WO2017186662A1 - Système assisté par caméra pour la sélection de destinations et le guidage d'un véhicule - Google Patents

Système assisté par caméra pour la sélection de destinations et le guidage d'un véhicule Download PDF

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Publication number
WO2017186662A1
WO2017186662A1 PCT/EP2017/059705 EP2017059705W WO2017186662A1 WO 2017186662 A1 WO2017186662 A1 WO 2017186662A1 EP 2017059705 W EP2017059705 W EP 2017059705W WO 2017186662 A1 WO2017186662 A1 WO 2017186662A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
destination
control system
camera
vehicle control
Prior art date
Application number
PCT/EP2017/059705
Other languages
German (de)
English (en)
Inventor
Boris Buchtala
Jochen Fehse
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 WO2017186662A1 publication Critical patent/WO2017186662A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/001—Steering by means of optical assistance, e.g. television cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output

Definitions

  • the invention relates to a vehicle control system for a vehicle, in particular
  • An agricultural vehicle comprising a destination determining device for selecting a travel destination and having guide means for guiding to the travel destination, the destination determining device having a display device. Furthermore, the He indung relates to a vehicle, in particular agricultural vehicle, with such a vehicle control system, and a method.
  • Allow attachments Such systems usually use a satellite-based navigation system as a destination determination device, by means of which a route is predetermined and automatically traversed by the steering system. In order to achieve higher accuracies, it is also known to use so-called RTK correction signals. such
  • the vehicle control system according to the invention with the features of claim 1 has the advantage that it allows a simple and cost-effective manner automated control or guidance of an agricultural vehicle, in particular independent of a satellite-based
  • Navigation system works, and beyond of the user or driver is easy to use and less susceptible to interference.
  • the destination determination device has at least one camera device for detecting a current one
  • the destination and a route are thus not determined by means of a virtual map and satellite-determined position data, but from image data of an environment sensor.
  • no complicated routes are preprogrammed, but in particular a precise straight ahead in the direction of a selected destination for the user in a simple manner achievable.
  • the camera device so the current environment is detected and displayed directly to the user, for example by means of the display device. Under a current environment here is the environment at the time of operation or the selection of the destination to understand. Accordingly, by means of
  • Camera setup a live broadcast of the environment. Consequently, the camera device is communicatively connected to the display device. From the detected environment, the user selects a displayed / detected object as a destination. The management then takes over the leadership of
  • the selected object thus serves as a reference object, on which the guidance of the vehicle is aligned.
  • the vehicle can be guided or steered in the direction of the destination by, for example, the object selected by the user by means of Tracking camera device and thereby an adjustment of the direction of travel is specified or adjusted.
  • the selection device has the display device, which represents the image captured by the camera device, as well as a
  • Input device for selecting an object in the of the
  • Display device shown image. As already mentioned above, therefore, the image captured by the camera is displayed to the user, in particular in the vehicle interior, so that he can easily select a detected object as the destination.
  • the display device has a touch-sensitive screen as an input device.
  • the display device thus on the one hand represents the image captured by the camera device, and on the other hand directly gives the user the option of selecting a displayed object by touching the screen at the corresponding location on the screen.
  • the input device is designed as input means separate from the display device.
  • This may be, for example, a mouse, a joystick, a keyboard or the like, by means of which the user can select an object displayed on the screen and detected by the camera device.
  • the user is given the opportunity to move a cursor or selection area on the screen by means of the separate input means so that he can select a desired object.
  • the camera device has one or more camera modules, which can be arranged on the vehicle angeordelnbar. Knowing the location and orientation of the camera module or modules on the vehicle, the position of the vehicle relative to the selected object is one Direction of travel adjustment for reaching the object or the destination can be calculated in a simple manner. In particular, by training with multiple camera modules, which can thus form a stereo camera device, a particularly accurate determination of the destination and the direction of travel for the guide device is possible.
  • the vehicle control system has a control unit, which with the
  • Destination determination device and the guide device is connected, and is adapted to control the guide device in dependence on the selected object.
  • the procedure is as described above, in that a direction change or adaptation is determined as a function of the selected object, and the
  • Guidance device is driven to make the driving direction adjustment or to give the driver / user instructions, the
  • control unit is designed to be a function of a current orientation of the vehicle to the selected object
  • the shortest possible way to reach the destination is selected and determines a straight-ahead driving of the vehicle to the destination.
  • a corresponding agricultural vehicle can be precisely and simply controlled via a field in a simple way in the agricultural mode.
  • the guide device is designed to give a driver of the vehicle optical, acoustic and / or haptic instructions for reaching the destination.
  • Guide device expediently has a loudspeaker, display means and / or means for generating a haptic signal.
  • the guide device can control the display device to display directional arrows and / or guide lines in addition to the displayed camera image, which guide the driver to steer the vehicle in the direction of the travel destination.
  • the display device separate display means, such as light-emitting diodes or a separate Display can be used.
  • the guide device provides the driver with acoustic signals through the loudspeakers in which direction he should control the vehicle.
  • the haptic instructions are made in particular on a steering wheel of the vehicle and serve, in particular, to make the driver aware that his direction of travel deviates from the destination.
  • the haptic instructions are thus preferably used to point out the driver to a deviation.
  • the driver is then preferably optically or acoustically proposed an adjustment of the direction of travel. According to a preferred embodiment of the invention it is provided that the
  • Guide means is adapted to steer or control the vehicle to reach the destination.
