DE102024203837A1 - Method and device for controlling a vehicle component during wading - Google Patents

Abstract

Method for controlling a vehicle component during a wading trip, wherein the method, upon detection of a wading trip, at least
• one pressure sensor size is detected (420, 500) and
• a wading depth is determined by the size of the pressure sensor (430, 510), and
• performs a comparison of the wading depth with at least one threshold value (440, 520), and depending on the comparison, controls at least one control element (270, 280, 290, 300, 310) of a vehicle component (450, 530)

Description

The invention relates to a method and a device for controlling a component in a vehicle when a mudflat crossing is detected, as well as to a corresponding vehicle.

State of the art

Especially when driving off-road vehicles, it occasionally happens that rivers or small lakes are crossed. Such so-called wading trips are designed for suitably equipped vehicles to pass through water up to a predetermined depth, which is why, for example, the air intake or exhaust pipe is raised. However, such wading becomes difficult when the water level at the vehicle or the wading depth exceeds a permissible level. In such cases, damage to the vehicle, dangerous driving situations, or even the engine stalling and the vehicle coming to a standstill in the water can occur.

From the scripture DE 10 2014 210 103 A1 A method is known in which the buoyancy effect of a vehicle is used to detect wading. The deflection of chassis components, such as the rebound travel of springs or shock absorbers, is measured as a measure of the water level or depth. The water rise or depth can be determined according to the document. DE 10 2014 210 104 A1 Water levels can be derived from electrical signals from a single sensor, for example, via current flow, resistance, or capacitance of an electrode array. In addition, the water level can be detected using a float or ultrasound.

The present invention is intended to demonstrate a method and a device in which the wading depth is monitored so that appropriate countermeasures can be initiated.

Disclosure of the invention

The inventive method, or the corresponding device or vehicle with such a system, first detects a pressure sensor reading when wading is detected, which is used to determine the water depth or wading depth. The wading depth thus determined is then compared with a threshold value. Upon reaching the corresponding water level at the vehicle, this threshold value necessitates a reaction from the driver and/or the vehicle itself to prevent or counteract damage to the vehicle, a problematic driving situation, or a failure of the drive system. If the wading depth exceeds the water level at the vehicle predetermined by the threshold value, at least one vehicle component is activated via a corresponding control element.

By reacting promptly when a critical water level is reached at the vehicle, further damage or a problematic driving situation can be prevented.

In a further embodiment of the invention, wading can also be detected by a pressure sensor reading. It is possible that this is the same (first) pressure sensor reading that is also used to determine the wading depth. Alternatively, however, a first pressure sensor reading can be used to detect wading and a second pressure sensor reading to determine the wading depth. Optionally, it is conceivable that both pressure sensor readings are detected by the same pressure sensor or by different pressure sensors.

To detect wading and/or determine wading depth, changes in pressure can be considered in addition to the absolute pressure. Furthermore, vehicle inclination, gradient, direction of travel, speed, and/or acceleration can be used to detect wading and/or determine wading depth.

In addition to a single measurement of the wading depth, its changes can also be recorded and used to control at least one vehicle component. For this purpose, at least two time-separated pressure sensor readings can be recorded, for example.

To prevent potential damage or problematic driving situations, the system can activate a control element that provides the driver with visual or audible warnings or information about the excessively high water level around the vehicle. Furthermore, it is conceivable to provide the driver with haptic feedback via one of the pedals or the steering wheel. To ensure the safety of the occupants, the battery can also be at least partially de-energized if the water level becomes too high. Additionally, the engine can be activated, for example, to enable the vehicle to drive out of deep water, particularly with a partially autonomous vehicle. The steering can also be controlled for this purpose. Alternatively, the engine can be deactivated to protect it from excessive water levels.

It is particularly advantageous if a location coordinate is recorded for each measured wading depth, so that the engine and/or steering can be controlled based on these coordinates. For example, the vehicle can be driven to a location with a shallower wading depth, especially to a location where the vehicle has previously been.

Furthermore, various pressure sensors can be installed on the vehicle, allowing the pressure readings of each individual sensor to be recorded and used to determine the corresponding wading depths. For example, pressure sensors could be mounted at the front and rear and/or on the right and left sides of the vehicle. For evaluation, at least two pressure readings from different sensors are recorded essentially simultaneously. These simultaneously recorded pressure readings can then be used individually to determine the wading depths, for example, to detect different water levels at the front and rear or on the right and left sides. Alternatively, the pressure readings and/or the derived wading depths of a group of at least two pressure sensors can be averaged. This allows, for example, the separate determination of an average value for the wading depth at the front and rear. The different water levels recorded at the vehicle can then be used to determine, for example, the vehicle's roll or tilt. The roll and/or tilt values determined in this way can then serve as the basis for controlling the vehicle components.

