DE102011106173A1 - Method for assisting rider of multi-unit vehicle in e.g. bridge, involves outputting driving instruction indicating whether collision-free drive of vehicle while passing through throat position is possible, based on kinematic model - Google Patents

Abstract

The method involves examining direction of travel of a multi-unit vehicle (1) in idle driving space and determining three-dimensional data of vehicle environment. A kinematic model representing relative position and alignment of the vehicle with respect to throat position (E) of track (F) with obstructions (H1,H2) is determined from the three-dimensional data. A driving instruction or rider warning indicating whether collision-free drive of the vehicle while passing through the throat position is possible, is outputted based on the kinematic model.

Description

The invention relates to a method for assisting a driver in guiding a multi-unit vehicle, wherein a vehicle surrounding field in the direction of travel of the vehicle is examined for a free driving space, wherein three-dimensional environmental data of an environment of the vehicle are detected.

Various methods for assisting a driver in driving a multi-unit vehicle are known from the prior art, wherein a multi-unit vehicle is understood to mean a vehicle with a trailer, a tractor with a semi-trailer or an articulated bus.

A method for improving the reactivity of vehicles or vehicle drivers in the event of dangers in traffic is known from DE 100 49 229 A1 known, wherein a lying in the direction of travel of a vehicle vehicle environment is examined for a free driving space and location parameters of the free driving space are provided to a system or a person for further processing available. There is a three-dimensional environment detection by means of a stereo image processing or other types of sensors, in which case obtained information about the free driving space is used by an in-vehicle control and regulation system or by the driver himself.

Furthermore, from the DE 10 2007 027 756 A1 a method for assisting a driver of a motor vehicle in a passage of the motor vehicle through a bottleneck and for maintaining a safety distance to the front vehicle known. The driver of the vehicle is expected to see a guideway that is likely to be covered by the vehicle soon, with a width of the displayed guideway corresponding to a width of the specific vehicle. As a steering reference lines are displayed for a left and a right edge of the track or a limited area of lines.

The DE 10 2006 041 651 A1 describes a method for determining a vehicle's ability to pass through a lane slip, in which a vehicle image is displayed on a display of the bottleneck and in an image plane and in the size scale of the bottleneck such that the vehicle can be determined by comparing the depicted bottleneck and the vehicle image the bottleneck can pass without damage. The driver is given as support lines that tell him whether the chosen direction of travel is correct to pass the bottleneck without damage. If it is not possible to pass without any damage, the driver is warned by acoustic signals or an output of symbols on a display unit.

The invention is based on the object to provide a comparison with the prior art improved method for assisting a driver when driving a vehicle.

The object is achieved by a method having the features specified in claim 1.

Advantageous embodiments of the invention are the subject of the dependent claims.

In a method of assisting a driver in driving a multi-unit vehicle, a vehicle environment in the direction of travel of the vehicle is inspected for free travel, thereby acquiring three-dimensional environmental data of an environment of the vehicle. According to the invention, it is determined by means of a kinematic model of the multi-unit vehicle and a relative position and orientation of the vehicle determined from the three-dimensional environment data to at least one obstacle producing a bottleneck, if a collision-free passage of the vehicle through the bottleneck is possible. Depending on the possibility of passage through a driving instruction and / or a driver warning is issued.

The inventive method allows in a particularly advantageous manner, a considerable facilitation of the passage of bottlenecks on roads, such as bridges, tunnels, narrow streets and other bottlenecks, for the driver of the multi-unit vehicle, especially when between the vehicle and the obstacle, which the bottleneck generated, only very small spaces are available. The advantage of using the three-dimensional environment data originating from the environmental detection and the kinematic model of the vehicle is that particularly with very small clearances between the vehicle and the obstacle, the possibility of collision-free passage can be determined particularly accurately and reliably. Thus, the passage of bottlenecks and difficult sections with multi-unit vehicles with large width, height and length is also possible for drivers with low driving experience, so that even drivers with low driving experience are versatile. Furthermore, the passage is also facilitated for experienced drivers, so that a stress level during driving for the driver is reduced.

Furthermore, safety is increased and a traffic flow in the traffic is ensured, since the risk of collisions of the vehicle in the bottleneck and a stoppage of the vehicle in the bottleneck completely eliminated or at least reduced. Furthermore, unnecessary maneuvering maneuvers are avoided, thus reducing fuel consumption and consequent pollutant emissions from the vehicle. It is also possible to warn the driver ahead of time of imminent collisions in the bottleneck, so that he can prepare for the upcoming situation in good time and take measures to avoid dangers.

Embodiments of the invention will be explained in more detail below with reference to a drawing.

Showing:

1 schematically a multi-unit vehicle before passing through a bottleneck.

In the only one 1 is a multi-unit vehicle 1 illustrated, wherein the multi-unit vehicle 1 In the illustrated embodiment, a towing vehicle with a semi-trailer is. The vehicle 1 moves on a carriageway F to a constriction E, the constriction E is caused by narrowing of the carriageway F in the width dimension. The constriction E is bounded by two obstacles H1, H2, the obstacles H1, H2 in the illustrated embodiment being so-called safety barriers.

