WO2020165056A1

WO2020165056A1 - State determination device, method for determining a state, and vehicle

Info

Publication number: WO2020165056A1
Application number: PCT/EP2020/053232
Authority: WO
Inventors: Bastian Volpert
Original assignee: Zf Friedrichshafen Ag
Priority date: 2019-02-15
Filing date: 2020-02-10
Publication date: 2020-08-20
Also published as: DE102019202062A1

Abstract

The invention relates to a state determination device comprising: an image acquisition device which is arranged on a vehicle and is designed to capture in an image a region of the surrounding space of the vehicle, wherein the region of the surrounding space comprises a portion of the ground beneath the vehicle and a portion of the vehicle itself; an evaluating device which is designed to evaluate the image acquired and to recognise a drive state of the vehicle; and a control device which is designed to modify a drive parameter of the vehicle in response to the detected drive state of the vehicle.

Description

Condition recording device, method for recording a condition and

vehicle

The application relates to a condition detection device, a method for detecting a condition and a vehicle.

Devices and methods for detecting a state are known in principle.

It is therefore an object of the present application to specify an improved condition detection device, an improved method for detecting a condition and an improved vehicle.

This object is achieved by a state detection device. This comprises an image capturing device which is arranged on a vehicle and is designed to capture an area of an exterior space of the vehicle in an image, the area of the exterior space comprising part of the ground of the vehicle and part of the vehicle itself. The state detection device further comprises an evaluation device which is designed to evaluate the captured image and to detect a drive state of the vehicle. The state detection device further comprises a control device which is designed to change a drive parameter of the vehicle in response to the detected drive state of the vehicle.

The image capturing device can be arranged partially or completely outside of the vehicle, namely on the outside of a body or cladding element. Alternatively or additionally, the image capturing device can also be arranged inside the vehicle, for example behind a window of the vehicle and thus in a passenger compartment of the vehicle. The vehicle is, for example, a motor vehicle, for example a passenger car, a truck or an agricultural or construction machine. The vehicle includes at least two wheels, at least one of which is driven. The at least one wheel is driven, for example, by an electric motor and / or an internal combustion engine. The image capturing device is designed to capture an area of the exterior of the vehicle in at least one image. The image acquisition device is designed, for example, to record one or more, preferably digital, images. For example, the image capturing device is connected to the power supply of the vehicle and is designed to continuously record images of an area of the exterior of the vehicle with the ignition switched on and / or during ferry operation.

The area of the exterior of the vehicle includes a part or a section of the ground of the vehicle and a part or section of the vehicle itself. The area of the exterior of the vehicle can also cover a further part, for example a section above the ground in the direction of travel of the vehicle, opposite to the direction of travel of the vehicle or to one side of the vehicle. The subsurface from which a part or a section is recorded includes, for example, the ground, for example a road, a dirt road, a lane or the like. The part or section of the vehicle that is captured by the image capturing device includes, for example, at least a section of a wheel or tire of the vehicle, in particular a driven wheel or a driven tire of the vehicle, and / or part of a drive axle of the vehicle. The area of the outside space can additionally include part of an attachment, in particular also a wheel or tire of the attachment.

The evaluation device is designed to evaluate the captured image and to recognize a drive state of the vehicle. To this end, the evaluation device evaluates at least one image, in particular several images, which are provided to it by the image capture device. For example, the Auswertungsvor device is designed to identify part of a driven wheel or tire and the ground on images and differentiate them from one another. The evaluation device is further designed, for example, to identify the drive state by comparing two individual images recorded in a short time sequence to determine whether a wheel or tire loses slip, spins, or blocks with respect to the ground on which the vehicle is standing or driving or slips. This is done by image recognition or image evaluation algorithms that are applied to the at least one captured image. If, for example, the wheel rotation of the wheel between two images changes more than the ground between two or more captured images, this indicates a slip or spinning as a drive condition. On the other hand, if, for example, the ground changes between two or more captured images compared to the wheel rotation, or if the ground changes and the wheel rotation does not, this indicates the vehicle is slipping or the wheel or tire is blocked as the drive state. If, as an alternative or in addition, between two images the background does not change approximately proportionally to a steering wheel, this indicates that the vehicle is understeering or oversteering.

