DE102018212785A1 - Method and system for performing an at least partially automated wading trip - Google Patents

Abstract

According to the invention, a driver assistance system for performing an at least partially automated wading of a vehicle is proposed. The driver assistance system comprises a first measuring device for detecting a wading situation and in particular for determining a current wading depth of the vehicle, a second measuring device for determining a current inclination of the vehicle, in particular a transverse inclination and / or a longitudinal inclination, and a third measuring device comprising a displacement sensor system. The driver assistance system optionally includes a localization device. Furthermore, the driver assistance system comprises a control unit for controlling the longitudinal and / or transverse guidance of the vehicle based at least on the measurements of the first, second and third measuring devices and, if appropriate, the localization device.

Description

The present invention relates to a driver assistance system and a method for performing at least partially automated wading, and a vehicle with a driver assistance system according to the invention.

State of the art

Off-road passenger vehicles, such as Off-road vehicles or so-called SUVs (“sport utility vehicles”) are designed to cross waterways. If the vehicle has to immerse to a certain extent in the process, this process is referred to as the “wading process”. Such a maneuver requires a great deal of caution and prudence on the part of the driver, since the driver usually does not know how deep the water that he wants to cross, nor how the terrain beneath the surface is. This problem is exacerbated by adverse environmental conditions such as darkness, fog, rain or polluted water. Traditionally, it has been recommended that the driver leave the vehicle before crossing the water and use suitable tools to check the water depth and the terrain under the water surface.

Assistance systems are known from the prior art which make it easier for the driver to master a wading process. For example, in WO 2012/123555 A1 describes a vehicle which has two ultrasonic sensors, which are each attached to the side mirrors of the vehicle and which detect the distance to a water surface below the side mirrors, and a water contact sensor arranged on the underbody of the vehicle.

The present invention aims to capture comprehensive information during a wading trip, in order to be able to offer the driver assistance with the wading trip based on the acquired information, so that the wading trip can be carried out partially or fully automatically.

Disclosure of the invention

This object is achieved by a driver assistance system according to claim 1 and by a method for performing an at least partially automated wading trip according to claim 11.

According to the invention, a driver assistance system for performing at least partially automated wading of a vehicle is proposed. The driver assistance system comprises a first measuring device for detecting a wading situation and in particular for determining a current wading depth of the vehicle, a second measuring device for determining a current inclination of the vehicle, in particular a transverse inclination and / or a longitudinal inclination, and a third measuring device comprising a displacement sensor system. The driver assistance system optionally includes a localization device. Furthermore, the driver assistance system comprises a control unit for controlling the longitudinal and / or transverse guidance of the vehicle based at least on the results of the first, second and third measuring devices and, if appropriate, the localization device.

The first measuring device can comprise, for example, one or more distance sensors. If the measured distance to a surface does not correspond to the known installation height of the distance sensor, it can be concluded from this that the vehicle is partially immersed in a body of water and the measured distance corresponds to the distance to the water surface. This records that there is a wading situation. With a known installation position of the distance sensors on the vehicle, the current wading depth in the area of the sensor, ie the distance from the water surface to the ground, which corresponds to the immersion depth of the vehicle, can preferably be determined from the measured distance of the sensor from the water surface. The distance sensors can be arranged, for example, on the side mirrors and / or on the bumpers of the vehicle and can be designed, for example, as ultrasonic sensors. Alternatively or additionally, the sensors of the first measuring device can, for example, detect a wading situation if it is recognized that the sensors are touching the water surface or are already below the water surface.

The second measuring device can comprise, for example, one or more position sensors. These can be designed as acceleration sensors, for example. As an alternative or in addition, the longitudinal slope and / or the transverse slope can be determined using a spirit level. The second measuring device preferably determines the current roll angle and / or the pitch angle of the vehicle. Additionally or alternatively, the vehicle can also be inclined by comparing distance measurements to the water surface on opposite sides of the vehicle.

The third measuring device is designed to track the distance traveled by the vehicle by means of a distance sensor system. For this purpose, the third measuring device can comprise wheel rotation sensors and steering angle sensors, so that the distance covered can be determined relative to a starting position according to the known principles of odometry. Odometry here refers to a functionality that at certain times the position, orientation and determines the driving condition of a vehicle. Measured variables from the chassis (e.g. wheel rotation, direction), a yaw rate sensor (ESP / ABS) and the steering (wheel steering angle, steering wheel angle) serve as input variables. Alternatively or in addition, location by satellite navigation (eg GPS) can be used to determine the route.

