SK3432000A3 - Aid system for steering a motor vehicle in particular for coming alongside a station platform - Google Patents

Abstract

The invention concerns a system for assisting a transport vehicle in coming alongside a station (14) platform (12). The invention is characterised in that the system essentially comprises a coded marking (16) on the road, an on-board device for sensing (18) the coded marking, and an on-board computer (20) for calculating the engine torque Cm to be applied to a torque motor (46) arranged in the steering column (22). Said computing device (20) calculates a reference input line variation epsilon c which is compared to a measured line variation epsilon m to calculate a reference input turning angle alpha c. The computing of the Cm torque is a function of the difference between alpha c and a measured value alpha m. The invention is applicable to public transport vehicles for coming alongside a platform.

Description

SUPPORT SYSTEM FOR DRIVING VEHICLES, MAINLY LANDING TO ACCESS, JACKET

Technical field

The invention relates to support systems for the driver of a vehicle when placing the vehicle at a designated location on a road, such as a platform or a pavement. It relates in particular to a vehicle control system located in that vehicle which guides the vehicle to a specified stopping position without the driver's intervention on the steering wheel.

BACKGROUND OF THE INVENTION

There are numerous support systems for driving vehicles, especially public transport vehicles. The support systems offered vary in complexity depending on the objective pursued. These systems can be relatively simple if they are designed to detect obstacles such as other vehicles or sidewalks. They become very complicated when it comes to ensuring the automatic driving of the vehicle on the track, where other vehicles of all categories operate.

In the case of public transport vehicles, driving can be burdensome for the driver in certain circumstances, so the driver quickly gets tired, slowing down the pace of the vehicle and may even lead to fatigue-related incidents and accidents. This means that all systems that take over themselves the burden of repeating steering controls such as speed changes, door opening and closing and stopping at the bus stop would be very welcome for drivers.

It is an object of the invention to provide an auxiliary system for driving a vehicle, in particular a public transport vehicle, for guiding a vehicle to a designated stop position, such as a station (stop).

The essence of the invention t

The invention is a support system for driving a vehicle on a road, in particular at a stop at a station platform, a system characterized in that it consists of:

• a coded marking, which is located on the road at the entrance to the station and along the entire length of the designated route, • a coded marking detecting device, located in the vehicle, providing information on the position of the vehicle with respect to the coded marking; on board a vehicle which, since the vehicle enters the station, calculates the path of the vehicle on the basis of information on the type of station obtained from the coded marking, the position obtained from the detection equipment, the speed of the vehicle and the steering angle of the steering axles; at the station, and which the device provides command signals to the vehicle control body depending on the deviation between the coded marking and the vehicle position.

In a preferred embodiment of the system, the marking consists of a series of lines clearly visible on the road, these lines being regularly spaced and extending in the direction of traffic of the vehicle. The coding is provided so that adjacent lines (one after the other) are positioned according to the specified cryptography and represent the first coding section located at the beginning of the marking.

The marking detection device consists of:

• a camera on the vehicle facing in front of the vehicle that provides an image of the objects appearing in its field of vision, an image analysis equipment provided by the camera for detecting road markings, the position of the vehicle relative to the marking.

The calculation device comprises a microprocessor programmed according to:

• the first rule for determining the trajectory of the input variable and for providing the linear deviation of the input variable e _c as ^e c ⁼ G ( ^e m0>4> m0i OtmOi Vo, L, d) • the second rule for determining the angle of rotation of the input variable ac as cxc = H (e _m -e _c ) • the third rule for determining the torque value C _{m of the} drive motor on the steering column as

Cm ⁼ F (mm “<Xc, • _m o, ΦηιΟι Omo are the measured values of the linear deviation e, the camera angle Φ and the angle of rotation and at the moment of detecting the first section of the coded marking. at the time of detecting the first marking section R1, • L is the distance to be traveled from the first marking section to the stop at the station, and • d is the distance the vehicle has traveled since the first marking section.

If the steering drive motor is a stepper motor, the third rule, which determines the torque Cm, is not necessary, which simplifies the computing device.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is illustrated in more detail using schematic figures, wherein: Figure 1 is a functional diagram of the assisted steering system of the vehicle to be protected; Figure 2 is a diagram showing, in particular, a coded marking placed on the road; during vehicle delivery; and Figure 4 is a diagram of an automatic machine for realizing the delivery sequence.

