DE102020001154A1 - Method for operating a vehicle - Google Patents

Abstract

The invention relates to a method for operating a vehicle (1), a state of damage to a vehicle component of the vehicle (1) being determined. According to the invention, it is provided that - a momentary vibration behavior of the vehicle (1) is determined when driving on a roadway and - a roadway condition of the roadway being driven on is determined, with- a vibration behavior of the vehicle (1) expected on the basis of the roadway condition is compared with the determined momentary vibration behavior and the state of damage is determined on the basis of a deviation between the determined vibration behavior and the expected vibration behavior of the vehicle (1) and an assessment of the deviation.

Description

The invention relates to a method for operating a vehicle, a state of damage to a vehicle component of the vehicle being determined.

From the DE 101 44 076 A1 a device and a method for the early detection and prediction of damage to assemblies in machine systems are known. The method provides that the structure-borne noise of the machine system is recorded by a sensor and output as an acceleration signal and analyzed in a digital signal processor. In order to avoid negative influences from ambient vibrations or structure-borne sound waves that are not related to the condition of the machine system, the acceleration signal is first transformed into the frequency domain using a Fast Fourier transformation and then the data obtained is transformed back into the time domain using cepstrum analysis so that resonance data of single burst pulses in the time domain is obtained. This cepstrum is then compared with a comparison cepstrum, which is available in a memory device in accordance with load and speed signals for the current operating state of a new machine installation. If limit values are exceeded, the diagnostic signal, in particular information about the unit diagnosed as damaged and its expected remaining service life, is displayed for the user and emergency operation is initiated.

The invention is based on the object of specifying a method for operating a vehicle which is improved over the prior art, a state of damage to a vehicle component of the vehicle being determined.

The object is achieved according to the invention by the features specified in claim 1.

Advantageous refinements of the invention are the subject matter of the subclaims.

A method for operating a vehicle, whereby a state of damage to a vehicle component of the vehicle is determined, provides according to the invention that a momentary vibration behavior of the vehicle is determined when driving on a roadway and a roadway state of the roadway being driven on is determined, with a vibration behavior of the expected on the basis of the roadway state Vehicle is compared with the determined instantaneous vibration behavior and the state of damage is determined on the basis of a deviation between the determined vibration behavior and the expected vibration behavior of the vehicle and an evaluation of the deviation.

By using the method, damage to the vehicle component, impending damage to the vehicle component and / or an acute problem with the vehicle component before the vehicle breaks down, which in particular drives automatically without a driver, can be detected and assessed.

In particular, by using the method, consequential damage resulting from primary damage as damage to the vehicle component can be largely avoided.

To use the method, it is essentially not necessary to make design-related changes to the vehicle, since the method can be carried out using components that are already present on the vehicle, in particular sensors.

In one embodiment of the method, at least one measure is automatically initiated as a function of the assessed deviation and the determined damage state and the vehicle component relating to the damage state, so that the vehicle essentially poses no danger to road users in the immediate vicinity of the vehicle.

To this end, a further development of the method provides that an emergency operation of the vehicle component and / or the vehicle is activated as an automatically initiated measure, the vehicle is brought to a standstill and / or information is sent to a control center connected to the vehicle.

In one embodiment of the method, a vibration behavior of the vehicle detected by sensors is compared with a vibration behavior of the vehicle detected at an earlier point in time under similar conditions and taken into account when determining the damage state.

In particular, in a further embodiment, the vibration behavior detected at an earlier point in time under similar conditions is used and taken into account in order to check the plausibility of the momentary and / or expected vibration behavior as a function of the roadway condition. Alternatively, the vibration behavior recorded at an earlier point in time is used if no vibration behavior expected in relation to the roadway condition is stored.

In a further development of the method, the determination and evaluation of the deviation to determine the damage state are carried out by means of neural networks. Such neural networks can be used to carry out complex signal-theoretical analyzes, with a so-called identification neural network being trained in relation to a standard, in particular a standard function of the vehicle component, in order to determine a state of damage to the vehicle component, ie a type of damage.

One possible embodiment of the method provides that the vibration behavior of the vehicle is determined on the basis of recorded signals from a vehicle-mounted microphone, a torque meter, a force and / or acceleration sensor. For this purpose, for example, a rolling noise from vehicle tires and / or structure-borne noise from the vehicle tires and / or a vehicle body is determined on the basis of the signals detected by means of the microphone.

In a further possible embodiment, the acceleration sensor records signals relating to accelerations and / or fluctuations in movement on a vehicle frame, on a vehicle axle and / or on a driver's cab in the direction of a vehicle longitudinal axis, a vehicle transverse axis and a vehicle vertical axis in order to determine the vibration behavior of the vehicle to determine a state of damage.