The optionally provided localization device serves to determine the position of the vehicle. For example, it can be based on satellite navigation (e.g. GPS) and include an absolute geographic position in the form of geographic coordinates. Alternatively or additionally, a position can be determined with the aid of a digital map of the current environment, for example by acquiring landmarks and determining the relative position of the vehicle with respect to these landmarks.

Analogous to known methods of parking and maneuvering assistance, the vehicle can now be controlled at least in part by the control unit based on the data from the first, second and third measuring device, the special features of wading being taken into account in order to ensure the safety of the vehicle and the occupants at all times guarantee. Appropriate path planning can be carried out that takes into account the conditions of the wading situation. The vehicle can be controlled at least partially automatically along this path.

In this context, at least partially automatically means that the longitudinal and / or lateral guidance is carried out by the control unit of the driver assistance system without the intervention of a human driver. In the case of a semi-automatic implementation, for example, the steering and thus the lateral control of the vehicle are controlled by the control unit and the driver of the vehicle only has to accelerate and brake and, if necessary, actuate the gear shift (longitudinal guidance). In the case of a fully automatic implementation, which is also encompassed by the invention, the control unit of the driver assistance system takes over both the lateral guidance and the longitudinal guidance of the vehicle.

The subclaims show preferred developments of the invention.

In a preferred embodiment of the invention, the driver assistance system has a memory unit for recording a manually performed wading trip, based at least on the measurements of the first, second and third measuring devices, and the position determination which may be provided. The control unit is designed to carry out the control of the longitudinal and / or transverse guidance of the vehicle based on the records. This makes it possible, for example, to carry out a manually successful wading run again at a later point in time, at least partially automatically, wherein current measured values are preferably recorded and taken into account. This also makes it possible, for example, to abort a wading trip and to return at least partially automatically to a starting position. In other words, a previously recorded manual wading trip can be undone.

In a further preferred embodiment of the invention, the driver assistance system has a fourth measuring device. This measuring device comprises at least one distance sensor for detecting obstacles in the surroundings of the vehicle. The obstacles detected in this way can now be taken into account when carrying out the at least partially automated wading of the vehicle and collisions can be avoided. In this case, for example, the same distance sensors can be used that are also used in the first measuring device. Alternatively, separate distance sensors can also be provided for the fourth measuring device, for example.

In a further preferred embodiment of the invention, the driver assistance system has a fifth measuring device. The fifth measuring device is designed to determine a current flow direction and flow speed of the water to be crossed. The direction and speed of the water flow can take place, for example, with a known inclination of the vehicle by comparing distance measurements to the water surface on opposite sides of the vehicle. The detected direction and speed of the water can be taken into account when carrying out the at least partially automated wading of the vehicle. For example, it can be prevented that the vehicle gets into a strong current and drifts.

Preferred for the vehicle is at least e.g. a maximum wading depth specified by the manufacturer. The partially automated travel of the vehicle takes place in such a way that the maximum wading depth of the vehicle is not exceeded. This prevents damage to the vehicle that can occur due to water penetration.

It is preferred that different wading depths can apply at different points of the vehicle. A partially automated wading trip is carried out in such a way that none of the prescribed wading depths are exceeded.

For example, a different watlimit may apply in the area of the intake manifold of an internal combustion engine of the vehicle than in the area of the doors. The maximum wading depth or wading depths can, in particular, be specified specifically for a specific vehicle type or a specific vehicle model.

The driver assistance system preferably comprises a display device which is designed to display the current wading depth and / or a current inclination of the vehicle and / or a current position of the vehicle and / or driving instructions. This enables the driver to be informed in particular about the current wading situation of the vehicle in real time.

The driver assistance system preferably comprises an input device for user input, wherein the at least partially automated wading of a vehicle can be carried out depending on a user input. This means that the driver can, for example, define certain boundary conditions for the assistance in carrying out the wading through the driver assistance system. For example, he can activate or deactivate support. For example, he can define conditions such as a certain wading depth, from which an at least partially automated wading of a vehicle is to be carried out.

According to a further aspect of the invention, a vehicle with a driver assistance system designed as described above is proposed. The vehicle can, for example, be an off-road car.

According to the invention, a method for carrying out an at least partially automated wading of a vehicle is also proposed, wherein a wading situation is detected by means of a first measuring device and an actual wading depth of the vehicle is optionally determined, a current inclination of the vehicle, in particular a transverse slope and / or a, using a second measuring device Longitudinal inclination is determined and by means of a third measuring device comprising a distance sensor system, the distance traveled is determined, for example, odometrically. Control of the longitudinal and / or transverse guidance of the vehicle is carried out based at least on the wattage and the inclination and the travel path, if any.

