EP0715287A1 - Method and device for obtaining information about the zone around a vehicle - Google Patents

Method and device for obtaining information about the zone around a vehicle Download PDF

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Publication number
EP0715287A1
EP0715287A1 EP95250282A EP95250282A EP0715287A1 EP 0715287 A1 EP0715287 A1 EP 0715287A1 EP 95250282 A EP95250282 A EP 95250282A EP 95250282 A EP95250282 A EP 95250282A EP 0715287 A1 EP0715287 A1 EP 0715287A1
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EP
European Patent Office
Prior art keywords
vehicle
units
operating states
data
surroundings
Prior art date
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Granted
Application number
EP95250282A
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German (de)
French (fr)
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EP0715287B1 (en
Inventor
Christian Dipl.-Ing. Hort
Werner Dr.Rer.Nat. Schulz
Josef Dipl.-Ing.. Heimann
Andreas Dipl.-Phys. Widl
Karlheinz Dipl.-Math. Schlottbom
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Vodafone GmbH
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Mannesmann AG
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Priority claimed from DE19521914A external-priority patent/DE19521914C2/en
Application filed by Mannesmann AG filed Critical Mannesmann AG
Publication of EP0715287A1 publication Critical patent/EP0715287A1/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions

Definitions

  • the invention relates to a method and a device for obtaining information about the surroundings of a vehicle in a sample vehicle fleet, in which vehicle data are acquired in the vehicle at certain intervals, which correspond to a predetermined time span or a predetermined distance, and are transmitted together with the position data to a traffic computer .
  • the course of the vehicle speed over time is recorded together with the acceleration of the vehicle and transmitted to the traffic computer;
  • the traffic computer then derives certain statements about the type of road used and the traffic situation on this road.
  • the corresponding traffic situation data is derived on the basis of predetermined criteria using appropriate computer programs.
  • the invention provides for the detection of operating states of units of the vehicle and the determination of characteristic features of the surroundings (environmental features) of the vehicle from the detected operating states on the basis of predetermined decision criteria.
  • the invention proposes to record the signals controlling the aggregates and to record them over certain predetermined time periods. Similarly, the operating states of the Aggregates of the vehicle are detected via the signals emitted by the aggregates. In addition, it is proposed that the operating states of the units of the vehicle are determined via the effects of the units.
  • the alternative or commulative methods of data acquisition ensure that all those vehicle data can be recorded and made available to the traffic computer that contain information about the surroundings of the corresponding vehicle, so that the traffic computer can use them to determine the objectively present environmental characteristics .
  • the method can be carried out completely automatically without involving the driver or other people, which is associated with relatively low costs.
  • optical fibers are provided for forwarding the light and opto-electronic converters are provided for converting your light signals into electrical quantities.
  • the invention proposes that the predetermined decision criteria are stored in the form of tables in an electronic memory. This makes it possible to determine the characteristic features of the surroundings of the vehicle using fuzzy logic.
  • the characteristic features of the surroundings of the vehicle are expediently determined by an on-board computer installed in the vehicle, and the characteristic features of the surroundings are then transmitted to the traffic computer.
  • the figure shows an embodiment of the device for obtaining information about the surroundings of a vehicle, which is installed in the vehicle.
  • the device has a transmitting and receiving unit 1 for data transmission to a traffic computer 8.
  • the device further comprises a central processor unit (CPU) 2, which is connected to a data bus 3.
  • a memory area 4 organized as a ring memory for storing the acquired data and a working memory area 5 are connected to the data bus 3, wherein a computing program for determining characteristic features of the surroundings of the vehicle is stored in the working memory area 5 on the basis of predetermined decision criteria, the feature determination from Operating states of special units of the vehicle takes place.
  • sensors / actuators 6 are arranged in the vehicle, which are also connected to the data bus 3.
  • the device has a GPS receiver 7 for determining the current position data; the GPS receiver 7 is connected to the central processor unit (CPU) 2 via data bus 3.
  • the device can also be connected wirelessly to the traffic computer 8, which in turn has a transmission and Receiver unit 9 is equipped.
  • the wireless connection to the traffic computer 8 can be established, for example, via a radio telephone network.
  • a vehicle of a sample fleet has sensors 6 installed in the vehicle for carrying out the method;
  • the sensors 6 record continuously changing state variables, in particular the operating states, preferably of several units, such as the rotational speed of the wheels, the steering wheel angle of the steering device, etc.
  • the rotational speed of the wheels can be determined, for example, optically without contact, i.e. without delay and without mechanical signs of wear.
  • the vehicle also has sensors 6, the discrete state variables, such as. B. Detect the position of various switches, in particular the switches of the wiper, the lighting system, the rear fog lamp and the fog lights, the rear window heater, etc.
  • the vehicle is also equipped with devices that allow the operation of active devices (actuators 6) in the vehicle such as the Display and record the anti-lock braking system (ABS) and the traction control system (ASR).
  • active devices actuators 6
  • ABS anti-lock braking system
  • ASR traction control system
  • the operating state of the active devices is detected in particular via the signals controlling the units and via the signals emitted by the units.
  • GPS Global Positioning System
  • the GPS receiver 7 continuously generates position data at predetermined time intervals, which contain the current position (longitude, latitude, time) of the vehicle in a predetermined coordinate system (longitudes, latitudes), as well as direction and / or speed data about the current movement of the Vehicle.
  • the operating states are queried by the central processor unit (CPU) 2, for example cyclically at certain time intervals, and stored in the memory area 4 organized as a ring memory via the data bus 3.
  • the oldest data in the ring buffer are constantly overwritten by the new one; the size of the memory area 4 thus determines the maximum amount of data available for evaluation.
  • data (operating states) stored in the memory area 4 are processed by the central processor unit (CPU) 2 e.g. fetched into the working memory area 5 and a computer program started.
  • the computing program contains the decision criteria according to which the recorded operating states are assigned to one or more characteristics of the environment.
  • a certain characteristic of the environment is always present when the individual operating states lie within the tolerance ranges of the operating states that are typical for this characteristic.
  • the typical tolerance ranges of the operating states must be determined beforehand on the basis of practical experience and entered in the computer program in the form of upper and lower limits defining a tolerance range.
  • data is also stored in additional sensors installed in the vehicle, e.g. a temperature sensor for determining the outside temperature, also used for evaluation. It is also conceivable to record the ambient air humidity by means of a corresponding sensor and to take it into account in the evaluation.
  • switch positions of individual units preferably only the number assigned to the position is entered into the computer program for the corresponding environmental feature; If several switch positions are assigned to a characteristic, the corresponding numbers are entered. For example, the wiper switch positions 1, 2, 3 and 4 are assigned to the "rain” environmental feature; the wiper switch position 0 (wiper "off") does not belong to this environmental feature. Switch position 4 detects the environmental feature "heavy rain”; in this case, it is not necessary to query the operating states of further units or sensors in order to record this environmental feature.
  • the environmental characteristic "dry road” on a freeway corresponds, for example, to a speed range from 100 to 200 km / h, in this case the lower limit is 100 km / h and the upper 200 km / h for the environmental characteristic "dry road”", which is of course only assigned to the recorded operating conditions if all other operating conditions also meet the respective criteria for the characteristic" dry road ", in this case, the operating states of further units or sensors must also be taken into account in order to detect this environmental feature.
  • the presence of strong cross winds can be deduced, for example, from the intensity of the actuation of the steering system (as a result of constant distractions from the desired direction of travel).
  • the relevant statement can be further verified by determining the driving speed, which will generally be lower than the usual speed of the respective vehicle in the sample vehicle fleet.
  • the signals from acceleration sensors of an accident data recorder can also be used, with which the shaking of the side wind on the vehicle can be detected.
  • the typical tolerance ranges of the operating states can alternatively be stored in the form of a table in the electronic memory 5.
  • the table then uses the fuzzy logic to filter out the environmental features of the vehicle from the detected operating states.
  • the assignment of the environmental features can also be done by a hardware circuit.

