WO2018177718A1

WO2018177718A1 - Method and device for adjusting an operating strategy for a vehicle

Info

Publication number: WO2018177718A1
Application number: PCT/EP2018/055853
Authority: WO
Inventors: Markus Birk; Craig Kavan PINTO; Martin Hermann Hahn; Daniel Wolf; Mauro Cesar ZANELLA
Original assignee: Zf Friedrichshafen Ag
Priority date: 2017-03-31
Filing date: 2018-03-09
Publication date: 2018-10-04
Also published as: DE102017205513A1; DE102017205513B4

Abstract

The invention relates to a method for adjusting an operating strategy for a vehicle (1), according to which at least position data of objects (3) arranged in the surroundings of the vehicle (1) is detected by means of at least one radar sensor (2) and transmitted to a control and evaluation device (4), the at least one radar sensor (2) being arranged on the vehicle (1) in such a way that it is inclined in relation to a vehicle longitudinal axis (5), diagonally towards the surface (6) on which a vehicle (1) can travel, and provided for detecting height information for the position data of the objects (3) located in the surroundings of the vehicle (1) by means of a meridian angle, vehicle operating data being provided for aligning with the position data of the control and evaluation device (4), which is detected by the at least one radar sensor (2), in order to adjust an operating strategy for the vehicle (1) adapted to the surroundings of the vehicle (1) by means of the control and evalation device (4). The invention also relates to a device for adjusting an operating strategy for a vehicle (1), and to a computer program product.

Description

Method and device for setting an operating strategy for a vehicle

The invention relates to a method for setting an operating strategy for a vehicle by means of at least one sensor, in particular a radar sensor. Furthermore, the invention relates to a device for setting an operating strategy for a vehicle and a computer program product. In particular, the invention relates to a construction or working machine with such a device.

For example, DE 102 56 726 A1 discloses a method for generating signals in a motor vehicle as a function of the road surface. A reflection signal emanating from the roadway is picked up by a sensor, wherein the sensor of an evaluation unit supplies an input signal relating to the roadway condition. In the evaluation unit, the input signal is compared with a reference signal. A signal generator generates an output signal if the deviation between the input signal and the reference signal is above a threshold. In this case, the height of the threshold is varied depending on the degree of deviation between a plurality of input signals within a time interval and the reference signal.

The object of the present invention is to provide an alternative method and apparatus for setting an operating strategy for a vehicle.

The object is solved by the subject matter of patent claims 1 and 9. Preferred embodiments can be found in the dependent claims.

The inventive device for setting an operating strategy for a vehicle comprises at least one radar sensor, which is inclined relative to a vehicle longitudinal axis in the direction of a vehicle accessible surface inclined to the vehicle arranged and provided by means of meridian angle height information for position data of objects located in the vicinity of the vehicle and a control and evaluation device that is used to evaluate position data and vehicle operating data and to set a field of the vehicle adapted operating strategy is provided. In particular, the device according to the invention is used in a work machine.

A working machine is to be understood as a machine which, according to its design and special equipment fixed to the vehicle, is intended and suitable for carrying out work, but not for the transport of persons or goods. For example, a working machine is understood to mean a agricultural or forestry machine, a wheel loader, a so-called dump truck or other construction machine.

According to a method according to the invention for setting an operating strategy for a vehicle, at least position data of objects arranged in an environment of the vehicle are detected by means of at least one radar sensor and transmitted to a control and evaluation device, wherein the at least one radar sensor obliquely relative to a vehicle longitudinal axis in the direction of from Vehicle drivable background arranged inclined to the vehicle and is intended to detect by means of meridian angle height information for the position data from the objects located in the vicinity of the vehicle, wherein vehicle operating data for comparison with the detected by the at least one radar sensor position data of the control and evaluation provided to set by means of the control and evaluation device adapted to the environment of the vehicle operating strategy for the vehicle.

The setting of an operating strategy is to monitor and regulate vehicle operating states, wherein, for example, a vehicle speed, an engine speed, a transmission shift strategy or a driving dynamics influence of the drive train (for example, the locking / unlocking of differential drives in the drive train, influencing damper characteristics at adaptable suspension / damping systems of the chassis) can be adjusted according to the method according to the invention.

