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WO2016012190A1 - Moyen de détection de nids de poule placé dans le véhicule - Google Patents

Moyen de détection de nids de poule placé dans le véhicule Download PDF

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Publication number
WO2016012190A1
WO2016012190A1 PCT/EP2015/064423 EP2015064423W WO2016012190A1 WO 2016012190 A1 WO2016012190 A1 WO 2016012190A1 EP 2015064423 W EP2015064423 W EP 2015064423W WO 2016012190 A1 WO2016012190 A1 WO 2016012190A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
road damage
detected
road
map
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/EP2015/064423
Other languages
German (de)
English (en)
Inventor
Bernhard Uhrmeister
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.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
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 Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of WO2016012190A1 publication Critical patent/WO2016012190A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G01C21/3822—Road feature data, e.g. slope data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees

Definitions

  • the invention relates to a method for creating a digital map as a basis for a driver assistance system, which is set up to assist a driver in dealing with road damage, a method for assisting a driver of a vehicle when dealing with road damage based on a method according to any one of The above claims created digital map, a control device for carrying out the method and a vehicle with the control device.
  • a method of creating a digital map as a basis for a driver assistance system configured to assist a driver in dealing with road damage comprises the steps of detecting a road damage to the road with a vehicle, detecting a position of the vehicle, when the road damage is detected and entering the map information into the digital map in which the detected road damage is associated with the detected position.
  • the specified method is based on the consideration that the road damage, or even road damage called, can have a significant share of the wear of safety-related parts of the vehicle.
  • Concave or convex road damage for example in the form of potholes, cracks, Hubbein, or The like are difficult to recognize for the driver of the vehicle.
  • the mechanical stress caused by road damage to the vehicle increases with increasing speed.
  • the generated map also represents a significant safety benefit because the failure of safety-related parts of the vehicle is reduced and the driver on the road is less surprised by the road damage.
  • the specified method comprises the step of sending the card information to a database in which the digital map is stored.
  • this database can be stored at any point, including in the vehicle and thus provides the map information for retrieval. If the vehicle returns to a position where road damage has already been detected, the next time the vehicle reacts to road damage. The vehicle learns the road damage.
  • the transmission of the card information takes place wirelessly.
  • the card information can be forwarded to a central database, in addition to the already explained
  • advantages also allow third parties to retrieve the data independently of the vehicle data capturing the map data.
  • these may be other vehicles, which therefore do not first have to detect the road damage as they pass, in order to learn it.
  • Much more important, however, is the ability to use the identified road damage for general information purposes, for example, on the part of authorities that then analyze the road damage and care work on the could better plan roads based on map information.
  • the position of the vehicle is detected by a global navigation satellite system called GNSS, such as GPS, GLONASS, Galileo, etc. respectively. Because a GNSS absolutely detects the position of the vehicle, it is possible to provide the acquired map information to third parties, who can then evaluate the map information in the manner explained above.
  • GNSS global navigation satellite system
  • a method for assisting a driver of a vehicle when dealing with road damage based on a digital map created by one of the aforementioned methods comprises the steps of detecting a vehicle position of the vehicle and outputting a signal when the vehicle position is in a predetermined one Area around a map position belongs to a card information stored on the digital map.
  • the specified method comprises the step of issuing a warning to the driver based on the output signal.
  • the warning sensitizes the driver to the road damage and allows him to adjust his driving behavior accordingly.
  • the specified method comprises the step of reducing a speed of the vehicle based on the output signal. This is particularly advantageous for two-wheeled vehicles, such as motorcycles, because in this way the rider of the motorcycle may be prevented from falling off track due to the road damage associated with excessive speed.
  • the specified method comprises the step of intervention in the vehicle such that the map position belonging to the map information can be pre-determined. the area of the detected vehicle position is bypassed by the vehicle. In this way damage to the vehicle can be effectively avoided by the road damage. This might also be of economic interest, as it would make vehicles less susceptible to road damage and further delay roadworks that would be needed, resulting in less public money for road-improvement work.
  • a control device is set up to perform one of the specified methods.
  • the specified device has a memory and a processor.
  • one of the specified methods is stored in the form of a computer program in the memory and the processor is provided for carrying out the method when the computer program is loaded from the memory into the processor.
  • a computer program comprises program code means for performing all the steps of one of the specified methods when the computer program is executed on a computer or one of the specified devices.
  • a computer program product comprises a program code which is stored on a data carrier and the compu ⁇ terlesbaren, when executed on a data processing device, carries out one of the methods specified.
  • a vehicle includes a specified controller.
  • Fig. 1 is a schematic diagram of a vehicle on a road
  • Fig. 2 is a schematic diagram of a fusion sensor in the vehicle of Fig. 1
  • Fig. 1 is a schematic diagram of a vehicle on a road
  • Fig. 2 is a schematic diagram of a fusion sensor in the vehicle of Fig. 1
  • Fig. 3 shows a schematic diagram of the vehicle of Fig. 1 on the road in a schematic view.
  • Fig. 1 shows a schematic diagram of a vehicle 2 with a chassis 4, which is carried on wheels 6 in a direction indicated in Fig. 4 driving direction 5 mobile.
  • a fusion sensor 8 is arranged in the vehicle 2 in the vehicle 2.
  • the fusion sensor 8 receives in the present embodiment, via a known GNSS receiver 10, position data 12 of the vehicle 2, which among other things describe an absolute position of the vehicle 2 on a roadway 13.
  • position data 12 from the GNSS receiver 10 can additionally also describe a speed of the vehicle 2.
  • the location data 12 from the GNSS receiver 10 in the present embodiment is derived in a manner known to those skilled in the art from a GNSS signal 14 transmitted by a GNSS satellite in the GNSS receiver 10 via a GNSS antenna 16 is received and hence referred to below as GNSS location data 12.
  • GNSS location data 12 For details, refer to the relevant literature.