Abstract

The data collection system uses a fleet of floating cars, each collecting data at given time intervals, or after travelling defined distances, for transmission to the central traffic processor together with the position data for the vehicle. The operating conditions of different function unit onboard the vehicle, e.g. the brakes, the windscreen wipers, the hazard lights, the headlamps, or the fog lamps are monitored, with evaluation using given criteria, to provide data relating to the driving conditions transmitted to the central traffic control.

Description

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Gewinnung von Informationen über die Umgebung eines Fahrzeugs einer Stichprobenfahrzeugflotte, bei dem Fahrzeugdaten in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen, im Fahrzeug erfaßt und zusammen mit den Positionsdaten an einen Verkehrsrechner übertragen werden.The invention relates to a method and a device for obtaining information about the surroundings of a vehicle in a sample vehicle fleet, in which vehicle data are acquired in the vehicle at certain intervals, which correspond to a predetermined time span or a predetermined distance, and are transmitted together with the position data to a traffic computer .

Aus der nicht vorveröffentlichten DE 195 08 486 ist es bekannt, zur Ermittlung von Verkehrslage- oder Straßendaten eine Stichprobenfahrzeugflotte zu verwenden, bei der einzelne als "Floating Cars" bezeichnete Stichprobenfahrzeuge zum Beispiel über Funk vorbestimmte Fahrzeugdaten und dazugehörige Positionsdaten an eine Empfangsstelle eines Verkehrsrechners zu übertragen. Mit Hilfe dieser Daten ermittelt dann der Verkehrsrechner anhand vorbestimmter Algorithmen zum Beispiel die Verkehrslage und/oder den Straßentyp.From unpublished DE 195 08 486 it is known to use a sample vehicle fleet for determining traffic situation or road data, in which individual sample vehicles referred to as "floating cars" transmit predetermined vehicle data and associated position data, for example by radio, to a receiving point of a traffic computer . With the help of this data, the traffic computer then uses predetermined algorithms to determine, for example, the traffic situation and / or the type of road.

So wird z.B. der zeitliche Verlauf der Fahrzeuggeschwindigkeit zusammen mit der Beschleunigung des Fahrzeugs erfaßt und an den Verkehrsrechner übermittelt; durch den Verkehrsrechner werden dann daraus bestimmte Aussagen über den Typ der befahrenen Straße und die Verkehrslage auf dieser Straße abgeleitet. Die Ableitung der entsprechenden Verkehrslagedaten erfolgt anhand vorgegebener Kriterien mittels entsprechender Rechenprogramme. Eine mittlere Fahrgeschwindigkeit von 130 km/h läßt beispielsweise den Schluß zu, daß sich das Fahrzeug auf einer Autobahn bewegt und der Verkehr normal ist.For example, the course of the vehicle speed over time is recorded together with the acceleration of the vehicle and transmitted to the traffic computer; The traffic computer then derives certain statements about the type of road used and the traffic situation on this road. The corresponding traffic situation data is derived on the basis of predetermined criteria using appropriate computer programs. An average driving speed of 130 km / h, for example, leads to the conclusion that the vehicle is moving on a freeway and the traffic is normal.