  • an automated operation of the vehicle by means of the vehicle control system is available for achieving the desired travel destination, which makes it particularly easy for the user / driver to drive the vehicle.
  • the guide device is expediently designed to control an automated / automatic steering of the vehicle.
  • the guide guide device is also designed to predetermine or influence a drive torque of the motor vehicle.
  • the vehicle according to the invention with the features of claim 10 is characterized by the vehicle control system according to the invention. This results in the already mentioned advantages.
  • the inventive method with the features of claim 11 is characterized in that an environment of the vehicle is optically detected and displayed to the driver, and that an object selected by the driver in the displayed environment is determined as the destination. This results in the already mentioned advantages.
  • the vehicle control system is designed to carry out the method according to the invention.
  • Figure 3 is an example of application for the advantageous vehicle control system
  • FIG. 4 shows a method for operating the vehicle control system.
  • FIG. 1 shows, in a simplified illustration, a vehicle 1 which is referred to as
  • FIG. 2 shows a simplified structure of the vehicle control system 2 for this purpose.
  • Camera modules 4 as shown in Figure 1, on.
  • the camera modules 4 are fastened or arranged at different locations on the vehicle 1.
  • the exact attachment point is known and will
  • the vehicle 1 may alternatively be a combine harvester, a forage harvester or a
  • the vehicle control system 2 also has a destination determination device 6 and a guide device 7.
  • the control unit 5 is connected to the
  • the destination determination device 6 has a display device 8 and an input device 9, which in the present case is designed as a touch-sensitive screen 9 'and thus forms a selection device 13.
  • the control unit 5 Forwards the image captured by at least one of the camera modules 4 to the display device 8 so that the image recorded by the respective camera module 4 is displayed on the screen 9 'for the driver or user.
  • the driver can select a displayed object in the detection range of the respective camera module 4 by touching the screen 9 '.
  • This selection is registered by the control unit 5.
  • 1 shows, for example, on the screen 9 ', the image of a tree 10, which is located in front of the vehicle 1 in the detection range of the camera modules 4.
  • the user can select the tree as an object and thus as a destination for the vehicle 1.
  • a separate input means 9 " such as a mouse or a keyboard
  • control unit 5 Knowing the arrangement and orientation of the camera modules 4, the control unit 5 now calculates the arrangement of the vehicle 1 with respect to the selected object or the tree 10. If it is determined that the tree 10 is in the direct route of the vehicle 1, if the vehicle 1 is still straight ahead is moved, so no further action is initiated and only the orientation of the vehicle 1 with respect to the destination
  • control unit 5 determines that the vehicle 1 is oriented in such a way that its trajectory when driving straight ahead leads to the route deviating from the desired route in the direction of the tree 10, then the control unit 5 controls the guide device 7 to control the Course of the vehicle 1 to influence such that the vehicle 1 moves directly to the tree 10.
  • control unit While driving, the control unit continuously monitors the orientation of the vehicle 1 with respect to the selected destination. From the desired orientation of the vehicle to the reference object and the actual Alignment determines the controller 5 by means of a corresponding
  • the guide device 7 is designed to steer the vehicle 1 as a function of the deviation to a specific destination, so that the vehicle 1 drives straight ahead in the direction of the destination.
  • the guide device 7 in the present case controls an automated steering system 11 of the vehicle 1, which comprises, for example, a hydraulic cylinder 12, by means of which the front wheels of the vehicle 1 can be steered.
  • the guide device 7 thus allows automatic / automated steering intervention.
  • the guide device 7 gives the driver of the vehicle 1 merely acoustic or visual indications that he deviates from the desired route and in particular in which direction he
  • the guide device 7 generates haptic information, such as vibrations on a steering wheel 14 of the vehicle 1, to make the driver aware that he has deviated from the optimal route.
  • FIG. 3 shows in a simplified plan view a view of the field F on which the vehicle 1 is located.
  • the vehicle 1 In an execution position, the vehicle 1 is at a time ti at a tree 10th
  • the vehicle 1 is also shown at a later time t2 at which the orientation of the vehicle 1 deviates from the desired orientation.
  • this is registered by the control unit 5 and a deviation ⁇ is calculated.
  • the guide device 7 is activated in order to steer the vehicle 1 back to the desired path or to guide the driver to do so. From the deviation ⁇ in particular a suitable correction signal is generated, which leads in the steering system 1 1 to the previously mentioned automatic steering intervention. Alternatively, the driver must or can make the steering intervention manually.
  • the proposed vehicle control system 2 thus ensures in a simple manner targeted straight-ahead driving of the vehicle 1 or at least simplified. As a result, the driver is relieved of his work, resources are saved and beyond arise, especially compared to solutions that use a satellite-based navigation system, due to the manufactured in large series camera modules 4 cost advantages.
  • FIG. 4 summarizes the advantageous procedure in a flow chart.
  • the driver on the display device 8 selects a desired travel destination, for example by tapping the touch-sensitive
  • a desired orientation of the vehicle to achieve this destination is determined.
  • the actual orientation of the vehicle 1 with respect to the destination is determined in a step S3. From the desired orientation and the actual orientation, the deviation ⁇ is subsequently determined in a step S4 and the correction signal is generated as a function of this in a subsequent step S5.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Environmental Sciences (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de commande de véhicule (2) pour un véhicule (1), en particulier pour un véhicule à moteur agricole, comportant un dispositif de détermination de destination (6) pour sélectionner une destination, et un dispositif de guidage (7) pour le guidage jusqu'à la destination, le dispositif de détermination de destination (6) comportant un moyen d'affichage (8). Selon l'invention, le dispositif de détermination de destination (6) comporte au moins un dispositif formant caméra (3) pour détecter une zone environnante du véhicule (1) et un dispositif de sélection (13) au moyen duquel un objet détecté par le dispositif de caméra (3) peut être sélectionné comme destination.
PCT/EP2017/059705 2016-04-28 2017-04-25 Système assisté par caméra pour la sélection de destinations et le guidage d'un véhicule WO2017186662A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016207240.4A DE102016207240A1 (de) 2016-04-28 2016-04-28 Fahrzeugleitsystem für ein Fahrzeug, Fahrzeug
DE102016207240.4 2016-04-28

