WO2007033705A1 - Device for detecting surroundings and method for actuating the device for detecting surroundings - Google Patents

Abstract

For a towing vehicle with a trailer, it is a difficult task to drive backwards towards a loading ramp or towards an obstacle. The invention is based on the object of proposing a device for detecting surroundings which effectively monitors the space behind a towing vehicle with a coupled trailer, in particular when it is reversing. In addition, a method is to be formed for actuating the device for detecting surroundings. For this purpose, a device for detecting surroundings for a towing vehicle 1 having a control device 5 and a plurality of obstacle sensors S1... S8, U1... U6 is proposed, the control device 5 being embodied in terms of programming and/or circuitry in such a way that in the trailer mode the obstacle sensors S1... S8, U1... U6 can be activated and/or are activated selectively as a function of the bend angle alpha between the towing vehicle 1 and a trailer 2.

Description

 Environment detection device and method for controlling the environment detection device

The invention relates to an environment detection device for a towing vehicle with a control device and one or more obstacle sensors and a method for driving the environment detection device.

For the driver of a towing vehicle with trailer, it is a difficult task to drive backwards to a loading dock or an obstacle. The rear viewable space for the driver is determined by the interplay of the length and width of the towing vehicle and the trailer in combination with the mirrors responsible for all-round visibility. In general, the environment behind the towing vehicle becomes all the more confusing as the articulation angle between towing vehicle and trailer increases.

It is common to support the driver in the rear of a vehicle to arrange obstacle sensors. This technology is now widely used on passenger cars in the market. However, in the area of the sensor range, a trailer coupled to a towing vehicle with obstacle sensors aligned at the rear has many interfering contours, such as support legs, storage areas, etc., which are recognized as obstacle by the obstacle sensors and Output a warning signal. To avoid a constantly passed on to the driver warning the

Obstacle sensors usually shut off when the trailer is docked.

Document DE 19805515 A1 discloses an obstacle detection system in a motor vehicle having an electronic control unit with sensors for detecting the distance of an obstacle in a predetermined area. It was recognized as a problem that the usual obstacle detection systems trigger on vehicle mounted attachments a false alarm. In order to suppress such a false alarm, in a first step the distance to a possible obstacle is detected and in a second step it is checked whether this distance changes. However, it is to be feared that this system does not lead to a satisfactory result in a towing vehicle with coupled trailer, since the distance between towing vehicle and trailer constantly changes in maneuvering due to the varying bending angle.

The invention is therefore the object of providing an environment detection device which effectively monitors the rear space of a towing vehicle with coupled trailer especially when reversing. In addition, a method for controlling the environment detection device is to be formed.

This object is achieved by an environment detection device having the features of claim 1 and a method having the features of claim 12. Advantageous embodiments of the invention will become apparent from the dependent claims. The environment detection device is suitable and / or designed for a towing vehicle, as a towing vehicle preferably any type of vehicle is understood, to which a trailer or semi-trailer is coupled, in particular, a tractor unit is understood.

The environment detection device according to the invention has a control device and one or more obstacle sensors. The obstacle sensors are designed to detect the distance of an obstacle in a given area. In principle, the obstacle sensors may be designed as any sensors, e.g. be designed as ultrasonic, radar and / or laser sensors, etc.

However, the obstacle sensors are preferably realized as sensors operating according to the echosounding principle, in particular as ultrasonic sensors and / or radar sensors.

In the echosounding principle, the obstacle sensors are preferably offset in time and in particular cyclically addressed by the control unit, wherein the respective addressed obstacle sensor emits an echo signal, in particular an ultrasound packet. Knowing the measured transit time of the echo signal and the speed of sound, the distance to the obstacle and / or the position of the obstacle can be determined in a known manner by means of a triangulation method, wherein a direct measurement and a cross measurement is required. Direct measurement means that an obstacle sensor sends a signal and receives its own echo. Cross measurement means that the echo of the signal sent by the obstacle sensor is different from one another Obstacle sensor is received. For a complete determination of the distance and / or the position of an obstacle according to the sonar principle, at least two obstacle sensors are thus required.

The control device is connected to the obstacle sensors and preferably coupled with particular optical, acoustic or haptic warning devices and / or coupled.

According to the invention it is provided that in the trailer operation or the obstacle sensors are selectively activated and / or activated depending on the bending angle between the towing vehicle and a trailer.

