EP3830519A1

EP3830519A1 - Method and system for determining and indicating a fording situation

Info

Publication number: EP3830519A1
Application number: EP19735302.2A
Authority: EP
Inventors: Jesse Sharp
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2018-07-31
Filing date: 2019-07-01
Publication date: 2021-06-09
Also published as: US20210237741A1; US11938944B2; DE102018212783A1; WO2020025232A1

Abstract

A driver assistance system comprises a first measuring device for determining distances from the surface of a body of water, which device comprises at least two distance sensors. A first distance sensor is designed to be arranged on the vehicle, laterally with respect to a first side of the vehicle. A second distance sensor is designed to be arranged on the vehicle, laterally with respect to a second side of the vehicle, wherein the second side is opposite the first side. The first distance sensor is designed to measure a first distance from a surface of a body of water, in particular in that the distance is determined perpendicularly downward from the first sensor from the surface of the body of water, and the second distance sensor is designed to measure a second distance from a surface of the body of water, in particular in that the distance is likewise determined perpendicularly downward from the second sensor to the surface of the body of water. The first distance sensor and the second distance sensor are preferably each embodied as ultrasonic sensors. The respective installation height of the first and second distance sensors relative to the vehicle is in particular known or defined here. Furthermore, the driving assistance system comprises a second measuring device for determining a current pitch angle of the vehicle. Furthermore, the driving assistance system comprises a computing unit which is coupled to the first measuring device and the second measuring device. The computing unit is designed to determine a current level of the surface of the body of water in accordance with the first distance, the second distance and the current pitch angle of the vehicle. The driving assistance system also comprises a display unit which is designed to display the current level of the surface of the body of water relative to the vehicle.

Description

description

title

Method and system for determining and displaying a wading situation

The present invention relates to a driver assistance system and a method for determining a wading situation, and a vehicle with a

Driver assistance system according to the invention, wherein a current

Water surface level is determined and the driver relative to that

Vehicle is shown.

State of the art

Off-road passenger vehicles, such as Off-road vehicles or so-called SUVs (“Sport Utility Vehicles”) are designed to cross waterways. If the vehicle has to immerse to a certain extent in the process, this process is referred to as the “wading process”. Such a maneuver requires a great deal of caution and prudence on the part of the driver, since the driver usually does not know how deep the water that he wants to cross, nor how the terrain beneath the surface is. This problem is exacerbated by adverse environmental conditions such as darkness, fog, rain or polluted water. It has traditionally been recommended that the driver leave the vehicle before crossing the water and, with suitable aids, the water depth and the

Checks the terrain under the water surface.

Assistance systems are known from the prior art which make it easier for the driver to master a wading process. For example, in WO

2012/123555 Al described a vehicle which has two ultrasonic sensors, which are each attached to the side mirrors of the vehicle and which are the distance to a water surface below the side mirrors detect, as well as a water contact sensor arranged on the underbody of the vehicle.

WO 2012/080435 A1, WO 2012/080437 A1 and WO 2012/080438 A1 describe vehicles which have display systems which represent a side view of the vehicle together with a measured current wading depth and a maximum permissible wading depth (watlimit). The current wading depth and the wading limit are each shown as straight lines. The maximum wading depth, i.e. the watlimit, usually results from the design of the vehicle in question. For example, air intakes may be one

Do not get the internal combustion engine under water. The driver can be shown by a percentage value how deep the vehicle is currently under water in relation to the Watlimit.

The present invention aims to acquire more precise information about the current wading situation of a vehicle, so that the driver is provided with a more precise representation of the current wading situation

in particular, the structural features of the vehicle are better taken into account. The wading situation is the current position of the vehicle relative to a water surface in which the vehicle is at least partially immersed. The wading situation is characterized, for example, by the wading depth, the inclination of the ground and / or an inclination of the vehicle in the longitudinal direction and / or in the transverse direction relative to the horizontal.

Disclosure of the invention

This object is achieved by a driver assistance system according to claim 1 and by a method for determining a wading situation of a vehicle according to claim 11.

The subclaims show preferred developments of the invention.

The invention is based on the idea that a vehicle can have different watt limits depending on its position on the outside. It is therefore necessary not only to determine a value as the current wading depth, but also determine a current water surface level relative to the vehicle and present it to the driver.

According to a first aspect of the invention, a driver assistance system is proposed which is used to determine such a wading situation

Vehicle is formed. The driver assistance system comprises a first one

Measuring device for determining distances to a water surface, which comprises at least two distance sensors. A first distance sensor is formed laterally with respect to a first side of the vehicle

Vehicle to be arranged. A second distance sensor is designed to be arranged on the vehicle laterally with respect to a second side of the vehicle, the second side being opposite the first side. The first distance sensor is designed to measure a first distance to a water surface, in particular by determining the distance perpendicularly downwards from the first sensor to the water surface, and the second distance sensor is designed to measure a second distance to a water surface, in particular by also determining the distance perpendicular downwards from the second sensor to the water surface. The first distance sensor and the second distance sensor are preferably each designed as an ultrasonic sensor. The respective installation height of the first and second distance sensors relative to the vehicle is known or specified in particular.

