WO2019011380A1

WO2019011380A1 - Method for preventing critical situations for a vehicle-trailer combination, wherein a distance between points of the vehicle-trailer combination are determined, driver assistance system and motor vehicle

Info

Publication number: WO2019011380A1
Application number: PCT/DE2018/100633
Authority: WO
Inventors: Fabio Abbruzzesi; Gerald Koudijs
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2017-07-11
Filing date: 2018-07-11
Publication date: 2019-01-17
Also published as: DE112018003530A5; DE102017115469A1

Abstract

The invention relates to a method for preventing critical situations for a vehicle-trailer combination (3), in which a shape (6) of the motor vehicle (1) and the trailer (2) is determined, wherein at least a first characteristic point (8) of the motor vehicle (1) and a second characteristic point (9) of the trailer (2) are determined, in which, in the critical situation, the motor vehicle (1) would come into contact with the trailer (2), and wherein a distance (DL) between the first characteristic point (8) and the second characteristic point (9) is determined, and wherein a control signal for a functional unit (13, 14) is generated if the specified distance (DL) between the first characteristic point (8) and the second characteristic point (9) falls short of a predefined distance threshold value, which signal is sent to the functional unit (13, 14) and an operating state of the functional unit (13, 14) is set to prevent the critical situation. The invention further relates to a driver assistance system (12) and a motor vehicle (1).

Description

A method for preventing critical situations of a team, wherein a distance between locations is determined by the team, driver assistance system and motor vehicle

The invention relates to a method for preventing a critical situation of a team with a motor vehicle and a trailer attached thereto. With a detection device, a shape of a region of the motor vehicle is detected, which faces the trailer. With a detection direction, a shape of a portion of the trailer is detected, which faces the motor vehicle. Furthermore, the invention relates to a driver assistance system and a motor vehicle.

Methods are already known from the prior art which avoid a critical situation between a motor vehicle and a trailer attached to the motor vehicle. In particular, an angle between the motor vehicle and the trailer is detected here and, depending on the angle, a functional unit of the motor vehicle can be correspondingly activated in order to prevent the critical situation.

For example, DE 10 2010 033 381 A1 discloses a method for controlling a vehicle and a trailer. The motor vehicle has a front and a rear end, and the trailer is coupled to the rear end. The method includes detecting a plurality of vehicle features, detecting a distance between the vehicle and the trailer having at least one sensor positioned at the rear end of the vehicle, determining a vibration of the trailer based on the detected distance, and applying a braking force to at least one Wheel of the motor vehicle in response to the vibration. The method known from the prior art serves, in particular, to detect and prevent a so-called ejection situation during a forward movement of the motor vehicle with the attached trailer. In particular, in slow cruising, especially when Rückwärteinparken the team, but no such vibration would occur, so that a critical situation would not be reliably detected at slow speed.

Object of the following invention is to provide a method, a driver assistance system and a motor vehicle, by means of which a critical situation between the motor vehicle and an attached trailer on the motor vehicle can be reliably prevented. This task is performed by a procedure, a driver assistance system as well

Motor vehicle solved according to the independent claims.

One aspect of the invention relates to a method of preventing a critical situation of a trailer with a motor vehicle and a trailer attached thereto. A shape of an area of the motor vehicle facing the trailer is detected. It detects a shape of a portion of the trailer, which faces the motor vehicle.

At least one first characteristic point in the region of the motor vehicle is determined, in which case the motor vehicle would touch the trailer in the critical situation. At least one second characteristic point in the area of the trailer is determined, in which case the trailer is in the critical situation

Vehicle would touch. There will be a gap between the first

characteristic point and the second characteristic point determined in a driving operation of the motor vehicle. It is a control signal for a functional unit of the motor vehicle and / or the trailer when falling below a predetermined distance threshold by the specific distance between the first

Characteristic location and the second characteristic spot generated. A control signal is sent to the functional unit and an operating state of the functional unit for preventing the critical situation is set.

This makes it possible for the critical situation to be predicted on the basis of the distance between the respective characteristic locations, and for the control signal to be generated as a result of the detected distance falling below a distance threshold value. This can be the critical situation

Independent of vibration, it can be detected and reliably prevented even when the team is moving slowly.