In a further possible embodiment, the force sensor records signals on the vehicle frame, on the vehicle axle and / or on the driver's cab in order to determine the forces acting in order to determine the vibration behavior of the vehicle.

In a further development of the method, a transmission output torque of a drive unit of the vehicle is recorded by means of a torque meter in order to determine the vibration behavior of the vehicle and then to determine whether the vehicle is damaged.

In particular, the method provides that the state of damage is determined in the automated driving mode of the vehicle, since in the automated driving mode there is often no driver in the vehicle who recognizes a change in the driving mode based on noises and / or changes in the vibration behavior of the vehicle and possibly that withdraws no longer roadworthy vehicle from traffic.

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

• 1 schematisch ein Fahrzeug mit einer Vorrichtung zur Ermittlung eines Beschädigungszustandes einer Fahrzeugkomponente.

The shows:

• 1 schematically a vehicle with a device for determining a damaged state of a vehicle component.

In the only figure is a vehicle 1 shown with a device for determining a damaged state of a vehicle component. According to the present exemplary embodiment, it is the vehicle 1 around a truck with a tractor 1.1 and a trailer 1.2 .

In the future, there will be more and more automated vehicles on roads 1 to be encountered.

In such a vehicle 1 there is a comparatively high probability that there will be no responsible driver. The vehicle 1 receives in such a case via an antenna 3 a driving order from a control center 2 and executes it fully automatically. However, the method can also be used in less automated vehicles in order to warn the driver of damage to vehicle components.

Usually a driver of a vehicle has 1 in addition to performing a driving task, in particular controlling the vehicle 1 , the task of gradual and sudden changes, ie damage, to the vehicle 1 recognizable in its driving operation as well as a no longer roadworthy vehicle 1 to be withdrawn from circulation.

Drives the vehicle 1 automated and without a driver, this task cannot be pursued, so this task is not fulfilled.

About damage to the vehicle in automated driving mode 1 without recognizing the driver, a procedure described below is provided. In particular, the procedure describes a methodology to avoid creeping and sudden changes to the vehicle 1 to detect, to make a first indication of a damaged state of a vehicle component, to use information to define a safe vehicle state and the control center 2 , ie in particular to notify a vehicle operator.

The vehicle 1 comprises detection units assigned to an environmental sensor system, especially a camera 4th and at least one radar- and / or lidar-based sensor 5 , wherein in the embodiment the camera 4th and the sensor 5 are shown as components of the environmental sensor system, these also being several on and / or in the vehicle 1 may have arranged detection units.

The camera 4th and the sensor 5 are with a computing unit 6th signal-connected, the computer unit 6th signals captured by the camera 4th and the sensor 5 can be supplied for evaluation and processing.

In addition, the vehicle has 1 a number of function sensors 7th which can be designed as a microphone for detecting noises, as a structure-borne sound sensor for detecting structure-borne sound, as an acceleration sensor, as a tire pressure sensor for detecting tire pressure, as a torque sensor, as a force sensor, in particular a load cell, etc.

In particular, signals relating to accelerations and / or fluctuations in movement on a vehicle frame, on a vehicle axle and / or on a driver's cab in the direction of a vehicle longitudinal axis are generated by means of the acceleration sensor x , a vehicle transverse axis y and a vehicle vertical axis z recorded.

By means of the force sensor, signals on the vehicle frame, on the vehicle axle and / or on the driver's cab are recorded in order to determine the forces acting, and a transmission output torque of a drive unit of the vehicle is determined by means of a torque meter 1 recorded.

According to the present embodiment, there are three function sensors 7th on the tractor 1.1 arranged and a function sensor 7th is on the trailer 1.2 arranged, with all function sensors 7th wired and / or wirelessly to the computer unit on the vehicle 6th are connected, the detected signals of the function sensors 7th can be supplied for evaluation and processing.

By means of the environmental sensors and the function sensors 7th are in the driving mode of the vehicle 1 continuously recorded signals by means of the computer unit 6th evaluated and processed.

In particular, based on the detected signals of the function sensors 7th a vibration behavior of the vehicle 1 , that is, a vibration state is determined. For example, the recorded signals are used to determine the vibration behavior of the vehicle 1 evaluated by means of a Fast Fourier Transformation.

On the basis of the detected signals from the environmental sensors, a roadway condition of a roadway that the vehicle 1 currently driving, determined. For this purpose, a road surface with regard to uneven road surfaces, such as. B. with regard to transverse grooves, roughness, moisture, snow, etc., analyzed.

On the basis of the determined roadway condition, an expected vibration behavior corresponding to this is determined, with a vibration behavior of the vehicle recorded at an earlier point in time under similar conditions 1 , which is in the computer unit 6th is stored, can be used and taken into account.

The determined vibration behavior of the vehicle 1 is related to the expected vibration behavior of the vehicle in relation to the condition of the road 1 and / or with the vibration behavior of the vehicle detected at an earlier point in time under similar conditions 1 compared.