Publications (1)

Publication Number Publication Date
WO2017186662A1 true WO2017186662A1 (fr) 2017-11-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/059705 WO2017186662A1 (fr) 2016-04-28 2017-04-25 Système assisté par caméra pour la sélection de destinations et le guidage d'un véhicule

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Country Link
DE (1) DE102016207240A1 (fr)
WO (1) WO2017186662A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019204251A1 (de) * 2019-03-27 2020-10-01 Zf Friedrichshafen Ag Verfahren und System zur Linienerfassung auf einer landwirtschaftlichen Nutzfläche

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69402724T2 (de) * 1993-01-05 1997-12-11 Sfim Ind Führungsanlage
WO2003060416A1 (fr) * 2001-12-27 2003-07-24 Rafael-Armament Development Authority Ltd. Procede et systeme de guidage d'un vehicule distant par le biais d'un canal de communication decale
EP2798928A1 (fr) * 2013-04-29 2014-11-05 CLAAS Agrosystems KGaA mbH & Co KG. Système d'operation et procédé permettant de faire fonctionner un système de guidage automatique d'un véhicule agricole

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10250694B3 (de) * 2002-10-31 2004-02-12 CNH Österreich GmbH Verfahren zur Steuerung eines landwirtschaftlichen Nutzfahrzeuges
DE102006049141A1 (de) * 2006-10-18 2008-04-30 Bayerische Motoren Werke Ag Fahrtrichtungsanzeigesystem für ein Kraftfahrzeug
DE102011087459A1 (de) * 2011-11-30 2013-06-06 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem für ein Kraftfahrzeug

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69402724T2 (de) * 1993-01-05 1997-12-11 Sfim Ind Führungsanlage
WO2003060416A1 (fr) * 2001-12-27 2003-07-24 Rafael-Armament Development Authority Ltd. Procede et systeme de guidage d'un vehicule distant par le biais d'un canal de communication decale
EP2798928A1 (fr) * 2013-04-29 2014-11-05 CLAAS Agrosystems KGaA mbH & Co KG. Système d'operation et procédé permettant de faire fonctionner un système de guidage automatique d'un véhicule agricole

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Publication number Publication date
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