In this case, the angle of articulation between the direction of longitudinal extension of the towing vehicle and the longitudinal direction of extension of the trailer is understood as the angle of articulation. For example, if towing vehicle and trailer are arranged in straight ahead driving one behind the other, the bending angle is 0 °.

The obstacle sensors are controlled by the control device, in particular individually and / or successively switched on or off, wherein the selection of obstacle sensors takes place as a function of the bending angle. In particular, the selective activation physically, ie by switching on and / or off obstacle sensors and / or parts of obstacle sensors and / or measuring range sections in the measured value recording, or information technology, ie by switching on and / or off obstacle sensors and / or parts of Obstacle sensors and / or measuring range sections in the measurement evaluation, be realized. Preferably, the obstacle sensors are in particular physically so switched on or off so that obstacle sensor pairs are formed, which allow a cross-location in the desired space areas.

The invention is based on the consideration that the obstacle sensors are each connected for free spaces behind the towing vehicle, which are not covered by the trailer, the free space areas are determined on the bending angle between towing vehicle and trailer.

In a further preferred embodiment of the invention, the obstacle sensors each have a transmission module for establishing a spatial transmission range and a reception module for establishing a spatial reception range. Preferably, the transmission range and the reception range are configured in the form of a club.

In a preferred embodiment of the invention, the transmitter modules and receiver modules are selectively activated and / or activated by the controller, in particular such that an obstacle sensor may have an activated transmitter module and a deactivated receiver module or vice versa in operation.

The selective connection of obstacle sensors and / or transmission modules and / or receiving modules by the control device is preferably carried out in the following situations: An obstacle sensor is completely, ie switched with the transmission module and the receiving module, as soon as the bending angle is designed such that the trailer is located outside the transmission range and at the same time outside the reception range of the obstacle sensor. In this case, the connected obstacle sensor can make a direct measurement as well as a cross measurement with a particular adjacent obstacle sensor.

The transmission module of an obstacle sensor is switched on as soon as the bending angle is formed such that the trailer is arranged outside the transmission range of the obstacle sensor.

The reception module of an obstacle sensor is switched on as soon as the bending angle is designed such that at least one transmission module of another obstacle sensor is activated and the reception area of the switched obstacle sensor overlaps at least partially with the transmission range of the activated transmission module of the other obstacle sensor. At the same time, the reception area of the connected obstacle sensor can also overlap with the trailer.

As far as the present case of receiving and transmitting areas is spoken, so that for an obstacle measurement technically relevant, spatial and not theoretically infinitely extended areas referred.

In a preferred embodiment of the invention, the obstacle sensors are designed as a substantially horizontally oriented arrangement at the rear of the towing vehicle. Preferably, at least four obstacle sensors used, with each two obstacle sensors are concentrated in the edge region of the arrangement, so that in Randbereiσh a space area for the obstacle measurement is formed, in which both a cross and a direct measurement is feasible.

In a preferred embodiment, the edge obstacle sensors are arranged substantially vertically one above the other, in particular vertically above one another, and / or arranged offset to one another, wherein preferably the main measuring directions of the obstacle sensors are designed to converge.

In the method according to the invention it is provided that the obstacle sensors are selectively either completely, ie with the function "send and receive", or alternatively depending on the bending angle completely or only in the receiving mode, ie with the function "receive only" activated.

Further details, features, combinations of features, advantages and effects on the basis of the invention will become apparent from the following description of the preferred embodiments of the invention and from the drawings. These show in a schematic representation:

Fig. 1 is a team in plan view to illustrate the

Visibility during backward maneuvering;

FIG. 2 a shows a first exemplary embodiment of a surroundings detection device according to the invention, integrated in a traction vehicle shown schematically in plan view; FIG. Fig. 2b The towing vehicle with

Environment detection device in Figure 2a in i

Side view;

Fig. 2c, the towing vehicle with

Environment detection device in Figure 2a in Rüσkenansicht;

Fig. 3 to 10 with the towing vehicle

Environment detection device in Figure 2a at different buckling angles.

Fig. 11a, b, c, a second embodiment of an environment detection device according to the invention;

Fig. 12 to 19 with the towing vehicle

Environment detection device in Fig. IIa at different bending angles.

Corresponding parts or sizes are each provided with the same reference numerals in the figures.

Figure 1 shows ^" a team consisting of a towing vehicle 1 and a coupled trailer 2 in plan view.