Informationen über die Umgebung des Fahrzeugs, d.h. über die aktuell vorliegenden Umweltbedingungen (z.B. Nebel, Regen, Glatteis, Wind usw.) können aus diesen Fahrzeugdaten nicht ohne weiteres gewonnen werden, obwohl dies für eine erfolgreiche Verkehrsleitung und -planung von großem verkehrstechnischem Interesse ist. Eine persönliche Befragung der jeweiligen Fahrer der Stichprobenfahrzeuge z.B. über Funktelefon scheidet wegen des hohen personellen Aufwands und der damit verbundenen Kosten aus. Eine automatisierte Befragung der Fahrer mit Hilfe von klassifizierten Umgebungsmerkmalen würde zwar die Abfrage vereinfachen und den Aufwand etwas reduzieren, ist aber unter dem Gesichtspunkt der Fahrsicherheit bedenklich und immer noch von der eigentlich angestrebten automatischen Erfassung der Umgebungsmerkmale (Umgebungsbedingungen) auf der Grundlage objektiver Daten weit entfernt.Information about the surroundings of the vehicle, i.e. The current environmental conditions (e.g. fog, rain, black ice, wind, etc.) cannot easily be obtained from this vehicle data, although this is of great interest for successful traffic management and planning. A personal survey of the respective drivers of the sample vehicles, e.g. via radio telephone is excluded due to the high manpower and the associated costs. An automated survey of the drivers with the help of classified environmental features would simplify the query and reduce the effort somewhat, but is questionable from the point of view of driving safety and is still far from the intended automatic recording of the environmental features (environmental conditions) based on objective data .

Es ist Aufgabe der vorliegenden Erfindung, ein Verfahren zur Gewinnung von Informationen über die Umgebung eines Fahrzeugs einer Stichprobenfahrzeugflotte sowie eine Vorrichtung zur Durchführung dieses Verfahrens anzugeben, das automatisiert durchgeführt werden kann und ohne Einschaltung z.B. des Fahrzeugführers eine Erfassung der Umgebungsmerkmale anhand objektiver Kriterien ermöglicht.It is an object of the present invention to provide a method for obtaining information about the surroundings of a vehicle in a sample vehicle fleet and an apparatus for carrying out this method, which can be carried out automatically and enables the environmental characteristics to be recorded without the involvement of, for example, the vehicle driver, based on objective criteria.

Die Lösung dieser Aufgabe hinsichtlich des Verfahrens ist erfindungsgemäß gekennzeichnet durch die im Patentanspruch 1 angegebenen Merkmale. Durch die kennzeichnenden Merkmale der Unteransprüche 2 bis 10 ist dieses Verfahren in vorteilhafter Weise weiter ausgestaltbar. Eine Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens weist die Merkmale des Patentanspruchs 11 auf.The solution to this problem with regard to the method is characterized according to the invention by the features specified in claim 1. Due to the characterizing features of subclaims 2 to 10, this method can advantageously be further developed. A device for carrying out the method according to the invention has the features of claim 11.

Die Erfindung sieht vor, Betriebszustände von Aggregaten des Fahrzeugs zu erfassen und aus den erfaßten Betriebszuständen anhand von vorgegebenen Entscheidungskriterien charakteristische Merkmale der Umgebung (Umgebungsmerkmale) des Fahrzeugs zu bestimmen.The invention provides for the detection of operating states of units of the vehicle and the determination of characteristic features of the surroundings (environmental features) of the vehicle from the detected operating states on the basis of predetermined decision criteria.

So ist es zweckmäßig, die Schalterstellungen bestimmter ausgewählter Aggregate im Fahrzeug zu erfassen. Weiterhin wird mit der Erfindung vorgeschlagen, die die Aggregate steuernde Signale aufzunehmen und über gewisse vorgegebene Zeitspannen aufzuzeichnen. Gleichermaßen sollen die Betriebszustände der Aggregate des Fahrzeugs über die von den Aggregaten abgegebenen Signale erfaßt werden. Zusätzlich wird vorgeschlagen, daß die Betriebszustände der Aggregate des Fahrzeugs über die Wirkungen der Aggregate ermittelt werden.So it is useful to detect the switch positions of certain selected units in the vehicle. Furthermore, the invention proposes to record the signals controlling the aggregates and to record them over certain predetermined time periods. Similarly, the operating states of the Aggregates of the vehicle are detected via the signals emitted by the aggregates. In addition, it is proposed that the operating states of the units of the vehicle are determined via the effects of the units.

Durch die alternativ oder kommulativ anwendbaren Arten der Datenerfassung wird erreicht, daß alle diejenigen Fahrzeugdaten erfaßt und dem Verkehrsrechner zur Verfügung gestellt werden können, die Informationen über die Umgebung des entsprechenden Fahrzeugs enthalten, so daß der Verkehrsrechner daraus mittels objektiver Kriterien die objektiv vorliegenden Umgebungsmerkmale ermitteln kann. Das Verfahren läßt sich ohne Einschaltung der Fahrzeugführer oder anderer Personen vollkommen automatisiert durchführen, was mit relativ geringen Kosten verbunden ist.The alternative or commulative methods of data acquisition ensure that all those vehicle data can be recorded and made available to the traffic computer that contain information about the surroundings of the corresponding vehicle, so that the traffic computer can use them to determine the objectively present environmental characteristics . The method can be carried out completely automatically without involving the driver or other people, which is associated with relatively low costs.