Especially when reversing the team, it can come to a so-called pocket knife effect (Jack-knife), in which the trailer then the

Motor vehicle touched. Here, the team tends to buckle each other. In other words, the trailer buckles relative to the motor vehicle and could contact the motor vehicle with the second characteristic location at the first characteristic location. By determining the distance, the operating state of the motor vehicle during the buckling can, for example, be adjusted accordingly or reduced so that the critical situation is prevented when falling below the predetermined distance welding value. It can take place a continuous monitoring of the distance between the two characteristic points of the trailer and the motor vehicle, so that the critical situation can be reliably prevented during driving, in particular in the reverse.

In particular, the shape of the region of the motor vehicle can be detected by means of a detection device. Furthermore, with the same detection device, the shape of the area of the trailer can be detected. In other words, the one detection device can detect both the shape of the area on the motor vehicle and the shape of the area on the trailer. For example, a camera can

Detection device act, which then determines by means of an image processing program, the characteristic point in the area of the motor vehicle and in the trailer. By the detection device and in particular by the

Image processing program can then also the characteristic points are determined.

It is also possible that further detection means determine the distance and / or the shape of the area of the trailer and the shape of the area of the trailer

Motor vehicle determine. A combination of several detection devices is also possible. For example, a detection device can be arranged on the motor vehicle, a second can be arranged on the trailer. The

Detection devices can also be formed by different types of sensors. For example, a detection device may have a camera as sensor and the further detection device may have an ultrasonic sensor as a sensor. Other combinations of Lidarsensor or radar sensor are possible. In particular, the method can also be carried out in advance travel, in particular during maneuvers of the low-speed trailer.

Preferably, the shape of the regions is determined each time so that different trailer variants, in particular the shape of the trailer concerning, for example, a load trailer, or a horse trailer or a boat trailer, can be detected and in particular respectively the second characteristic spot on the trailer new can be determined, so for a variety of different Trailers currently only one detection device is necessary to prevent the critical situation between the motor vehicle and the trailer.

According to an advantageous embodiment, the control signal to a

Brake system, which is a functional unit, the motor vehicle and / or the trailer sent and braked the team. Especially when driving backwards, the motor vehicle can be braked, so that the critical situation, in particular the

Pocket knife effect, can be prevented even more reliable, since the motor vehicle can not drive on the trailer, due to the inertia of the trailer and due to the braking of the motor vehicle. It is also possible that the brake system of the trailer is controlled, in particular in a forward drive, this has proven to be advantageous. It is also possible, for example, should the motor vehicle and the trailer have a brake that the control signal to both

Braking systems is sent and thus the team is braked. In particular, it is possible that different control signals can be sent, so that, for example, a braking force in the motor vehicle is different than the trailer, in particular a distribution of the braking forces in the ratio of the respective weights of the motor vehicle and the trailer is possible. In particular, this can further lead to a more reliable and improved prevention of the critical situation.

It has also proved to be advantageous if the method in a

Backward movement of the team is performed. Especially at the

Backward movement of the team can occur the pocket knife effect. This pocket knife effect, also called Jack-knifing, can cause the

Motor vehicle and the trailer go into a critical situation. Especially when reverse-parking the trailer this can lead to a critical situation between the motor vehicle and the trailer occurring. By using the method in the backward movement of the team can thus advantageously the critical situation, for example, in Rückwärteinparken the motor vehicle with the trailer can be prevented.

It has further been found to be advantageous to detect a third characteristic location on the motor vehicle and a fourth characteristic location on the trailer, and depending on a distance between the first characteristic location and the second characteristic location and / or depending on the distance between the third characteristic location Position and the fourth characteristic point, the control signal is generated. In particular, it is therefore possible to check redundantly whether it is critical Situation between the motor vehicle and the trailer would come. In particular, for example, then the two distances between the four characteristic points can be used to check whether a critical situation would actually arise. In particular, this makes it possible to reliably and reliably predict the critical situation redundantly.