The position data acquired by the at least one radar sensor include, for example, the height and dimensions of the surroundings in the vicinity of the vehicle. ten objects, which may act, for example, a driveable by the vehicle surface or road, a road crossing bridge, treetops, signs or similar objects. In particular, height information, distance information, angle information and / or a radial velocity of the objects are to be understood as position data.

The at least one radar sensor is essentially a component that emits bundled electromagnetic waves as a primary signal, which is reflected by the objects and received as a reflection signal and evaluated according to various criteria. In particular, a plurality of radar sensors can be arranged on a vehicle, which are fastened at different heights and at different angles to the vehicle. The use of multiple radar sensors improves the sensitivity and accuracy of the system. Radar sensors which are already known from applications in the automotive sector can be used in a suitable manner, for example in use for driver assistance systems such as blind spot / lane change assistants or else adaptive cruise control systems (so-called ACC systems). The opening angle of the radar sensor is substantially 70 °, wherein the radar sensor is rotated by 90 ° to the drivable ground, thus in contrast to the previously described applications in the automotive sector in the perpendicular emits a signal cone to determine by means of meridian angle height information for the position data. In further embodiments, the plurality of radar sensors can be provided so that they are arranged at an angle to each other with respect to a vehicle vertical axis in order to detect a larger area of the preceding travel path. In the case of overlapping detection regions of the plurality of radar sensors, it is also possible to generate a redundancy which can be used for a plausibility check of the signals and / or used to increase the system accuracy. Alternatively, the use of pivotable about the vertical axis radar sensors is conceivable, in which case additionally the pivot angle must be detected in order to be able to assign detected obstacles locally. The center axis of the opening angle of the radar sensor is arranged inclined relative to the vehicle longitudinal axis in the direction of the drivable ground, wherein the radar sensor detects a substantially conical region in front of the vehicle. This reflection signals are in Form of position data collected by surrounding the vehicle objects and / or the road detected and the control and evaluation provided. These position data are dependent on the mounting height and the mounting angle of the radar sensor on the vehicle. Alternatively, other sensors can be used which can send and / or receive optical signals and provide these signals in the form of position data of the control and evaluation device.

By sensing the vehicle surroundings and thus also the drivable subsoil, it is possible by means of the control and evaluation device to set an operating strategy adapted to the environment of the vehicle, which is further dependent on the vehicle operating data, such as speed, transmission ratio or steering angle.

The control and evaluation device preferably determines a first speed of the vehicle by means of the position data of the objects arranged in the surroundings of the vehicle. The first speed corresponds to a vehicle speed determined by means of a radar sensor. A measuring cycle of the radar sensor preferably lasts 40 ms, the duration of the measuring cycles being variable. In particular, the duration of the measuring cycles and the distance between two measuring cycles can be dependent on the vehicle speed. From the position data determined by the radar sensor, a radial velocity of the objects arranged in the surroundings of the vehicle in a vehicle speed in the longitudinal direction of the vehicle is determined as a function of the mounting height and the mounting angle of the radar sensor. All speeds determined during the respective measuring cycle are loaded into a band filter, which filters outliers or extreme values. The filter range of the bandpass filter is dynamic and may be, for example, dependent on the vehicle operating data. If no measured values are present in a predefined band of the bandpass filter, all read-in radial velocities measured by the radar sensor, with the exception of the minimum and maximum values, are used to determine the first velocity.

In a further step, a median value of the radial velocities in the band is formed, and then an arithmetic mean of the Median values calculated from consecutive measurement cycles. The mean value from the at least three last measuring cycles is preferably used to determine the vehicle speed, wherein alternatively the average values from four or more measuring cycles can be used. Furthermore, an acceleration or deceleration of the vehicle can be determined by means of the radar sensor and the calculated mean values of the vehicle speeds. The values determined are used to simulate a 2D Kalman filter in a subsequent step, whereby the Kalman filter is variable and can be updated after each measurement cycle.

According to a first embodiment, the control and evaluation device determines a second speed from respective wheel speeds of respective vehicle wheels, in particular driven vehicle wheels, of the vehicle. Alternatively, the speed of the output shaft of the transmission or of the respective drive / wheel shaft can be measured in order to determine the second speed therefrom. To set the operating strategy of the vehicle, the speed difference value is formed from the first and second speeds, the two speeds being subtracted from each other.