The control device is designed to change a drive parameter of the vehicle in response to the detected drive state of the vehicle. The control device has, for example, access to a drive of the vehicle, for example a drive train. For example, the control device is designed to reduce or increase the power of an internal combustion engine or electric motor on the at least one driven wheel. Alternatively or additionally, the control device can disengage or engage the driven wheel or an axle or switch a differential or another driven wheel on or off.

This state detection device has the advantage that one or more drive states, as described above, can be recognized by a simple camera, and thus to replace one or more sensors such as ABS, ASR, ESP or to provide their function. In addition, this type of detection of the drive state (s) is particularly low in maintenance and wear, since the proposed solution eliminates the need to arrange one or more physical sensors in the drive train, which are usually exposed to high loads and thus wear. According to a further development, the evaluation device is further designed to recognize an environmental condition of the surroundings of the vehicle and the control device is further designed to change a drive parameter of the vehicle in response to the recognized environmental condition of the vehicle.

The evaluation device is designed to evaluate an image captured by the image capture device and to recognize an environmental condition thereon. This is done by image recognition or image evaluation algorithms that are applied to the at least one captured image. An environmental condition that the evaluation device can recognize is, for example, a type of surface of the vehicle on which it is standing or driving, such as sand, asphalt, grass, fields, earth, gravel. Another environmental condition that the evaluation device can detect is the nature of the surface of the vehicle on which it is standing or driving, for example wetness, ice, dryness, for example whether the vehicle is standing or driving on wet grass, muddy earth or icy asphalt . Another environmental condition is, for example, an obstacle in or on the path of the vehicle, for example a large stone, a boundary post such as an iron bar or a wild animal. An environmental condition can also be a cutting edge of a field to be mowed.

The control device is then designed to change a drive parameter of the vehicle in response to the recognized environmental condition of the vehicle. If, for example, it is recognized that the vehicle is standing or driving on wet grass, the power output to the drive train can be reduced by the control device in order to prevent or reduce the wheels from spinning on the wet grass when starting or accelerating. As an alternative or in addition, the power delivered to the drive train can be increased or maximized by the control device when a dry asphalt is detected from a previously reduced level of performance. Alternatively or additionally, the control device can throttle the power delivered to the drive train or completely reduce it, for example if a stone is on or on the path with which the vehicle would otherwise collide. This further development has the additional advantage that when the vehicle is stationary and / or when it is being operated, it is possible to react actively to the environment around the vehicle and thus avoid or prevent undesired driving situations. Furthermore, through this further training, problems or obstacles that may arise on the route in the future can also be recognized and responded to at an early stage.

According to a development, the evaluation device is further designed to detect a vehicle state of the vehicle and the control device is further designed to change a drive parameter of the vehicle in response to the detected vehicle state of the vehicle.

The evaluation device is designed to evaluate an image captured by the image capture device and to recognize a vehicle state thereon. This is done by image recognition or image evaluation algorithms that are applied to the at least one captured image. A vehicle state that the evaluation device can recognize is, for example, whether a certain attachment that can be attached to the vehicle is properly attached. Another exemplary vehicle condition is whether the vehicle is leaking oil that drips from the underside of the vehicle. Another exemplary vehicle condition is a wheel condition, for example a present wear of a tire, wear, how deep the tire or the wheel is currently sinking into the ground, a loss of air or punctures of the tire or a rim damage of the wheel. A vehicle state can also include a tilt or tilt angle of the vehicle with respect to a horizontal or planar orientation.

The control device is then designed to change a drive parameter of the vehicle in response to the recognized vehicle state. If, for example, the evaluation device detects that an attachment is not properly attached to the vehicle, the vehicle is losing oil, a wheel or tire is no longer suitable, or the vehicle has a tilt or tilt angle that threatens to tip over , the power delivered to the drive train can be throttled or completely withdrawn by the control device This development has the advantage that circumstances that affect the vehicle can also be recorded simply and inexpensively with a single image recording device without having to use several sensors subject to wear.

According to a development, the control device is further designed to brake at least one wheel of the vehicle in response to the detected drive state. Additionally or alternatively, the control device is designed to brake at least one wheel of the vehicle in response to the recognized environmental condition of the vehicle. Additionally or alternatively, the control device is designed to brake at least one wheel of the vehicle in response to the recognized vehicle state.

