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WO2007033705A1 - Dispositif de detection de l'environnement et procede de commande du dispositif de detection de l'environnement - Google Patents

Dispositif de detection de l'environnement et procede de commande du dispositif de detection de l'environnement Download PDF

Info

Publication number
WO2007033705A1
WO2007033705A1 PCT/EP2006/001385 EP2006001385W WO2007033705A1 WO 2007033705 A1 WO2007033705 A1 WO 2007033705A1 EP 2006001385 W EP2006001385 W EP 2006001385W WO 2007033705 A1 WO2007033705 A1 WO 2007033705A1
Authority
WO
WIPO (PCT)
Prior art keywords
obstacle
sensors
detection device
activated
trailer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2006/001385
Other languages
German (de)
English (en)
Inventor
Andreas Schwarzhaupt
Gernot Spiegelberg
Istvan Vegh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Daimler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG, Daimler AG filed Critical DaimlerChrysler AG
Publication of WO2007033705A1 publication Critical patent/WO2007033705A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B62D13/06—Steering specially adapted for trailers for backing a normally drawn trailer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards

Definitions

  • 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.
  • 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.
  • the environment behind the towing vehicle becomes all the more confusing as the articulation angle between towing vehicle and trailer increases.
  • 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.
  • a method for controlling the environment detection device is to be formed.
  • 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 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.
  • the obstacle sensors may be designed as any sensors, e.g. be designed as ultrasonic, radar and / or laser sensors, etc.
  • the obstacle sensors are preferably realized as sensors operating according to the echosounding principle, in particular as ultrasonic sensors and / or radar sensors.
  • 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.
  • the obstacle sensors are selectively activated and / or activated depending on the bending angle between the towing vehicle and a trailer.
  • 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.
  • 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.
  • 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.
  • 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.
  • the obstacle sensors each have a transmission module for establishing a spatial transmission range and a reception module for establishing a spatial reception range.
  • the transmission range and the reception range are configured in the form of a club.
  • 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.
  • 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.
  • the obstacle sensors are designed as a substantially horizontally oriented arrangement at the rear of the towing vehicle.
  • at least four obstacle sensors used, with each two obstacle sensors are concentrated in the edge region of the arrangement, so that in Randberei ⁇ h a space area for the obstacle measurement is formed, in which both a cross and a direct measurement is feasible.
  • 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.
  • 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.
  • Fig. 1 is a team in plan view to illustrate the
  • 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
  • FIG. 11a, b, c a second embodiment of an environment detection device according to the invention.
  • 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.
  • FIG. 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the sensor S4 is activated in the region B4 for the transmission and reception operation, for a bending angle of ⁇ > 60 ° (FIG. 10) the sensors S1, S3, S4 are and S5 is activated for send and receive operation.
  • 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:
  • the senor S2 can be deactivated at a bending angle alpha> 20 °.
  • the second embodiment only six sensors Ul ... U6, which are also arranged differently and / or aligned as the sensors Sl ... S8.
  • the sensors Ul ... U6 correspond to the sensors S1, S3... S7, the additional sensors S2 and S8 being omitted in the second exemplary embodiment.
  • 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%.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

Il s'avère difficile de garer un tracteur avec remorque en marche arrière contre un quai de chargement ou un obstacle. L'invention vise à mettre en oeuvre un dispositif de détection de l'environnement contrôlant efficacement l'espace situé derrière un tracteur avec remorque, notamment lors de la marche arrière. L'invention vise également à mettre en oeuvre un procédé de commande du dispositif de détection de l'environnement. A cet effet, le dispositif de détection de l'environnement destiné à un tracteur (1) comporte un dispositif de commande (5) et plusieurs capteurs d'obstacles (S1... S8, U1... U6), le dispositif de commande (5) étant programmé et/ou câblé de telle manière que les capteurs d'obstacles (S1... S8, U1... U6) peuvent être actionnés et/ou sont actionnés sélectivement en fonction de l'angle (a) formé entre le tracteur (1) et la remorque (2).
PCT/EP2006/001385 2005-09-16 2006-02-16 Dispositif de detection de l'environnement et procede de commande du dispositif de detection de l'environnement Ceased WO2007033705A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005044500.4 2005-09-16
DE102005044500A DE102005044500B4 (de) 2005-09-16 2005-09-16 Umfelderkennungseinrichtung für ein Zugfahrzeug