  • the fusion sensor 8 is designed in a manner to be described to increase the information content of the GNSS position data 12 derived from the GNSS signal 14. This is on the one hand necessary because the GNSS signal 14 have a very low Sig nal ⁇ / noise band gap and may be very inaccurate. On the other hand, the GNSS signal 14 is not always available.
  • the vehicle 2 for this purpose has an inertial sensor 18 which detects driving dynamics data 20 of the vehicle 2. These include known to a longitudinal acceleration, a lateral acceleration and a Vertikalbeschleu ⁇ nist and a roll rate, a pitch rate and a yaw rate of the vehicle 2.
  • This vehicle dynamics data 20 is used in the present embodiment, in order to increase the information content of the GNSS position data 12 and, for example, to specify the position and the speed of the vehicle 2 on the roadway 13.
  • the specified location data 22 can then be used by a navigation device 24 even if the GNSS signal 14 is not available at all under a tunnel, for example.
  • GNSS position data 12 can optionally also be used to include further motion sensor sensors in the form of wheel speed sensors 26, which detect the wheel speeds 28 of the individual wheels 6 of the vehicle 2.
  • vehicle 2 is known per se
  • Fig. 2 shows a schematic diagram of the fusion sensor 8 of Fig. 1. ⁇
  • the measurement data already mentioned in FIG. 1 enter into the fusion sensor 8.
  • the fusion sensor 8 should output the precise position data 22.
  • the basic idea is to transfer the information from the GNSS position data 12 to the vehicle dynamics data 20 from the
  • Inertialsensor 18 into a filter 44 and thus a signal / noise band spacing in the GNSS position data 12 of the GNSS receiver 10 or the vehicle dynamics data 18 from the
  • the filter can indeed be designed as desired, a Kalman filter solves this task most effectively with a comparatively low computing resource. Therefore, the filter 44 should preferably be a Kalman filter 44 below.
  • the caiman filter 44 is fed with the more precise position data 22 of the vehicle 2 and comparison position data 48 of the vehicle 2.
  • the more precise position data 22 are generated in the present embodiment in a strapdown algorithm 50, known for example from DE 10 2006 029 148 A1, from the vehicle dynamics data 20. They contain more precise position information about the vehicle 2, but also other position data about the vehicle 2, such as its speed, its acceleration and its heading.
  • the comparison position data 48 are obtained from a model 52 of the vehicle 2, which is initially fed from the GNSS receiver 10 with the GNSS position data 12. From this GNSS position data 12, the comparison position data 48 which contains the same information as the specified position data 22 is then determined in the model 52.
  • the specified position data 22 and the comparison position data 48 differ only in their values.
  • the Kalman filter 30 calculates, based on the refined position data 22 and the comparison position data 48, a error budget 54 for the refined position data 22 and a error budget 56 for the comparison position data 48.
  • a failure budget shall be understood herein as a total error in a signal consisting of several Single errors in the acquisition and transmission of the signal composed.
  • a corresponding error budget can be composed of errors in the satellite orbit, the satellite clock, the remaining refraction effects and errors in the GNSS receiver 10.
  • the error budget 54 of the refined location data 22 and the error budget 56 of the comparison location data 48 are then supplied according to the strapdown algorithm 50 and the model 52 for correcting the specified location data 22 and the comparison location data 48, respectively.
  • the fusion filter 8 can thus determine a very precise position of the vehicle on the road 13 based on the previously described fusion of the sensor data. This precise position is to be used in the following manner to create a digital map information card 58, from which road damage shown in Fig. 3 in the form of potholes 60 on the road 13 can be seen.
  • the height levels 32 from the height sensors 30 are used.
  • various sensors, such as the inertial sensor 18 would be used for the method described below, but with the
  • a pothole detection device 62 is present in the fusion sensor 8, which evaluates the height levels 32 from the individual level sensors 30. Exceeds a change of at least one of the detected height levels 32 a predetermined predetermined change 64, then it can be concluded that a pothole 60.
  • a pothole detection device 62 is present in the fusion sensor 8, which evaluates the height levels 32 from the individual level sensors 30. Exceeds a change of at least one of the detected height levels 32 a predetermined predetermined change 64, then it can be concluded that a pothole 60.
  • Height sensors 30 are included together, for example so that only ge ⁇ joined to a blow hole 60, when another in at least one Level sensor 30 no change in the ride height 32 is detected.
  • the pothole recognition device 62 may as a result issue any of the existence of the detected pothole toward ⁇ -setting information. This information may merely be boolean, that is, indicate that a pothole 60 is present. Alternatively or additionally, the pothole detection device 62 can further measure the detected pothole 60 and output data describing the pothole 60 as further information. In the present embodiment, for the sake of simplicity, it should be assumed that the pothole detection device 62 merely outputs that a pothole 60 exists.
  • the detected pothole 60 is then linked with the specified position data 22 at which the pothole 60 was detected.
  • the position of the level sensor 30 on the vehicle 2 can be taken into account, on the basis of which
  • Pothole 60 was detected.
  • a corresponding coordinates ⁇ transformation of the position data 22 is well known and will not be described further for brevity.
  • the detected pothole 60 linked to the specified position data 22 can then be transmitted as the map information 58, for example via a mobile radio antenna 68, to a data provider who provides the map information 58 to third parties, for example via a mobile mast 70 shown in FIG.
  • the vehicle 2 can also use the map information 58 collected in this way for its own journey, which will be explained in more detail with reference to FIG. 3.
  • a predetermined protection area 76 can be defined, within which the
  • Vehicle 2 must respond to avoid the pothole.
  • protection areas 76 only one is shown in FIG. 3 for the sake of clarity.
  • the individual protection areas 76 do not have to be constant, but can also be defined, for example, as a function of the speed. Now receives the vehicle 2 via the mobile mast 70
  • Vehicle 2 can be made aware of the pothole based on the map information 58 only by an audible, visual and / or haptic warning signal when it enters the corresponding protection area 76.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Atmospheric Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de création d'une carte numérique servant de base à un système d'aide au conducteur qui est adapté pour aider un conducteur lors du passage sur des nids de poule (60), comprenant les étapes consistant à : détecter un nid de poule (60) sur une route (13) au moyen un véhicule (2) ; détecter une position (22) du véhicule (2) lorsque le nid de poule (60) est détecté ; et entrer une information de carte (58) dans la carte numérique, dans laquelle le nid de poule détecté (60) est associée à la position détectée (22).
PCT/EP2015/064423 2014-07-25 2015-06-25 Moyen de détection de nids de poule placé dans le véhicule Ceased WO2016012190A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014214729.8 2014-07-25
DE102014214729.8A DE102014214729A1 (de) 2014-07-25 2014-07-25 Schlaglocherkennung im Fahrzeug

