WO2009015778A1 - Procédé et dispositif d'aide au conducteur permettant d'aider un conducteur à garer un véhicule ou un ensemble de véhicules - Google Patents

Procédé et dispositif d'aide au conducteur permettant d'aider un conducteur à garer un véhicule ou un ensemble de véhicules Download PDF

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Publication number
WO2009015778A1
WO2009015778A1 PCT/EP2008/005841 EP2008005841W WO2009015778A1 WO 2009015778 A1 WO2009015778 A1 WO 2009015778A1 EP 2008005841 W EP2008005841 W EP 2008005841W WO 2009015778 A1 WO2009015778 A1 WO 2009015778A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
angle
environment
steering angle
detected
Prior art date
Application number
PCT/EP2008/005841
Other languages
German (de)
English (en)
Inventor
Stefan Hahn
Tobias Ehlgen
Markus Glaser
Thomas Ruland
Original Assignee
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 Daimler Ag filed Critical Daimler Ag
Publication of WO2009015778A1 publication Critical patent/WO2009015778A1/fr

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • 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
    • 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
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features
    • G02B2027/0141—Head-up displays characterised by optical features characterised by the informative content of the display
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0179—Display position adjusting means not related to the information to be displayed
    • G02B2027/0183—Adaptation to parameters characterising the motion of the vehicle
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/0101—Head-up displays characterised by optical features

