EP2063406B1 - Method and apparatus for warning about obstacles which are not high and/or wide enough to drive through - Google Patents

Method and apparatus for warning about obstacles which are not high and/or wide enough to drive through Download PDF

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Publication number
EP2063406B1
EP2063406B1 EP08014250A EP08014250A EP2063406B1 EP 2063406 B1 EP2063406 B1 EP 2063406B1 EP 08014250 A EP08014250 A EP 08014250A EP 08014250 A EP08014250 A EP 08014250A EP 2063406 B1 EP2063406 B1 EP 2063406B1
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Prior art keywords
data
vehicle
obstacles
drive
obstacle
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German (de)
French (fr)
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EP2063406A1 (en
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Karsten Dr. Breuer
Thomas Dr. Dieckmann
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ZF CV Systems Hannover GmbH
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Wabco GmbH
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees

Definitions

  • the invention relates to a method and an arrangement for warning against obstacles with insufficient headroom and / or insufficient passage width according to the preamble of claim 1.
  • the document EP1475765A2 discloses a device for determining a passageway for a vehicle to obstacles, which serves to estimate whether a vehicle can drive between obstacles with respect to its vehicle height and / or its vehicle width.
  • the passage width and / or the passage height is measured with a sensor unit in front of an obstacle and compared with the stored vehicle data. If the passage width / headroom is insufficient, an optical, acoustic and / or haptic warning is issued to the driver.
  • the determined passage width or headroom on a display unit can be made available to the driver. A steering direction correction for the driver is also described.
  • a safety distance can be provided, which is taken into account in the comparison of the available passage width or headroom with the vehicle width or vehicle height by the safety distance preferably the vehicle width or vehicle height is added.
  • the safety distance can be adapted by means of a control unit, inter alia, to the driving skills of the driver.
  • the object of the present invention is to provide a method and an arrangement for warning against obstacles with insufficient headroom and / or insufficient passage width, by the or the driver is warned in good time before too low a headroom or too narrow passage width.
  • a method for achieving the object is defined in claim 1 and an arrangement for achieving the object is specified in claim 7.
  • the present invention has the advantage that it warns the driver in good time about too low clearance heights and too small passage widths and possibly initiates an automatic braking if the driver ignores the warning. As a result, vehicle damage is avoided, especially in the urban area by driving height misjudgment of drivers.
  • an arrangement 2 for warning against obstacles with insufficient headroom and / or not sufficient passage width, in particular for motor vehicles.
  • the arrangement 2 comprises a comparison and warning signals generating device 4 and a sensor device 6.
  • the comparison and warning signals generating device 4 is connected to a first memory 8 for passage-relevant data or parameters of the motor vehicle and a second memory 10 for passage-relevant data of the obstacles ,
  • the sensor device 6 is used for scanning and recording of transit-relevant data of preceding obstacles and for entering these data in the second memory 10.
  • the transit-relevant data from the first and second memory 8, 10 are compared with each other such that a warning signal for the driver is generated when the obstacle associated, determined by the sensor device 6 data from the second Memory 10 with the vehicle associated data from the first memory 8 match or fall below this.
  • the sensor device 6 comprises at least one distance sensor 12 which detects the preceding driving space.
  • the detection geometry is chosen so that obstacles and the road surface are detected at the same time.
  • the distance sensor preferably has a high angular resolution in order to be able to detect the contour of a vertical section of the obstacle accurately.
  • the angle and distance information acquired by the sensor device 6 are fed to an evaluation device 14 for evaluation and determination of the passage heights and / or the passage widths of the respective obstacle.
  • an operating element 16 may be provided, by means of which the driver enters the passage-relevant data of his vehicle in the first memory 8 before departure.
  • the transit-relevant data of the vehicle can alternatively also be parameterized in the system.
  • the warning-generating device 4 In the event of a warning, the warning-generating device 4 generates optical, acoustic and / or haptic warning signals for the driver.
  • the visual warning signal may appear on an optical display 20.
  • the audible warning signal can be output via a loudspeaker 22 and the haptic warning signal can be realized by briefly braking a brake brake 24.
  • the arrangement 2 preferably also comprises a device 18 for monitoring the time between generation of the warning signal and reaction of the driver to the warning signal. If a predefined time limit is exceeded, the device initiates a braking of the vehicle to avoid a collision of the vehicle with the obstacle.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
  • Road Signs Or Road Markings (AREA)
  • Paper (AREA)

Abstract

The method involves scanning ahead-lying overhead obstacles, ahead-lying lateral obstacles and respective roadway surface for detecting passage-relevant data of the obstacle. The determined passage-relevant data of the obstacles are compared with passage-relevant data of a motor vehicle e.g. bus. A warning signal is provided to the driver when the data of the vehicle exceeds the data of the obstacle. Passage height and/or passage width of the obstacle are determined and the passage height and/or the passage width of the obstacles are computed from angle and space information. An independent claim is also included for an arrangement for warning of an obstacle with non-sufficient passage height and/or non-sufficient passage width for a motor vehicle.