It is also advantageous if the third characteristic location and the fourth

characteristic location on a second side, the second side being opposite a first side having the first characteristic location and the second characteristic location, and wherein the first side and the second side are separated by a longitudinal axis of the motor vehicle can both on a left side of the motor vehicle and on a right side of the

Motor vehicle, viewed from the motor vehicle in the forward drive, or the trailer, the characteristic locations are determined, in which the trailer and the motor vehicle would touch in the backward movement on the respective side. In particular, this can be for both sides, in other words in a left buckling of the trailer or a right buckling of the trailer in the backward movement, the corresponding characteristic locations are determined and by determining the distances between the two points of contact can thereby for both Einknickoptionen during the backward movement of the Distances are determined and concluded whether it could come to a critical situation between the motor vehicle and the trailer or not.

According to a further advantageous embodiment, when a difference between a larger one of the two distances and a smaller one of the two distances exceeds a threshold value, the control signal for the functional unit can be generated. In particular, this can provide a further possibility for checking whether a critical situation could arise between the motor vehicle and the trailer. It can thereby be provided a difference method, by means of which at a higher resolution, the distance of the first characteristic location and the second characteristic can be determined. This makes it even more reliable possible to predict the occurrence of the critical situation and accordingly to control the functional unit, in particular a brake system.

It has also proven to be advantageous when a speed of

Change in distance between the first characteristic location and the second characteristic point is determined and depending on the speed of the distance change, a control signal for the functional unit is generated. As a result, it is possible, in particular, that apart from the absolute distance, the change in distance per unit of time can also be determined, and thus another possibility is provided for predicting and preventing the critical situation between the motor vehicle and the trailer. In particular, when a predetermined speed threshold value is exceeded, the critical situation can then be recognized early and a corresponding countermeasure can be initiated automatically or manually by a driver of the team. The speed of the respective changes in distance can in particular with the formulas: dD _L

D> _L = D _{L +} A _V dD _R

D ' _R = D _R + A _V - ^ - where D' _L and D ' _{R are} the velocities between the respective characteristic points, D _L and D _{R are} the distance thresholds for the left and right sides, in the forward motion of the Considered motor vehicle, and A _v correspond to a freely selectable parameter.

It has also proven to be advantageous if the control signal to a

Warning device is sent as a functional unit, and the warning device generates a warning signal for a driver of the team. In particular, the driver can thereby be warned in time of an automatically initiated braking of the motor vehicle or can then, for example, if no automatic

Brake system is available, the driver manually initiate the braking process when the warning signal is generated. For example, an audible and / or a haptic and / or a visual warning signal can be generated for the driver to perceive.

Another aspect of the invention relates to a driver assistance system, which is designed to a previously described method or an advantageous

Execution thereof to perform. Yet another aspect of the invention relates to a motor vehicle having a

Driver assistance system. The motor vehicle is designed in particular as a passenger car

Advantageous embodiments of the method are to be regarded as advantageous embodiments of the driver assistance system and of the motor vehicle. The

Driver assistance system and the motor vehicle for this purpose have physical features that allow implementation of the method or an advantageous embodiment thereof.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or the figures alone are usable not only in the respectively indicated combination but also in other combinations and alone, without the scope of the invention to leave. There are thus also embodiments of the invention as encompassed and disclosed, which are not explicitly shown and explained in the figures, but emerge from separate feature combinations of the described embodiments and can be generated. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated claim. Furthermore, embodiments and combinations of features, in particular by the embodiments set forth above, are to be regarded as disclosed, which go beyond or deviate from the combinations of features set out above the return references of the claims.

Embodiments are explained below with reference to schematic drawings.

Showing:

Fig. 1 is a schematic plan view of a trailer with an embodiment

a driver assistance system according to the invention; and

Fig. 2 is a further schematic plan view of a plurality of different

Assemblies, each having an embodiment of a driver assistance system according to the invention. In the figures, identical or functionally identical elements are provided with the same reference numerals.

Fig. 1 shows a motor vehicle 1 with an attached trailer 2, which in

coupled state form a team 3, schematically in a plan view. The motor vehicle 1 is designed in particular as a passenger car. The

Motor vehicle 1 acts as a tractor of the team 3. It is also possible that the motor vehicle 1 is formed for example as a truck or motorhome.

