EP4081827A1 - Procédé et dispositif pour déterminer au moins un angle de cassure d'un attelage routier - Google Patents

Procédé et dispositif pour déterminer au moins un angle de cassure d'un attelage routier

Info

Publication number
EP4081827A1
EP4081827A1 EP20830150.7A EP20830150A EP4081827A1 EP 4081827 A1 EP4081827 A1 EP 4081827A1 EP 20830150 A EP20830150 A EP 20830150A EP 4081827 A1 EP4081827 A1 EP 4081827A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
vehicle combination
combination
articulation angle
radar data
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.)
Pending
Application number
EP20830150.7A
Other languages
German (de)
English (en)
Inventor
Matthias Eix
Kai Buechler
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP4081827A1 publication Critical patent/EP4081827A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards

Definitions

  • the present invention relates to a method for determining at least one articulation angle of a vehicle combination and a device for determining at least one articulation angle of a vehicle combination.
  • Driver assistance systems for vehicle combinations require information regarding the question of the attached car relative to the towing vehicle. This information can be evaluated in order to increase the usefulness of functions with a focus on a side area next to the towing vehicle, for example when monitoring blind spots. Other functions, such as a maneuvering assistant, can only be made possible by such information.
  • the articulation angle between the towing vehicle and the trailer or, more generally, between two vehicles of the vehicle combination is important. This can be recorded for a semi-trailer with sensors in the coupling. For a plurality of rotation points, for example in the case of turntable trailers or several trailers, such a sensor system is not possible, or only possible with a disproportionately high effort.
  • a method for determining at least one articulation angle of a vehicle combination is known from DE 102010/006521 A1, wherein an imaging sensor is used to scan the surroundings of the vehicle, and the articulation angle is determined using measured flux vectors.
  • the invention provides a method for determining at least one articulation angle of a vehicle combination with the features of claim 1 and a device for determining at least one articulation angle of a vehicle combination with the features of claim 10.
  • the invention accordingly relates to a method for determining at least one articulation angle of a vehicle combination.
  • Radar data are determined by at least one radar sensor arranged on a vehicle of the vehicle combination.
  • At least one item of position information is calculated on the basis of the determined radar data, which relates to a vehicle position of at least one further vehicle of the vehicle combination.
  • the at least one articulation angle between the vehicle with the at least one radar sensor and the at least one further vehicle of the vehicle combination is calculated using the calculated position information.
  • the invention accordingly relates to a device for determining at least one articulation angle of a vehicle combination, with an interface and a computing device.
  • the interface receives radar data which are determined by at least one radar sensor arranged on a vehicle of the vehicle combination.
  • the computing device uses the determined radar data, calculates at least one item of position information relating to a vehicle position of the at least one further vehicle of the vehicle combination.
  • the computing device further calculates the at least one articulation angle between the vehicle with the at least one radar sensor and the at least one further vehicle of the vehicle combination using the calculated position information.
  • the invention allows a contactless determination of the at least one articulation angle of the vehicle combination.
  • the measuring principle of the radar sensor is typically independent of lighting and weather influences, so that a very high level of availability can be guaranteed.
  • the radar sensor is essentially not exposed to any wear.
  • radar sensors are typically already installed in modern motor vehicles in order to provide various functionalities to support the driver, so that no additional components are required to determine the at least one articulation angle of the vehicle combination.
  • calculating the at least one item of position information includes determining microdoppler information based on the determined radar data, with a position and / or number of wheels of the at least one based on the microdoppler information further vehicle is determined. Due to the rotation of the rims, areas of the rims move towards the radar sensor and other areas move away from the radar sensor. This typical speed distribution can be recognized using the microdoppler effect, so that the position of the wheels can be precisely determined.
  • the information relating to the position and / or number of wheels or axles of the at least one further vehicle can be used to identify the type of trailer and further increases the accuracy of the determined articulation angle.
  • microdoppler effect for radar data or radar signals is known, see, for example, the publication by Victor Chen et al .: "Micro-Doppler Effect in Radar: Phenomenon, Model, and Simulation Study” in IEEE Transactions on Aerospace and Electronic Systems, Vol. 42, No. 1, January 2006.