Definitions

  • the invention relates to a method and a device for driver assistance when maneuvering a vehicle or vehicle combination, which has a plurality of vehicle elements which can be bent relative to each other.
  • From DE 102005051804 Al is a maneuvering assistance for drivers of vehicles and vehicle combinations, which against each other Knickbare vehicle elements have known.
  • the current rearward environment of the vehicle or vehicle combination is detected by a camera.
  • the detected values as well as the dimensions of the vehicle or vehicle combination stored in a storage unit are fed to a processor module.
  • a future course of the journey comprising a driving and / or towing lane, is predicted in the processor module and the images captured by the camera superimposed on the driver are displayed as a maneuvering aid on the screen.
  • the invention has for its object to provide an improved method and apparatus for performing the method as a maneuvering for a driver of a vehicle or vehicle combination, which has mutually kinkable vehicle elements specify.
  • the method according to the invention predicts a future driving course, comprising a driving and / or towing lane, which indicates at which position the vehicle or vehicle combination, which has mutually bendable vehicle elements, a rectilinear position in the future driving course, in particular in one Reverse course will reach.
  • the method provides that a rear instantaneous environment, an instantaneous steering angle of at least one steerable axle and an instantaneous articulation angle of at least the mutually bendable vehicle elements of the vehicle or vehicle combination are detected, based on the possible future reversing course in the circumference of a lane and / or a towing lane is determined.
  • a driver can be informed at an early stage, which driving course brings the vehicle or vehicle combination when reversing in the final position.
  • the driver is advised early on a possible misadjustment, so that the driver can correct, for example, by timely changing the current steering angle, the determined reversing course such that a forward drive is avoided.
  • the front-end environment is detected.
  • the values of the surroundings, the steering angle and the bending angle are continuously recorded and fed to a processor module where it is processed to the future driving course, which can then be optically output, for example ,
  • the future driving course is predicted and, in perspective, correctly, superimposed symbolically on the image data taken by a camera of the surroundings.
  • objects detected in the environment for example plants or buildings, are classified according to their passability. Traversable, for example, sewer covers or low Curbs, while driving over, for example, plants or walls should be avoided.
  • the currently detected by the processor module values of the environment, the steering angle and the bending angle and the determined driving and / or towing track are fed to a display unit and the driver on a visible from this while driving screen symbolically output superimposed in the captured environmental image data.
  • distance lines may be displayed superimposed on the displayed route and / or the displayed environment, which assists the driver in estimating distances during the reverse routing.
  • various dimensions of the vehicle or vehicle combination are expediently stored as a function of the number and / or type of the respective bendable vehicle elements.
  • their associated dimensions are automatically or manually read out of the memory when determining the predicted driving course. This makes it possible that when determining the predicted driving course for a rinserangieren of the vehicle or vehicle combination, the associated dimensions or changes this, z. B. new trailer, other structures, are taken into account.
  • Such changes can be made without much technical effort in the process by, for example, the corresponding new dimensions are entered into the memory of a mobile and / or static processing unit. In a corresponding embodiment, this can also be done wirelessly in particular.
  • frequently repeated (same) changes eg driving with a loaded or unloaded container
  • several different vehicle contours or dimensions can be contained in the memory of the processor module and retrieved.
  • the predicted driving course which includes a driving and / or towing lane dependent on the instantaneous steering and articulation angle, is displayed superimposed in an image representing the rearward environment.
  • this superimposed representation it is possible to optimally estimate distances in relation to the course of the journey and the rear environment.
  • the predicted driving course is adapted to respective changes in the rear environment, the current steering angle and / or the instantaneous bending angle, which are continuously detected by a corresponding device.
  • objects detected in the environment are determined, output and displayed in accordance with the classified drive-over capability.
  • the driver is always updated on a screen in accordance with updated changes in the driving parameters updated predicted driving course and critical positions in the driving course.
  • the device for carrying out the method is designed so that it can be determined at which position the vehicle or vehicle combination, which has mutually bendable vehicle elements, a rectilinear position in the future driving course, for. B. in a reversing course, achieved.
  • the device comprises a measuring unit for detecting the rear environment, a measuring unit for detecting the steering angle of at least one steerable axle, a measuring unit for detecting the bending angle of at least the mutually bendable vehicle elements, a processor module and a display unit.
  • the processor module, the currently detected values of the environment, the steering angle and the bending angle for processing and determination of the future driving course, in particular a reverse driving course supplied, which can be displayed on the display unit.
  • the measuring units for determining the steering or bending angle are preferably designed as position sensors, in particular angle sensors in the form of magnetoresistive angle sensors or Hall sensors.
  • the processor module has at least one processing unit and a memory unit.
  • the processing unit is for processing the detected values of the environment, the steering angle, and the bend angle.
  • the dimensions of different vehicles or vehicle combination depending on the number and / or type of the respective vehicle elements are stored in the memory unit and are retrievable depending on the use of one of the vehicles or vehicle combination.
  • the processing unit By means of the processing unit, the current rearward environment, the instantaneous steering angle, the instantaneous articulation angle as well as the dimensions on which the currently used vehicle or vehicle combination is based are taken into account in the determination of the predicted driving course.
  • a measuring unit which, for example, as a camera, in particular a omnidirectional camera or a radar / lidar is formed.
  • the camera can take pictures in all directions.
  • another measuring unit such as another camera can be avoided.
