WO2020058378A1

WO2020058378A1 - Method for sensing the surroundings of a vehicle, and vehicle

Info

Publication number: WO2020058378A1
Application number: PCT/EP2019/075112
Authority: WO
Inventors: Thorben Günzel
Original assignee: Volkswagen Aktiengesellschaft
Priority date: 2018-09-21
Filing date: 2019-09-19
Publication date: 2020-03-26
Also published as: DE102018216109B4; DE102018216109A1

Abstract

The invention relates to a method for detecting the surroundings of a vehicle (10), comprising: - detecting the vehicle's surroundings by means of at least one surroundings sensor (12); - determining that the vehicle (10) is located in a drivable roofed space (18); - determining a ceiling height value (H) for the space (18); - adapting the sensing of the vehicle's surroundings with the surroundings sensor (12) in accordance with the ceiling height value (H). The invention further relates to a vehicle (10) which is configured for carrying out such a method.

Description

description

Method for environment detection of a vehicle and vehicle

The invention relates to a method for environment detection of a vehicle and a vehicle.

It is known that vehicles can detect their surroundings using so-called environment sensors. This is done, for example, for a partially or fully autonomous ferry operation, in which the vehicle should be able to react to a static or dynamic nature of the environment. Examples of environment sensors that can also be used in the solution disclosed herein are environment sensors that emit radiation such as light (laser), radar or ultrasound radiation and detect radiation reflected from the environment. A general goal of environment sensors is to determine objects or structures in the environment of the vehicle, which could represent a risk of collision, and in particular the distance value for this.

An environment sensor is typically characterized by a detection area within which the environment can be detected. Environment sensors that emit radiation are typically an area within which an interaction of the radiation with the environment can be determined, for example because the radiation is reflected by the environment within the detection area. The detection area is generally three-dimensional and, for example, cone-shaped and thus extends at least partially along a vertical spatial axis (i.e. along a perpendicular to the

Axis of the vehicle running along which the gravitational force also acts).

If a vehicle equipped with such environment sensors moves in a covered space, for example in a parking garage or a parking garage floor, it can occur that from the ceiling (ie the ceiling surface and / or structures attached to it, such as pipes, lines, signs or the like) ) Radiation is reflected. The environment sensor can incorrectly interpret this as an object at road level or generally as an object that represents a risk of collision. Based on this, incorrect information can be passed on to the driver and / or objectively unnecessary driving functions can be initiated.

An interaction of environment sensors with a ceiling structure, albeit with a different background and goal and also in a different way, can be found in the DE 10 2015 214 367 A1. In this case, a vehicle position is determined using a ceiling sensor that detects ceiling structures.

The object of the present invention is to improve the operation of environmental sensors of a vehicle in covered rooms.

For this purpose, a method with the features of the appended claim 1 and a vehicle with the features of the appended claim 10 are proposed. Advantageous further developments are specified in the dependent claims. It goes without saying that all of the features mentioned in the introduction can be provided individually or in any combination, also in the solution disclosed herein.

A basic idea of the invention is to determine that the vehicle is in a covered space and to adapt the operation of the environment sensors accordingly. In this way, the danger described above can be prevented, according to which the environment sensors misinterpret signals reflected by a ceiling structure.

In particular, the invention provides for adapting the operation of the environment sensors in such a way that the detection and / or consideration of signals which are attributable to radiation reflected by a ceiling structure are less likely. Instead, a ceiling height value can be determined and the operation of the environment sensor can be adapted in accordance with this ceiling height value, for example by reducing its spatial detection range.

In detail, a method for environment detection of a vehicle (in particular a motor vehicle and furthermore in particular a passenger car) is proposed, with:

- Detecting a vehicle environment with at least one environment sensor;

- Determine that the vehicle is in a drivable covered space

located;

- determining a ceiling height value for the room;

- Adjust the detection of the vehicle environment with the environment sensor

Provision of the ceiling height value, in particular adapting a distance measurement carried out with the environment sensors, for example by reducing an environment sensor range.