  • the at least one articulation angle is estimated using a vehicle combination model, the at least one articulation angle calculated using the radar data being corrected using the at least one articulation angle estimated using the vehicle combination model.
  • Statistical methods can be used for this.
  • the measurement accuracy of the radar data can be taken into account in order to calculate an accuracy of the at least one articulation angle calculated on the basis of the radar data.
  • the accuracy of the articulation angle calculated using a vehicle combination model can be taken into account.
  • the accuracy of vehicle trailer models which describe a kinematics of the trailer, larger than for models which do not describe this kinematics.
  • the determined radar data is assigned to the at least one further vehicle of the vehicle combination using the at least one articulation angle estimated using the vehicle combination model
  • Position or orientation of the at least one further vehicle can be specified so that a distinction can be made more easily between radar data, which are to be assigned to the at least one further vehicle of the vehicle combination, and radar data, which originate from other objects in the vicinity of the vehicle.
  • the at least one articulation angle is estimated using driving information from the vehicle on which the radar sensor is arranged.
  • the driving information can be at least one of a current speed, a current yaw rate, a current steering angle and a general vehicle parameter of the vehicle on which the radar sensor is arranged.
  • the estimation of the at least one articulation angle is carried out for a plurality of vehicle combination models, with the at least one articulation angle estimated using the plurality of vehicle combination models being compared with the at least one articulation angle calculated using the radar data Knickwinkel a vehicle combination model is selected from the large number of vehicle combination models which best describes the vehicle combination.
  • the various vehicle combination models can differ, for example, in the number and positions of the axles, the length of the at least one further vehicle in the vehicle combination.
  • a driver can manually select the type of the at least one further vehicle of the vehicle combination.
  • a corresponding vehicle combination model is then used for the further evaluation of the Based on radar data.
  • the recognition of the type of the at least one further vehicle of the vehicle combination is advantageous since different trailers can differ in their kinematics. As a result, a more precise solution that is robust under various environmental influences can be provided.
  • the assignment of radar data to the at least one further vehicle can be improved on the basis of the type of the at least one further vehicle, since the probable position of the at least one further vehicle can be better estimated on the basis of the identified kinematics of the at least one further vehicle.
  • the type of the at least one further vehicle is usually not known, so that the automatic determination based on the radar data is advantageous.
  • the type of the at least one further vehicle of the vehicle combination is calculated based on one or more axle positions and / or the length of the at least one further vehicle of the vehicle combination.
  • the at least one radar sensor is arranged on a towing vehicle of the vehicle combination.
  • the radar sensor can also be integrated into one of the trailers.
  • FIG. 1 shows a schematic block diagram of a device for determining at least one articulation angle of a vehicle combination according to an embodiment of the invention
  • FIG. 2 shows a schematic representation of radar reflections and positions of a towing vehicle and a trailer
  • FIG. 3 shows a schematic flow diagram of a method for determining at least one articulation angle of a vehicle combination according to an embodiment of the invention.
  • FIG. 1 shows a schematic block diagram of a device 1 for determining at least one articulation angle of a vehicle combination.
  • the device 1 comprises an interface 2 which is coupled to one or more radar sensors 4, for example by means of a cable connection or a contactless connection.
  • the device 1 receives radar data from the at least one radar sensor 4 via the interface 2.
  • the radar sensor 4 is arranged on a vehicle of the vehicle combination, preferably on a towing vehicle.
  • the device 1 can be integrated into the radar sensor or be part of a driver assistance system.
  • the device 1 can also be located in the vehicle in which the at least one radar sensor 4 is located, i.e. preferably in the towing vehicle.
  • the vehicle combination can be a truck combination, ie a truck with a trailer, a semitrailer, ie a tractor unit with a semi-trailer, a bus combination, ie a combination of a solo bus and a bus trailer, a road train, ie a combination of a towing vehicle and an attached passenger car, a caravan - Carriage, ie a towing vehicle with a caravan, a motorcycle combination, ie a motorcycle with a trailer, a tractor with a car, or the like.
  • the invention is not based on one Vehicle combination limited to a certain number of vehicles, but in particular applicable to any number of trailers.
  • the received radar data are provided to a computing device 3 of the device 1.
  • the computing device 3 comprises at least one processor, microprocessor, integrated circuit or the like.