The control and evaluation device preferably actuates a differential lock of the vehicle when an upper limit is exceeded (for example when a nonzero differential value is present) of the speed difference value and / or at least indirectly controls slip at a respective vehicle wheel of the vehicle. The slip describes the speed difference value from the first and second speeds, the second speed being greater than the first speed in the case of a slip. Furthermore, the speed difference value can be reduced by a reduction of the engine speed or by active actuation of wheel brakes, for example also targeted at individual vehicle wheels.

According to a second exemplary embodiment, the control and evaluation device determines, at least by means of the position data of the objects arranged in the vicinity of the vehicle and the first speed of the vehicle, a safety distance between the vehicle and the respective object. The greater the first speed of the vehicle, the greater the safety distance between the vehicle and the respective object is provided, wherein the safety margin increases in particular exponentially to the speed of the vehicle. In particular, the safety distance results from an emergency braking distance, which is necessary for the deceleration of the vehicle to a standstill in order to avoid a collision with the object, as well as an additional buffer distance, which is required for the safe detection of the object.

When the safety distance between the vehicle and the respective object is undershot, the control and evaluation device preferably emits a warning signal and / or initiates emergency braking of the vehicle. In particular, first the warning signal is output and subsequently initiated the emergency braking. In particular, the emergency braking can be prevented by a vehicle driver initiated deceleration of the vehicle or an evasive maneuver to prevent collision with the object.

The at least one radar sensor is preferably provided to determine an incline of the ground drivable by the vehicle. For this purpose, elevation information for the position data of the objects located in the surroundings of the vehicle is determined by means of meridian angle, and from this the slope of the ground drivable by the vehicle is determined.

According to a third exemplary embodiment, the control and evaluation device adjusts longitudinal dynamics of the vehicle as a function of the gradient of the vehicle driveable ground and the first speed of the vehicle. Thus, the longitudinal dynamics of the vehicle, in particular the drive train is anticipated adapted to the changing driving conditions. For example, the engine speed and transmission ratio are adjusted as the vehicle travels from a level course to an uphill distance, providing a higher torque to handle the grade. Also, an imminent switching operation can be prevented if it is foreseeable that the resulting transmission ratio is unsuitable for driving on a above determined route is. By way of example, reference is made here to a possible upshift into a higher gear, which represents an unsuitable ratio for driving on a detected gradient, which is why a downshift would have to be feared while driving. By inhibiting such a (pendulum) circuit, sometimes the driving operation of the vehicle can be significantly optimized and wear in particular of shifting elements in the transmission can be minimized. Also, the risk that the vehicle can not cope with the slope due to a power interruption due to a break in power during the downshift also decreases the risk that the vehicle.

The method according to the invention can be carried out in particular by a computer or by the control and evaluation device. Thus, the method can be implemented in software. The corresponding software is therefore an independently salable product. Therefore, the invention also relates to a computer program product with machine-readable instructions which, when executed on a computer or on a control and evaluation device, cause the computer or the control and evaluation device to carry out a method according to the invention.

It is also possible to detect a loading point (for example a bulk pile) or an unloading point (for example a delimited area, conveyor belt, etc.) by means of the device and the method according to the invention. Accordingly, for example, influencing the operating strategy of the vehicle to take place to the effect that, for example, an adjustment of the power distribution between the working hydraulics and traction drive, if it is detected that there is a heap in front of the vehicle and bulk material to be recorded. Also, for example, an adjustment of the engine control can be done, in particular to reserve power reserves to operate the work hydraulics.

In further developments of the present invention, further sensor types can also be combined with the mentioned radar sensor (s). An example is the combination with GPS, gyroscope, acceleration and / or barometric height sensors. Picture-detecting sensors, such as camera based detection, can be combined. This leads to a further increase in system accuracy.

