A* mit der Ladekante A der anzufahrenden Laderampe 16 aus der wenigstens einen Aufnahme;
• - Berechnung eines Pixelabstands ΔD* zwischen der berechneten Unterkante A* und der ermittelten Ladekante A;
• - Umrechnung des Pixelabstands ΔD* in den zu messenden Abstand ΔD in SI-Einheiten; und
• - Übermittlung des Abstands ΔD von der elektronischen Recheneinrichtung 24 an das Kraftfahrzeug 10.

The following process steps are carried out:

• - Determination of the vertical edge Sz of the container 12 from the at least one recording;
• - Folding out the folding elements 22a, 22b arranged on the rear end 14 and designed to be folded out;
• - Determination of the lower folding element edges Sy of the opened folding elements 22a, 22b from the at least one recording;
• - Calculation of a respective optical point of intersection S* from the determined vertical vertical edge Sz and the determined lower folding element edges Sy;
• - Calculation of the lower edge A* of the container 12 by means of the calculated respective optical point of intersection S*;
• - Comparison of the lower edge A* with the loading edge A of the loading ramp 16 to be approached from the at least one recording;
• - Calculation of a pixel distance ΔD* between the calculated lower edge A* and the determined loading edge A;
• - Conversion of the pixel distance ΔD* into the distance ΔD to be measured in SI units; and
• - Transmission of the distance ΔD from the electronic computing device 24 to the motor vehicle 10.

In particular, the distance ΔD is also determined as a function of a height H of the folding element 22a relative to the rear end 14 . The height H of the folding elements 22a, 22b relative to the rear 14 is also detected as a function of a pattern 26a, 26b, 26c, 26d on the folding elements 22a, 22b. Likewise, the folding elements 22a, 22b can be opened at least partially automatically mechanically or by means of an arranged actuator. In addition, the invention still has the electronic

Computing device 24 with processors and circuits as well as software for carrying out a method according to the invention for determining the distance ΔD between the lower edge A* of the container 12 at the rear 14 of the motor vehicle 10 and the loading sill A of the loading ramp 16 to be approached by the motor vehicle 10 during reversing, in which at least one recording can be generated by means of a mirror camera 20a, 20b, and the at least one recording can be evaluated by means of the software.

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 102004028763 A1 [0003]

Claims (6)

Method for determining a distance (ΔD) between a lower edge (A*) of a container (12) on a rear (14) of a motor vehicle (10) and a loading edge (A) of a loading ramp (16) to be approached by the motor vehicle (10) during reversing, in which at least one recording of a rear area (B1, B2) of the rear (14) is generated by means of a mirror camera (20a) on a driver-side exterior mirror (18a) of the motor vehicle (10), and the at least one recording is made by means of software of a is evaluated with the mirror camera (20a) coupled electronic computing device (24), characterized by the method steps: - determining a vertical edge (Sz) of the container (12) from the at least one recording; - Folding up a rear end (14) arranged and designed to be folded up, driver-side folding element (22a); - Determination of a lower folding element edge (Sy) of the opened folding element (22a) from the at least one recording; - Calculation of an optical point of intersection (S*) from the determined vertical vertical edge (Sz) and the determined lower folding element edge (Sy); - Calculation of the lower edge (A*) of the container (12) by means of the calculated optical intersection point (S*); - Comparison of the lower edge (A*) with the loading edge (A) of the loading ramp (16) to be approached from the at least one recording; - Calculation of a pixel distance (ΔD*) between the calculated lower edge (A*) and the determined loading edge (A); and - conversion of the pixel distance (ΔD*) into the distance to be measured (ΔD) in SI units; and - transmission of the distance (ΔD) from the electronic computing device (24) to the motor vehicle (10). procedure after claim 1 , characterized in that the distance (ΔD) is determined as a function of a height (H_0) of the folding element (22a) relative to the rear (14). procedure after claim 2 , characterized in that the height (H_0) of the folding element (22a) relative to the rear as a function of a pattern (26a, 26b, 26c, 26d) on the folding element (22a) is detected. Method according to one of the preceding claims, characterized in that further recordings are generated by means of a second mirror camera (20b) on an outside mirror (18b) on the passenger side of the motor vehicle (10). Method according to one of the preceding claims, characterized in that the folding element (22a) is folded open mechanically or at least partially automatically by means of an arranged actuator. Electronic computing device (24) with processors and circuits and software for carrying out a method according to the invention for determining a distance (ΔD) between a lower edge (A*) of a container (12) on a rear end (14) of a motor vehicle (10) and a loading sill (A) a loading ramp (16) to be approached by the motor vehicle (10) while reversing, in which at least one recording can be generated using a mirror camera (20a) and the at least one recording can be evaluated using the software.

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