The motor vehicle 1 has a longitudinal axis L. The trailer 2 is about a

Trailer coupling 4 is coupled to the motor vehicle 1. The motor vehicle 1 further comprises a detection device 5, by means of which a shape of a region 6 of the motor vehicle 1 is detected, which faces the trailer 2. By means of

Detector 5 may also be detected also a shape of a portion 7 of the trailer 2, which faces the motor vehicle 1. It is possible that both the area 6 and the area 7 can be detected with the detection direction 5. It is also possible that, for example, at least one further detection device can be provided on the motor vehicle 1 and / or on the trailer 2, which can detect the regions 6, 7. The detection direction 5 can be designed in particular as a camera, and detect the corresponding areas 6, 7, for example, by means of an image processing program. It is also possible that the

Detection device 5 may be formed as Lidarsensor or radar sensor or ultrasonic sensor and corresponding to the areas 6, 7 can detect. Any combination of the different types of sensors is also possible to detect the areas 6, 7. It is also possible that the detection device 5 or the further detection device is arranged on the trailer 2.

By means of the detection direction 5, a first characteristic point 8 in the region 6 of the motor vehicle 1, can be determined, in which case the motor vehicle 1 would touch the trailer 2 in the critical situation. Furthermore, by means of

Detection device 5 a second characteristic point 9 are detected in the area 7, in which in the critical situation of the trailer 2, the motor vehicle 1 would touch. Furthermore, it can be provided that a third characteristic point 10 in the region 6 of the motor vehicle 1 is determined by means of the detection device 5, which in a further critical situation the motor vehicle 1 would touch the trailer 2. It is also possible that with the detection device 5, a fourth characteristic spot 1 1 can be detected, which is in the area 7 of the trailer 2, which would touch in the critical situation of the trailer 2 of the motor vehicle 1. In particular, the critical situation may be a so-called

Pocket Knife effect (Jack-knife) act, in which on both sides, viewed from the longitudinal axis L, a critical situation could occur. In which

Penknife effect buckles the 3 team. In other words, the trailer 2 moves relative to the motor vehicle 1, so that the motor vehicle 1 and the trailer 2 can touch. In particular, it is provided that the third

characteristic spot 10 and the fourth characteristic spot 1 1 are formed on a second side, the second side being opposite to a first side, and wherein the first side and the second side are separated from each other by the longitudinal axis L.

By means of the detection device 5, a distance D _L between the first

characteristic point 8 and the second characteristic point 9 are detected. By means of the detection direction 5, a further distance D _R between the further first characteristic point 10 and the further second characteristic point 1 1 can be detected.

The detection of the distances D _L , D _R takes place in particular in a driving operation of

Motor vehicle 1 with the trailer 2 attached instead. In particular, the trailer 3 is in a backward movement. In particular, in this

Reverse movement of the pocket knife effect occur by buckling, in which the motor vehicle 1 would touch the trailer 2.

The detection direction 5 is in particular coupled to a driver assistance system 12 of the motor vehicle 1. A control signal for a functional unit 13 of the motor vehicle 1, for example by the driver assistance system 12, is generated as soon as one of the distances D _L , D _R falls below a predetermined distance threshold value. It is also possible that the control signal is sent to a functional unit 14 of the trailer. In particular, it is provided that the respective functional unit 13, 14 is designed to set the operating state of the trailer 3, so that the critical situation between the motor vehicle 1 and the trailer 2 can be prevented. The functional unit 13 and / or the functional unit 14 may be, for example, a brake system, so that the trailer 3 is braked as soon as one or both functional units 13, 14 receives the control signal. It is also possible that a control signal is sent to a warning device as a functional device 13, 14, and a warning signal for a driver of the vehicle 3 is generated by the warning device.

It can further be provided that a speed of a change in distance between the first characteristic point 8 and the second characteristic point 9 and the third characteristic point 10 and the fourth characteristic point 1 1 is determined and depending on the speed of the change in distance, a control signal for the functional unit 13, 14 is generated.

It is also possible for a difference between a larger of the two distances D _L , D _r and a smaller one of the two distances D _L , D _{R to} exceed a threshold value and for the control unit to be sent to the functional unit 13, 14 after the threshold value has been exceeded. In particular, a differential change of the distances D _L , D _R can thus be determined, and thus improved with a higher resolution, the critical situation between the motor vehicle 1 and the trailer 2 can be predicted.