As far as a weight detection is provided, this can also be taken into account for influencing the operating strategy of the vehicle. The vehicle weight can for example be measured by means of axle sensors or derived from the pressure ratios of the working hydraulics. This can be an advantage, in particular for plausibility checks with regard to wheel slippage. But vehicle weight can also influence this with regard to a predictive operating strategy. By way of example, it should be noted that the fact of whether a vehicle is loading or unloading a gradient / gradient, has a significant impact.

In the following, embodiments of the invention will be explained in more detail with reference to the figures, wherein the same or similar elements are provided with the same reference numerals. This shows

1 a shows a simplified schematic illustration of a vehicle having a device according to the invention for setting an operating strategy,

1 b: a further simplified schematic illustration of a vehicle with the device according to the invention for setting an operating strategy,

2 shows a block diagram for illustrating a method according to the invention for setting a first operating strategy for a vehicle,

3 shows a block diagram for illustrating a method according to the invention for setting a second operating strategy for a vehicle, and FIG

4 shows a block diagram for illustrating a method according to the invention for setting a third operating strategy for a vehicle. According to FIGS. 1 a and 1 b, a respective vehicle 1 according to the invention is designed as a work machine, wherein the respective vehicle 1 has a respective device for setting an operating strategy for the respective vehicle 1. The respective device comprises a radar sensor 2, which is inclined with respect to a vehicle longitudinal axis 5 in the direction of a vehicle accessible by the respective vehicle 1 substrate 6 is disposed on the respective vehicle 1. The respective radar sensor 2 is not generally known, as is known from the automotive sector, such that an azimuth angle is resolved and thus the radar beams run in a plane parallel to the roadway or to the ground 6 that can be driven by the vehicle 1, but is essentially rotated by 90 °. Consequently, the radar beams of the radar sensor 2 extend in a plane which is formed perpendicular to the road surface or to the ground 6 drivable by the vehicle 1, wherein the radar sensor 2 is intended to dissolve a meridian angle. By means of the meridian angle, height information for position data of objects 3 located in the vicinity of the vehicle 1 is detected. Furthermore, the device according to the invention comprises a control and evaluation device 4, which is provided for evaluating position data and vehicle operating data and for setting an operating strategy adapted to the environment of the vehicle 1.

In Figure 1 a, the vehicle 1 travels a background 6 with slope. The radar sensor 2 is active and detects position data of objects 3 arranged in an environment of the vehicle 1, thus also a gradient profile of the background 6. These position data are transmitted to the control and evaluation device 4. Furthermore, vehicle operating data are provided for matching with the position data of the control and evaluation device 4 acquired by the radar sensor 2. The vehicle operating data are present wheel speeds of respective vehicle wheels 7 of the vehicle 1, wherein the wheel speeds are detected by a respective sensor 8 on the respective vehicle wheel 7. The control and evaluation device 4 determines a first speed of the vehicle 1 by means of the position data of the objects 3 arranged in the environment of the vehicle 1. Furthermore, the control and evaluation device 4 determines a second speed from the respective wheel speeds of the respective vehicle wheels 7 of the vehicle 1, wherein a speed difference value is formed from the first and second speeds. The speed If an upper limit of the speed difference value is exceeded, the control and evaluation device 4 actuates a - not shown here - differential lock of the vehicle 1 to improve the traction and the slip to the vehicle wheels. 7 to reduce. Thus, a performance improvement of the vehicle 1 is realized by a target-actual comparison by means of the radar sensor 2 and the control and evaluation device 4.

Furthermore, the radar sensor 2 is provided to ascertain an incline of the underbody 6 which can be driven by the vehicle 1, wherein the control and evaluation device 4 has longitudinal dynamics of the vehicle 1 as a function of the ascertained gradient of the underbody 6 which can be driven by the vehicle 1 and the first speed of the vehicle 1 sets. Thus, the topography of the environment is detected by means of radar sensor 2, wherein the height information of the position data is used to realize a predictive ride. The predictive approach makes it possible to determine whether, by a certain time or within an upcoming next period, a height difference has to be mastered by the vehicle 1 which, assuming a constant speed of the vehicle 1, requires a clearly changing driving torque. Consequently, an adaptation of the drive train of the vehicle 1 can be made in a predictive manner, in particular the shift strategy and / or an operating point of the drive motor can be adapted.