  • both a forward and a reverse course can be determined.
  • the area of the environment is detected by the camera, which for the driver, for example, due to a separate vehicle body, z. B. a charged container or a box body, is not visible.
  • the dashboard display units eg. As a screen or a so-called head-up display, in which the image data to be displayed are projected on existing surfaces in the vehicle, in particular the windshield.
  • the image display can be integrated in one or in the area of a rearview mirror of the vehicle or the driving team. This has the advantage that the image is displayed in places that need to be inspected regularly by the driver while driving or maneuvering anyway; A combination of rear view mirror and camera image display thus leads to an ergonomic improvement of the shunting assistance.
  • Fig. 1 is a schematic representation of a vehicle or vehicle combination
  • Fig. 2 is a schematic representation of a predicted reversing course of a vehicle.
  • vehicle 1 shows a schematic representation of a vehicle or vehicle combination 1 with mutually bendable vehicle elements 2 and 3 (hereinafter referred to as vehicle 1).
  • the vehicle element 2 is for example a tractor and the vehicle element 3 is a trailer.
  • a screen display 5 visible to the driver is arranged at a suitable position.
  • a measuring unit which is designed in particular as a position sensor, for example an angle sensor in the form of a Hall or magnetoresistive angle sensor, continuously measures a steering angle 8 on at least one steerable axle 9.
  • This steering angle 8 results from a steering movement performed by the driver.
  • the steering movement in the course of the journey is transmitted via the connection 4 from the vehicle element 2 to the vehicle element 3.
  • This change in the angle between the mutually bendable vehicle elements 2, 3 is continuously recorded as a bending angle 9 by another measuring unit.
  • This measuring unit is as a position sensor, in particular a Angle sensor formed in the form of a Hall or magnetoresistive angle sensor.
  • at least one camera can also be used. It is particularly advantageous in this case, if the at least one camera is an omnidirectional camera, with which environmental ranges of up to 360 ° can be detected.
  • a further measuring unit not shown in detail in particular a camera 6 is arranged beyond which detects, for example, the rear environment 7 of the vehicle 1 continuously.
  • the camera 6, in particular as an omnidirectional camera 6 may be formed.
  • images can be taken in all directions.
  • a radar or lidar or another suitable image recording unit may also be used.
  • the steering angle 8 resulting from the steering movement on the steerable axle 9 of the vehicle 1, the bending angle 10 between the mutually bendable vehicle elements 2, 3 and the captured images of the rear environment 7 are fed to a processor module, not shown.
  • the processor module has at least one processing and one memory unit.
  • a future driving course 11 is predicted from all supplied values.
  • This predicted driving course 11 indicates at which position, with respect to the rear environment 7, for example, the vehicle 1 with mutually bendable vehicle elements 2, 3 reaches a rectilinear position 12.
  • respective dimensions of the vehicle 1 are stored in the storage unit as a function of the number and / or type of the respective mutually bendable vehicle elements 2, 3. According to the use of the vehicle 1, the dimensions are automatically or manually retrieved.
  • FIG. 2 schematically shows a representation of an exemplary forecasted reversing course 11 of a vehicle 1 with vehicle elements 2, 3 which can be bent relative to one another.
  • the measuring unit in particular camera 6, which is arranged at the rear end of the vehicle element 3, continuously detects the rear environment 7 of the vehicle 1.
  • the instantaneous steering angle 8 and the instantaneous bending angle 10 are detected continuously by means of further measuring units.
  • the dimensions of the vehicle or vehicle combination 1 are stored and retrievable in the storage unit as a function of the number and / or type of the respective mutually bendable vehicle elements 2, 3.
  • the future reversing course 11 is calculated in the processing unit of the processor module in the form of a driving and towing lane, which indicates at which position the vehicle 1 reaches a rectilinear position 12.
  • the reversing course 11 is shown in the form of contour lines of the vehicle 1 in various positions along the predicted course.
  • the display of the reverse travel course 11 may be stepped, ie, as shown with different positions of the vehicle 1, or continuously as a continuous travel curve with driving direction. and / or towing track.
  • a different color design can be used, which indicates, for example, possible collisions in the predicted reversing course 11.
  • environmental image data can be superimposed, so that in the rear environment 7 existing objects, such as, for example, low curb edges, parking limiters, or the like, are shown. In this way, the driver is warned of objects without being distracted by unnecessary detail information.
  • the recorded objects can be additionally classified into drive-over and non-drive-over objects. If one of the identified objects is classified as traversable, then by means of the method according to the invention, this object can be removed from the image data by appropriate image processing so as to free the output representation with the predicted driving course 11 from "irrelevant" objects. In contrast, non-drivable objects, such as trees, traffic signs, which are on a collision course, are marked in color. In addition, the driver can be warned acoustically.
  • the predicted driving course 11 can be adapted and output continuously to instantaneous changes in the rear environment 7, the instantaneous steering angle 8 and the instantaneous articulation angle 10.
  • the driver can see the corrections made on the basis of driving measures, such as changed steering angle 8 Trace course 11 and possibly continue to correct a still wrong future course of the route 11.
  • one or more distance lines can be displayed superimposed in the representation of the driving course 11 in a manner not shown. This assists the driver in estimating distances.
  • the distance between distance lines is selected in an advantageous manner, for example, so that the distance lines are adjusted in relation to the vehicle and the vehicle environment. In connection with the invention, it has proven particularly useful if the distance lines are displayed at a corresponding distance of 1 meter and 5 meters behind the vehicle. This allows the driver to perceive the situation when maneuvering particularly intuitive.
  • the distance lines can be displayed over the entire course of the lane or limited to a certain distance. It is advantageous to select the restriction and the number of distance lines shown speed-dependent, in particular the form that at lower speeds, the display is limited to a smaller distance and thus a greater resolution.
  • Vehicle or vehicle combination Vehicle element
  • Vehicle element Connection Screen Camera Rear environment Steering angle Steering axle Tilt angle Predicted driving course Straight line position