Es wird mit der Erfindung vorgeschlagen, vorzugsweise die Betriebszustände der Lenkeinrichtung, der Räder, des Antiblockiersystems, der Antriebsschlupfregelung, der Scheibenwischeranlage, der Warnblinkanlage, der Lichtanlage, der Nebelschlußleuchte und/oder der Heckscheibenheizung im Fahrzeug zu erfassen.It is proposed with the invention to preferably detect the operating states of the steering device, the wheels, the anti-lock braking system, the traction control system, the windshield wiper system, the hazard warning system, the lighting system, the rear fog lamp and / or the rear window heating in the vehicle.

Vorteilhafterweise werden die Betriebszustände der Aggregate des Fahrzeugs berührungslos, insbesondere optisch erfaßt. Zur Weiterleitung des Lichts sind insbesondere Lichtwellenleiter und zur Umwandlung dein Lichtsignale in elektrische Größen opto-elektronische Wandler vorgesehen.The operating states of the assemblies of the vehicle are advantageously detected without contact, in particular optically. In particular, optical fibers are provided for forwarding the light and opto-electronic converters are provided for converting your light signals into electrical quantities.

Um die Betriebszustände der Aggregate auf einfache Weise bewerten zu können, wird mit der Erfindung vorgeschlagen, daß die vorgegebenen Entscheidungskriterien in Form von Tabellen in einem elektronischen Speicher abgelegt sind. Dadurch ist es möglich, die charakteristischen Merkmale der Umgebung des Fahrzeugs mit Hilfe der Fuzzy-Logik zu bestimmen.In order to be able to evaluate the operating states of the units in a simple manner, the invention proposes that the predetermined decision criteria are stored in the form of tables in an electronic memory. This makes it possible to determine the characteristic features of the surroundings of the vehicle using fuzzy logic.

Die Bestimmung der charakteristischen Merkmale der Umgebung des Fahrzeugs wird zweckmäßigerweise von einem im Fahrzeug installierten Bordcomputer durchgeführt, und anschließend werden die charakteristischen Merkmale der Umgebung an den Verkehrsrechner übertragen.The characteristic features of the surroundings of the vehicle are expediently determined by an on-board computer installed in the vehicle, and the characteristic features of the surroundings are then transmitted to the traffic computer.

Eine Vorrichtung zur Durchführung des Verfahrens umfaßt vorteilhafterweise

  • Einrichtungen zum Erfassen der anfallenden Fahrzeugdaten und
  • eine Positionsbestimmungsvorrichtung zur Ermittlung der Positionsdaten in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen,
  • mindestens einen Speicherbereich zum Ablegen der erfaßten Daten
  • mindestens einen Arbeitsspeicherbereich mit einem Rechenprogramm zur Bestimmung charakteristischer Merkmale der Umgebung des Fahrzeugs anhand von vorgegebenen Entscheidungskriterien aus den Betriebszuständen von Aggregaten des Fahrzeugs,
  • eine Einrichtung zur Übermittlung der Fahrzeug- und Positionsdaten an den Verkehrsrechner
  • eine zentrale Prozessoreinheit und
  • einen Datenbus, durch den die einzelnen Einrichtungen datentechnisch miteinander verbunden sind.
An apparatus for performing the method advantageously comprises
  • Devices for recording the vehicle data and
  • a position determining device for determining the position data at specific intervals which correspond to a predetermined time span or a predetermined distance,
  • at least one memory area for storing the acquired data
  • at least one working memory area with a computer program for determining characteristic features of the surroundings of the vehicle on the basis of predetermined decision criteria from the operating states of units of the vehicle,
  • a device for transmitting the vehicle and position data to the traffic computer
  • a central processor unit and
  • a data bus through which the individual devices are connected to one another in terms of data technology.

Anhand der in der einzigen Figur dargestellten Vorrichtung zur Durchführung des Verfahrens wird die Erfindung nachfolgend näher erläutert.The invention is explained in more detail below on the basis of the device for carrying out the method shown in the single figure.

Die Figur zeigt eine Ausführungsform der Vorrichtung zur Gewinnung von Informationen über die Umgebung eines Fahrzeugs, die im Fahrzeug installiert ist. Die Vorrichtung weist eine Sende- und Empfangseinheit 1 zur Datenübertragung an einen Verkehrsrechner 8 auf. Wie die Figur erkennen läßt, umfaßt die Vorrichtung weiter eine zentrale Prozessoreinheit (CPU) 2, die mit einem Datenbus 3 verbunden ist. Weiterhin sind mit dem Datenbus 3 ein als Ringspeicher organisierter Speicherbereich 4 zum Ablegen der erfaßten Daten und ein Arbeitsspeicherbereich 5 verbunden, wobei in dem Arbeitsspeicherbereich 5 ein Rechenprogramm zur Bestimmung charakteristischer Merkmale der Umgebung des Fahrzeugs anhand von vorgegebenen Entscheidungskriterien abgelegt ist, wobei die Merkmalsbestimmung aus den Betriebszuständen von speziellen Aggregaten des Fahrzeugs erfolgt. Zur Erfassung der Betriebszustände (Fahrzeugdaten) sind im Fahrzeug Sensoren/Aktoren 6 angeordnet, die ebenfalls an dem Datenbus 3 angeschlossen sind. Die Vorrichtung weist zur Bestimmung der aktuellen Positionsdaten einen GPS-Empfänger 7 auf; der GPS-Empfänger 7 ist über den Datenbus 3 mit der zentralen Prozessoreinheit (CPU) 2 datentechnisch verbunden. Datentechnisch ist die Vorrichtung außerdem drahtlos mit dem Verkehrsrechner 8 verbindbar, der mit wiederum mit einer Sende- und Empfangseinheit 9 ausgerüstet ist. Die drahtlose Verbindung mit dem Verkehrsrechner 8 kann z.B. über ein Funktelefonnetz hergestellt werden.The figure shows an embodiment of the device for obtaining information about the surroundings of a vehicle, which is installed in the vehicle. The device has a transmitting and receiving unit 1 for data transmission to a traffic computer 8. As the figure shows, the device further comprises a central processor unit (CPU) 2, which is connected to a data bus 3. Furthermore, a memory area 4 organized as a ring memory for storing the acquired data and a working memory area 5 are connected to the data bus 3, wherein a computing program for determining characteristic features of the surroundings of the vehicle is stored in the working memory area 5 on the basis of predetermined decision criteria, the feature determination from Operating states of special units of the vehicle takes place. To detect the operating states (vehicle data), sensors / actuators 6 are arranged in the vehicle, which are also connected to the data bus 3. The device has a GPS receiver 7 for determining the current position data; the GPS receiver 7 is connected to the central processor unit (CPU) 2 via data bus 3. In terms of data technology, the device can also be connected wirelessly to the traffic computer 8, which in turn has a transmission and Receiver unit 9 is equipped. The wireless connection to the traffic computer 8 can be established, for example, via a radio telephone network.