For this purpose, the control device has access to the vehicle's braking system and can not only throttle or reduce the drive, but also actively brake it in addition or as an alternative. This is particularly useful if the speed of the vehicle has to be reduced very significantly, for example in the event of an uncontrolled slide, immediately before a collision with an obstacle or if an attachment unexpectedly detaches from the vehicle.

This development has the advantage that it is possible to react particularly effectively to recognized states. In particular, this can effectively initiate an emergency braking.

According to one development, the image capturing device is designed to capture the area of the exterior of the vehicle in an image by means of an imaging radar and / or lidar. Imaging radar uses electromagnetic waves or their reflection on objects to capture one or more images. An imaging lidar uses laser beams for this.

This development has the advantage that, in contrast to a camera, it does not require an optical system with a clear view of the exterior of the vehicle to be imaged and of the vehicle itself. The imaging radar and / or lidar or the state The detection device is therefore completely insusceptible to contamination and is particularly maintenance-free

The image acquisition device, the evaluation device and the control device as well as the entire condition acquisition device can be partially or fully designed as integrated circuits that are electrically connected to one another and have mutual access to the processed, acquired or provided data.

The object mentioned at the beginning is also achieved by a method for detecting a state, comprising the steps of detecting an area of an outer space of a vehicle in an image, the area of the outer space comprising part of the ground of the vehicle and part of the vehicle itself; Evaluating the captured image and recognizing a drive state of the vehicle; and changing a propulsion parameter of the vehicle in response to the detected propulsion condition of the vehicle.

The step of capturing is carried out, for example, by an image capturing device as described above.

The step of evaluating is carried out, for example, by an evaluation device as described above.

The step of changing can also be called controlling and is carried out, for example, by a control device as described above.

According to a development, the method further comprises the steps of recognizing an environmental condition of the surroundings of the vehicle and changing a drive parameter of the vehicle in response to the recognized environmental condition of the vehicle. According to a development, the method further comprises the steps of recognizing a vehicle state of the vehicle and changing a drive parameter of the vehicle in response to the recognized vehicle state of the vehicle.

According to a development, the step of changing a drive parameter includes braking at least one wheel of the vehicle.

According to one development, the area of the exterior of the vehicle is recorded by means of an imaging radar and / or lidar.

It goes without saying that individual or all parts or steps of the above-described enclosed method can be carried out or carried out by the above-described state detection device.

The object mentioned at the beginning is also achieved by a vehicle comprising one of the above-mentioned state detection devices.

With regard to the advantages, design variants and design details of the method and the vehicle, reference is made to the preceding description of the corresponding features and developments of the state detection device.

The embodiments of the application will now be described by way of example with reference to the accompanying Figure 1, which shows a schematic view of embodiments of the application.

Figure 1 initially shows a vehicle 1 according to one embodiment. This is shown as an agricultural machine for example, but can also be a passenger car or truck. The vehicle 1 shows a front wheel, including a front tire 2 and a front rim 3, and a rear wheel, including a rear tire 5 and a rear rim 4. Also shown is an attachment 6, which is exemplified here as a dem Vehicle 1 attached plowing device is shown. The vehicle 1 comprises a state detection device according to one embodiment. The state detection device is not shown in full detail and comprises image detection device 7, an evaluation device and a control device. The image capturing device 7 is arranged centrally and / or in the middle under the vehicle 1 on the underbody 8 and is shown by way of example as an imaging radar. The imaging radar continuously emits electromagnetic waves 9 and continuously generates an image of a region 100 of an exterior 1000 of the vehicle 1 from the waves reflected on objects.

The vehicle 1 is traveling on a ground 10, the rear tire 5 being partially sunk into the ground 10 due to the nature of the ground. On the ground 10 on the path of the vehicle 1 there are also several obstacles, such as a stone 11 and an iron bar 12. Further away on the path there is tall grass 13.

The area 100 of the outside space captured in the image here includes, for example, parts of the front tire 2 and the front rim 3 of the front wheel and of the rear tire 5 and the rear rim 4 of the rear wheel. The area 100 also includes a part, in this case a wheel of the attachment 6 and also the coupling of the attachment 6 to the vehicle 1 covered by the rear wheel. The area 100 also includes a rear differential and parts of a rear drive axle of the vehicle.