The environment sensor can be, for example, a lidar sensor, a radar sensor, an ultrasound sensor or a laser sensor. The environment sensor can generally be set up to detect objects in to detect a vehicle environment and / or a distance to objects in a vehicle environment. More precisely, the environment sensor can be set up to determine distance values from the environment of the vehicle.

The accessible roofed room can be a building, the roofing being realized by ceilings, false ceilings or roofs. In other words, the term "roofed" does not necessarily mean that the room is upwards from an actual roof (for example, a building roof)

is completed. Instead, there can also be one to a next floor

False ceiling.

In general, the accessible covered space can comprise at least one area, in particular a parking area, or a plurality of parking areas which are arranged one above the other in the manner of levels and are connected by (for example helical) driving corridors. The space can thus include a drivable interior of a building that extends over several floors, for example a parking garage.

To determine that the vehicle is located in a drivable covered space, signals from the environment sensors can be used, which signals a corresponding one

Show roofing (for example on captured camera images). As an alternative or in addition, the vehicle position and / or map information can be used to determine that the vehicle is in such a space, for example in a parking garage. Predetermined symbols, markers or objects in the vehicle surroundings can also be recognized, which indicate that the vehicle is in a corresponding space and in particular a parking garage. These include, for example, parking garage infrastructure elements such as a parking garage barrier, a ticket machine or a ramp. Likewise, a repeated repetition of symbols which title vehicle floors (for example the numbers 2 or 1) may indicate that the vehicle is on one parking floor and in particular also on which parking floor.

Furthermore, on the basis of odometry information, which for example evaluate wheel rotation signals of the vehicle, a steering angle, a Z position (for example from GPS data) and / or a vehicle inclination, it can be determined whether the vehicle is in a parking garage and in particular on which floor it is located. For example, based on such information, one for driving on ramps or helical

Driving corridors typical driving movement of the vehicle can be detected, which points to it indicates that this is in a parking garage. Further background on this can be found in DE 10 2016 207 710 A1.

The ceiling height value can indicate the ceiling height of the room (for example, viewed along a vertical room axis and / or measured from a floor or

Vehicle surface). It can be, for example, an actually measured ceiling height value, an estimated ceiling height value or a ceiling height value, for example read from a database or information collection. In other words, this value can also only indicate a suspected and not actually present ceiling height or generally only have an orientation character with regard to the existing ceiling height.

The adaptation of the detection of the vehicle surroundings with the surroundings sensor can generally be carried out in such a way that detection and / or evaluation of signals reflected by the ceiling is less likely. This can prevent the environment sensor from misinterpreting a ceiling structure as an object on the road.

The covered space preferably comprises at least one parking area, wherein a parking area can be understood to mean an area with at least one parking space, in particular in a parking garage and / or a parking garage. According to a variant, the parking area is a parking garage floor, preferably with several parking spaces. In this

The method may furthermore include a connection between the plurality of parking floors and the vehicle. For this purpose, recognition of symbols or parking garage infrastructure elements or typical vehicle movements determined, for example, based on odometry information can be used again. In addition, provision can be made to determine a ceiling height value as a function of the current parking garage floor or to determine it for this parking garage floor. This is relevant, for example, if a parking garage has different ceiling heights.

In principle, it is possible to determine a position of the vehicle within the covered space and to determine the ceiling height value depending on the position. Corresponding position-dependent ceiling height values can, as explained below, be stored in a database.

According to one variant, the ceiling height value is determined by measuring the ceiling height. For this purpose, the vehicle can include environment sensors that are more common Variants do not primarily capture the roadway or surrounding areas adjacent to the roadway, but are directed towards the ceiling. However, it is also possible to measure the ceiling height using conventional (ie primarily detecting the road) environment sensors, for example if typical classifications or patterns for environment sensor signals are stored which correspond to specific ceiling heights.

The ceiling height value can also be transmitted by a system external to the vehicle. This can be, for example, a system assigned to the room, for example a communication system that is used to set up a system

Communication connection with the vehicle is established. The system can, for example, transmit ceiling height values to the vehicle via mobile radio or WLAN if that

Vehicle drives into the room or into this entrance. Again, this can also

take place depending on the position, for example depending on which floor of the room the vehicle is currently on. The system can have a database in which ceiling height values are stored, for example for individual floors. In theory, the system could also measure the ceiling height value and on the vehicle

to transfer.

