EP3311196A1 - Manoeuvre d'un attelage comportant un véhicule automobile et une remorque - Google Patents

Manoeuvre d'un attelage comportant un véhicule automobile et une remorque

Info

Publication number
EP3311196A1
EP3311196A1 EP16731857.5A EP16731857A EP3311196A1 EP 3311196 A1 EP3311196 A1 EP 3311196A1 EP 16731857 A EP16731857 A EP 16731857A EP 3311196 A1 EP3311196 A1 EP 3311196A1
Authority
EP
European Patent Office
Prior art keywords
trailer
motor vehicle
computing device
distance
distance sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16731857.5A
Other languages
German (de)
English (en)
Inventor
Jan Simon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP3311196A1 publication Critical patent/EP3311196A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/245—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating push back or parking of trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/30—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for sway control, e.g. stabilising or anti-fishtail devices; Sway alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the invention relates to a method for maneuvering a trailer with a motor vehicle and with a trailer.
  • the invention also relates to a
  • Driver assistance device for maneuvering a trailer with a motor vehicle and a trailer, which has a distance sensor, by means of which a distance between a rear of the motor vehicle and a front side facing the rear of the trailer can be detected.
  • LED-based sensors in the motor vehicle sector is described, for example, in WO 2008/154736 A1.
  • the parking aid can provide information about a distance of the corresponding motor vehicle from obstacles in the environment, for example, parked other cars.
  • parking gaps can also be detected and measured by such driver assistance systems, for example, and a parking process can be carried out autonomously or semi-autonomously.
  • Rangier Anlagensysteme for teams, so for cars, to which a trailer is attached, are known. These are helpful for a driver when driving backwards in the direction of the rear of the motor vehicle. For example, in the
  • WO 2006/042665 A1 and US 2014/0160276 A1 discloses such shunting assistance systems for horse carriages.
  • the trailers and the environment of the team are monitored by cameras.
  • the invention comprises a method for maneuvering a trailer with a motor vehicle and with a trailer having a plurality of steps.
  • the trailer is coupled with the car.
  • a first step is thereby receiving sampling data by a computing device of the motor vehicle from a distance sensor of the motor vehicle.
  • the scanning data can be detected or detected in particular by a distance sensor arranged at a rear of the motor vehicle.
  • the detection of the sampling data by the distance sensor can be a further, for example, receiving the sampling data by the computing device
  • the scan data represents a distance between a rear of the motor vehicle and a rear facing front, a bow, of the trailer.
  • Sampling data may include information about the distance to two or more times or information about the distance in two different areas of the tail.
  • the sampling data can also be from two or more
  • Another step is to determine a position of the trailer from the received scan data by the computing device.
  • the position of the trailer may include or represent a position and / or orientation of the trailer relative to the motor vehicle. From the position, a trailer angle between a longitudinal axis of the motor vehicle and a longitudinal axis of the trailer can be determined. The position or the
  • Trailer angle can for example be calculated from a comparison of distance values for the distance at different times or in different areas of the rear of the motor vehicle. Finally, predetermining a direction of travel or a driving trajectory for the motor vehicle takes place, taking into account the position or the trailer angle, by the computing device.
  • Sampling data represented distance from motor vehicle and trailer is less than a predetermined minimum distance.
  • an indication can be issued and / or an automatic intervention in a driving behavior and / or braking behavior and / or steering behavior of the motor vehicle carried out.
  • This has the advantage that it is particularly easy to collide the motor vehicle with the trailer, as can occur when the steering angle of the motor vehicle is too great, especially during a reverse drive.
  • Scanning data is performed by the computing device of an optical distance sensor, in particular of an active optical distance sensor.
  • An active distance sensor differs from a passive distance sensor in that a transmit signal is sent into an environment by the active sensor and conclusions about the surroundings of the distance sensor are drawn from a receive signal assigned to the respective transmit signal.
  • a passive sensor on the other hand, only detects signals from the environment that are present in it anyway.
  • Distance sensor allows a particularly accurate detection of a distance or a particularly accurate scanning of an environment of the distance sensor with simple means.
  • the optical distance sensor may comprise a light emitting diode and / or a laser diode. In the operation of the distance sensor, it may or may emit in particular a light in the visible or infrared range in order to detect a distance. For example, here light in the wavelength range between 900 and 950
  • the distance sensor may in particular be designed to detect objects in a near environment via the light-emitting diode and thus small distances, which are preferably less than 15 meters, and / or via the laser diode Objects in a distant environment and therefore large distances, preferably more than 15 meters to capture. This has the advantage that the respective distances are detected very precisely.
  • the scanning data are obtained by the optical distance sensor by a transit time method, a so-called time-of-flight method (TOF).
  • TOF time-of-flight method
  • Distance sensor are operated in a pulse mode, so that, for example, by the light emitting diode and / or the laser diode, a light pulse is emitted, respectively, the time that the light or the light pulse from the distance sensor to an object and from the object back to the distance sensor needs measured becomes. This can be done several times, preferably with a frequency of more than 100 kilohertz. This has the advantage that the distance between the rear of the motor vehicle and the front of the