The captured image is continuously provided to the evaluation device by the image capturing device 7, for example at one, 10 or 100 images per second, whereupon it evaluates the provided images individually.

By means of image recognition or image evaluation algorithms, the evaluation device can, for example, recognize an environmental condition of the environment. In the present example, for example, in the area 100 captured on the image, the stone 11 represents an obstacle. If the evaluation device detects such an obstacle, it provides this to the control device, which then sends an drive parameters of the vehicle 1 changed. In the present case, the change by the control device represents a reduction in the power provided to a drive train of the vehicle 1. In addition, the control device can also brake one or more wheels.

The evaluation device can further recognize a drive state of the vehicle 1, for example, by means of image recognition or image evaluation algorithms.

This is done by comparing at least two consecutive images. It can then be identified that between two or more captured images, for example, the wheel rotation of the wheel changes more than the background 10 between two images. If the evaluation device recognizes this, it provides this to the control device. This can then, as described above, reduce the performance.

By means of image recognition or image evaluation algorithms, the evaluation device can further recognize, for example, a vehicle state of vehicle 1. If, for example, the evaluation device detects that the coupling of the attachment 6 on the vehicle 1 is released, it can provide this to the control device, whereupon the control device then, as above, reduce the power and, if necessary, additionally brake one or more wheels.

In the further course of the vehicle's journey in the direction of travel, the evaluation device can recognize the iron rod 12 as an environmental condition on the images continuously captured while the vehicle is in motion, whereupon the control device, analogously to recognizing the stone, can also reduce the power and brake. Likewise, the evaluation device can recognize the grass 13 and possibly also its moisture as an environmental condition, whereupon the control device, analogously to the detected slip, can reduce the power. Vehicle reference symbol

front tire

front rim

rear rim

rear tire

Attachment

Image capture device

Subfloor

electromagnetic wave

Underground

stone

Iron bar

grass

Claims

A condition sensing device comprising:

an image capturing device (7) which is arranged on a vehicle (1) and is designed to capture an area (100) of an outer space (1000) of the vehicle (1) in an image, the area of the outer space being part of the underground (10) comprises the vehicle and a portion of the vehicle itself;

an evaluation device which is designed to evaluate the captured image and to recognize a drive state of the vehicle; and

a control device configured to change a drive parameter of the vehicle in response to the detected drive state of the vehicle.

2. State detection device according to the preceding claim, wherein the evaluation device is further designed to recognize an environmental state of the surroundings of the vehicle and the control device is further designed to change a drive parameter of the vehicle in response to the detected environmental state of the vehicle.

3. State detection device according to one of the preceding claims, wherein the evaluation device is further designed to detect a vehicle state of the vehicle and the control device is further designed to change a drive parameter of the vehicle in response to the detected vehicle state of the vehicle.

4. State detection device according to one of the preceding claims, wherein the control device is further designed to brake at least one wheel of the vehicle in response to the detected drive state.

5. State detection device according to one of the preceding claims, wherein the image capture device is designed to capture the area of the outer space of the vehicle by means of an imaging radar and / or lidar in an image.

6. A method for detecting a condition, comprising the steps: - Detecting an area (100) of an outer space (1000) of a vehicle (1) in an image, the area of the outer space comprising part of the ground (10) of the vehicle and part of the vehicle itself;

- Evaluation of the captured image and recognition of a drive state of the vehicle; and

Changing a drive parameter of the vehicle in response to the detected drive state of the vehicle.

7. The method according to the preceding claim 6, further comprising the steps:

- Recognition of an environmental condition of the surroundings of the vehicle; and

Changing a drive parameter of the vehicle in response to the recognized environmental condition of the vehicle.

8. The method according to any one of the preceding claims 6 or 7, further comprising the steps:

- Detecting a vehicle state of the vehicle; and

Changing a drive parameter of the vehicle in response to the recognized vehicle state of the vehicle.

9. The method according to any one of the preceding claims 6 to 8, wherein the step of changing a drive parameter comprises braking at least one wheel of the vehicle.

10. The method according to any one of the preceding claims 6 to 9, wherein the area of the outer space of the vehicle is detected by means of an imaging radar and / or lidar.

1 1. Vehicle (1) comprising a condition detection device according to one of the preceding claims 1 to 5.