Ein Fahrzeug einer Stichprobenflotte weist zur Durchführung des Verfahrens in dem Fahrzeug installierte Sensoren 6 auf; die Sensoren 6 erfassen kontinuierlich veränderliche Zustandsgrößen, und zwar insbesondere die Betriebszustände vorzugsweise mehrerer Aggregate, wie z.B. die Umlaufgeschwindigkeit der Räder, den Lenkradeinschlag der Lenkeinrichtung etc. Dabei kann die Umlaufgeschwindigkeit der Räder beispielsweise auf optischem Wege berührungslos bestimmt werden, d.h. verzögerungsfrei und ohne mechanische Verschleißerscheinungen. Das Fahrzeug weist weiter Sensoren 6 auf, die diskrete Zustandsgrößen, wie z. B. die Stellung verschiedener Schalter erfassen, insbesondere die Schalter des Scheibenwischers, der Lichtanlage, der Nebelschlußleuchte und der Nebelscheinwerfer, der Heckscheibenheizung etc. Das Fahrzeug ist weiterhin mit Einrichtungen ausgestattet, die in dem Fahrzeug den Betrieb von aktiven Vorrichtungen (Aktoren 6) wie des Antiblockiersystems (ABS) und der Antriebsschlupfregelung (ASR) anzeigen und erfassen. Dabei wird der Betriebszustand der aktiven Vorrichtungen insbesondere über die die Aggregate steuernden Signale und über die die von den Aggregaten abgegebenen Signale erfaßt.A vehicle of a sample fleet has sensors 6 installed in the vehicle for carrying out the method; The sensors 6 record continuously changing state variables, in particular the operating states, preferably of several units, such as the rotational speed of the wheels, the steering wheel angle of the steering device, etc. The rotational speed of the wheels can be determined, for example, optically without contact, i.e. without delay and without mechanical signs of wear. The vehicle also has sensors 6, the discrete state variables, such as. B. Detect the position of various switches, in particular the switches of the wiper, the lighting system, the rear fog lamp and the fog lights, the rear window heater, etc. The vehicle is also equipped with devices that allow the operation of active devices (actuators 6) in the vehicle such as the Display and record the anti-lock braking system (ABS) and the traction control system (ASR). The operating state of the active devices is detected in particular via the signals controlling the units and via the signals emitted by the units.

Das Fahrzeug einer Stichprobenfahrzeugflotte besitzt außerdem einen GPS-Empfänger 7 für die Satelliten-Navigation (GPS gleich Global Positioning System) als Positionsbestimmungsvorrichtung. Der GPS-Empfänger 7 erzeugt fortlaufend in vorbestimmten Zeitabständen Positionsdaten, die die momentane Position (Länge, Breite, Zeit) des Fahrzeugs in einem vorbestimmten Koordinatensystem (Längengrade, Breitengrade) enthalten, sowie ggf. Richtungs- und/oder Geschwindigkeitsdaten über die momentane Bewegung des Fahrzeugs.The vehicle of a sample vehicle fleet also has a GPS receiver 7 for satellite navigation (GPS = Global Positioning System) as a position determining device. The GPS receiver 7 continuously generates position data at predetermined time intervals, which contain the current position (longitude, latitude, time) of the vehicle in a predetermined coordinate system (longitudes, latitudes), as well as direction and / or speed data about the current movement of the Vehicle.

Die Betriebszustände werden von der zentralen Prozessoreinheit (CPU) 2 beispielsweise zyklisch in bestimmten Zeitabständen abgefragt und über den Datenbus 3 in dem als Ringspeicher organisierten Speicherbereich 4 abgelegt. Im Ringspeicher werden die ältesten Daten ständig von den neuen überschrieben; die Größe des Speicherbereichs 4 bestimmt damit die zur Auswertung maximal zur Verfügung stehende Datenmenge.The operating states are queried by the central processor unit (CPU) 2, for example cyclically at certain time intervals, and stored in the memory area 4 organized as a ring memory via the data bus 3. The oldest data in the ring buffer are constantly overwritten by the new one; the size of the memory area 4 thus determines the maximum amount of data available for evaluation.