Further advantages arise from the following description of exemplary embodiments or from the dependent patent claims.

Short description of the drawings

• In the 1 The diagram shows a vehicle with possible locations for the pressure sensors. The block diagram of the 2 shows a possible device for carrying out a method according to the invention, as shown in the flowcharts of the 3 and 4 is shown.

Embodiments of the invention

To detect the rise in water level on a vehicle, for example during wading, pressure sensors can be used in addition to other sensors. By appropriately positioning the pressure sensors on the vehicle and orienting a pressure channel into which the water can rise, a pressure sensor signal can be obtained that represents the rise in water level. A possible design for such a pressure sensor is described in the unpublished document. DE 10 2023 212 285 A1 executed.

As already mentioned, off-road vehicles are particularly well-suited to traversing bodies of water such as rivers or, in particular, fords without difficulty up to a certain water level. However, problems arise for such vehicles when the water rises above a predetermined height, as both the interior and essential operating components can then be affected or even damaged by the water. To enable the driver, or generally the user of the vehicle, to take timely countermeasures in the event of an impending rise in water level, the present invention describes a method and a device for preventing damage to the vehicle or disadvantages for the vehicle occupants or their luggage. One such countermeasure can also consist of a vehicle that is at least partially autonomous and essentially moves itself out of a problematic situation.

In the 1 A vehicle 100 is schematically depicted moving in a forward direction 180. Pressure sensors can be attached at various locations to detect the water level on the vehicle 100. For example, one pressure sensor 150 and one 155 could be installed on the left and right sides, for instance, near the left wheel 110 or the right wheel 120. Alternatively, the two pressure sensors 150 and 155 could be installed in the engine compartment or near the bumper. Similarly, pressure sensors 160 and 165 could be installed on the left or right side of the rear of the vehicle. Again, these pressure sensors could be located near the wheel wells of the left rear wheel 140 or the right rear wheel 130. Of course, mounting them in the area of the rear bumper is also possible. To detect the rise in water level on the side of the vehicle 100, for example, near the doors, additional pressure sensors 170 and 175 could be provided. These pressure sensors 170 and 175 can, for example, detect whether the water level has risen high enough to allow water to enter the interior.

One possible application of the present invention will first be described using a device according to the 2 executed. An evaluation unit 200 is provided. This evaluation unit 200 can contain a memory 210, in which, for example, threshold values are stored that indicate predetermined water levels, from which which can cause problems for the vehicle infrastructure, vehicle components, or even the vehicle occupants. For example, different threshold values can be assigned to different vehicle components, as the components that could be affected by water are mounted at different heights within the vehicle.

The essential starting point of the application according to the invention is the detection of at least one pressure sensor value or signal from a first pressure sensor 220 by the evaluation unit 200. Depending on this at least one pressure sensor value, the method running in the evaluation unit 200 can detect whether the rise in water level in the vehicle is becoming a problem for the operation of at least one component or for the vehicle occupants. The evaluation unit 200 can react accordingly by informing the driver or other occupants via a suitable device 270. This device can, for example, be a display or another acoustic or optical component in the vehicle. It is also conceivable that the evaluation unit 200 informs the users or owners of the vehicle via a wireless connection, for example, via a smartphone. Furthermore, the driver can be given haptic feedback regarding the control of the pedal 280 and/or the steering 310, for example, by the pedal or the steering wheel vibrating. Since a rising water level in the vehicle could also negatively affect the battery, the evaluation unit 200 can be configured to influence the control of the battery 290. This allows the battery 290, or alternatively the vehicle's power supply, to be completely or partially interrupted, for example, only for components or power lines in deeper areas. Because rising water levels can affect the motor, not only in electric vehicles, the evaluation unit 200 can deactivate the motor 300 to prevent further damage. Alternatively, the motor 300, and possibly also the steering system 310, can be deliberately activated and controlled to steer the vehicle out of deep water, provided the vehicle has at least a partially autonomous system.

As explained above, the vehicle can also have multiple pressure sensors that can be used to detect problematic fording. The evaluation unit 200 can thus acquire the corresponding pressure sensor readings from at least one second pressure sensor 230 and take them into account during the evaluation. For example, it is conceivable to evaluate the pressure sensor readings from pressure sensors 150 and 155 separately and determine corresponding fording depths or water depths in order to deduce whether the vehicle is in a rollover situation. This rollover reading obtained in this way can then be used for further control purposes during vehicle operation, possibly also to detect an (impending) rollover and potentially the activation of restraint systems. A similar evaluation of pressure sensor readings from the front and rear of the vehicle allows for the acquisition of a corresponding pitching motion of the vehicle.