The driver assistance system also includes a second measuring device for determining a current pitch angle of the vehicle. The pitch angle describes the longitudinal inclination of a longitudinal axis of the vehicle relative to the horizontal plane. The second measuring device can comprise, for example, an acceleration sensor and wheel rotation sensors.

Furthermore, the driver assistance system includes a computing unit that is coupled to the first measuring device and the second measuring device. The computing unit is designed to have a current one as a function of the first distance, the second distance and the current pitch angle of the vehicle

To determine the water surface level. The driver assistance system also includes a display unit which is designed to display the current water surface level relative to the vehicle.

In a preferred embodiment of the invention, the driver assistance system furthermore has a storage unit, wherein in the storage unit for

A plurality of assigned watermark limits are stored on specific positions on the vehicle. The computing unit is designed to determine for each of the determined positions whether the assigned watlimit is above or below the current water surface level. The specific positions can be, for example, air intakes or other positions in which water can enter the vehicle, which could lead to damage or failure of the vehicle.

Furthermore, the computing unit is preferably designed to determine the current distance of the assigned watermark from the current water surface level for each of the determined positions.

The display unit is also preferably configured, a warning

output if the current distance from a certain position to the assigned watlimit falls below a certain limit. Furthermore, the display unit is preferably designed, in particular in real time, a perspective or three-dimensional representation of the vehicle together with a perspective or three-dimensional representation of the current one

Show water surface level. The warning can be given, for example, in that a display of the vehicle is displayed on the display unit and the particular position concerned is highlighted in color and / or by other optical markings. Alternatively or additionally, an acoustic and / or visual warning can be issued, for example a voice message, which names the particular position concerned.

In particular, the display unit is designed, a section line of the

Vehicle outer contour with the current water surface level visually highlighted and the current distances of the determined

Display positions for the assigned watermarks. According to a further aspect of the invention, a vehicle is proposed which has a driver assistance system as described above.

The first distance sensor and the second distance sensor are preferably each arranged on a side mirror of the vehicle, in particular in such a way that they can measure the distance to a water surface perpendicularly downwards. The respective installation height of the first and second distance sensors on the vehicle is known or defined in particular.

The specific positions of the vehicle include positions with air intakes.

According to a further aspect of the invention, a method for determining a wading situation of a vehicle is proposed, the vehicle having a first measuring device for determining distances to a vehicle

Has water surface comprising at least two distance sensors. A first distance sensor is designed to be arranged laterally with respect to a first side of the vehicle and a second distance sensor is designed to be arranged laterally with respect to a second side of the vehicle, the second side being opposite the first side. The distance sensors are preferably formed, the respective distance by a

To determine transit time measurement.

The vehicle has a second measuring device for determining a current pitch angle of the vehicle. For example, the pitch angle can be determined by the difference between a measured

Acceleration of the vehicle in the forward direction (x direction) and an acceleration determined by means of the wheel speed sensors is determined.

The difference corresponds to that caused by gravity

Acceleration from which the pitch angle can be derived.

By means of the first distance sensor, a first distance becomes one

Water surface measured and a second distance to a water surface is measured by means of the second distance sensor. Depending on the first distance, the second distance and the current pitch angle of the vehicle, a current water surface level is determined.

The current one is displayed by means of a display unit of the vehicle

Water surface level shown relative to the vehicle.

For a plurality of specific positions on the vehicle, respective assigned watermarks are preferably stored, for example in a memory unit of the vehicle. For each of the determined positions, since the current water surface level is known, it can now be determined whether the assigned watlimit is above or below the current water surface level. The current distance of the assigned watermark from the current water surface level is preferably determined for each of the determined positions. If the current distance from a certain position to the assigned watlimit falls below a certain limit value, a warning can be issued so that the driver can react before the vehicle is damaged by water ingress.

In a preferred embodiment of the method according to the invention, a perspective or three-dimensional representation of the

To display the vehicle together with a perspective or three-dimensional representation of the current water surface level to the driver on a corresponding display unit, in particular in real time.

In particular, an intersection line of the vehicle outer contour with the current water surface level can be visually highlighted and the current distances between the determined positions and the assigned watermarks can be displayed. This provides the driver with a particularly intuitive representation of the current wading situation, in which the driver can immediately see whether and where there is a risk of water ingress on the vehicle.