Zur Bestimmung der charakteristischen Merkmale der Umgebung des Fahrzeugs werden im Speicherbereich 4 abgelegte Daten (Betriebszustände) von der zentralen Prozessoreinheit (CPU) 2 z.B. in den Arbeitsspeicherbereich 5 geholt und ein Rechenprogramm gestartet. Das Rechenprogramm enthält die Entscheidungskriterien, nach denen die erfaßten Betriebszustände einem oder mehreren Merkmalen der Umgebung zugeordnet werden. Ein bestimmtes Merkmal der Umgebung liegt immer dann vor, wenn die einzelnen Betriebszustände innerhalb der für dieses Merkmal jeweils typischen Toleranzbereiche der Betriebszustände liegen. Die typischen Toleranzbereiche der Betriebszustände müssen vorher anhand von praktischen Erfahrungen bestimmt und z.B in Form von einen Toleranzbereich definierenden oberen und unteren Grenzen in das Rechenprogramm eingegeben werden. Zur Absicherung der Aussagen werden auch Daten zusätzlich im Fahrzeug installierter Sensoren, z.B. ein Temperatursensor zur Bestimmung der Außentemperatur, zur Auswertung mitherangezogen. Denkbar ist auch, die Luftfeuchtigkeit der Umgebung durch einen entsprechenden Sensor zu erfassen und bei der Auswertung zu berücksichtigen.To determine the characteristic features of the surroundings of the vehicle, data (operating states) stored in the memory area 4 are processed by the central processor unit (CPU) 2 e.g. fetched into the working memory area 5 and a computer program started. The computing program contains the decision criteria according to which the recorded operating states are assigned to one or more characteristics of the environment. A certain characteristic of the environment is always present when the individual operating states lie within the tolerance ranges of the operating states that are typical for this characteristic. The typical tolerance ranges of the operating states must be determined beforehand on the basis of practical experience and entered in the computer program in the form of upper and lower limits defining a tolerance range. To secure the statements, data is also stored in additional sensors installed in the vehicle, e.g. a temperature sensor for determining the outside temperature, also used for evaluation. It is also conceivable to record the ambient air humidity by means of a corresponding sensor and to take it into account in the evaluation.

Bei den Schalterstellungen einzelner Aggregate wird vorzugsweise nur die der Stellung zugeordnete Zahl jeweils für das entsprechende Umgebungsmerkmal in das Rechenprogramm eingegeben; sind einem Merkmal mehrere Schalterstellungen zugeordnet, so werden die entsprechenden Zahlen eingegeben. Beispielsweise werden dem Umgebungsmerkmal "Regen" die Scheibenwischer-Schalterstellungen 1,2,3 und 4 zugeordnet, die Scheibenwischer-Schalterstellung 0 (Scheibenwischer "aus") gehört nicht zu diesem Umgebungsmerkmal. Die Schalterstellung 4 erfaßt das Umgebungsmerkmal "starker Regen"; in diesem Fall ist die Abfrage der Betriebszustände weiterer Aggregate oder Sensoren nicht erforderlich, um dieses Umgebungsmerkmal zu erfassen.With the switch positions of individual units, preferably only the number assigned to the position is entered into the computer program for the corresponding environmental feature; If several switch positions are assigned to a characteristic, the corresponding numbers are entered. For example, the wiper switch positions 1, 2, 3 and 4 are assigned to the "rain" environmental feature; the wiper switch position 0 (wiper "off") does not belong to this environmental feature. Switch position 4 detects the environmental feature "heavy rain"; in this case, it is not necessary to query the operating states of further units or sensors in order to record this environmental feature.

Bei den kontinuierlich veränderlichen Betriebszuständen entspricht dem Umgebungsmerkmal "trockene Straße" auf einer Autobahn z.B. ein Geschwindigkeitsbereich von 100 bis 200 Km/h, die untere Grenze ist in diesem Fall 100 Km/h und die obere 200 Km/h für das Umgebungsmerkmal "trockene Straße", das selbstverständlich nur dann den erfaßten Betriebszuständen zugeordnet wird, wenn auch alle anderen Betriebszustände die jeweiligen Kriterien für das Merkmal "trockene Straße"erfüllen, d.h. es müssen in diesem Fall auch die Betriebszustände weiterer Aggregate oder Sensoren berücksichtigt werden, um dieses Umgebungsmerkmal zu erfassen.In the case of continuously changing operating states, the environmental characteristic "dry road" on a freeway corresponds, for example, to a speed range from 100 to 200 km / h, in this case the lower limit is 100 km / h and the upper 200 km / h for the environmental characteristic "dry road"", which is of course only assigned to the recorded operating conditions if all other operating conditions also meet the respective criteria for the characteristic" dry road ", in this case, the operating states of further units or sensors must also be taken into account in order to detect this environmental feature.