Description

Die Erfindung betrifft ein Verfahren und eine Anordnung zur Warnung vor Hindernissen mit nicht ausreichender Durchfahrtshöhe und/oder nicht ausreichender Durchfahrtsbreite gemäß Oberbegriff des Anspruchs 1.The invention relates to a method and an arrangement for warning against obstacles with insufficient headroom and / or insufficient passage width according to the preamble of claim 1.

Wenn Nutzfahrzeuge, wie Lastkraftwagen, Busse, etc. unbekannte Brücken, Tunnel usw. durchfahren müssen, ist es für den Fahrer oftmals schwer zu erkennen, ob die Durchfahrtshöhe oder auch die Durchfahrtsbreite ausreichend für das Fahrzeug ist. Besonders schwierig wird es, wenn eine Brücke unzureichend beschildert ist oder Fahrbahnunebenheiten die effektive Höhe verringern. Die Probleme sind besonders groß bei Nachtfahrten, weil es dann nahezu unmöglich ist, die Durchfahrtshöhe bzw. Durchfahrtsbreite sicher einzuschätzen.When commercial vehicles such as trucks, buses, etc., have to drive through unknown bridges, tunnels, etc., it is often difficult for the driver to know whether the headroom or the passage width is sufficient for the vehicle. It becomes particularly difficult when a bridge is insufficiently marked or when road bumps reduce the effective height. The problems are particularly great at night driving, because it is then almost impossible to estimate the headroom or passage width safe.

Das Dokument EP1475765A2 offenbart eine Vorrichtung zur Bestimmung einer Durchfahrtsmöglichkeit für ein Fahrzeug an Hindernissen, die dazu dient, abzuschätzen, ob ein Fahrzeug bezüglich seiner Fahrzeughöhe und/oder seiner Fahrzeugbreite zwischen Hindernissen hindurch fahren kann. Dazu wird mit einer Sensoreinheit vor einem Hindernis die Durchfahrtsbreite und/oder die Durchfahrtshöhe gemessen und mit den gespeicherten Fahrzeugdaten verglichen. Bei nicht ausreichender Durchfahrtsbreite/Durchfahrtshöhe wird eine optische, akustische und/oder haptische Warnung an den Fahrer ausgegeben. Ferner kann die ermittelte Durchfahrtsbreite bzw. Durchfahrtshöhe an einer Anzeigeeinheit dem Fahrer zur Verfügung gestellt werden. Auch eine Lenkrichtungskorrektur für den Fahrer wird beschrieben. Optional kann ein Sicherheitsabstand vorgesehen werden, der bei dem Vergleich der zur Verfügung stehenden Durchfahrtsbreite bzw. Durchfahrtshöhe mit der Fahrzeugbreite bzw. Fahrzeughöhe berücksichtigt wird, indem der Sicherheitsabstand vorzugsweise der Fahrzeugbreite bzw. Fahrzeughöhe hinzuaddiert wird. Der Sicherheitsabstand ist mittels einer Bedieneinheit u. a. an die Fahrfähigkeiten des Fahrers anpassbar.The document EP1475765A2 discloses a device for determining a passageway for a vehicle to obstacles, which serves to estimate whether a vehicle can drive between obstacles with respect to its vehicle height and / or its vehicle width. For this purpose, the passage width and / or the passage height is measured with a sensor unit in front of an obstacle and compared with the stored vehicle data. If the passage width / headroom is insufficient, an optical, acoustic and / or haptic warning is issued to the driver. Furthermore, the determined passage width or headroom on a display unit can be made available to the driver. A steering direction correction for the driver is also described. Optionally, a safety distance can be provided, which is taken into account in the comparison of the available passage width or headroom with the vehicle width or vehicle height by the safety distance preferably the vehicle width or vehicle height is added. The safety distance can be adapted by means of a control unit, inter alia, to the driving skills of the driver.