  • the TOF method is particularly well suited for a simultaneous or quasi-simultaneous detection of the distance in different solid angle ranges, as will be done in the next paragraph.
  • Scanned data is performed by the computing device of a multi-channel distance sensor.
  • a multi-channel distance sensor Through a multi-channel distance sensor several distances in each spatially resolved channels can be determined.
  • the scanning data represent a distance spatially resolved at least in a horizontal direction transverse to the longitudinal axis of the motor vehicle in a plurality of channels, with a plurality of respective distances between the rear and the front side.
  • the respective distance values are assigned to the respective channels of the distance sensor.
  • the multi-channel distance sensor can have, for example, sixteen independent channels here.
  • the number of channels can vary. In particular, eight or thirty-two channels are advantageous here.
  • a distance in a space segment or solid angle region of the surroundings of the distance sensor assigned to the respective channel can then be detected in each case.
  • the distance can be determined very accurately in a simple manner.
  • a pivot point of the trailer can be determined, so that, for example, a driving behavior depending on a predefined by a driver or predetermined by a driver assistance device or predeterminable steering behavior of the motor vehicle can be predetermined.
  • the sampling data comprise individual data which indicates the distance in respective assigned space segments
  • the space segments in the horizontal starting from the distance sensor, in particular an opening angle of less than 3 °.
  • the space segments can jointly cover, for example, a horizontal angle range of 45 °, starting from the distance sensor.
  • Channels of the distance sensor then occupies each space segment a horizontal angle of 2, 8 °. But it can also be provided other horizontal opening angle for the distance sensor, for example 34 ° 24 ° 18 ° or 9 °.
  • a vertical opening angle of the distance sensor for the respective segments can here
  • the spatial horizontal resolution with an opening angle of less than 3 ° hi he has proven to be particularly favorable. Even with irregular or round shaped trailer front sides so the distance can be reliably and accurately detected, since the individual data can be evaluated by the computing device.
  • the scanning data from the multi-channel distance sensor is also a scanning information via a lateral
  • an environment which is located perpendicular to the longitudinal axis next to the trailer is to be regarded as a lateral environment.
  • the lateral environment may extend parallel to the longitudinal axis beyond a length of the trailer.
  • a first checking of the scanning data is carried out by the computing device as to whether an object is in the lateral environment of the trailer or not.
  • the calculating device determines a position of the object located in the lateral environment. This is followed in this case then a second check by the computing device, whether the determined position in a resulting from the position of the trailer and / or from the trailer angle driving range or in a from the position of the
  • a driving range or a driving trajectory for a reversing of the combination can be taken into account.
  • a positive result of the second check that is, if the determined position is in the Driving range or the driving trajectory is done, there is a prevention of a collision between the vehicle and object by the computing device.
  • the prevention of a collision can also be understood here as a reduction of a collision probability between the team and the object or be such. This has the advantage that the safe maneuvering with the team is simplified.
  • the computing device not only one direction can be specified, but it can also be prevented collisions during maneuvering. This would otherwise have to be taken over by a driver, so that the maneuvering is further simplified.
  • the automatic intervention in a braking and / or steering system may include an automatic intervention in a braking and / or steering behavior of the team or the motor vehicle. This has the advantage that both a manual maneuvering by the driver as well as a semi or fully automatic
  • Computing also determining a contour, namely an outer contour, the front of the trailer takes place.
  • a calculation of an axle position of the trailer by evaluating the change in the orientation of the contour as a function of the change in the steering angle of the motor vehicle can be carried out by the computing device as a result.
  • the distance can be calculated very accurately and also a misinterpretation can be prevented, which
  • the specification of the direction of travel includes an indication to a driver of the motor vehicle.
  • the indication may indicate a deviation from a current steering angle of the motor vehicle from an optimum or by the computing device proposed steering angle of the motor vehicle.
  • the suggested steering angle may be required to enter one of the computing device or driver assistance device parking parked or recognized parking space. This has the advantage that even without automatic intervention in a braking or steering system of the team maneuvering the team is simplified. Especially in a reverse drive contributes to such an indication to the driver to simplify the maneuvering.
  • the predetermining of the direction of travel comprises an automatic setting of a steering angle of the motor vehicle and in particular also an automatic setting of a driving speed of the motor vehicle or the vehicle.
  • a partially or fully automatic parking or maneuvering can be realized.
  • the maneuvering of the team is simplified again.
  • the invention also relates to a driver assistance device for maneuvering a trailer with a motor vehicle and a trailer.
  • the driver assistance device has at least one distance sensor, by means of which a distance between a rear end of the motor vehicle and a rear side facing the rear of the