FIG. 2 shows a further schematic plan view of several carriages 3. In particular, different variants of trailers 2 are attached to the motor vehicle 1 in FIG. 2. In particular, given the different design of the forms of the trailer 2 different first and second characteristic locations 8, 9, 10, 1 1, at which the motor vehicle 1 would touch the respective trailer 2 and the critical situation would occur. This makes it possible that the detection device 5, in particular in the area 7, the shape of the trailer 2 individually determined and thereby individually the characteristic points 8, 9, 10, 1 1 both for the trailer 2 and for the motor vehicle 1 in the individual

Trailer situation can be determined. As a result, the critical situation for the individual team 3 can be reliably predicted and prevented accordingly. In particular, it is thereby made possible that the distances D _L, D _{r of} the characteristic points 8, 9, 10, 1 1 can be determined individually and thus a respective critical situation between the motor vehicle 1 and the trailer 2 can be prevented with different combinations of vehicle.

Claims

claims

1 . Method for preventing a critical situation of a vehicle (3) with a motor vehicle (1) and a trailer (2) attached thereto, comprising the steps of:

- Detecting a shape of a region (6) of the motor vehicle (1), the

Facing the trailer (2);

- Detecting a shape of an area (7) of the trailer (2), the

Motor vehicle (1) facing;

characterized by the steps:

- Determining at least a first characteristic point (8) in the area (6) of the motor vehicle (1), in which in the critical situation, the motor vehicle (1) would touch the trailer (2);

- Determining at least one second characteristic point (9) in the area (7) of the trailer (2), in which in the critical situation, the trailer (2) would touch the motor vehicle (1);

Determining a distance (D _L ) between the first characteristic point (8) and the second characteristic point (9) in a driving mode of the

Motor vehicle (1);

Generating a control signal for a functional unit (13, 14) of the

Motor vehicle (1) and / or the trailer (2) when falling below a predetermined Abstandschwei value by the predetermined distance (D _L ) between the first characteristic point (8) and the second

characteristic site (9); and

Sending the control signal to the functional unit (13, 14) and setting a

Operating state of the functional unit (13, 14) for preventing the critical situation.

2. The method according to claim 1,

characterized in that the control signal is sent to a brake system which is a functional unit (13, 14) of the motor vehicle (1) and / or the trailer (2) and the trailer (3) is braked.

3. The method according to any one of the preceding claims,

characterized in that

the method is carried out in a backward movement of the team (3).

4. The method according to any one of the preceding claims,

characterized in that

a third characteristic location (10) on the motor vehicle (2) and a fourth characteristic location (11) on the trailer (2) are detected, and dependent on a distance (D _L ) between the first characteristic location (8) and the second characteristic location Position (9) and / or depending on the distance (D _R ) between the third characteristic point (10) and the fourth characteristic point (1 1), the control signal is generated.

5. The method according to claim 4,

characterized in that

the third characteristic spot (10) and the fourth characteristic spot (11) are detected on a second side, the second side being opposite a first side containing the first characteristic spot (8) and the second one

characteristic position (9), and wherein the first side and the second side are separated by a longitudinal axis (L) of the motor vehicle (1).

6. The method according to claim 4 or 5,

characterized in that

If a difference between a larger one of the two distances (D _L , D _R ) and a smaller one of the two distances (D _L , D _R ) exceeds a threshold value, the control signal for the functional unit (13, 14) is generated.

7. The method according to any one of the preceding claims,

characterized in that

a speed of a distance change between at least the first characteristic location (8) and the second characteristic location (9) is determined is generated and depending on the speed of the change in distance, a control signal for the functional unit (13, 14).

8. The method according to any one of the preceding claims,

characterized in that

the control signal is sent to a warning device as a functional device (13, 14), and the warning device generates a warning signal for a driver of the vehicle (3).

9. driver assistance system (12), which is adapted to perform a method according to one of claims 1 to 8.

10. Motor vehicle (1) with a driver assistance system (12) according to claim 9.