Additionally, the evaluation unit 200 can be configured to acquire further vehicle operating parameters via corresponding sensors 240 or vehicle evaluation or control elements in order to record, specify, or assess the operating situation. For example, the evaluation unit could acquire the inclination, tilt, speed, acceleration, and/or direction of movement or travel and take this information into account when evaluating or controlling the vehicle components. It is also conceivable that the sensors 240 or evaluation or control elements could generate information indicating wading. As will be explained later, in one embodiment, the evaluation unit 200 can also automatically detect wading based on at least one pressure sensor reading, for example, by acquiring a pressure sensor reading that indicates a rise in the water level at the vehicle below one of the threshold values used.

For controlling vehicle components, for documentation purposes, and also for suggesting a potentially safe route, especially during autonomous driving, it can be useful to additionally record the location using a suitable system such as GPS. This location data, which should be recorded in close proximity to the pressure reading or the determination of the corresponding wading depth, allows the driver or the autonomous system to be advised on a safe route that leads the vehicle out of the excessively deep water. Alternatively or additionally, relevant data from a navigation device, map data, or the cloud, containing information about potential water depths, can also be imported.

The flowchart of 3 Figure 4 shows a possible embodiment of the method according to the invention. The method is normally started when wading is detected. Optionally, however, in a first step 400, a (sensor) parameter can be detected that indicates a rise in water level or wading. The sensor can be used for this purpose. The size can be a pressure sensor size, as already explained above. Then, in a further optional step 410, it is checked whether a wading operation is taking place. If this is not the case, the procedure can be terminated or repeated with step 400.

Upon execution of step 420, the information is available that the vehicle is fording water. Therefore, at least one pressure sensor value is acquired in step 420. Optionally, a time-dependent profile of the pressure sensor value or a multitude of pressure sensor values from different pressure sensors on the vehicle can be acquired in step 420. In the subsequent step 430, a fording depth or water depth is determined based on the at least one pressure sensor value. For this, the installation location of the pressure sensor and, in particular, its installation height are taken into account. The determined fording depth is then compared with at least one threshold value in step 440 to check whether the water level rise could be problematic for the operation of the vehicle, its components, or the occupants. It is quite possible that the fording depth is compared with several threshold values to check which vehicle components might be affected.

It is also conceivable that, in step 430, separate wading depths were previously determined based on several pressure sensor values from different pressure sensors located at various points in the vehicle. In this case, each individual wading depth can be compared with at least one threshold value. Alternatively or additionally, the difference between the wading depths can also be used to detect if a threshold value has been exceeded, for example, if a higher wading depth is detected at the front compared to a lower wading depth at the rear of the vehicle. Such an analysis can, for example, detect problematic pitching or rolling. If no problematic driving or operating situation is detected during the comparison in step 440, the procedure can be terminated or repeated with steps 400 or 420. However, if at least one threshold value is detected being exceeded in step 440, at least one vehicle component is controlled directly or indirectly in a further step 450. As for the device according to the 2 As already mentioned, the control can involve both providing information to the driver and deactivating/activating a battery, steering system and/or engine.

Using the procedure according to the flowchart of the 4 A further possible embodiment of the invention is shown. In a first step 500, pressure sensor readings separated by time can be acquired, optionally in combination with corresponding location information and/or navigation information. Here, too, the pressure sensor readings can originate from different pressure sensors. Subsequently, in step 510, corresponding wading depths are determined for the respective pressure sensor readings. If, in step 520, it is detected that the water depth is changing, particularly beyond a certain extent, for example, by comparing the difference in wading depths above a change threshold, the driver can be informed in step 530 about the change and, optionally, also about the previously lower wading depth, in particular about the associated location. This gives the driver the opportunity to move the vehicle from the deeper water area to an area with shallower or even no water. Optionally, it can also be provided that in step 530 an at least partially autonomous operating procedure for the vehicle is activated, which automatically drives the vehicle to an area with a lower water level by controlling the drive and/or steering. This could include, for example, areas already traveled that were recorded in step 500. Alternatively, map data can also be used to determine the driving recommendation.

The acquisition of the temporally separated pressure sensor values, optionally including location data and/or map data, in step 500, as well as the determination or derivation of the corresponding wading depths in step 510, can also be carried out independently as procedure 600. The wading depths generated in this way can then be made available for comparison in step 520 continuously or upon appropriate triggering.

If, in step 500, the pressure sensor values of differently arranged pressure sensors on the vehicle are recorded, then in step 520, a tilt or inclination of the vehicle can be detected from the corresponding differences in the determined associated wading depths. The corresponding tilt or inclination values derived from this difference can also be used to control the vehicle components or the driving operation in step 530.