Towing vehicle 1 and trailer 2 are arranged at an angle to each other and close between a kink angle alpha sin, with towing vehicle 1 and trailer 2 are arranged at an angle of 30 ° at right angles to each other and are lined up at a kink of 0 ° linearly one behind the other. The bright viewing areas 3 a, b, c, and d are visible to the driver of the cab of the towing vehicle 1 directly or through mirrors. The gray shaded areas 4, 5 and 6, which are arranged in front of the towing vehicle 1, behind the trailer 2 and behind the towing vehicle 1 and in front of the trailer 2, represent measuring ranges of surroundings recognition devices. From this representation it can be seen that the measuring range 6, which originates from a arranged in the rear of the towing vehicle 1 environment detection device overlaps without further measures with the trailer 2 and thus constantly registers this as an obstacle.

In the figure 2a a trailer with a towing vehicle 1 and a trailer 2 is shown in plan view. Towing vehicle 1 and trailer 2 are connected via a coupling device 4 hinged together.

The towing vehicle 1 has a total of eight sensors Sl ... S8, which are designed as ultrasonic sensors and are arranged in the rear region of the towing vehicle 1. As can be seen from a comparison of FIGS. 2a to 2c, two sensors S1 / S2 and S7 / S8 are arranged vertically above one another in the edge region of the rear of the towing vehicle 1. The remaining four sensors S3 ... S6 are arranged at approximately the same height as the respective upper peripheral sensors S1 and S7 and together with these form a convex contour in plan view.

The eight sensors Sl ... S8 are connected to a control device 5, which controls a warning device 6, for example a loudspeaker or a warning lamp. Starting from each of the eight sensors Sl ... S8 extends in each case a club-shaped transmitting and receiving area Bl ... B8, which are arranged mutually overlapping. The main measuring directions of the sensors S1 to S3 or S4 and S5 or S6 to S8 are each aligned parallel or substantially parallel to one another.

Vehicle 1 and trailer 2 take each other a kink angle alpha of about 5 °. As can best be seen from the top view in FIG. 2a, the trailer 2 pivots out of the transmission and reception range B1 and B2 of the sensors S1 and S2 at this angle of articulation.

The operation of the environment recognition device is as follows: The bending angle alpha = 5 ° is e.g. detected by a sensor and the control device 5 passed. The control device 5 evaluates the articulation angle, where appropriate, together with further information, with the result that the trailer 2 is arranged outside the transmission and reception ranges Bl and B2. In a next step, the sensors S1 and S2 are activated, so that both preferably transmit and receive cyclically and, in particular, perform direct and cross measurements. The remaining sensors S3 to S8 are deactivated in this situation, since they would only detect the trailer 2 as an obstacle.

Figures 3 and 4 show the combination in the figure 2a each with a bending angle of alpha = 10 ° or 15 °. In these situations, the sensors S1 and S2 are still activated.

In the figure 5, the bending angle alpha = 20 ° and the trailer 2 is from the transmission and reception area B3 of Sensor S3 fully swung out. The control device activates the sensor S3 in this situation, specifically for the transmitting and receiving operation. Optionally, the sensor S2 can be switched off, so that the cross measurement is performed by the sensors S1 and S3. The sensors Sl and S3 are cyclically successively controlled by the control device 5.

At an articulation angle of alpha ≥ 50 ° (FIG. 9), the sensor S4 is activated in the region B4 for the transmission and reception operation, for a bending angle of α> 60 ° (FIG. 10) the sensors S1, S3, S4 are and S5 is activated for send and receive operation.

In an alternative embodiment of the control, the sensors Sl ... S8 are not only each completely, i. each simultaneously for the transmission and reception mode, activated, but depending on the bending angle only the receiving module of a sensor is activated, the transmission module is disabled. The sensors are thus controlled according to the functions "send and receive" and "receive only". Such an alternative control of the sensors S 1... S 8 is set forth in the following table:

Sensor Sl - S3 : senden & empfangen,

Sensor Sl - S3: send & receive,

20 - 50 ° cyclic (active)

Sensor 4: only received (passive)

Sensor Sl - S4: send & receive,

50 - 60 ° cyclic (active)

Sensor S5: received only (passive)

Sensor Sl - S5: send & receive,

SO - 90 ° cyclic (active)

Sensor S6: received only (passive)

Optionally, even with this control, the sensor S2 can be deactivated at a bending angle alpha> 20 °.

Figures IIa-C show a second embodiment of an inventive

Environment detection device in the same representation as in Figures 2a to c.