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé et un dispositif permettant d'aider un conducteur à garer un véhicule ou un ensemble de véhicules (1) qui présente des éléments de véhicules (2, 3) pouvant être articulés les uns par rapport aux autres. Selon le procédé, un futur trajet de conduite (11) est prédit, lequel trajet indique la position dans laquelle le véhicule ou l'ensemble de véhicules se trouvera en ligne droite (12).
PCT/EP2008/005841 2007-08-01 2008-07-17 Procédé et dispositif d'aide au conducteur permettant d'aider un conducteur à garer un véhicule ou un ensemble de véhicules WO2009015778A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007036078.0 2007-08-01
DE102007036078 2007-08-01
DE102008006309.6 2008-01-28
DE102008006309A DE102008006309A1 (de) 2007-08-01 2008-01-28 Verfahren und Vorrichtung zur Fahrerunterstützung beim Rangieren eines Fahrzeuges oder Fahrzeuggespanns

Publications (1)

Publication Number Publication Date
WO2009015778A1 true WO2009015778A1 (fr) 2009-02-05

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ID=40176044

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/005841 WO2009015778A1 (fr) 2007-08-01 2008-07-17 Procédé et dispositif d'aide au conducteur permettant d'aider un conducteur à garer un véhicule ou un ensemble de véhicules

Country Status (2)

Country Link
DE (1) DE102008006309A1 (fr)
WO (1) WO2009015778A1 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009039111A1 (de) 2009-08-27 2011-03-03 Spiegelmacher, Kurt, Prof. Dr. Ing. Assistenzsystem zum Rückwärtsfahren von Fahrzeugverbänden mit Umgebungsvermessung
DE102009057996A1 (de) 2009-11-12 2011-05-19 Daimler Ag Verfahren zur Bestimmung einer Position einer Kamera mit einem zugehörigen Kamera-Koordinatensystem relativ zu einer Position eines Fahrzeuges oder Fahrzeuggespannes mit einem zugehörigen Fahrzeug-Koordinatensystem
DE102010026222A1 (de) 2010-07-06 2011-05-12 Daimler Ag Verfahren und Vorrichtung zur Fahrerunterstützung beim Fahren und/oder Rangieren eines Fahrzeugs
DE102010031038A1 (de) 2010-07-07 2012-01-12 Robert Bosch Gmbh Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeuges
DE102012006207A1 (de) 2012-03-27 2013-10-02 Volkswagen Aktiengesellschaft Assistenzvorrichtungen und Verfahren zum Betreiben einer Assistenzvorrichtung zur Fahrtsteuerung eines Zugfahrzeugs mit Anhänger
DE102012207647B4 (de) * 2012-05-08 2023-03-09 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem zum Rückwärtsfahren eines zweispurigen Kraftfahrzeugs mit einem Anhänger
DE102013009218A1 (de) * 2013-05-31 2014-12-04 Man Truck & Bus Ag Fahrerassistenz-System, insbesondere für ein Nutzfahrzeug
DE102014202615A1 (de) * 2014-02-13 2015-08-13 Volkswagen Aktiengesellschaft System und Verfahren zur Festlegung eines Soll-Knickwinkels zwischen einem Anhänger und einer Zugmaschine
DE102016115130A1 (de) * 2016-08-16 2018-02-22 Valeo Schalter Und Sensoren Gmbh Automatisiertes Einparken eines Kraftfahrzeugs mit einem Anhänger
DE102017008440A1 (de) * 2017-05-03 2018-12-06 Carit Automotive GmbH & Co.KG Vorrichtung und Verfahren zur präzisen Bestimmung von Fahrtrichtung und Fahrtrichtungsänderungen bei einem Fahrzeug und/oder Anhänger
CN109367620B (zh) * 2018-11-12 2020-03-17 合肥工业大学 一种半挂汽车列车直线倒车的诱导控制方法

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US20050206225A1 (en) * 2004-03-18 2005-09-22 Ford Global Technologies, Llc Method and apparatus for predicting the position of a trailer relative to a vehicle
DE102005051804A1 (de) * 2005-10-27 2007-05-03 Daimlerchrysler Ag Rangierhilfe für Fahrer von Fahrzeugen bzw. Fahrzeuggespannen, welche aus gegeneinander knickbare Fahrzeugelementen bestehen

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DE9208595U1 (de) * 1992-06-26 1992-08-13 Siemens AG, 8000 München Anordnung zur Steuerung der Lenkung eines Zugfahrzeuges mit Anhänger
FI990142A0 (fi) * 1999-01-26 1999-01-26 Valtion Teknillinen Virtuaaliratti
DE102005045196B4 (de) * 2004-09-24 2020-07-02 Continental Teves Ag & Co. Ohg Rangierhilfe für ein Zugfahrzeug mit einem Anhänger
DE102006035021B4 (de) * 2006-07-28 2010-04-29 Universität Koblenz-Landau Fahrerassistenzeinrichtung, Abbildungssystem, Verfahren und Computerprogrammvorrichtung

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
US20050206225A1 (en) * 2004-03-18 2005-09-22 Ford Global Technologies, Llc Method and apparatus for predicting the position of a trailer relative to a vehicle
DE102005051804A1 (de) * 2005-10-27 2007-05-03 Daimlerchrysler Ag Rangierhilfe für Fahrer von Fahrzeugen bzw. Fahrzeuggespannen, welche aus gegeneinander knickbare Fahrzeugelementen bestehen

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Publication number Publication date
DE102008006309A1 (de) 2009-02-05

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