According to FIG. 1 b, the vehicle 1 travels under a ground 6, the radar sensor 2 being active and detecting position data from an object 3 arranged in the vicinity of the vehicle 1. These position data are transmitted to the control and evaluation device 4. The control and evaluation device 4 determines a speed of the vehicle 1 by means of the position data of the object 3 arranged in the environment of the vehicle 1. Furthermore, the control and evaluation device 4 determines a safety distance between the vehicle 1 and the respective object 3 by means of the position data of the object 3 arranged in the environment of the vehicle 1 and the speed of the vehicle 1. In particular, vehicle operating data, such as a steering angle and a load state of Vehicle 1 also considered by the control and evaluation device 4. If the safety distance between the vehicle 1 and the detected object 3 is undershot, the control and evaluation device 4 outputs a warning signal and initiates emergency braking of the vehicle 1 in order to avoid a collision with the object 3. Consequently, a predictive approach is also followed in this operating strategy.

Figures 2, 3 and 4 show a respective block diagram for illustrating a method according to the invention for setting a respective operating strategy. The individual process steps are preferably carried out in the order given. If the technical conditions allow, but also a different order of the steps is possible.

FIG. 2 shows a first exemplary embodiment of a method according to the invention for setting an operating strategy. In a first method step A, radar data, in particular position data of objects 3 arranged in an environment of the vehicle 1, are called up cyclically by the control and evaluation device 4. The radar sensor 2 sends a list of tracks and targets that contain the objects 3 detected by the radar sensor 2 or their position data. In addition, a current wheel speed, which is calculated from a rotational speed of a vehicle wheel 7, read. In accordance with a first arrow a, a second method step B is initiated, in which the control and evaluation device 4 checks whether new radar data is present and adopts it for the further calculation.

According to a second arrow b, a third method step C is initiated, wherein a mounting angle of the radar sensor 2 is retrieved on the vehicle 1 and a radial velocity between an object 3 and the vehicle 1 is determined.

According to a third arrow c, a fourth method step D is initiated, wherein the radial velocity is converted by the control and evaluation device 4 in the vehicle longitudinal direction 5. In this case, the mounting angle of the radar sensor 2 taken into account on the vehicle 1 and an angle of the detected position points, wherein the angle of the detected position points of the radar sensor 2 is output.

According to a fourth arrow d, a fifth method step E is initiated, wherein all speeds of the objects 3 detected in a cycle of preferably 40 ms, which are detected by means of radar sensor 2, are loaded into a band filter.

According to a fifth arrow e, a sixth method step F is initiated, wherein from all of the speeds of the objects 3 loaded into the band filter, a median value is formed in order to determine a speed signal per measuring cycle.

According to a sixth arrow f, a seventh method step G is initiated, wherein a vehicle model is formed by means of a Kalman filter with the speed signals. In this case, an acceleration of the vehicle 1 is output from at least two consecutive measuring cycles.

According to a seventh arrow g, an eighth method step H is initiated, wherein a vehicle speed of the vehicle 1 per measuring cycle is determined with the median value of the respective measuring cycle and the acceleration of the vehicle 1.

In accordance with an eighth arrow h, a ninth method step I is initiated, wherein an average value is formed with the median values from the preferably three last measuring cycles. In this case, the mean value of the vehicle speed is compared with the wheel speed and a speed difference value is formed.

In accordance with a ninth arrow i, a tenth method step J is initiated, wherein the speed difference value is compared with a difference limit value.

If the speed difference value is above an upper limit, an eleventh method step K is initiated in accordance with a tenth arrow j, wherein preferably a differential lock of the vehicle 1 is actuated. Below an upper limit, step K is skipped. According to an eleventh arrow k, the method is reset again, wherein the first method step A is initiated.

FIG. 3 shows a second exemplary embodiment of a method according to the invention for setting an operating strategy. In a first method step A, radar data, in particular position data of objects 3 arranged in an environment of the vehicle 1, are called up cyclically by the control and evaluation device 4. The radar sensor 2 sends a list of tracks and targets that contain the objects 3 detected by the radar sensor 2 or their position data. In addition, a current wheel speed, which is calculated from a rotational speed of a vehicle wheel 7, read.