  • the driver assistance device also has a computing device, by means of which a position of the trailer can be determined from the detected distance and a direction of travel of the motor vehicle can be predetermined taking into account the position of the trailer.
  • the computing device may be an electrical control unit of the motor vehicle.
  • the position of the trailer may include a trailer angle between a longitudinal axis of the motor vehicle and a longitudinal axis or represented by the trailer angle.
  • the driver assistance device can also be an automatic driving and / or
  • Include power steering device by means of which a steering angle of the motor vehicle or a driving speed of the motor vehicle is automatically predetermined.
  • the invention also includes a motor vehicle with such
  • driver assistance device and the motor vehicle with such a driver assistance device correspond here to advantages and advantageous embodiments of the method for maneuvering the vehicle.
  • FIG. 1 shows a schematic view of an exemplary vehicle with an exemplary embodiment of a driver assistance device for maneuvering the vehicle from a bird's-eye view;
  • Fig. 2 is an enlarged detail of Fig. 1, and
  • Fig. 3 is a perspective oblique view of another exemplary embodiment
  • Fig. 1 is a trailer 1 with an exemplary embodiment of a
  • the team 1 here includes a motor vehicle 2, to which a trailer 3 is attached at the rear.
  • a trailer 3 At the rear 8 of the motor vehicle 2 here two distance sensors 4, 5 are arranged here.
  • Distance sensors 4, 5 are in the example shown to active, multi-channel LED sensors with light emitting diodes. These sensors 4, 5 emit respective light signals 6, 7 in a reverse direction of the motor vehicle 2, in this case the y-direction.
  • the two distance sensors are integrated in the example shown in a rear bumper of the motor vehicle 2.
  • a distance d between a tail 8 and a tail 8 can thus be determined via a transit time measurement of the respective signals 6, 7 facing front side 9 of the trailer 3 determine.
  • the sensors 4, 5 are here coupled to a computing device 13. Sensors 4, 5 and computing device 13 are here part of the driver assistance device 16.
  • the signals 6, 7 are also emitted by the two distance sensors 4, 5 into respective lateral surroundings 10, 11 of the trailer 3.
  • these lateral environments 10, 1 1 are scanned by the distance sensors 4, 5.
  • the scan data acquired by the distance sensors 4, 5 thus also represent one or more scan information about the lateral surroundings 10, 11.
  • Objects 12, symbolized by a pedestrian in the present example can therefore also be detected in this lateral environment 10, 11.
  • an indication for example for warning a driver of the motor vehicle 2 can accordingly be output and / or, for example, braking
  • From the scanning data of the distance sensors 4, 5 can be a position of the trailer 3 in the form of a trailer angle ⁇ between a
  • Longitudinal axis L A of the motor vehicle and a longitudinal axis L B of the trailer 3 are determined. Accordingly, here by the computing device 13, a direction of travel for the motor vehicle 2, taking into account the position of the trailer 3, here the trailer angle ⁇ , predetermined. This is also a direction of travel for the team 1 can be specified. This is advantageous especially when reversing the team 1.
  • Fig. 1 a detail of Fig. 1 is shown. Enlarged here is the area between the rear 8 of the motor vehicle 2 and the front 9 of the trailer 3 can be seen.
  • the signals 6, 7 of the two distance sensors 4, 5 here scan respective space segments 14a to 14p and 15a to 15p. In the example shown by the two
  • Distance sensors 4, 5 thus each sixteen space segments 14a-p, 15a-p sampled.
  • the space segments 14a-p, 15a-p each have a horizontal opening angle of 2.8 °, so that the signals 6, 7 are radiated altogether over 45 ° by the two distance sensors 4, 5.
  • the front side 9 of the trailer 3 and further objects 12 can be detected correspondingly in the present case.
  • the distance sensors 4, 5 also have a vertical opening angle. This is smaller than the horizontal opening angle here.
  • the vertical opening angle can be, for example 7.5 °, whereas the horizontal opening angle between 45 ° and 9 °, in particular 45 ° 34 ° 24 ° 18 ° and / or 9 ° amount n can.
  • the distance d between the rear 8 and the front side 9 can thus be spatially resolved in the respective space segments 14a-p, 15a-p.
  • the contour or outer contour of the trailer 3 on the front side 9 can be determined accordingly in the computing device 13. Especially when it is a trailer 3 with a non-rectangular base, as in the example shown, thus the position of the trailer 3 and here the trailer angle ⁇ can be determined very accurately and easily.
  • the position of the trailer 3 and the trailer angle ⁇ can be calculated by the computing device 13. This can also be used to determine where the trailer 3 travels when reversing. This depends on one
  • FIG. 3 shows a further exemplary combination in a schematic oblique view.
  • the lateral environment 10, 1 1, of the trailer 3 is also scanned by the distance sensors 4, 5.
  • the lateral surroundings 10, 11, which are scanned by the distance sensors 4, 5 are each formed by a subset of the space segments 14a-p, 15a-p, in the present case by six respective space segments 15k-p and 14k-p.
  • the distance sensors 4, 5 on the one hand directly the distance d (Fig. 1, Fig. 2) between the rear 8 of the motor vehicle 2 and front 9 of the trailer 3 detected and on the other hand, the lateral environments 10, 1 1 of the trailer
  • the lateral environments 10, 1 1 extend here because of the range of the distance sensors, which may be, for example, LeddarTech multi-channel LED sensors, to a range which in the y-direction (here the reverse direction) considered until (viewed from the motor vehicle 2) may extend well behind the trailer 3.
  • the Distance sensors 4, 5 a range of up to 40 meters in the
  • Motor vehicle 2 is located directly behind the trailer 3, can not be monitored in the present case by the distance sensors 4.5, since objects 12 can not be detected by these distance sensors 4, 5 around corners.
  • a camera at the rear of the trailer 3 could provide a remedy.