  • the computing device 3 further comprises a memory in order to store the received radar data.
  • the computing device 3 uses the radar data determined by the at least one radar sensor 4 to calculate at least one item of position information relating to a vehicle position of at least one other vehicle in the vehicle combination, i.e. preferably a trailer.
  • the position information can include information relating to at least part of a contour and / or a position of wheels of the at least one further vehicle.
  • the computing device 3 uses the calculated position information to calculate an articulation angle between the vehicle with the radar sensor and the at least one further vehicle of the vehicle combination. If the vehicle combination has more than two vehicles, a corresponding multiplicity of articulation angles can be calculated by the computing device 3.
  • FIG. 2 shows a schematic representation of radar reflections and positions of a towing vehicle 5 and a trailer 6, which form a vehicle combination 7.
  • the radar data include a multiplicity of reflection points 11 which originate at least partially from the trailer 6.
  • positions 8, 9 of rims of wheels of trailer 6 can be determined by evaluating speed information 10.
  • Position information relating to the trailer 6 can be determined on the basis of the radar data.
  • a contour line 12 can be calculated.
  • the contour line 12 runs parallel to an axis A2 of the trailer 6.
  • the kink angle a is calculated as an angle between the calculated contour line 12 or axis A2 of the trailer 6 and an axis A1 of the towing vehicle 5.
  • FIG. 3 shows a schematic flow diagram of a method for determining at least one articulation angle of a vehicle combination.
  • n vehicle combination models are provided, Sil to Sin, where n is any natural number greater than 1.
  • the vehicle combination models can differ from one another through the type of vehicle combination modeled, in particular through the dimensions of the vehicles and / or through the number of axles of the vehicles.
  • step S2 radar data are recorded by a radar sensor 4 arranged on a vehicle 5 of the vehicle combination.
  • articulation angles and / or axle positions of at least one further vehicle of the vehicle combination are estimated for each vehicle combination model, S3n.
  • the location and speed of reflective objects in the environment of the vehicle combination are determined in this process step.
  • those radar data are selected which are to be assigned to the at least one further vehicle of the vehicle combination. The radar data is thus assigned to the trailer.
  • step S4n those radar data are determined for each vehicle combination model which can be assigned to the rotating wheels and thus to the axles of the at least one further vehicle by means of the Doppler speed. Microdoppler information is thus determined.
  • step S5n position information is calculated for each vehicle combination model, in particular contours of the at least one further vehicle.
  • the at least one articulation angle is calculated using the calculated position information.
  • the at least one articulation angle calculated using the radar data is corrected for each vehicle combination model using the at least one articulation angle estimated using the vehicle combination model.
  • a classification takes place in a method step S7.
  • errors between radar-based articulation angles and model-based articulation angles are used.
  • that vehicle combination model from the multiplicity of vehicle combination models is selected which best describes the vehicle combination. This is done taking into account that different trailer types move differently due to the different kinematics, which is reflected in the different vehicle combination models. Accordingly, the error of a vehicle combination model which describes the kinematics of the actual trailer is generally smaller than for a vehicle combination model which does not take these kinematics into account.
  • Next can the information about the bike and thus
  • Axle positions and in particular the identified number of axles of the at least one further vehicle are evaluated so that the trailer types can be clearly differentiated in many cases.
  • steps S2 to S6n are repeated, with the selected
  • Vehicle trailer model is used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour déterminer au moins un angle de cassure d'un attelage routier, ce procédé comprenant les étapes suivantes : détermination de données radar par au moins un capteur radar disposé sur un véhicule de l'attelage routier ; calcul d'au moins une information de position qui concerne une position d'au moins un autre véhicule de l'attelage routier, sur la base des données radar déterminées ; et calcul de l'angle ou des angles de cassure entre le véhicule et le ou les autres véhicules de l'attelage routier au moyen de l'information de position calculée.
EP20830150.7A 2019-12-23 2020-12-16 Procédé et dispositif pour déterminer au moins un angle de cassure d'un attelage routier Pending EP4081827A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019220526.7A DE102019220526A1 (de) 2019-12-23 2019-12-23 Verfahren und Vorrichtung zum Bestimmen von mindestens einem Knickwinkel eines Fahrzeuggespanns
PCT/EP2020/086391 WO2021130074A1 (fr) 2019-12-23 2020-12-16 Procédé et dispositif pour déterminer au moins un angle de cassure d'un attelage routier