A current position of the vehicle is optionally determined by means of a localization device and is additionally taken into account when controlling the longitudinal and / or transverse guidance of the vehicle.

A manually performed wading trip can preferably be recorded beforehand based at least on the measurements of the first, second and third measuring devices and, if appropriate, the localization device. The longitudinal and / or transverse guidance of the vehicle can be controlled based on the recording. This enables, for example, a simplified repetition of a wading trip that has already been carried out successfully and / or the undoing of a wading trip, that is to say the safe return of the vehicle to a starting position.

Obstacles in the surroundings of the vehicle can preferably be detected by means of a fourth measuring device, which comprises at least one distance sensor, for example an ultrasonic sensor. The detected obstacles can be taken into account when carrying out the at least partially automated wading of the vehicle and thus collisions can be avoided.
In addition, a current direction and speed of a water flow can preferably be determined using a fifth measuring device, the direction and speed of the water flow being taken into account when carrying out the at least partially automated wading of the vehicle.

The measuring devices, e.g. which are transmitted to a central storage device, in particular a cloud server, by the first, second and third measuring device and, if appropriate, the data recorded by the localization device. This is preferably done using a wireless data connection, for example a mobile radio connection. The data can be transmitted while the wading is being carried out or at another, later point in time. The data can thus be made available to other vehicles which can retrieve the data from the central storage device, for example via a wireless data connection, for example a mobile radio connection, and can use it to support a wading trip.

According to a further aspect of the invention, a computer program product with program code means for carrying out a method according to the invention is proposed if the computer program product runs on a computing unit or is stored on a computer-readable data carrier.

list of figures

• 1 shows schematically in side view a vehicle with a driver assistance system according to an embodiment of the invention in a first wading situation.
• 2 shows schematically in front view a vehicle with a driver assistance system according to an embodiment of the invention in a second wading situation.
• 3 shows schematically in side view a vehicle with a driver assistance system according to an embodiment of the invention in a third wading situation.
• 4 schematically represents a method according to the invention as a flow chart.

Embodiments of the invention

In the following description of the exemplary embodiments of the invention, the same elements are denoted by the same reference symbols, and a repeated description of these elements may be omitted. The figures represent the subject matter of the invention only schematically.

1 shows a vehicle 10 with a driver assistance system designed according to the invention in a wading situation. The vehicle 10 includes ultrasonic sensors as the first measuring device 14c and 14d that on the bumpers 17 at the front and rear of the vehicle 10 are arranged. For example, each bumper 17 four ultrasonic sensors 14c respectively. 14d be provided with known installation heights. The ultrasonic sensors 14 can be part of a parking assistance system, for example. In addition, downward-oriented distance sensors can be arranged on the side mirrors in order to determine the distance from the floor or during a wading situation to a water surface 52 to eat. In the illustrated view of the vehicle 10 is just a first side mirror 16a and an ultrasonic sensor arranged thereon 14a visible. The ultrasonic sensor 14a has a downward measuring range 24a on. The installation height of the ultrasonic sensor 14a is known. About the measured distance to the ground 60 or to the water surface 52 can accordingly a wading depth at least in the area of the ultrasonic sensor 14a be determined. Additionally or alternatively, can be on the opposite side of the vehicle 10 a second distance sensor can be provided on a second side mirror (not shown here). The vehicle has at least one defined watlimit 27 on. If the vehicle sinks below the surface of the water 52 than the watlimit 27 , there is a risk that water will penetrate and essential components of the vehicle such as the engine or electronic components will be damaged, so that it is not possible to continue driving. For the vehicle 10 can also set different watlimits for different positions on the vehicle 10 be given.

In 2 is the vehicle 10 shown in a different wading situation in front view. The vehicle 10 passes through a body of water 50 , being on a sloping surface 60 emotional. The vehicle therefore has a certain lateral angle of inclination (roll angle). In this illustration it can be seen that the vehicle 10 in this example several ultrasonic sensors 14d on its front, especially on its front bumper 17 having. In the situation shown, these are below the water surface 52 , Due to the characteristic measurement signals that the ultrasonic sensors 14d Deliver when the sensor membrane is in contact with water can be reliably determined if one of the ultrasonic sensors 14d is under water. Furthermore, the vehicle points 10 on its side exterior mirrors 16a and 16b each have a downward-facing ultrasonic sensor 14a and 14b on. If, as shown in the situation shown, the vehicle is inclined transversely, the ultrasonic sensor is activated 14b a greater distance from the water surface 52 measure than the ultrasonic sensor 14a , The difference between the measured distances can provide information about the inclination of the subsurface 60 and thus the roll angle of the vehicle 10 be won. Furthermore, for each side of the vehicle 10 separately determine how large the distance from the water surface 52 at a given watlimit 27 is current.