In vielen Fällen läßt sich eine Aussage über ein bestimmtes Umgebungsmerkmal nicht aus einer einzelnen Betriebszustandsgröße des Fahrzeugs ableiten, sondern ist diese Information erst aus der Kombination der Betriebszustände mehrerer Aggregate zuverlässig gewinnbar. So ermöglicht beispielsweise die Messung einer Außentemperatur von unter 0°C oder das Ansprechen eines Frostwarners allein noch keine Aussage über das Vorhandensein von Glatteis auf der Fahrbahn. Wenn aber die Stichprobenfahrzeuge im fraglichen Gebiet generell langsam fahren und dieses Langsamfahren nicht durch das eventuelle Vorhandensein von Nebel erklärt werden kann (keine Scheinwerfer oder Nebelschlußleuchten eingeschaltet), und die Verkehrsdichte nich ungewöhnlich hoch ist, dann liegt die Vermutung nahe, insbesondere wenn bei Bremsungen das ABS-System oder bei Beschleunigungen das ASR-System aktiviert wird.In many cases, a statement about a certain environmental feature cannot be derived from a single operating state variable of the vehicle, but this information can only be reliably obtained from the combination of the operating states of several units. For example, measuring an outside temperature of below 0 ° C or responding to a frost warning alone does not provide any information about the presence of black ice on the road. However, if the sample vehicles in the area in question are generally driving slowly and this slow driving cannot be explained by the possible presence of fog (no headlights or rear fog lights switched on) and the traffic density is not unusually high, then the assumption is obvious, especially when braking ABS system or when accelerating the ASR system is activated.

Auf das Vorhandensein von starkem Seitenwind läßt sich beispielsweise aus der Intensität der Betätigung des Lenkungssystems (infolge ständiger Ablenkungen von der gewünschten Fahrtrichtung) schließen. Die diesbezügliche Aussage läßt sich weiter absichern durch Feststellung der Fahrgeschwindigkeit, die im Regelfall unter der üblichen Geschwindigkeit des jeweiligen Fahrzeugs der Stichprobenfahrzeugflotte liegen wird. Weiterhin können die Signale von Beschleunigungssensoren eines Unfalldatenschreibers herangezogen werden, mit denen das Rütteln des Seitenwinds am Fahrzeug detektiert werden kann.The presence of strong cross winds can be deduced, for example, from the intensity of the actuation of the steering system (as a result of constant distractions from the desired direction of travel). The relevant statement can be further verified by determining the driving speed, which will generally be lower than the usual speed of the respective vehicle in the sample vehicle fleet. The signals from acceleration sensors of an accident data recorder can also be used, with which the shaking of the side wind on the vehicle can be detected.

Die typischen Toleranzbereiche der Betriebszustände können alternativ in Form einer Tabelle im elektronischen Speicher 5 abgelegt werden. Anhand der Tabelle werden dann mit Hilfe der Fuzzy-Logik die Umgebungsmerkmale des Fahrzeugs aus den erfaßten Betriebszuständen herausgefiltert. Die Zuordnung der Umgebungsmerkmale kann dabei auch durch eine hardwaremäßige Schaltung erfolgen.The typical tolerance ranges of the operating states can alternatively be stored in the form of a table in the electronic memory 5. The table then uses the fuzzy logic to filter out the environmental features of the vehicle from the detected operating states. The assignment of the environmental features can also be done by a hardware circuit.

Zur Vermeidung irrtümlicher Zuordnungen ist es vorgesehen, die insgesamt erfaßten Betriebszustände zusätzlich einer Plausibilitätskontrolle zu unterziehen. Treten dabei widersprüchliche Aussagen zutage, werden diese entweder korrigiert, wenn dies aufgrund des Datenbestandes zweifelsfrei möglich ist; oder aber die jeweiligen Betriebszustände bleiben bei der Ermittelung der Umgebungsmerkmale unberücksichtigt. Wenn beispielsweise die Abfrage der Schalterstellungen das Ergebnis liefert, daß die Nebelschlußleuchte eingeschaltet ist, dann würde daraus normalerweise von dem Rechenprogramm geschlossen werden, daß das Umgebungsmerkmal "Nebel" vorliegt. Wenn aber für das Fahrzeug außerdem eine Fahrgeschwindigkeit von 200 Km/h erfaßt wird, gelangt die Plausibilitätsanalyse zu dem Ergebnis, daß der Fahrer des Fahrzeugs entweder vergessen hat, die Nebelschlußleuchte auszuschalten, oder aber die Nebelschlußleuchte wurde versehentlich unbemerkt eingeschaltet. In beiden Fällen würde die Plausibilitätskontrolle dazu führen, daß die Schalterstellung der Nebelschlußleuchte aus der Gesamtheit der erfaßten und zu berücksichtigenden Betriebszustände herausgenommen wird.In order to avoid erroneous assignments, it is provided to additionally subject the overall operating states to a plausibility check. If contradicting statements emerge, they are either corrected if this is possible without a doubt due to the data stock; or the respective one Operating states are not taken into account when determining the environmental characteristics. If, for example, the query of the switch positions yields the result that the rear fog lamp is switched on, the computer program would normally conclude that the "fog" environmental feature is present. If, however, a vehicle speed of 200 km / h is also detected, the plausibility analysis comes to the conclusion that the driver of the vehicle either forgot to switch off the rear fog lamp, or the rear fog lamp was accidentally switched on without being noticed. In both cases, the plausibility check would result in the switch position of the rear fog lamp being removed from the totality of the operating states that have been detected and taken into account.