In general it can be provided that the ceiling height value is read from a database (for example a database of the system external to the vehicle). The database can be comprised of the vehicle (i.e., vehicle-bound) and, for example, part of one

Navigation system and / or a POI (Point of Interest) database, which

Contains information regarding selected navigation destinations (e.g. parking garages). In particular, the database can be stored on a data memory included in the vehicle.

In general, the vehicle can be set up to determine that it is located in the roofed area that can be driven on (for example on the basis of map information and a currently determined vehicle position or by recognizing predetermined structures, such as, for example, a parking garage barrier). It can then read a ceiling height value associated with this room from the database.

According to a variant, the covered space comprises several different ceiling heights (for example a specific ceiling height for each parking garage floor and / or

different ceiling heights within a parking garage floor), whereby the (determined)

Ceiling height value is a minimum value of the ceiling height within the accessible covered area Space. This represents a safety measure to ensure that the detection of the vehicle surroundings with the environment sensor takes place in accordance with the most critical, since lowest ceiling height.

The minimum value can be an absolute minimum value of the ceiling height, a local minimum value (for example within a certain area or a possible floor of the passable space) or a minimum value defined by a user. It may be (but also any of those described herein

Ceiling height value) is also a value that does not actually correspond to the ceiling height, but rather a value that is provided with a safety margin and, in particular, is lower than the actual ceiling height.

A valid signal area of the environment sensor can be adapted to adapt the detection of the vehicle environment (in accordance with the ceiling height value). The valid one

Signal range can relate to the signal range within which signals or values (for example distance values) are regarded as valid (i.e. corresponding to reality and / or as sufficiently precise). The valid signal range can be compared to normal ferry operation in uncovered rooms according to the

Ceiling height value can be reduced. This can mean that only in immediate

Values determined near the vehicle or generated radiation reflections are taken into account, which reduces the risk of considering radiation reflected by the ceiling. The reduction in the valid signal range in accordance with the ceiling height value can take place in stages and, for example, can be halved compared to the usual valid signal range for a ceiling height value of less than 3 m or in one

Ceiling height value of less than 2.5 m.

Superordinate values (especially distance values) that can be detected with an environment sensor cannot be taken into account if these are outside of a valid one

Signal range lie and / or exceed a predetermined threshold. As described, the signal range but also the threshold value can be determined in accordance with the determined ceiling height value.

Additionally or alternatively, provision can be made to adapt the detection of the vehicle surroundings by changing at least one operating variable of the environment sensor, which affects an extension of a detection area of the environment sensor. In particular, the detection area can be reduced, for example at least in the vertical (spatial) Dimension, and / or by reducing the sensor range, for example in a direction pointing away from the vehicle. This can again be carried out gradually in accordance with the

Ceiling height value. Examples of operating variables are reception sensitivity, transmission power or an angular range of the environment sensor. Depending on the determined ceiling height value, these can be reduced compared to the normal uncovered ferry operation.

In general, when adapting the detection of the vehicle environment with the

Environment sensor, a sensor position and / or orientation in the vehicle are taken into account (for example a vertical height or an angle of the sensor, e.g. for a radiation angle). Furthermore, chassis settings of the vehicle can also be taken into account, which in particular relate to a height of a sensor above a

Vehicle impact can affect. In this way, for example

Detection range of the sensor can be adjusted particularly precisely in order to make it more difficult or impossible to detect radiation components reflected by the ceiling.

Furthermore, it can be provided to make an adjustment only if the determined ceiling height value is below a predetermined permissible threshold value (i.e. the method can additionally include the step of checking whether the ceiling height value is below the predetermined permissible threshold value). This threshold value can be selected in such a way that it makes the adjustment necessary, since otherwise the above-mentioned incorrect identifications can occur. The threshold value can, for example, be determined in advance experimentally or by simulation.