In accordance with a first arrow a, a second method step B is initiated, in which the control and evaluation device 4 checks whether new radar data is present and adopts it for the further calculation.

According to a third arrow c, a fourth method step D is initiated, wherein the radial velocity is converted by the control and evaluation device 4 in the vehicle longitudinal direction 5. In this case, the mounting angle of the radar sensor 2 on the vehicle 1 and an angle of the detected position points is taken into account, wherein the angle of the detected position points is output by the radar sensor 2. Furthermore, a mounting height above the ground 6 is also taken into account, wherein the radar data or the radar points are converted to a vehicle reference altitude by means of the fastening height and angle.

According to a fourth arrow d, a fifth method step E is initiated, wherein all speeds of the objects 3 detected in a cycle of preferably 40 ms, which are detected by means of radar sensor 2, are loaded into a band filter. A band is at an output speed, preferably on the transmission or on the Vehicle wheels is measured, with only arranged in this band radar data are used for the next process steps. The width of the band is dynamically adaptable, with the width of the band being increased until at least two radar reflections are present.

According to a fifth arrow e, a sixth method step F is initiated, wherein all radar points are loaded into a histogram. For example, this histogram stores the last three cycles. The cell size of the histogram can be changed depending on the resolution of the radar sensor 2. In particular, the cell size is changed during operation of the radar sensor 2. For example, the cell size is changed depending on the speed or depending on environmental conditions.

In accordance with a sixth arrow f, a seventh method step G is initiated, with each column and row of the histogram being filtered to maxima and the histogram being converted into range data, the range data consisting of a distance and a height. Intermediate values are interpolated. Support points or segments are defined, for example, every two meters. The segments are filtered with a low-pass filter to output the slope of each segment. Longitudinal dynamics of the vehicle 1 are set as a function of the gradient of the ground 6 that can be driven by the vehicle 1. Optionally, the determined slope may be compared to a previous or a subsequent slope to preferably form an average slope. However, information regarding a steering angle is necessary for this purpose. After a steering lock, which is accompanied by a change of direction of the vehicle, the old radar data are deleted.

According to a seventh arrow g, the method is reset again, wherein the first method step A is initiated.

FIG. 4 shows a third exemplary embodiment of a method according to the invention for setting an operating strategy. In a first method step A, radar data, in particular position data of objects 3 arranged in an environment of the vehicle 1, are called up cyclically by the control and evaluation device 4. The radar sensor 2 sends a list of tracks and targets that contain the objects 3 detected by the radar sensor 2 or their position data. In addition, a current wheel speed, which is calculated from a rotational speed of a vehicle wheel 7, read.

According to a third arrow c, a fourth method step D is initiated, wherein the radial velocity is converted by the control and evaluation device 4 in the vehicle longitudinal direction 5. In this case, the mounting angle of the radar sensor 2 on the vehicle 1 and an angle of the detected position points is taken into account, wherein the angle of the detected position points is output by the radar sensor 2. Furthermore, a mounting height above the ground 6 is taken into account, wherein the radar data or the radar points are converted to a vehicle reference height by means of fastening height and angle.

According to a fourth arrow d, a fifth method step E is initiated, wherein all speeds of the objects 3 detected in a cycle of preferably 40 ms, which are detected by means of radar sensor 2, are loaded into a band filter. A belt is placed around an output speed, which is preferably measured on the transmission or on the vehicle wheels, with only radar data arranged in this band being used for the next method steps. The width of the band is dynamically adaptable, with the width of the band being increased until at least two radar reflections are present.

According to a fifth arrow e, a sixth method step F is initiated, wherein all radar points are loaded into a histogram. In the histogram will be for example, the last three cycles saved. The cell size of the histogram can be changed depending on the resolution of the radar sensor 2. For example, the cell size is changed depending on the speed or depending on environmental conditions.

According to a sixth arrow f, a seventh method step G is initiated, wherein it is checked whether objects 3, which may represent obstacles to the vehicle 1, are detected by the radar sensor 2 at the safety distance of the vehicle 1. Obstacles can be, for example, scree, piles of material but also, for example, a precipice or the like. Also, a passage whose passage height is limited, be understood as an obstacle in this sense.