Abstract

L'invention concerne un procédé de manœuvre d'un attelage (1), comportant un véhicule automobile (2) et une remorque (3), le procédé comprenant les étapes suivantes : réception, par un calculateur (13) du véhicule automobile (2), de données d'analyse provenant d'un capteur de distance (4, 5) du véhicule automobile (2), les données d'analyse représentant une distance (d) entre l'arrière (8) du véhicule automobile (2) et l'avant (9), dirigé vers ladite arrière (8), de la remorque (3) ; détermination de la position de la remorque (3) à partir des données d'analyse reçues par le calculateur (13) et prescription d'une direction de roulement du véhicule automobile (2) avec prise compte de la position de la remorque (13) par le calculateur (13) pour simplifier la manœuvre d'un attelage comportant un véhicule automobile et une remorque. L'invention concerne également un dispositif d'assistance au conducteur approprié pour mettre en œuvre le procédé.
EP16731857.5A 2015-06-22 2016-06-22 Manoeuvre d'un attelage comportant un véhicule automobile et une remorque Withdrawn EP3311196A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015109940.3A DE102015109940A1 (de) 2015-06-22 2015-06-22 Manövrierung eines Gespannes mit einem Kraftwagen und einem Anhänger
PCT/EP2016/064331 WO2016207171A1 (fr) 2015-06-22 2016-06-22 Manœuvre d'un attelage comportant un véhicule automobile et une remorque

Publications (1)

Publication Number Publication Date
EP3311196A1 true EP3311196A1 (fr) 2018-04-25

Family

ID=56203356

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16731857.5A Withdrawn EP3311196A1 (fr) 2015-06-22 2016-06-22 Manoeuvre d'un attelage comportant un véhicule automobile et une remorque

Country Status (3)

Country Link
EP (1) EP3311196A1 (fr)
DE (1) DE102015109940A1 (fr)
WO (1) WO2016207171A1 (fr)

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WO2016207171A1 (fr) 2016-12-29

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