Finally, in addition to the ceiling height value, other information can also be determined, according to which an adaptation of the environment detection can take place. For example, exact extensions, shapes or generally three-dimensional (e.g. by image recognition or by means of a ceiling sensor or by reading from a database)

Properties of the ceiling can be determined. In particular, it can be determined whether the ceiling is particularly structured compared to a smooth or flat shape. In this way e.g. a local or position-dependent ceiling height value can be determined.

The invention further relates to a vehicle with at least one environment sensor, which is set up to detect a vehicle environment, and a control device, which is set up to carry out a method according to one of the preceding aspects. An exemplary embodiment of the invention is explained below with reference to the attached schematic figures. They represent:

Figure 1: a representation of a vehicle according to the invention according to a

Embodiment with which the inventive method of Figure 2 can be carried out;

Figure 2: a schematic of a method according to an embodiment.

In Figure 1 his vehicle 10 is indicated schematically, which is a

Passenger car deals. A forward driving device of vehicle 10 runs from left to right in FIG. The vehicle 10 comprises at least one, but preferably a plurality of environment sensors 12, one of which is indicated by way of example on a front of the vehicle 10.

The environment sensor 12 shown is an ultrasonic sensor, which passes through in a known manner

Emission of radiation into the environment and detection of reflected radiation

Distance values to the environment can determine. A three-dimensional detection area 14 of the surroundings sensor 12 is indicated by dashed lines and is generally conical (i.e. it widens conically starting from the surroundings sensor 12).

The vehicle 10 runs on a vehicle surface 16 and is located in a

covered room 18, namely a parking garage floor. The room 18 is covered by a ceiling 20 which has a height H along a vertical room axis Z compared to the

Vehicle base 16 has. The vehicle 10 also has a control device 22 which is set up to carry out a method according to the variants explained here.

It has already been indicated in FIG. 1 that the detection area 14 of the environment sensor 12 is also directed at the ceiling 20 or overlaps with it. Consequently, the

Environment sensor 12 also detect radiation that is not reflected by objects located on vehicle surface 16, but rather by ceiling 20, which in itself is not an obstacle for vehicle 10. This can lead to misinterpretations on the part of the environment sensor 12 and the execution of incorrect autonomous driving functions.

The methods explained below generally aim to reduce the risk of such misinterpretation, in particular by reducing the range of the Detection area 14 (indicated by a reduced length L in FIG. 1, in which the detection area 14 no longer overlaps with the ceiling 20). Likewise, determined distance values that go beyond the length L could be defined as inadmissible or outside a valid signal range in order to prevent values from being taken into account that were generated based on radiation reflected by the ceiling 20. The length L is determined according to or depending on the ceiling height H (i.e. the

Ceiling height value) determined.

FIG. 2 shows a diagram of a method according to an exemplary embodiment that can be carried out with the vehicle 10 from FIG. 1. As explained in more detail below, the blocks shown in FIG. 2 relate to (e.g. functional and / or software) components as well as individual process steps.

A vehicle movement is determined in a step S1, for example via

Wheel rotation sensors (ABS sensors). In a step S2, the

Control device 22 determines whether vehicle 10 is in a covered space and, in the present example, whether it is in a parking garage. For this purpose, the controller 22 can access at least one from a GPS system 24, a navigation destination 26 entered by the driver in a navigation system 27, map data 28 from, for example, the navigation system 27 and / or a so-called POI database 30. The map data 28 and / or the POI database 30 can be updated via a backend 31 (for example an online interface). As explained above, environment sensors 12 and / or camera systems, for example for recognizing parking garage infrastructure elements, can also be used.

In a step S3, which is generally optional, it is additionally determined on which floor of the parking garage the vehicle 10 is located. For this purpose, the vehicle movement can in turn be recorded in accordance with step S1 or on odometry information relating to the

Vehicle movement can be used. Additionally or alternatively, data from at least one environment sensor 12 can be evaluated, wherein a camera device can be used as the environment sensor 12, which, for example, performs image recognition of digits that indicate the level of the parking garage.