Publications (1)

Publication Number Publication Date
WO2016012190A1 true WO2016012190A1 (fr) 2016-01-28

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Application Number Title Priority Date Filing Date
PCT/EP2015/064423 Ceased WO2016012190A1 (fr) 2014-07-25 2015-06-25 Moyen de détection de nids de poule placé dans le véhicule

Country Status (2)

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DE (1) DE102014214729A1 (fr)
WO (1) WO2016012190A1 (fr)

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DE102017002685A1 (de) 2017-03-21 2017-10-19 Daimler Ag Erfassungseinrichtung für ein Kraftfahrzeug, sowie Verfahren zum Betreiben einer solchen Erfassungseinrichtung
US12470898B2 (en) 2022-03-09 2025-11-11 International Business Machines Corporation Collaborative monitoring of location conditions

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DE102017203331B4 (de) 2017-03-01 2023-06-22 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Einstellen der Dämpfkraft-Charakteristik von Schwingungsdämpfern im Fahrwerk eines Fahrzeugs
DE102017121866A1 (de) * 2017-09-21 2018-10-18 Schaeffler Technologies AG & Co. KG Verfahren zur Erfassung einer Straßenqualitätsangabe beim Fahren mit einem Kraftfahrzeug, Kraftfahrzeug und Kraftfahrzeugsystem
FR3078154B1 (fr) 2018-02-21 2020-01-17 Psa Automobiles Sa Detection d’irregularites sur les routes
DE102018204069A1 (de) * 2018-03-16 2019-09-19 Bayerische Motoren Werke Aktiengesellschaft Verfahren, Vorrichtung sowie ein korrespondierendes Computerprogramm zum Betrieb eines Lenk- und/oder Spurführungsassistenten
DE102019217006A1 (de) * 2019-11-05 2021-05-06 Volkswagen Aktiengesellschaft Verfahren, Vorrichtung und Computerprogrammprodukt zur belastungsminimalen Trajektorienplanung für Fahrzeuge
CN113370982B (zh) * 2021-06-17 2023-11-24 北京百度网讯科技有限公司 路面颠簸区域的检测方法、装置、电子设备及存储介质
DE102021209131A1 (de) * 2021-08-19 2023-02-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Ermitteln und Charakterisieren von Fahrbahnunebenheiten
DE102022210834B4 (de) 2022-10-14 2024-11-07 Vitesco Technologies GmbH Straßenunebenheitserfassung durch Auswertung des Betriebsstroms eines elektrischen Fahrzeugantriebs

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