DETAILED DESCRIPTION OF THE INVENTION

The characteristics and advantages of the subject matter of the protection are evident from the following description of a particular exemplary embodiment. The description has been prepared in conjunction with the figures.

The support system for driving a vehicle 10 (Figure 2), such as a motor vehicle in public transport, which allows it to be auto-parked at platform 12 of station 14, consists mainly of:

• from the coded marking 16, which is located on the road on which the vehicle W travels, at the entrance to and along the full length of the station, • from the coded marking detection device 18 (Figure 1) located on board the vehicle providing location information of the vehicle 10 with respect to the designation 16, and of a computing device 20 which calculates, based on the information provided by the detection device 18, the trajectory 8 of the input variable of the vehicle 10 to reach a stopping position at the station. system status signals 24.

An example of the coded designation is shown in Figure 2. It consists of two parallel lines 30 and 32. Each of these lines is dashed to and thus comprises portions 34, for example, of 75 cm in length, the space between each pair of successive portions being 25 cm, i.e. each 34 together with the gap represents one step of one meter. The coding may be accomplished by adding a third adjacent Line to a pair of lines 30 and 32 on the left or right side in the direction of vehicle traffic. The line 36 on the left corresponds to the code or section R1 and indicates the start of the staging phase as well as the type of staging, while the line 38 on the right corresponds to the code or section R2 of the given staging type.

It will be understood that other methods of cryptography of the label may be used to realize the subject of protection, and in particular, use only a single dashed line as well as a variable step which may optionally be coded.

In addition, according to one embodiment of the invention, the transverse distance between the left-hand line 36 (code or section R1) or the right-hand line 38 (code or section R2) and adjacent lines is coded to define the type of station. For example, to determine that the station is in the form of a notch, a half-cut, a rectilinear, and / or that the distance to the stop position is 20 m, 30 m or 40 m. It is clear that if all stations along the route are identical, such coding is not necessary.

Obviously, cryptography other than the previously defined can be used.

In addition, the subject-matter of protection can also be applied with the aid of a single section R1, since section R2 is merely a confirmation of section R1. so the reliability of the system increases. Only a single line 30 or 32 may also be used, provided that it is identifiable in relation to the other markings on the road.

To further enhance the reliability of the system, the distance between the R1 and R2 sections is fixed, which makes it possible to predict the moment of the appearance of the R2 section in the time window after the detection of the R1 section, depending on the vehicle speed range. If the section R2 is not detected in the time window, the delivery system is assumed to be disconnected.

Other markings may also be used, for example, a series of lines placed transversely with respect to the traffic direction of the vehicle 10 instead of the longitudinal location according to the diagram in Figure 2, such lines may be coded according to the barcode-type cryptography.

The coded marking detection device 18 is located on board the vehicle and comprises in particular:

From a camera 40 positioned at the front of the vehicle 10 and directed in front of the vehicle, the camera 40 provides images of objects appearing in its field of view, and • the image processing or analysis device 42 provided by the camera 40 to identify successive marking lines and sections R1 and R2 and for providing information about the position of the vehicle with respect to the marking.

The vehicle's position relative to the marking shall consist of:

• detection of the line of reference 16, also called the reference line, or its absence, • a linear deviation e _m between the line of reference 16 and the camera's point of view, for example at a distance of five meters in front of the vehicle the camera 40 and the reference line, and • information about the coded section being detected, i.e., the first section R1 or the second section R2.

The code marking detection device 18 is known and described e.g. in European Patent Application No. 0 427 665.

The computing device 20 is a microprocessor that is programmed to calculate the trajectory 8 of the input variable of the vehicle 10 so that the vehicle remains at a designated point of the station depending on the characteristics of the station given by the section R1. This calculation is performed based on the following information available at the same time:

A linear deviation e _m provided by the marking detection device, after identifying the section R1 as the value of e _m o.

• turning of the _m camera 40, which is also provided by the marking detection device, after identifying the section R1 as a value <D _m0 , • the turning angle and _ffl of the steering axle of the vehicle measured by an undefined sensor such as a _m o; which is measured by an undefined sensor such as Vo, and • the distance L from the stop point depending on the station type.

The input trajectory 8 serves as a reference value throughout the duration of the landing and is used to calculate the linear deviation of the input quantity e _c as a function of the distance d passed from the position of the section R1.

The microprocessor of the computing device 20 is also programmed to compare the linear deviation e _c of the input variable trajectory 8 with the linear deviation e _m determined by the detection device 18, for the same value d.