Die Aufgabe der vorliegenden Erfindung besteht darin, ein Verfahren und eine Anordnung zur Warnung vor Hindernissen mit nicht ausreichender Durchfahrtshöhe und/oder nicht ausreichender Durchfahrtsbreite anzugeben, durch das bzw. die der Fahrer rechtzeitig vor einer zu geringen Durchfahrtshöhe oder einer zu geringen Durchfahrtsbreite gewarnt wird.The object of the present invention is to provide a method and an arrangement for warning against obstacles with insufficient headroom and / or insufficient passage width, by the or the driver is warned in good time before too low a headroom or too narrow passage width.

Ein Verfahren zur Lösung der Aufgabe ist im Anspruch 1 und eine Anordnung zur Lösung der Aufgabe ist im Anspruch 7 angegeben.A method for achieving the object is defined in claim 1 and an arrangement for achieving the object is specified in claim 7.

Vorteilhafte und zweckmäßige Weiterbildungen sind in den den Ansprüchen 1 und 7 nachgeordneten Unteransprüchen angegeben.Advantageous and expedient developments are specified in the claims 1 and 7 subordinate claims.

Die vorliegende Erfindung hat den Vorteil, dass sie den Fahrer rechtzeitig vor zu geringen Durchfahrtshöhen und zu geringen Durchfahrtsbreiten warnt und ggf. bei Nichtbeachtung der Warnung durch den Fahrer eine automatische Bremsung initiiert. Hierdurch werden vor allem in städtischen Bereich durch Durchfahrtshöhenfehleinschätzungen von Fahrern Fahrzeugbeschädigungen vermieden.The present invention has the advantage that it warns the driver in good time about too low clearance heights and too small passage widths and possibly initiates an automatic braking if the driver ignores the warning. As a result, vehicle damage is avoided, especially in the urban area by driving height misjudgment of drivers.

Die Erfindung soll nachfolgend anhand der beigefügten Zeichnung, in der schematisch eine erfindungsgemäße Anordnung zur Warnung vor Hindernissen mit nicht ausreichender Durchfahrtshöhe und/oder nicht ausreichender Durchfahrtsbreite dargestellt ist, näher erläutert werden.The invention will be explained in more detail with reference to the accompanying drawing, in which an inventive arrangement for warning against obstacles with insufficient headroom and / or insufficient passage width is shown schematically.

In der Zeichnung ist eine erfindungsgemäße Anordnung 2 zur Warnung vor Hindernissen mit nicht ausreichender Durchfahrtshöhe und/oder nicht ausreichender Durchfahrtsbreite, insbesondere für Kraftfahrzeuge dargestellt. Die Anordnung 2 umfasst eine Vergleichs- und Warnsignale generierende Einrichtung 4 und eine Sensoreinrichtung 6. Die Vergleichs- und Warnsignale generierende Einrichtung 4 ist mit einem ersten Speicher 8 für durchfahrtsrelevante Daten oder Parameter des Kraftfahrzeugs und mit einem zweiten Speicher 10 für durchfahrtsrelevante Daten der Hindernisse verbunden.In the drawing, an arrangement 2 according to the invention for warning against obstacles with insufficient headroom and / or not sufficient passage width, in particular for motor vehicles. The arrangement 2 comprises a comparison and warning signals generating device 4 and a sensor device 6. The comparison and warning signals generating device 4 is connected to a first memory 8 for passage-relevant data or parameters of the motor vehicle and a second memory 10 for passage-relevant data of the obstacles ,

Die Sensoreinrichtung 6 dient zur Abtastung und Erfassung von durchfahrtsrelevanten Daten vorausliegender Hindernisse und zur Eingabe dieser Daten in den zweiten Speicher 10.The sensor device 6 is used for scanning and recording of transit-relevant data of preceding obstacles and for entering these data in the second memory 10.

In der Vergleichs- und Warnsignale generierenden Einrichtung 4 werden die durchfahrtsrelevanten Daten aus dem ersten und zweiten Speicher 8, 10 derart miteinander verglichen, dass ein Warnsignal für den Fahrer generiert wird, wenn die dem Hindernis zugeordneten, durch die Sensoreinrichtung 6 ermittelten Daten aus dem zweiten Speicher 10 mit den dem Fahrzeug zugeordneten Daten aus dem ersten Speicher 8 übereinstimmen oder diese unterschreiten.In the comparison and warning signals generating device 4, the transit-relevant data from the first and second memory 8, 10 are compared with each other such that a warning signal for the driver is generated when the obstacle associated, determined by the sensor device 6 data from the second Memory 10 with the vehicle associated data from the first memory 8 match or fall below this.