Publications (1)

Publication Number Publication Date
EP4081827A1 true EP4081827A1 (fr) 2022-11-02

Family

ID=74104086

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20830150.7A Pending EP4081827A1 (fr) 2019-12-23 2020-12-16 Procédé et dispositif pour déterminer au moins un angle de cassure d'un attelage routier

Country Status (4)

Country Link
US (1) US20230032839A1 (fr)
EP (1) EP4081827A1 (fr)
DE (1) DE102019220526A1 (fr)
WO (1) WO2021130074A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022200975A1 (de) * 2022-01-31 2023-08-03 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Steuergerät zum Bestimmen einer Kupplungsposition einer Kupplung eines Fahrzeugverbunds

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10325192B4 (de) * 2003-06-04 2009-05-07 Daimler Ag Verfahren und Vorrichtung zur Erfassung einer Lageänderung
DE102004059596B4 (de) * 2004-12-09 2007-11-08 Daimlerchrysler Ag Verfahren zum Ermitteln eines Knickwinkels eines Fahrzeuggespanns sowie entsprechende Vorrichtung
DE102008037233B4 (de) * 2008-08-09 2010-06-17 Rtb Gmbh & Co. Kg Fahrzeugklassifikator mit einer Einrichtung zur Erkennung eines zollenden Rades
DE102010006521A1 (de) * 2010-02-02 2010-09-30 Daimler Ag Verfahren und Vorrichtung zur Bestimmung des Knickwinkels eines Fahrzeuggespanns
GB201312038D0 (en) * 2013-07-04 2013-08-21 Jaguar Land Rover Ltd Trailer parameter identification system
US10173722B2 (en) * 2016-11-04 2019-01-08 GM Global Technology Operations LLC System and method for determining a hitch angle based on an input from a sensor and a kinematic model of a vehicle and a trailer, and for controlling the vehicle based on the hitch angle
KR102086131B1 (ko) * 2017-11-24 2020-03-06 현대오트론 주식회사 사각지대 감시 장치를 갖는 트랙터 및 그것의 트레일러 히치 회전각 추정하는 방법
EP3553551B1 (fr) * 2018-04-10 2022-06-01 Aptiv Technologies Limited Procédé de reconnaissance d'un objet
WO2020207572A1 (fr) * 2019-04-09 2020-10-15 Volvo Truck Corporation Procédé d'estimation de la longueur d'empattement d'une remorque d'une combinaison de véhicules comprenant plus d'un angle d'articulation

Also Published As

Publication number Publication date
US20230032839A1 (en) 2023-02-02
WO2021130074A1 (fr) 2021-07-01
DE102019220526A1 (de) 2021-06-24

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