The distance d is determined, for example, by integrating the vehicle speed V during the time elapsed since the detection of the section R1.

The results of this comparison are used by the microprocessor, depending on the programmed rule, to calculate the steering angle α or steering equivalents corresponding to the steering wheel rotation angle. The turning angle ac serves as a reference value of the input variable for calculating the motor torque value Cm as a function of the deviation between (¼ and am.) Again based on a programmed rule.

The torque value Cm serves to control the drive motor 46 located on the steering column 22.

The diagrams in Figures 3a, 3b, 3c and 3d illustrate the time change of the variables e _c (curve 50). e _m (curve 52), V (curve 54), ac (curve 56), _m a (curve 58), and Cm (curve 60) during landing.

The description just mentioned shows that the computing device 20 performs calculations according to various programmed rules and functions:

• the first rule 20a, which determines the trajectory 8 of the input variable, provides a linear deviation e _c = G (e _m o>4>mo> a _m o V _o , L, d) of the input variable, according to curve 50 in Figure 3a; second rule 20b. which determines the angle of rotation ac = H (e _m- e _c ) of the input variable according to curve 56 in Figure 3c; and the third rule 20c, which determines the motor torque C _m = F (am- and _c ) according to curve 60 in Figure 3d.

In Figure 3a, curve 52 indicates the magnitude of the linear deviation, while in Figure 3c, curve 58 indicates the magnitude of the steering angle.

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Due to programming, the microprocessor of the computing device 20 is also an automatic machine which carries out the vehicle delivery based on the presence or absence of the marking and the sections R1 and R2.

Figure 4 is a diagram showing the sequences of such an automat. In this scheme, single-circuit rectangles indicate the states of the automaton, double-circuit rectangles indicate system outputs, and ellipses indicate events.

The ellipse 62 indicates system initialization by the driver using control button 48 so that the dispenser is in a state that awaits the reference line (rectangle 64) and the green indicator light 92, which indicates that the system is on.

When the detecting device 18 detects a reference line (ellipse 66), the automat enters a state expecting a section R1 (rectangle 68). Once the portion ft1 is detected (ellipse 70), the automat enters the state of expectation of the portion R2 (rectangle 72). Once the section R2 is detected (ellipse 74), the dispenser enters the set-up state (rectangle 76). The delivery process stops (rectangle 80) when the following events occur (ellipse 78):

• stopping at the station • the driver deliberately takes over the manual control • all other anomalies such as exceeding the maximum vehicle speed Vm, switching on the reverse, disconnecting the drive motor 46 using the button 50.

If the reference line is not detected (ellipse 82), the system returns to the expectation state of the reference line (rectangle 64).

The conditions just described are signaled to the driver by means of visual, audible, tactile and / or vibration warning signals grouped under 24, representing the initialization device with buttons 48 and 50 and the alarm device shown by symbols 92, 94, 98 This means that the expectation status of the reference line (rectangle 64) is signaled by the green indicator light 92, which indicates that the system is on. Immediately after detecting a section R1, which indicates that the system has taken over the set-up task, the orange indicator light 94 turns on and remains on as long as the computing device 20 provides a torque value Cm. The driver is notified from the beginning of the torque feedback by the steering wheel vibrations for several tens of seconds (symbol 96).

Malfunctions are signaled by a red warning light 98, which lights up when certain events occur, such as:

• loss of detection of reference line 16 (ellipse 84) during expectation state R1 of section R1, resulting in failure state 86, or lack of detection of section R2 in the time window indicated by the method; during the staging state 76, resulting in a fault state 90; all other faults that may occur at any time during the sequence and that result from a system fault, e.g. power failure (not shown in Figure 4).

The audible warning signals (symbol 100) may be used to signal and / or reinforce certain alarms, e.g. a series of multiple short beeps to indicate a system failure, which is an additional indication to illuminate the red failure indicator, which may flash at the same frequency as the beep.

At any time, the driver can take over the vehicle manually:

Either by pressing the button 50 to switch off the drive motor 46, or by overcoming the torque Cm, which also switches off the drive motor 46.

The manual control may be signaled by a special audible signal.

The drive motor 46 may be of the torque motor type if the torque for steering column control has a higher value. It may also be of the stepper type, in which case it is not necessary to calculate the torque Cm, which means that there is no need to apply the programming rule 20c and the computing device 20 may be simpler.