The vehicle 1 includes a detection device 2 for detecting an environment of the vehicle 1 , The detection device 2 includes a camera 3 for three-dimensional recording of the environment in pictures, the camera being in particular a stereo camera. The from the camera 3 Captured images are processed stereoscopically in a known manner to generate three-dimensional environmental data. In the stereoscopic processing, an object recognition and a so-called clustering are further performed so that the obstacles H1, H2 are detected and identified.

The camera 3 is also preferably a so-called multi-purpose camera, which is understood by a multi-purpose camera, a camera whose captured images simultaneously for various applications, in particular for the operation of various driver assistance systems, such. B. Adaptive Highbeam Assist, Lane Keeping Assist and Speed Limit Assist.

The detection device 2 further comprises a radar sensor 4 and a lidar sensor 5 , by means of which environmental data are also recorded and converted in generally known evaluation algorithms into three-dimensional environmental data. The three-dimensional environmental data of the radar sensor 4 and the lidar sensor 5 are preferably with the three-dimensional environmental data of the camera 3 merged. That is, the environmental data of the camera 3 , the radar sensor 4 and / or the lidar sensor 5 be plausibility checked with the other environmental data and corrected if necessary.

I not shown embodiments are the camera 3 , the radar sensor 4 and the lidar sensor 5 in other possible combinations with each other or alternatively provided to each other, including a training of the camera 3 as a mono camera or omnidirectional camera is possible. Alternatively or additionally, in a manner not shown, several cameras 3 , Radar sensors 4 and / or lidar sensors 5 be provided. Also, a merger with ultrasonic sensors, not shown, which, for example, part of a parking aid of the vehicle 1 are possible. Ambient data detected by the ultrasonic sensors in the vicinity of the vehicle are available, in particular at low speeds.

In a manner not shown in addition a fusion with environmental data of a three-dimensional map of a navigation system, data from a communication with other vehicles and other transmission facilities of an infrastructure as well as data communication of RFID sensors, which are arranged at bottlenecks E.

Based on the determined three-dimensional environmental data is a in the direction of travel of the vehicle 1 vehicle environment examined for a clear driving area out.

For this, the bottleneck E is based on the camera 3 , the radar sensor 4 and the lidar sensor 5 Measure three-dimensionally, so that the three-dimensional environment data are generated. In the illustrated embodiment, the width extension of the bottleneck E along the course and their length extension are determined. In an alternative or additional limitation of the constriction E in its height extent, for example in the formation of the constriction E as a tunnel or bridge, the height extent of the constriction E is determined alternatively or additionally over its entire course.

Furthermore, from the three-dimensional environment data distances of the vehicle 1 to the surrounding obstacles H1, H2 and consequently a relative position and Alignment of the vehicle 1 to the obstacles H1, H2 and thus to the bottleneck E determined.

The from the by means of the camera 3 , the radar sensor 4 and / or the lidar sensor 5 detected three-dimensional environmental data are additionally provided, for example, for operating a driver assistance system for monitoring a blind spot and for operating a so-called automatic brake assist, so that reliable operation of these driver assistance systems is possible with accurate capture of the required data due to the plausibility and correction of the data.

By means of a kinematic model of the multi-unit vehicle 1 and the relative position and orientation of the vehicle determined from the three-dimensional environmental data 1 to constriction E is determined whether a collision-free passage of the vehicle 1 through the bottleneck E is possible.

In the kinematic model are dimensions of the vehicle 1 , a maximum possible steering angle and a maximum possible bending angle between the links of the vehicle 1 contain. Furthermore, the kinematic model includes data on a current trajectory of the towing vehicle and the semitrailer occurring at different steering and bending angles. Based on the dimensions of the vehicle 1 , the maximum possible steering angle and the maximum possible bending angle and the current trajectory of the members of the vehicle 1 is determined taking into account the course of the constriction E and their height and width extent, whether the vehicle 1 Without touching the obstacles H1, H2 can be maneuvered by the driver through the bottleneck E.

Depending on whether a passage through the constriction E without collision with the obstacles H1, H2 is possible, the driver is within the vehicle 1 issued a visual, audible and haptic driver warning before the bottleneck E occurs. The optical output is via an inside of the vehicle 1 located, not shown display unit, wherein the display unit is a screen of the navigation system. The output is carried out on a particularly three-dimensional hazard map shown in the hazard map, the driver warning is issued, for example, by displaying warning symbols on a planned route. The hazard map is alternatively an environment map, which from the environmental data of the camera 3 , the radar sensor 4 and / or the lidar sensor 5 is produced.

The acoustic output takes place already in the vehicle 1 existing speakers, for example, a so-called vehicle entertainment system. As acoustic driver warning warning tones and / or spoken driver warnings, which indicate the impending bottleneck E, issued.

The haptic driver warning is in particular by vibration signals via a steering wheel, a driver's seat or a pedal system of the vehicle 1 issued to the driver.

In addition, prior to the occurrence of bottleneck E, driving hints are output, with the driving hints being output as a function of the possibility of collision-free transit through driving instructions and / or bypass indications of bottleneck E and driving recommendations.