In other words: the recorded signals from the environmental sensors and the function sensors 7th are with reference data of the vehicle 1 compared in at least one similar vehicle condition. The reference data are measurements that were recorded in defined vehicle states. The vehicle state is understood here to mean a state that relates to the vehicle, for example its load or possibly existing semitrailers / trailers, but also a state that relates to the driving conditions, for example the nature or the state of the road surface that Driving situation (e.g. driving uphill, cornering) or the weather conditions (e.g. driving in rain).

The reference data is, for example, that the vehicle 1 a roadway with a smooth road surface, with a defined driving speed, a defined speed of a drive unit of the vehicle 1 and has traveled on a defined load.

The determined vibration behavior is thus compared with the expected and / or the vibration behavior determined at an earlier point in time, so that abnormalities can be identified.

In particular, a state of damage to a vehicle component is determined on the basis of a deviation between the determined vibration behavior and the expected vibration behavior and / or already detected vibration behavior of the vehicle 1 and an evaluation of the deviation is determined.

In order to be able to exclude as far as possible an incorrect indication with regard to a damaged condition of a vehicle component, predictions are made about the condition of the road surface and the condition of the surroundings when the vehicle drives over it 1 considered. At least one estimate is therefore carried out in relation to a road surface.

Properties with regard to the condition of the road are those mentioned above, with a road surface, a condition of the road, in particular wet, dry, and / or a road profile being estimated and / or determined on the basis of the detected signals of the environmental sensors.

So-called motorway slabs can be recognized on the basis of the road surface. From this, conclusions can be drawn about the frequency spectrum and the amplitude of the excitations that arise when driving over the motorway slabs.

After a deviation between the determined vibration behavior and the expected and / or stored vibration behavior has been determined, i. H. If a change has been identified, an evaluation and indication of the severity of the impairment takes place, that is to say an evaluation of the state of damage, in particular of a type of damage.

The damage status between unimportant abnormalities, i.e. H. A distinction is made between deviation, creeping damage and sudden damage.

By means of the computer unit 6th and / or by means of the control center 2 To which such information is automatically reported, a check is then carried out to determine whether the vehicle is operating safely 1 is possible despite the state of damage.

If, for example, a comparatively unexpectedly high resonance occurs in the current cardan shaft frequency ranges and is in the vicinity of the vehicle 1 Finding no indication of an increased occurrence of this frequency suggests a change, in particular damage, in the vicinity of a cardan shaft of the vehicle 1 conclude.

In order to be able to detect gradually occurring damage to a vehicle component, abnormalities, in particular determined deviations between the determined vibration behavior and the expected and / or stored vibration behavior of the vehicle, are identified 1 , regularly to the control center 2 reported and / or at least in the computer unit 6th of the vehicle 1 saved.

In the event that a driving operation of the vehicle 1 is possible despite a damaged state of a vehicle component, an emergency operation of the vehicle component or the vehicle belonging to the damage type is possible 1 set.

If, for example, a transmission as a vehicle component is in a state of damage, with a transmission stage being damaged, an instruction is issued, in particular from the speaking unit 6th or the control center 2 that this gear stage, i.e. a certain gear, is no longer engaged. The damage is then reported to an operator of the vehicle 1 so that the damaged state at the next opportunity, e.g. B. as part of scheduled maintenance or a planned stop.

Is a safe driving operation of the vehicle 1 not possible due to the damaged state of a vehicle component, information on the type of damage of the damaged state is used to define a safe driving state and / or vehicle state. An occurring state of damage with a respective safe driving state can, for. B. be that a vehicle tire 6th has ruptured, and in such a case it is provided that the vehicle 1 stops comparatively slowly on a hard shoulder or other suitable parking space.

Has a radiator of the vehicle 1 a damaged condition, it is provided that the vehicle 1 continues to drive with reduced power in order to leave the motorway at the next exit, for example.

By using the method, abnormalities in vehicle components can be identified when the vehicle is being driven 1 recognized, with the aid of this possible damage states are derived and effects on a further automated driving operation of the vehicle 1 be estimated.

To do this, the camera captures or captures 4th , the radar and / or lidar based sensor 5 and / or the function sensors 7th Signals that the computer unit 6th are supplied and evaluated and processed in this. In particular, damage states of vehicle components determined on the basis of the vibration behavior are compared with data from a database, and decisions on further automated driving of the vehicle are made 1 met and to the control center 2 and thus transmitted to the vehicle operator.

In any case, the vehicle can 1 the control center 2 contact to report damage conditions and further instructions, e.g. B. a journey to a nearest workshop to receive.