The determination of the current wading depth using the distance sensors 14a and 14b on the side mirrors 16a and 16b is to determine the wading situation with a view to checking whether a watlimit, i.e. a maximum diving depth of the vehicle 10 is observed, but not absolutely necessary. For example in the in 3 illustrated situation in which the vehicle 10 backwards a ramp 61 drives down and into a body of water 50 immersed, the current inclination angle (pitch angle and / or roll angle) of the vehicle can be measured by an acceleration sensor (not shown) and the vehicle speed 10 be determined. Once the distance sensor 14c on the rear bumper 17 of the vehicle 10 the water surface 52 is touched, for example, by detecting a change in the distance sensor 14c detected signal, a wading situation is recognized and it is possible to track the distance covered and the angle of inclination of the vehicle 10 to be activated. In the further course of the journey, this can at least be used to estimate which parts of the vehicle 10 are under water. Algorithms can be used that in a similar way are already from the automatic parking assistance systems. The input variables are the acceleration (lateral and / or longitudinal acceleration) of the vehicle 10 , measured by acceleration sensors and measurement data from wheel rotation sensors of each of the four wheels of the vehicle 10 as well as the current steering angle, measured by a steering angle sensor. In addition, position data such as GPS coordinates can also be recorded. If the vehicle geometry and installation position of the sensor are known, these input variables can be used 14c at any point in time it is determined which part of the vehicle has moved under water and in what manner. In the in 3 situation can thus be estimated when the sensor 14d at the front of the vehicle 10 the water surface 52 will touch. In addition, it can be estimated whether a watlimit 27 of the vehicle 10 has been reached, or will be reached soon. In this case, the driving maneuver can be interrupted and / or a corresponding warning can be issued to the driver. If on the rear and / or the front bumper 17 multiple sensors 14c respectively. 14d are provided, the respective installation position of which is known and if only certain of these sensors detect water contact, additional information about the current inclination of the vehicle can be obtained therefrom 10 relative to the water surface 52 be won. This information can be used, for example, when checking whether a watlimit 27 was achieved.

A driving maneuver of the vehicle can be based on the recorded measurement data and the information obtained from it 10 be carried out at least partially automatically. For this purpose, the measurement data and the information derived from it are continuously recorded and recorded. For example, to any position of the vehicle 10 the inclination and wading depth can be determined and saved. The current position can be determined relative to a starting position by means of the path sensor system and / or absolutely by a localization device such as a GPS receiver. For example, the driver can specify a target position, for example on a digital map. A trajectory to the target position is then determined. Here, for example, from the vehicle in advance 10 or other vehicle uses recorded water depth, soil condition and slope information. The control unit of the driver assistance system now controls the longitudinal and / or transverse guidance of the vehicle along the trajectory, taking into account the watermark or limits 27 of the vehicle 10 , For example, it is possible to partially or fully undo a previously manually operated maneuver and return the vehicle to its starting position.

4 represents an example of a method according to the invention for performing an at least partially automated wading trip as a flow chart. In step 100 a wading situation is detected by means of a first measuring device, for example by recognizing that a sensor of the first measuring device is under water. In the optional step 110 a current wading depth of the vehicle is determined. In step 120 a current inclination of the vehicle, in particular a transverse inclination and / or a longitudinal inclination, is determined by means of a second measuring device. In step 130 the distance traveled, for example odometrically, is determined by means of a third measuring device comprising a distance sensor. The steps 100 . 110 . 120 and 130 do not have to be carried out in the order given. Any other order or a simultaneous execution of the steps 100 . 110 . 120 and 130 is conceivable within the scope of the invention.

In step 140 the longitudinal and / or transverse guidance of the vehicle is controlled based on the optionally recorded wading depth and the inclination of the vehicle and the route.