In step S4, information relating to a minimum ceiling height for the determined parking garage floor is determined as ceiling height value H. More specifically, these are

Information is read out from a database 32. This database 32 can be accessed from the POI Database 30 includes and / or be stored on a vehicle-related storage device.

In step S5, a check is made as to whether the ceiling height value H is below one

Threshold lies, which would make an adjustment of the environment detection with the environment sensor 12 necessary. If the threshold value is not undershot (arrow N), no adjustment is made and the environment detection is carried out as usual in step S6.

If the threshold value is undershot (arrow Y), the environment detection is adapted in a step S7 with the aid of the above-described reduced length L of the detection area 14 of the environment sensor 12.

In order to determine whether the threshold value is undershot, a position of the environment sensor 12 relative to ceiling 20 can optionally be determined even more precisely. In general, a permissible distance between the ambient sensor 12 and the ceiling height, which is specified by the ceiling height value H, can be defined as a threshold value. In order to determine the position of the environment sensor 20, chassis information 36

are taken into account (for example regarding a possible level control system of the

Vehicle 10). The chassis information 36 can generally indicate a current height of the vehicle 10 above the vehicle surface 16. Continue to

Position determination based on information regarding an installation position and / or the

Alignment of the environment sensor 12 can be used in or relative to the vehicle 10, as indicated by a corresponding arrow between the environment sensor 12 and step S5.

According to an alternative embodiment, the database 32 is not vehicle-bound, but is instead available on a storage device external to the vehicle, for example within an information system 40 of a parking garage (see FIG. 1). The information system 40 can be set up to transmit a ceiling height value H (for example wirelessly via mobile radio or WLAN) and / or further information based on an adaptation of the, for example if it contains a corresponding request by a receiving device 42 of the vehicle 10 Operation of the environment sensors 12 can take place. Examples of such additional information are the presence and / or the material of any ceiling structures, such as pipes or lines. In this case, the vehicle 10 does not itself have to have corresponding information, in particular with regard to the ceiling height value H, but can receive it from the information system 40. In principle, mixed forms are also possible in which ceiling height values H determined by vehicle 10 are checked for plausibility by an information system 40 in the parking garage, or vice versa.

In summary, depending on the ceiling height value H, an environment detection and in particular distance measurement can be adapted with an environment sensor 12, for example by reducing its (for example valid or evaluated) range, as indicated by the reduced length L from FIG. 1.

Reference list

10 vehicle

12 environment sensor

14 Detection area

16 vehicle surface

18 room

20 blanket

22 control device

24 GPS system

26 Navigation destination

27 Navigation system

28 card data

30 POI database

31 backend

32 database

36 Chassis adjustment

40 Information system

42 receiving device

H ceiling height values

L length

Z vertical spatial axis

Claims

1. Method for environment detection of a vehicle (10),

With:

- Detecting a vehicle environment with at least one environment sensor (12);

- Determine that the vehicle (10) is in a drivable covered space (18);

- determining a ceiling height value (H) for the room (18);

- Adapting the detection of the vehicle environment with the environment sensor (12) in accordance with the ceiling height value (H).

2. The method according to claim 1,

the covered space (18) comprising at least one parking area.

3. The method according to claim 2,

wherein the parking area is a parking lot and the method preferably further comprises:

Determine on which of a plurality of parking garage floors the vehicle (10) is located.

4. The method according to any one of claims 1 to 3,

the ceiling height value (H) is determined by measuring the ceiling height.

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

the ceiling height value (H) being transmitted by a system (40) external to the vehicle.

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

the ceiling height value (H) being read from a database (32).

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

wherein the ceiling height value (H) is a minimum value of the ceiling height within the accessible covered space (18).

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

wherein the detection of the vehicle environment is adapted by changing a valid signal range of the environment sensor (12).

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

wherein the detection of the vehicle environment by changing at least one

Operating size of the environment sensor (12), which relates to an extension of a

Effects detection area of the environment sensor (12) is adjusted.

10.Vehicle (10),

with at least one environment sensor (12), which is set up to detect a vehicle environment, and

a control device (22) which is set up to carry out a method according to one of the preceding claims.