In a further embodiment of the invention, in steps 430 and 510, the corresponding pressure sensor size or the wading depths derived therefrom can also be averaged when determining the wading depths. For example, it is conceivable that the pressure sensor sizes of the right and left pressure sensors 1150 and 155 in the front area of the vehicle are first recorded and then averaged. Each of these pressure sensor values can be used to determine its own wading depth. In the next step, the two wading depths can then be averaged and combined for further evaluation or comparison. Similarly, an average of the water depths at the front and rear, as well as to the right and left of the vehicle, can be performed.

QUOTES CONTAINED IN THE DESCRIPTION

This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• DE 10 2014 210 103 A1 [0003]
• DE 10 2014 210 104 A1 [0003]
• DE 10 2023 212 285 A1 [0014]

Claims (13)

Method for controlling a vehicle component during wading, wherein the method, upon detection of wading, at least • detects a pressure sensor value (420, 500) and • determines a wading depth as a function of the pressure sensor value (430, 510), and • compares the wading depth with at least one threshold value (440, 520), and • controls at least one control element (270, 280, 290, 300, 310) of a vehicle component as a function of the comparison (450, 530). Procedure according to Claim 1 , characterized in that the method • for detecting wading captures at least one first pressure sensor parameter (400) and • detects wading as a function of the first pressure sensor parameter (410), wherein it is particularly provided that the wading depth is determined as a function of the at least one first pressure parameter and/or at least one second pressure sensor parameter (430, 520). Method according to one of the preceding claims, characterized in that the method detects (410) wading and/or determines (430, 510) the wading depth depending on the change of at least one pressure parameter. Method according to one of the preceding claims, characterized in that the method detects (410) wading and/or determines (430) the wading depth depending on • a vehicle inclination parameter, and/or • a direction of movement of the vehicle, and/or • a vehicle speed, and/or • a vehicle acceleration parameter. Method according to one of the preceding claims, characterized in that the method • detects a change in wading depth (520), in particular by detecting two time-spaced pressure sensor values (500), and • controls the at least one vehicle component depending on the change in water depth (530). Method according to one of the preceding claims, characterized in that the method uses the control element (270, 280, 290, 300, 310) to: • provide optical and/or acoustic information to the driver, and/or • change the pedal behavior, and/or • at least partially disconnect the battery, and/or • activate and/or deactivate the motor, and/or • activate steering. Method according to one of the preceding claims, characterized in that the method • determines a wading depth (510) depending on at least two temporally spaced detected pressure sensor quantities (500), and • controls the engine and/or the steering by means of the control element (300, 310) such that the vehicle drives into an area with a lower wading depth. Procedure according to Claim 6 or 7 , characterized in that the method • records a location coordinate for each wading depth (420, 500), and • additionally controls the engine and/or the steering depending on the location coordinate. A method according to one of the preceding claims, characterized in that the method • essentially simultaneously detects at least two pressure sensor values from pressure sensors on the vehicle (500), which are arranged either at the front (150, 155) and rear (160, 165) and/or on the right (155, 165, 175) and left (150, 160, 170) of the vehicle, and • determines a separate wading depth for each pressure sensor based on the at least one pressure sensor value (510), or • determines an averaged wading depth for a group of at least two pressure sensors based on the corresponding at least one pressure sensor value (510), wherein it is particularly provided that the method controls the control element (270, 280, 290, 300, 310) of a vehicle component depending on the separately or averagedly determined wading depth (530). Procedure according to Claim 9 , characterized in that the method derives a tilt parameter and/or rollover parameter of the vehicle based on the separately determined wading depth and/or the average determined wading depth (510), and controls the at least one control element of a vehicle component depending on the tilt parameter and/or rollover parameter (530). Device for controlling a vehicle component during wading, wherein the device has an evaluation unit (200) which performs a method according to a Claims 1 until 10 executes, wherein the evaluation unit (200), upon detection of wading, at least • by means of at least one pressure sensor (220) The pressure sensor size is detected and, depending on the pressure sensor size, a wading depth is determined, and a comparison of the water depth with at least one threshold value is performed and, depending on the comparison, at least one control element (270, 280, 290, 300, 310) of a vehicle component is controlled. Device according to Claim 11 , characterized in that the evaluation unit (200) detects the pressure sensor quantities of at least two pressure sensors (220, 230) which are arranged either at the front (150, 155) and rear (160, 165) and/or on the right (155, 165, 175) and left (150, 160, 170) of the vehicle, wherein it is provided that the evaluation unit (200) determines, based on the pressure sensor quantities detected in particular simultaneously, • a separate wading depth for each sensor or • an average wading depth (510). Vehicle with a device according to Claim 11 or 12 or an evaluation unit (200) which uses a procedure according to one of the Claims 1 until 10 executes.