In contrast to the first embodiment, the second embodiment, only six sensors Ul ... U6, which are also arranged differently and / or aligned as the sensors Sl ... S8. Essentially, the sensors Ul ... U6 correspond to the sensors S1, S3... S7, the additional sensors S2 and S8 being omitted in the second exemplary embodiment. In order to ensure a sufficiently overlapping transmitting and receiving area in the edge region of the rear of the vehicle 1, the sensors U2 and U5 corresponding to the sensors S3 and S6 are arranged offset on holding plates to the edge region of the rear of the vehicle 1. The sensor pairs U1 / U2 or U5 / U6 form overlapping transmission and reception ranges R1 / R2 and R5 / R6 in the edge region, the overlap being at least 50%, preferably at least 60%, in particular at least 70%.

The control of the second embodiment is carried out according to the following table. Figures 12 to 19 show the team with the towing vehicle 1 and the trailer 2 at different bending angles.

This second embodiment is more favorable in the implementation, since on the one hand less sensors are needed and secondly, the control device can be made simpler. In a simplified embodiment of the environment detection device can be provided, the sensors S5 and S4 or U3 and U4 in the respective To save embodiments and thus substantially only monitor the edge regions of the rear of the vehicle 1.

Bezugszβichenliste

1 towing vehicle

2 pendants

3a, b, c ₇ d viewing areas

4 coupling device

5 control device

6 warning device

Sl. ..S8 sensors

Ul. ..U6 sensors

Bl. ..B8 transmission and reception ranges

Rl. ..R6 transmission and reception ranges

Claims

claims 1. environment detection device for a towing vehicle (1) with a control device (5) and one or more obstacle sensors (Sl ... S8, Ul ... U6), characterized in that the control direction (5) programmatically ^' and / or circuitry such is formed so that in trailer operation of the obstacle or the sensors (Sl ... S8, Ul ... U6) depending on the bending angle (alpha) between the towing vehicle (1) and a trailer (2) are selectively activated and / or activated. 2. environment detection device according to claim 1, characterized in that the obstacle sensors (Sl ... S8, Ul ... U6) are formed as ultrasonic sensors and / or radar sensors. 3. environment detection device according to claim 1 or 2, characterized in that the obstacle sensors (Sl ... S8, Ul ... U6) each have a transmission module for establishing a spatial transmission range and a reception module for establishing a spatial reception area. 4. environment detection device according to claim 3, characterized in that the transmitting modules and / or receiving modules can be selectively activated and / or activated as a function of the bending angle. 5. environment detection device according to claim 3 or 4, characterized in that one of the obstacle sensor (Sl ... S8, Ul ... U6) can be activated and / or activated when the bending angle is formed such that the trailer (2) outside the transmission range and at the same time outside the reception range of the obstacle sensor (Sl ... S8, Ul ... U6) is arranged. 6. environment detection device according to one of claims 3 to 5, characterized in that the transmission module one of the obstacle sensors (Sl ... S8, Ul ... U6) can be activated and / or activated when the bending angle (alpha) is formed such so that the trailer (2) outside the transmission range of the obstacle sensor (Sl ... S8, Ul ... U6) is arranged. 7. environment detection device according to claim 3 to 6, characterized in that the receiving module one of the obstacle sensors (Sl ... S8, Ul ... U6) can be activated and / or activated when the bending angle (alpha) is formed such that the Reception area of the obstacle sensor (Sl ... S8, Ul ... U6) overlaps with an activated transmission range of another obstacle sensor and / or partially with the trailer (2). 8. surroundings detection device according to one of the preceding claims, characterized the obstacle sensors (Sl ... S8, U1 ... U6) are formed in a substantially horizontally oriented arrangement with at least 4, preferably 6, in particular 8 obstacle sensors at the rear of the towing vehicle (1). 9. environment detection device according to claim 8, characterized in that in the edge region of the arrangement, two obstacle sensors (Sl ... S8, Ul ... U6) have a substantially overlapping transmission and / or reception area. 10. environment detection device according to claim 8 or 9, characterized in that the edge obstacle sensors (Sl, S2, S7, S8) on the towing vehicle (1) are arranged vertically or substantially vertically one above the other. 11. environment detection device according to one of claims 8 to 10, characterized in that the edge-side obstacle sensors offset (Ul, U2, U5, U6) are arranged to each other and the main measuring directions of the obstacle sensors are arranged converging to each other. 12. A method for controlling a surroundings detection device according to one of claims 1 to 11, characterized in that the obstacle sensors are selectively activated in the function "send and receive" and / or in the functions "send and receive" and "send only".