Claims (11)

PATENT CLAIMS 1. A support system for driving a vehicle on the road, in particular for approaching a station platform, comprising: • a coded marking (16) which is located on the road at the entrance to the station (14) and along its entire length according to the route set out; • a coding marking device (18) on board the vehicle (10) providing information on the position of the vehicle (10) with respect to the coded marking, • from a computing device (20) for calculating the trajectory (8) of the vehicle (10) upon entering the station (14), based on station type information provided by the location marking (e _m , 0 _m) ) and provided by the detection device, the vehicle speed and the steering angle (a _m ) of the steering axle of the vehicle (10) so as to reach a stop position at the station (10), and to provide command signals (a _c , Cm) 22) vehicle (10) depending on the deviation (e _m ) between the coded marking and the position of the vehicle. System according to claim 1, characterized in that the coded marking (16) consists of at least one series of dashed lines (30, 32) positioned in the direction of traffic of the vehicle (10). System according to claim 2, characterized in that for the implementation of the code (R1, R2) at least one additional line is placed adjacent to at least one line of the series of lines. System according to claim 3, characterized in that the coding (R1, R2) between two adjacent lines is given by the distance between these lines. System according to claim 3 or 4, characterized in that the coding (R1, R2) indicates the type of station and the distance from the stopping point (L). System according to any one of the preceding claims, characterized in that the device for detecting the marking comprises • a camera (40) in a vehicle (10) directed in front of the vehicle, the task of which is to provide an image of objects appearing in its field of view; an image analysis device (42) provided by a camera (40) that detects and identifies the coded marking (R1, R2) on the road and • from a vehicle position calculating device (42) relative to the marking (16) providing representative information (e _m , 0 _m ) the position of the vehicle in relation to the marking. System according to any one of claims 1 to 6, characterized in that the control bodies comprise a stepper motor for controlling the steering column, and in that the computing device (20) comprises a microprocessor which is programmed according to: • the first rule (20a) to determine the trajectory of the vehicle input variable and to provide a linear deviation e _c , such as € c ⁼ θ (€ m0. ClιηΟι ClmOi Vo, L, d), • the second rule (20b) to determine the angle ae input column stepper motor input variables such as ac = H (e _m -e _c ), where emOi Φγπο, α-mo are measured values of linear deviation e, camera angle to and angle and angle at the moment of detection of the first section of coded marking (R1 ). • Your measured vehicle speed V at the time of detecting the first marking section (R1), • L is the distance the vehicle is to travel from the first marking section (R1) to a stop at the station, and • d is the distance traveled by the vehicle (10) pd the first section of the marking (R1). System according to any one of claims 1 to 6, characterized in that the control bodies comprise a stepper motor for controlling the steering column, and in that the computing device (20) comprises a microprocessor which is programmed according to: • the first rule (20a) to determine the trajectory of the vehicle input variable and to provide a linear deviation e _c , such as ^e c ⁼ θ (θηηΟ »CιηΟι CQnOi Vo, L, d), • the second rule (20b) to determine the angle ae the steering column control motor quantities such as <xc ⁼ H (e _m - € c)> • according to a third rule (20c) for determining the motor torque value C _{m of the} torque motor (46) of the steering bodies (22) as Cm ⁼ F (dm-Oc) i where - <= mo> ^φ γπο> ctmo are the measured values of the linear deviation e, the camera angle θ and the angle and angle at the moment of detecting the first segment of the coded designation (R1). -V _o is the measured value of the vehicle speed V at the time of detecting the first marking section (R1), -L is the distance to be traveled by the vehicle from the first section of the marking (R1) to the stop at station a -d is the distance traveled by the vehicle (10) from the first section of the marking (R1). System according to claim 7 or 8, characterized in that the computing device (20) comprises, inter alia, a programmed automat (20d) for processing various states of the system. System according to claim 9, characterized in that the programmed controller comprises the following states: • a first detection status (64) of the detection of the marking (16), • a second status (68) of the expectation of the first section (R1), • a third status (72) of the detection of the second section (R2) and a fifth vehicle guidance stop state (80). System according to claim 9 or 10, characterized in that it comprises, inter alia, an initiation and alarm device (24) comprising: • from the first elements (48) to turn the system on and off, • from the second elements (50, 51) to connect and disconnect the system to the control bodies (22), • from the third visual (92, 94, 98), audible (100) ) and / or tactile (100) warning signals for alerting the driver of the vehicle (10) to various system states determined by the programmed automaton (20d).