Die Sensoreinrichtung 6 umfasst wenigstens einen Abstandssensor 12, der den vorausliegenden Fahrraum erfasst. Die Erfassungsgeometrie ist dabei so gewählt, dass gleichzeitig Hindernisse sowie die Fahrbahnoberfläche erfasst werden. Der Abstandssensor weist vorzugsweise eine hohe Winkelauflösung auf, um die Kontur eines Vertikalschnitts des Hindernisses genau erfassen zu können.The sensor device 6 comprises at least one distance sensor 12 which detects the preceding driving space. The detection geometry is chosen so that obstacles and the road surface are detected at the same time. The distance sensor preferably has a high angular resolution in order to be able to detect the contour of a vertical section of the obstacle accurately.

Die von der Sensoreinrichtung 6 erfassten Winkel- und Abstandsinformationen werden einer Auswerteeinrichtung 14 zur Auswertung und Ermittlung der Durchfahrtshöhen und/oder der Durchfahrtsbreiten des jeweiligen Hindernisses zugeführt.The angle and distance information acquired by the sensor device 6 are fed to an evaluation device 14 for evaluation and determination of the passage heights and / or the passage widths of the respective obstacle.

Im Fahrzeug kann ein Bedienelement 16 vorgesehen sein, mittels dessen der Fahrer vor Fahrtantritt die durchfahrtsrelevanten Daten seines Fahrzeugs in den ersten Speicher 8 eingibt. Die durchfahrtsrelevanten Daten des Fahrzeugs können alternativ auch im System parametriert sein.In the vehicle, an operating element 16 may be provided, by means of which the driver enters the passage-relevant data of his vehicle in the first memory 8 before departure. The transit-relevant data of the vehicle can alternatively also be parameterized in the system.

Die Warnsignale generierende Einrichtung 4 generiert im Warnfalle optische, akustische und/oder haptische Warnsignale für den Fahrer. Das optische Warnsignal kann auf einer optischen Anzeige 20 erscheinen. Das akustische Warnsignal kann über einen Lautsprecher 22 ausgegeben werden und das haptische Warnsignal kann durch kurzes Bremsrucken einer Bremse 24 realisiert werden.In the event of a warning, the warning-generating device 4 generates optical, acoustic and / or haptic warning signals for the driver. The visual warning signal may appear on an optical display 20. The audible warning signal can be output via a loudspeaker 22 and the haptic warning signal can be realized by briefly braking a brake brake 24.

Die Anordnung 2 umfasst vorzugsweise noch eine Einrichtung 18 zur Überwachung der Zeit zwischen Erzeugung des Warnsignals und Reaktion des Fahrers auf das Warnsignal. Bei Überschreitung eines vorgebbaren Zeitlimits initiiert die Einrichtung eine Bremsung des Fahrzeugs zur Vermeidung einer Kollision des Fahrzeugs mit dem Hindernis.The arrangement 2 preferably also comprises a device 18 for monitoring the time between generation of the warning signal and reaction of the driver to the warning signal. If a predefined time limit is exceeded, the device initiates a braking of the vehicle to avoid a collision of the vehicle with the obstacle.

Claims (13)