In summary, the method provides that on the basis of detected signals from the function sensors 7th a vehicle condition, a vehicle status and in particular a vibration behavior can be measured. In a memory of the computer unit 6th the signals recorded at an earlier point in time, in particular the vibration behavior, are stored, with measurement data being stored that depict standard driving situations.

Based on the signals captured by the camera 4th and the sensor 5 a road condition, in particular a road condition, an environmental condition, in particular weather conditions, and a road profile are predicted.

The vehicle status and the predicted road condition are checked in relation to a vehicle condition corresponding to the road condition, with abnormalities, in particular deviations in the frequency range, ie the vibration behavior of the vehicle 1 , be determined.

The abnormalities, ie the deviations, are classified as unimportant deviations, creeping damage to a vehicle component or sudden damage and sent to the control center 2 reported. Previous abnormalities of the corresponding vehicle component are determined by means of recorded, stored signals.

On the basis of the determined state of damage and / or a type of damage, it is determined whether a further safe automated driving operation of the vehicle 1 is possible. If so, the automated driving operation is continued without restrictions, the recorded stored signals being taken into account with regard to previous abnormalities in further driving operations.

Is not another safe automated driving operation of the vehicle 1 possible, a safe driving state is determined, with either emergency operation of the vehicle component and / or the vehicle 1 is set. For example, a current driving speed of the vehicle is or becomes for this purpose 1 automatically reduced and / or the vehicle 1 is driven to the next safe parking location.

If a vehicle stop is determined as a safe driving condition, z. B. initiated an immediate initiation to follow an emergency trajectory and the vehicle 1 brought to a standstill by means of an automatically initiated emergency braking at the edge of the road.

In particular, the method is implemented by means of neural networks as learning systems, by means of which complex signal-theoretical analyzes are carried out.

Using neural networks z. B. the abnormalities, d. H. the deviations, identified in the vibration behavior and the abnormalities, i.e. the deviations, classified.

For this purpose, a so-called identification neural network is trained in relation to a standard, in particular in relation to a standard driving situation. There is also any number of marked data for standard driving situations that are free of abnormalities.

Training a so-called classification neural network is comparatively complex, since data on various damage states have to be "brought in" in order to obtain labeled samples.

It is also conceivable that both stages, that is, training for standard driving situations free of abnormalities and “running in” for various damage states, are trained in a neural network.

List of reference symbols

1

vehicle

1.1

tractor

1.2

Trailer

2

control center

3

antenna

4th

camera

5

sensor

6th

Computing unit

7th

Function sensor

8th

Vehicle tires

x

Vehicle longitudinal axis

y

Vehicle transverse axis

z

Vehicle vertical axis

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 10144076 A1 [0002]

Claims (10)

A method for operating a vehicle (1), a state of damage to a vehicle component of the vehicle (1) being determined, characterized in that - a momentary vibration behavior of the vehicle (1) is determined when driving on a roadway and - a roadway state of the roadway being driven is determined - A vibration behavior of the vehicle (1) expected on the basis of the state of the road is compared with the determined instantaneous vibration behavior and the damage state is determined on the basis of a deviation between the determined vibration behavior and the expected vibration behavior of the vehicle (1) and an evaluation of the deviation. Procedure according to Claim 1 characterized in that at least one measure is automatically initiated as a function of the determined state of damage and the vehicle component relating to the state of damage. Procedure according to Claim 1 or 2 , characterized in that an emergency operation of the vehicle component and / or the vehicle (1) is activated as an automatically initiated measure, the vehicle (1) is brought to a standstill and / or information is sent to a control center connected to the vehicle (1) ( 2) is discontinued. Method according to one of the preceding claims, characterized in that a sensor-recorded vibration behavior of the vehicle (1) is compared with a vibration behavior of the vehicle (1) recorded at an earlier point in time under similar conditions and is taken into account when determining the state of damage. Method according to one of the preceding claims, characterized in that the determination and evaluation of the deviation for determining the damage state are carried out by means of neural networks. Method according to one of the preceding claims, characterized in that the vibration behavior of the vehicle (1) is determined on the basis of recorded signals from a vehicle-mounted microphone, a torque meter, a force and / or acceleration sensor as function sensors (7). Procedure according to Claim 6 , characterized in that signals relating to accelerations and / or movement fluctuations on a vehicle frame, on a vehicle axle and / or on a driver's cab in the direction of a vehicle longitudinal axis, a vehicle transverse axis and a vehicle vertical axis are detected by means of the acceleration sensor. Procedure according to Claim 6 or 7th , characterized in that signals on the vehicle frame, on the vehicle axle and / or on the driver's cab to determine acting forces are detected by means of the force sensor. Method according to one of the Claims 6 until 8th , characterized in that a damage state of a transmission is detected by means of a torque meter or a torque estimation from a motor characteristic value. Method according to one of the preceding claims, characterized in that the state of damage is determined in the automated driving mode of the vehicle (1).

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