If no objects 3 are detected at the safety distance of the vehicle 1, an eighth process step H is initiated according to the seventh arrow g, wherein a counter is increased as a function of the speed of the vehicle 1. Thereafter, method step G is repeated.

However, if objects 3 are detected at the safety distance of the vehicle 1, a ninth method step I is initiated according to an eighth arrow h, the counter being lowered as a function of the speed of the vehicle 1. A warning signal is output. It is also monitored whether the objects detected as obstacles can be driven under or driven over.

In accordance with a ninth arrow i, a tenth method step J is initiated, wherein the control and evaluation device 4 initiates emergency braking of the vehicle 1 in order to avoid a collision with the object 3.

According to a tenth arrow j, the method is reset after the emergency braking, with the first method step A being initiated. reference numeral

1 vehicle

2 radar sensor

3 object

4 control and evaluation device

5 vehicle longitudinal axis

6 underground

7 vehicle wheel

8 sensor

A first process step

B second process step

C third process step

D fourth process step

E fifth process step

F sixth method step

G seventh process step

H eighth process step

I ninth process step

J tenth process step

K eleventh procedural step

L twelfth process step

a first arrow

b second arrow

c third arrow

d fourth arrow

e fifth arrow

f sixth arrow

g seventh arrow

hight arrow

i ninth arrow

tenth arrow

Claims

claims

1 . Method for setting an operating strategy for a vehicle (1), at least position data of objects (3) arranged in an environment of the vehicle (1) being detected by at least one radar sensor (2) and transmitted to a control and evaluation device (4), wherein the at least one radar sensor (2) with respect to a vehicle longitudinal axis (5) obliquely in the direction of a vehicle (1) drivable surface (6) inclined to the vehicle (1) and is provided for this purpose, by means of meridian angle height information for the position data of the im Vehicle operating data for comparison with the position of the control and evaluation device (4) detected by the at least one radar sensor (2) are provided in order to be detected by means of the control and evaluation device (4 ) to adjust the environment of the vehicle (1) adapted operating strategy for the vehicle (1).

2. The method according to claim 1, characterized in that the control and evaluation device (4) by means of the position data of the environment of the vehicle (1) arranged objects (3) determines a first speed of the vehicle (1).

3. The method according to claim 2, characterized in that the control and evaluation device (4) from respective wheel speeds of respective vehicle wheels (7) of the vehicle (1) determines a second speed, wherein from the first and second speed, a speed difference value is formed.

4. The method according to claim 3, characterized in that the control and evaluation device (4) actuated when exceeding an upper limit of the speed difference value either a differential lock of the vehicle (1) and / or at least indirectly a slip on a respective vehicle wheel (7) of the Vehicle (1) regulates.

5. The method according to claim 2, characterized in that the control and evaluation device (4) at least by means of the position data of the surroundings of the vehicle (1) arranged objects (3) and the first speed of the driving zeugs (1) determines a safety distance between the vehicle (1) and the respective object (3).

6. The method according to claim 5, characterized in that the control and evaluation device (4) at a fall below the safety distance between the vehicle (1) and the respective object (3) outputs a warning signal and / or emergency braking of the vehicle (1) initiates.

7. The method according to claim 1, characterized in that the at least one radar sensor (2) is provided to determine an incline of the vehicle (1) passable surface (6).

8. The method according to claim 7, characterized in that the control and evaluation device (4) has a longitudinal dynamics of the vehicle (1) in dependence on the slope of the vehicle (1) passable surface (6) and the first speed of the vehicle (1). established.

9. An apparatus for setting an operating strategy for a vehicle (1), comprising at least one radar sensor (2) inclined with respect to a vehicle longitudinal axis (5) in the direction of a vehicle (1) passable surface (6) inclined to the vehicle (1) arranged and provided is to detect by means of meridian angle height information for position data from in the environment of the vehicle (1) located objects (3), and

a control and evaluation device (4), which is provided for evaluating position data and vehicle operating data and setting an operating strategy adapted to the environment of the vehicle (1).

Computer program product containing machine-readable instructions which, when executed on a computer, upgrade the computer to a device according to claim 9 and / or cause the computer to carry out a method according to any one of claims 1 to 8.

1 1. Use of a device according to claim 9 in a work machine.