The invention is not restricted to the exemplary embodiments described here and the aspects emphasized therein. Rather, a large number of modifications are possible within the scope specified by the claims, which lie within the framework of professional action.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for better information for 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

• WO 2012/123555 A1 [0003]

Claims (21)

Driver assistance system for carrying out at least partially automated wading of a vehicle (10), comprising a first measuring device (14a, 14b, 14c, 14d) for detecting a wading situation, in particular for determining a current wading depth of the vehicle, a second measuring device for determining a current inclination of the vehicle, in particular a bank inclination and / or a longitudinal inclination, a third measuring device comprising a displacement sensor system, a control unit for controlling the longitudinal and / or transverse guidance of the vehicle based at least on the measurements of the first, second and third measuring devices. Driver assistance system after Claim 1 The driver assistance system comprises a storage unit for recording a manually performed wading trip based at least on the measurements of the first, second and third measuring devices, and the control unit is designed for controlling the longitudinal and / or transverse guidance of the vehicle (10) based on the recording. Driver assistance system according to one of the Claims 1 or 2 , wherein the driver assistance system has a fourth measuring device, the fourth measuring device comprising at least one distance sensor for detecting obstacles in the surroundings of the vehicle, and wherein the detected obstacles are taken into account when carrying out the at least partially automated wading of the vehicle. Driver assistance system according to one of the Claims 1 to 3 , wherein the driver assistance system has a fifth measuring device, the fifth measuring device being designed to determine a current direction and speed of a water flow, the direction and speed of the water flow being taken into account when carrying out the at least partially automated wading of the vehicle. Driver assistance system according to one of the Claims 1 to 4 , At least one maximum wading depth (27) being predefined for the vehicle (10), the at least partially automated wading movement of the vehicle (10) taking place in such a way that the maximum wading depth (27) is not exceeded. Driver assistance system after Claim 5 Various maximum wading depths (27) are predetermined for certain positions on the vehicle, the vehicle being carried out at least partially automated wading in such a way that none of the predetermined maximum wading depth is exceeded. Driver assistance system according to one of the Claims 2 to 6 , wherein the at least partially automated wading is carried out in such a way that a previously recorded manual wading is reversed. Driver assistance system according to one of the Claims 1 to 7 , wherein the driver assistance system comprises a display device which is designed to display the current wading depth and / or a current inclination of the vehicle and / or a current position of the vehicle and / or driving instructions. Driver assistance system according to one of the Claims 1 to 8th The driver assistance system comprises an input device for user input, wherein the at least partially automated wading of a vehicle (0) can be carried out depending on a user input. Vehicle (10) with a driver assistance system according to one of the Claims 1 to 9 , Method for performing an at least partially automated wading of a vehicle, wherein a wading situation is detected by means of a first measuring device (14a, 14b, 14c, 14d), and in particular a current wading depth of the vehicle is determined, a current inclination of the vehicle, in particular a transverse inclination and / or a longitudinal inclination, is determined by means of a second measuring device, by means of a third measuring device comprising a distance sensor system, the distance traveled is determined wherein the longitudinal and / or transverse guidance of the vehicle is controlled based at least on the wading depth and the inclination and the travel path and the position of the vehicle. Procedure according to Claim 11 , wherein a manual wading run is recorded based at least on the measurements of the first, second and third measuring devices, and the control of the longitudinal and / or transverse guidance of the vehicle is carried out based on the recording. Procedure according to one of the Claims 11 or 12 , whereby obstacles in the surroundings of the vehicle are detected by means of a fourth measuring device, wherein the detected obstacles are taken into account when carrying out the at least partially automated wading of the vehicle and wherein the fourth measuring device comprises at least one distance sensor. Procedure according to one of the Claims 11 to 13 The current direction and speed of a water flow is determined by means of a fifth measuring device, the direction and speed of the water flow being taken into account when carrying out the at least partially automated wading of the vehicle (10). Procedure according to one of the Claims 11 to 14 , At least one maximum wading depth (27) being specified for the vehicle, the at least partially automated wading of the vehicle (10) being carried out in such a way that the maximum wading depth (27) is not exceeded. Procedure according to Claim 15 Various maximum wading depths (27) are predetermined for certain positions on the vehicle, the vehicle being carried out at least partially automated wading in such a way that none of the predetermined maximum wading depth is exceeded. Procedure according to one of the Claims 12 to 16 , wherein the at least partially automated wading is carried out in such a way that a previously recorded manual wading is reversed. Procedure according to one of the Claims 11 to 17 , wherein the current wading depth and / or a current inclination of the vehicle (10) and / or a current position of the vehicle (10) and / or driving instructions are displayed. Procedure according to one of the Claims 11 to 18 , The at least partially automated wading of a vehicle (10) being carried out depending on a user input. Procedure according to one of the Claims 11 to 19 , at least the data recorded by the first, second and third measuring device being transmitted to a central storage device, in particular a cloud server. Computer program product with program code means for performing a method according to one of the Claims 1 to 20 , if the computer program product runs on a computing unit or is stored on a computer-readable data carrier.

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