Publications (1)

Publication Number Publication Date
WO2007033705A1 true WO2007033705A1 (fr) 2007-03-29

Family

ID=37832432

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/001385 Ceased WO2007033705A1 (fr) 2005-09-16 2006-02-16 Dispositif de detection de l'environnement et procede de commande du dispositif de detection de l'environnement

Country Status (2)

Country Link
DE (1) DE102005044500B4 (fr)
WO (1) WO2007033705A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10657823B2 (en) 2017-10-26 2020-05-19 Bendix Commercial Vehicle Systems Llc System and method for determining when an object detected by a collision avoidance sensor on one member of an articulated vehicle comprises another member of the vehicle

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009048380A1 (de) * 2009-10-06 2011-04-07 GM Global Technology Operations, Inc., Detroit Einparkhilfesystem und Verfahren unter Verwendung dieses Einparkhilfesystems
DE102010045657A1 (de) * 2010-09-17 2012-03-22 Wabco Gmbh Umfeld-Überwachungssystem für ein Fahrzeug
DE102012022816A1 (de) * 2012-11-22 2014-05-22 Wabco Gmbh Verfahren und Vorrichtung zur Steuerung eines Rückraumüberwachungssystems einer Fahrzeugkombination
US9594155B2 (en) * 2014-08-08 2017-03-14 Delphi Technologies, Inc. Vehicle radar system with trailer detection
DE102015117903A1 (de) 2015-10-21 2017-04-27 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben eines Fahrerassistenzsystems, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102016015363A1 (de) * 2016-12-17 2018-06-21 Wabco Gmbh Verfahren zum Überwachen einer Fahrzeugumgebung eines Fahrzeug-Gespanns, sowie Überwachungssystem
US10838054B2 (en) 2018-10-08 2020-11-17 Aptiv Technologies Limited Detection system and method
DE102018218269A1 (de) * 2018-10-25 2020-04-30 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs, Steuergerät, Fahrzeug

Citations (3)

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Publication number Priority date Publication date Assignee Title
DE19805515A1 (de) * 1998-02-11 1999-08-12 Bayerische Motoren Werke Ag Hinderniserkennungssystem in einem Kraftfahrzeug
DE10312548B3 (de) * 2003-03-21 2004-05-19 Audi Ag Kraftfahrzeug
US20050068197A1 (en) * 2003-09-26 2005-03-31 Regan Patrick M. Trailer detection circuit for a vehicle park assist system

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DE10037130B4 (de) * 1999-09-13 2015-10-29 Volkswagen Ag Einpark- und/oder Rangierhilfeeinrichtung für Pkw oder Lkw
DE10124909A1 (de) * 2001-05-22 2002-12-19 Bosch Gmbh Robert Verfahren und Vorrichtung zum Betrieb einer Radarsensoranordnung
DE102005019550A1 (de) * 2005-04-28 2006-11-09 Daimlerchrysler Ag Abstandserkennungssystem für ein Zugfahrzeug sowie Verfahren zum Betreiben eines Abstandserkennungssystems

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19805515A1 (de) * 1998-02-11 1999-08-12 Bayerische Motoren Werke Ag Hinderniserkennungssystem in einem Kraftfahrzeug
DE10312548B3 (de) * 2003-03-21 2004-05-19 Audi Ag Kraftfahrzeug
US20050068197A1 (en) * 2003-09-26 2005-03-31 Regan Patrick M. Trailer detection circuit for a vehicle park assist system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10657823B2 (en) 2017-10-26 2020-05-19 Bendix Commercial Vehicle Systems Llc System and method for determining when an object detected by a collision avoidance sensor on one member of an articulated vehicle comprises another member of the vehicle

Also Published As

Publication number Publication date
DE102005044500B4 (de) 2011-11-10
DE102005044500A1 (de) 2007-03-29

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