Claims (11)

Verfahren zur Gewinnung von Informationen über die Umgebung eines Fahrzeugs einer Stichprobenfahrzeugflotte, bei dem Fahrzeugdaten in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen, im Fahrzeug erfaßt und zusammen mit den Positionsdaten an einen Verkehrsrechner übertragen werden,
dadurch gekennzeichnet,
daß Betriebszustände von Aggregaten des Fahrzeugs erfaßt und aus den erfaßten Betriebszuständen anhand von vorgegebenen Entscheidungskriterien charakteristische Merkmale der Umgebung des Fahrzeugs bestimmt werden.Method for obtaining information about the surroundings of a vehicle in a sample vehicle fleet, in which vehicle data are recorded in the vehicle at specific intervals, which correspond to a predetermined time span or a predetermined distance, and are transmitted together with the position data to a traffic computer,
characterized,
that operating states of units of the vehicle are detected and characteristic features of the surroundings of the vehicle are determined from the recorded operating states on the basis of predetermined decision criteria. Verfahren nach Anspruch 1,
dadurch gekennzeichnet,
daß die Betriebszustände der Aggregate des Fahrzeugs über die Schalterstellungen der Aggregate erfaßt werden.Method according to claim 1,
characterized,
that the operating states of the units of the vehicle are detected via the switch positions of the units. Verfahren nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
daß die Betriebszustände der Aggregate des Fahrzeugs über die Aggregate steuernde Signale erfaßt werden.The method of claim 1 or 2,
characterized,
that the operating states of the units of the vehicle are detected via the signals controlling the units. Verfahren nach einem der Ansprüche 1 bis 3,
dadurch gekennzeichnet,
daß die Betriebszustände der Aggregate des Fahrzeugs über die von den Aggregaten abgegebenen Signale erfaßt werden.Method according to one of claims 1 to 3,
characterized,
that the operating states of the units of the vehicle are detected via the signals emitted by the units. Verfahren nach einem der Ansprüche 1 bis 4,
dadurch gekennzeichnet,
daß die Betriebszustände der Aggregate des Fahrzeugs über die Wirkungen der Aggregate erfaßt werden.Method according to one of claims 1 to 4,
characterized,
that the operating states of the units of the vehicle are detected via the effects of the units. Verfahren nach einem der Ansprüche 1 bis 5,
dadurch gekennzeichnet,
daß die Betriebszustände der Aggregate des Fahrzeugs optisch erfaßt werden.Method according to one of claims 1 to 5,
characterized,
that the operating states of the units of the vehicle are optically detected. Verfahren nach einem der Ansprüche 1 bis 6,
dadurch gekennzeichnet,
daß die Betriebszustände der Lenkeinrichtung, der Räder, des Antiblockiersystems, der Antriebsschlupfregelung, der Scheibenwischeranlage, der Warnblinkanlage, der Lichtanlage, der Nebelschlußleuchte und/oder der Heckscheibenheizung erfaßt werden.Method according to one of claims 1 to 6,
characterized,
that the operating states of the steering device, the wheels, the anti-lock braking system, the traction control system, the windshield wiper system, the hazard warning system, the lighting system, the rear fog lamp and / or the rear window heating are detected. Verfahren nach einem der Ansprüche 1 bis 7,
dadurch gekennzeichnet,
daß die vorgegebenen Entscheidungskriterien in Form einer Tabelle in einem elektronischen Speicher abgelegt sind.Method according to one of claims 1 to 7,
characterized,
that the predetermined decision criteria are stored in the form of a table in an electronic memory. Verfahren nach Anspruch 8,
dadurch gekennzeichnet,
daß die charakteristischen Merkmale der Umgebung des Fahrzeugs mit Hilfe der Fuzzy-Logik bestimmt werden.A method according to claim 8,
characterized,
that the characteristic features of the surroundings of the vehicle are determined using fuzzy logic. Verfahren nach einem der Ansprüche 1 bis 9,
dadurch gekennzeichnet,
daß die Bestimmung der charakteristischen Merkmale der Umgebung des Fahrzeugs von einem Bordcomputer im Fahrzeug durchgeführt wird und an den Verkehrsrechner übertragen werden.Method according to one of claims 1 to 9,
characterized,
that the determination of the characteristic features of the surroundings of the vehicle is carried out by an on-board computer in the vehicle and is transmitted to the traffic computer. Vorrichtung zur Durchführung des Verfahrens nach Anspruch 1, mit - Einrichtungen (6) zum Erfassen der anfallenden Fahrzeugdaten und - einer Positionsbestimmungsvorrichtung (7) zur Ermittlung der Positionsdaten in bestimmten Abständen, welche einer vorgegebenen Zeitspanne oder einer vorgegebenen Wegstrecke entsprechen, - mindestens einem Speicherbereich (4) zum Ablegen der erfaßten Daten - mindestens einem Arbeitsspeicherbereich (5) mit einem Rechenprogramm zur Bestimmung charakteristischer Merkmale der Umgebung des Fahrzeugs anhand von vorgegebenen Entscheidungskriterien aus den Fahrzeugdaten, die Betriebszustände von Aggregaten des Fahrzeugs sind, - einer Einrichtung (1) zur Übermittlung der Fahrzeug- und Positionsdaten an den Verkehrsrechner (8) - einer zentralen Prozessoreinheit (2) und - mit einem Datenbus (3), der mit den Einrichtungen (1,2,4,5,6,7) verbunden ist. Device for performing the method according to claim 1, with - Devices (6) for recording the vehicle data and - a position determining device (7) for determining the position data at certain intervals, which correspond to a predetermined time period or a predetermined distance, - At least one memory area (4) for storing the acquired data - At least one working memory area (5) with a computer program for determining characteristic features of the surroundings of the vehicle on the basis of predetermined decision criteria from the vehicle data, which are the operating states of the vehicle's units, - A device (1) for transmitting the vehicle and position data to the traffic computer (8) - A central processor unit (2) and - With a data bus (3) which is connected to the devices (1,2,4,5,6,7).
EP95250282A 1994-11-28 1995-11-20 Method and device for obtaining information about the zone around a vehicle Expired - Lifetime EP0715287B1 (en)

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DE19521914 1995-06-09

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