According to a further aspect of the invention, a computer program product with program code means for carrying out an invention proposed if the computer program product runs on a computing unit or is stored on a computer-readable data carrier.

Brief description of the drawings

Figures la and lb schematically show a vehicle with a

Driver assistance system according to an embodiment of the invention together with a water surface level

Figure la shows the vehicle in front view.

Figure lb shows the vehicle in side view

FIG. 2 schematically represents a computer program for performing a method according to the invention as a block diagram.

Embodiments of the invention

In the following description of the exemplary embodiments of the invention, the same elements are denoted by the same reference symbols, and a repeated description of these elements may be omitted. The figures represent the subject matter of the invention only schematically.

Figures la and lb schematically show a vehicle 10 with a

Driver assistance system according to an embodiment of the invention together with a water surface level 20, which was determined by means of the driver assistance system. The vehicle has a downward-facing distance sensor 14a and 14b on its exterior mirrors 12a and 12b. The

Distance sensors 14a and 14b are designed as ultrasonic sensors. The water surface level 20 is determined by first by the

Distance sensors 14a and 14b are distances di and d ₂ from

Water surface can be measured. Together with the well-known

Installation positions hi and h _{2 of} the distance sensors 14a and 14b can now be determined by a connecting line 24. In the example shown in FIG. 1b, the vehicle 10 is moving on an upward inclined roadway 30

uniform speed in the x direction or is stationary, a measurable acceleration of the vehicle 10 in the x direction is only caused by the inclination of the roadway 30, that is to say by the gravitational force. In this case, the pitch angle O _Nick corresponds to the angle of inclination of the roadway 30. If the vehicle 10 accelerates or brakes (positive or negative acceleration due to engine power), there is a corresponding deviation in the pitch angle Q _NK . By means of suitable sensors, for example by means of wheel speed sensors and an acceleration sensor (not shown), thus the current pitch angle O _Nick can be determined and a straight line 26 are determined derived therefrom. For example, the pitch angle Q _N ^ can be determined by the difference between one by the

Acceleration sensor measured acceleration of the vehicle 10 in the forward direction (x direction) and an acceleration determined by means of the wheel speed sensors is determined. The difference corresponds to the acceleration caused by the inclination of the road, i.e. by gravitation, from which the current pitch angle Q _NK can in turn be derived.

The water surface plane 20 can now be determined by moving the straight line 26 parallel to the horizontal (in the z direction) until it crosses the connecting line 24. The two lines 24 and 26 now span the water surface level 20.

FIG. 2 shows, as a block diagram, the sequence 80 of a method according to the invention, for example by executing a computer program on a computing unit of a driver assistance system according to the invention. Using distance sensors 14a and 14b, distance signals di and d _{2 are} generated which describe the distance of the respective sensor 14a and 14b from the water surface. This can be the results of individual measurements or, for example, mean values from several measurements. From the

Distance signals di and d ₂ , the known installation positions hi and h _{2 of} the proximity sensors, become a first one, the current one, in program part 110

Water, which spans the water surface plane, is formed by the connecting line 24. If necessary, a variable Vehicle height R _{H are} taken into account. The pitch angle 0 _{pitch of} the vehicle 10 is determined from measurement data from an acceleration sensor 34 and measurement data from wheel speed sensors 36. From the pitch angle 0 _pitch , a vector is generated in program part 120, which spans the current water surface level 20 and is represented by line 26. The current water surface level 20 is determined in a coordinate system of the vehicle 10 from the vectors in program step 130.

A three-dimensional model 105 of the vehicle, in particular the outer contour of the vehicle, is also provided for the representation according to the invention. This model can be simplified compared to the real vehicle. Furthermore, data 107 are provided for specific positions on the vehicle 10, and watlimits 108 individually assigned to these positions. The determined positions include, for example, positions on the vehicle 10 at which no water should penetrate, e.g. Positions of air intakes,

Windows, etc. The watlimits 108 are in particular different from one another.

The vehicle model 105, the data 107 on the specific positions on the vehicle 10, and the watlimits 108 assigned to the specific positions are, for example, in a memory unit of the driver assistance system and are called up during the implementation.

In program step 140, a representation 100 is generated from the data 105, 107 and 108 of the vehicle 10 and the calculated water surface level 20, which shows the driver the current wading situation of the vehicle 10

represents the corresponding display system graphically. In this example, the vehicle 10, the current water surface level 20 and a contour line 25, which represents the intersection line of the water surface level 20 with the vehicle, are shown. In addition, the determined positions 107 on the vehicle and the assigned watermarks 108 can also be highlighted.