The output of the driving information is again visually, haptically and acoustically based on the same output means, which are also used to output the driver warning.

In a preferred embodiment, the driving instructions are optically output based on a traffic light display. In this case, a bypass indication of the bottleneck E is output with a red marking. The diversion notice contains information that recommends that the driver avoid the bottleneck, turn or turn. In addition, the bypass indication is preferably output acoustically. At the same time an alternative route is calculated on which the driver can reach his destination, the route being issued automatically or on request of the driver.

A possible penetration notice of bottleneck E, which is only possible if a predefined risk limit value is exceeded, is output with a yellow marking. The passage is possible only with great effort and risk, especially with the help of a referrer.

With a green marking, a possible penetration warning of a bottleneck E is output, which is possible when it falls below a predetermined risk limit value. In this situation, the determined distances between the vehicle 1 and the obstacles H1, H2 are so large that a passage through the constriction E with little or no risk of collision is possible.

As a recommended driving the driver before and during the passage of the bottleneck E is a recommended maximum speed of the vehicle 1 , a recommended direction of travel of the vehicle 1 and steering instructions so that the driver can easily pass the bottleneck.

While passing through the bottleneck E are constantly using the camera 3 , the radar sensor 4 and the lidar sensor 5 the distances between the vehicle 1 and the obstacles H1, H2 and the relative position and orientation of the vehicle 1 to the obstacles H1, H2 determined. This determination is carried out in particular on the basis of so-called SLAM technologies (SLAM = Simultaneous Localization and Mapping). When reversing the vehicle 1 the determination is alternatively or additionally based on a so-called Traktrix calculation.

The optical output is preferably carried out in the embodiment shown in the embodiment from a bird's eye view, wherein the driving instructions are output at each point on the road F before and during the passage through the bottleneck E situation-dependent. Thus, the driver has a very good overview of the vehicle located in the constriction E and dashed lines shown in the embodiment shown 1 ,

During the passage, the driver is additionally assisted by a power steering, which outputs haptic impulses in the steering direction to be taken on the steering wheel.

In the event of a high risk of collisions when passing through the bottleneck E and ignoring the driving warning and the driving advice in addition to the output of the driving warning and the driving instructions by engaging in the longitudinal control of the vehicle 1 automatically brought to a standstill. Thus, collisions with the obstacles H1, H2 and other obstacles that limit the height extent of the bottleneck E, avoided.

Alternatively or additionally, an automatic transverse guidance and longitudinal guidance of the vehicle takes place 1 through the constriction E, so that even for inexperienced drivers a passage of challenging passages with bottlenecks E on the carriageway F is possible.

LIST OF REFERENCE NUMBERS

1

vehicle

2

detection device

3

camera

4

radar sensor

5

lidar

e

bottleneck

F

roadway

H1

obstacle

H2

obstacle

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10049229 A1 [0003]
• DE 102007027756 A1 [0004]
• DE 102006041651 A1 [0005]

Claims (7)

Method for assisting a driver in driving a multi-unit vehicle ( 1 ), one in the direction of travel of the vehicle ( 1 ) is examined for a free driving space, wherein three-dimensional environmental data of an environment of the vehicle ( 1 ), characterized in that by means of a kinematic model of the multi-unit vehicle ( 1 ) and a relative position and orientation of the vehicle determined from the three-dimensional environmental data ( 1 ) to at least one bottleneck (E) generating obstacle (H1, H2) is determined, whether a collision-free passage of the vehicle ( 1 ) through the bottleneck (E) is possible and depending on the possibility of passing through a driving instruction and / or a driver warning is issued or will. Method according to claim 1, characterized in that in the kinematic model, dimensions of the vehicle ( 1 ), a maximum possible steering angle and / or a maximum possible bending angle between a plurality of members of the vehicle ( 1 ), wherein trajectories of the members of the vehicle occurring at different steering and bending angles ( 1 ) and converted into the kinematic model. Method according to claim 1 or 2, characterized in that the driver warning within the vehicle ( 1 ) is emitted visually, acoustically and / or haptically before the constriction (E) occurs. Method according to one of the preceding claims, characterized in that the driving instruction within the vehicle ( 1 ) is emitted visually, acoustically and / or haptically prior to the occurrence of the constriction (E), whereby driving instructions and / or bypass indications of the bottleneck (E) and / or driving recommendations are output on the basis of the driving instruction. Method according to one of the preceding claims, characterized in that the driving instruction is optically output by means of a traffic light display, wherein a detour indicating the constriction (E) is issued with a red marking, a possible passage indication of the bottleneck (E) is issued with a yellow marking if a predefined risk limit value is exceeded, and a possible penetration notice of the bottleneck (E) is issued when a predefined risk limit value is undershot with a green marking. A method according to claim 4 or 5, characterized in that as a driving recommendation a maximum speed of the vehicle ( 1 ), a direction of travel of the vehicle ( 1 ) and / or steering instructions are issued. Method according to one of the preceding claims, characterized in that an automatic transverse guidance and / or longitudinal guidance of the vehicle ( 1 ) through the bottleneck (E).

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