  1. Method for warning about obstacles which are not high and/or wide enough to drive through, in particular for motor vehicles, wherein the drive-through height and/or the drive-through width of the obstacle are determined and measures for assisting the driver when or before he drives through the obstacle are output to said driver, wherein
    - overhead obstacles lying ahead and/or lateral obstacles lying ahead and the respective surface of the carriageway are scanned in order to acquire data which are relevant to driving through the obstacles,
    - the determined data of the obstacles which are relevant to driving through are compared with data of the vehicle which are relevant to driving through,
    - a warning signal is output to the driver if the data of the vehicle which are relevant to driving through exceed or are the same as the data of the obstacle which are relevant to driving through, and
    - the warning is issued by means of a visual, acoustic or haptic signal,
    characterized in that
    a time limit between the outputting of the warning signal and the driver's reaction is provided, the vehicle being automatically braked when said time limit is exceeded.
  2. Method according to Claim 1, characterized in that overhead obstacles lying ahead and/or lateral obstacles lying ahead and the respective surface of the carriageway are scanned simultaneously in order to acquire angle information and distance information assigned to the obstacles.
  3. Method according to Claim 2, characterized in that the drive-through height and/or the drive-through width of the obstacles are/is calculated from the angle information and distance information.
  4. Method according to Claim 1 or 3, characterized in that the data of the vehicle which are relevant to driving through, specifically the height and/or width of the vehicle, are input into a memory of a comparator device by the driver, or are already stored in the memory, before the journey starts.
  5. Method according to one of the preceding claims, characterized in that the calculated drive-through height and/or the calculated drive-through width of the obstacle are/is compared in the comparator device with the input or stored height and/or width of the vehicle, wherein a warning signal is output to the driver if the height and/or width of the vehicle correspond/corresponds to the drive-through height and/or the drive-through width of the obstacle or exceed/exceeds said drive-through height and/or drive-through width of the obstacle.
  6. Method according to Claim 1, characterized in that a short braking jolt is provided as haptic signalling.
  7. Apparatus (2) for warning about obstacles which are not high and/or wide enough to drive through, in particular for motor vehicles, wherein a device (4) which generates comparison signals and warning signals and a sensor device (6) are installed on the motor vehicle, wherein the device (4) which generates comparison signals and warning signals is connected to a first memory (8) for data or parameters of the motor vehicle which are relevant to driving through and is connected to a second memory (10) for data of the obstacles which are relevant to driving through, and the sensor device (6) is provided for scanning and acquiring data of obstacles lying ahead which are relevant to driving through and for inputting these data into the second memory, and wherein, in the device (4) which generates comparison signals and warning signals, the data from the first and second memories (8, 10) which are relevant to driving through are compared with one another, in that a warning signal is generated for the driver if the data from the second memory (10) which are acquired by the sensor device (6) and are assigned to the obstacle correspond to or fall below the data from the first memory (8) which are assigned to the vehicle, wherein the device (4) which generates warning signals generates visual, acoustic and/or haptic warning signals for the driver, characterized in that
    a device (18) for monitoring the time between the generation of the warning signal and the driver's reaction is provided, which device (18) triggers braking of the vehicle when a predefinable time limit is exceeded.
  8. Apparatus according to Claim 7, characterized in that the sensor device (6) has, for sensing the contour of a vertical section of the obstacle, at least one distance sensor (12) with high angular resolution and a sensing geometry which is configured to sense the obstacle and the surface of the carriageway simultaneously.
  9. Apparatus according to Claim 8, characterized in that the angle and distance information which are acquired by the sensor device (6) are fed to an evaluation device (14) for evaluating and determining the drive-through heights and/or the drive-through widths of the respective obstacle.
  10. Apparatus according to Claim 7, characterized in that an operator control element (16) is provided by means of which the driver inputs the data of the vehicle which are relevant to driving through into the first memory (8) before the journey starts.
  11. Apparatus according to Claim 7, characterized in that the data of the vehicle which are relevant to driving through are parameterized in the system.
  12. Apparatus according to Claim 7, characterized in that a visual display device (20) is provided for visually displaying warning signals, a loudspeaker (22) is provided for acoustically outputting warning signals, and brief braking jolt of a brake (24) is provided as a haptic warning signal.
  13. Apparatus according to Claim 8, characterized in that the sensor is a distance sensor of another vehicle assistance system such as, for example, an adaptive cruise controller.
EP08014250A 2007-11-13 2008-08-09 Method and apparatus for warning about obstacles which are not high and/or wide enough to drive through Active EP2063406B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007053989A DE102007053989A1 (en) 2007-11-13 2007-11-13 Method and arrangement for warning against obstacles with insufficient headroom and / or insufficient passage width

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EP2063406A1 EP2063406A1 (en) 2009-05-27
EP2063406B1 true EP2063406B1 (en) 2010-07-28

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US (1) US8013722B2 (en)
EP (1) EP2063406B1 (en)
JP (1) JP2009123223A (en)
AT (1) ATE475960T1 (en)
DE (2) DE102007053989A1 (en)

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JP3948463B2 (en) * 2004-03-24 2007-07-25 日産自動車株式会社 VEHICLE DRIVE OPERATION ASSISTANCE DEVICE AND VEHICLE HAVING VEHICLE DRIVE OPERATION ASSISTANCE DEVICE
DE102005054754B4 (en) 2005-11-17 2019-05-16 Bayerische Motoren Werke Aktiengesellschaft Timing determination for initiating a necessary brake intervention for a motor vehicle
DE102005062151B4 (en) * 2005-12-22 2007-09-13 Daimlerchrysler Ag Method and device for assisting a driver in the passage of constrictions

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104008672A (en) * 2014-05-29 2014-08-27 天津博信汽车零部件有限公司 Accident warning system
DE102022116249A1 (en) 2022-06-29 2024-01-04 AgBRAIN - AGRITECHNICAL BASIC RESEARCH FOR ADVANCED INNOVATION GMBH Method for testing the passability of a route of a work machine using a computer-aided evaluation device

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US20090121852A1 (en) 2009-05-14
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DE502008001018D1 (en) 2010-09-09
EP2063406A1 (en) 2009-05-27
DE102007053989A1 (en) 2009-05-14
US8013722B2 (en) 2011-09-06

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