Claims

Expectations

1. Driver assistance system designed to determine a wading situation of a vehicle (10) comprising

A first measuring device for determining distances to a water surface, comprising at least two distance sensors (14a, 14b), a first distance sensor (14a) being designed to be arranged laterally with respect to a first side of the vehicle (10) and a second distance sensor (14b ) is designed to be arranged laterally with respect to a second side of the vehicle (10), the second side being opposite the first side, and the first distance sensor (14a) being designed to measure a first distance (di) from a water surface and the second distance sensor (14b) is designed to measure a second distance (d ₂ ) to a water surface;

a second measuring device for determining a current pitch angle (O _pitch ) of the vehicle;

a computing unit, which is coupled to the first measuring device and the second measuring device and is designed as a function of the first distance (di), the second distance (d ₂ ) and the current pitch angle (Q _NK ) of the vehicle (10)

Determine water surface level (20);

a display unit, which is designed the current

To represent water surface level (20) relative to the vehicle (10).

2. Driver assistance system according to claim 1, wherein the driver assistance system furthermore has a storage unit, wherein in the storage unit for a plurality of specific positions (107) on the vehicle (10) respective associated watlimits (108) are stored and wherein the computing unit is designed for each of the determined positions (107) to determine whether the assigned watlimit (108) lies above or below the current water surface level (20).

3. Driver assistance system according to claim 2, wherein the computing unit

The current distance of the assigned watlimit (108) from the current one is formed for each of the determined positions (107)

To determine water surface level (20).

4. Driver assistance system according to one of claims 2 or 3, wherein the display unit is designed to issue a warning if the current distance from a certain position (107) to the assigned watlimit (108) falls below a certain limit.

5. Driver assistance system according to one of claims 1 to 4, wherein the

Display unit is formed, in particular in real time

to display a perspective or three-dimensional representation of the vehicle (10) together with a perspective or three-dimensional representation of the current water surface level (20).

6. Driver assistance system according to claims 2 to 5, wherein the

Display unit is formed, a section line (25)

To present the vehicle outer contour with the current water surface level (20) highlighted and to show the current distances of the determined positions (107) to the assigned watlimits (108).

7. Driving assistance system according to one of claims 1 to 6, wherein the first distance sensor (14a) and the second distance sensor (14b) are each designed as ultrasonic sensors.

8. Vehicle (10) with a driver assistance system according to one of the

Claims 1 to 7.

9. The vehicle (10) according to claim 8, wherein the first distance sensor (14a) and the second distance sensor (14b) are each arranged on a side mirror (12a, 12b) of the vehicle (10).

10. The vehicle (10) of claim 8, wherein the determined positions (107) of the vehicle (10) include positions with air intakes.

11. A method for determining a wading situation of a vehicle (10), the vehicle (10) having a first measuring device for determining distances to a water surface comprising at least two distance sensors (14a, 14b), a first distance sensor (14a) being formed, to be arranged laterally with respect to a first side of the vehicle (10) and wherein a second distance sensor (14b) is designed to be arranged laterally with respect to a second side of the vehicle (10), the second side being opposite the first side, and wherein Vehicle (10) a second

Measuring device for determining a current pitch angle (Q _NK O of the vehicle (10);

a first distance (di) to a water surface is measured by means of the first distance sensor (14a) and

a second distance (d ₂ ) to a water surface is measured by means of the second distance sensor (14b);

as a function of the first distance (di), the second distance (d ₂ ) and the current pitch angle (Q _NK O of the vehicle (10))

Water surface level (20) is determined;

by means of a display unit of the vehicle (10), the current

Water surface level (20) is shown relative to the vehicle (10).

12. The method of claim 11, wherein for a plurality of specific positions (107) on the vehicle, respective assigned watlimits (108) are provided, and wherein for each of the determined positions (107) it is determined whether the assigned watlimit (108) is above or is below the current water surface level (20).

13. The method according to claim 12, wherein for each of the determined positions (107) the current distance of the assigned wat limit from the current water surface level (20) is determined.

14. The method according to any one of claims 12 or 13, wherein a warning is issued if the current distance of a certain position (107) to the assigned watlimit (108) falls below a certain limit.

15. The method according to any one of claims 11 to 14, wherein, in particular in real time, a perspective or three-dimensional representation of the vehicle (10) together with a perspective or

three-dimensional representation of the current water surface level (20) is displayed.

16. The method according to claims 12 to 15, wherein a line of intersection of the vehicle outer contour (25) with the current water surface level (20) is shown highlighted and the current distances of the determined positions (107) to the assigned watermarks (108) are shown.

17. The method according to any one of claims 11 to 16, wherein the first distance (di) and the second distance (d ₂ ) are each determined by a transit time measurement.

18. Computer program product with program code means for performing the method according to one of claims 11 to 18, if that

Computer program product runs on a computing unit or is stored on a computer-readable data carrier.