WO2020020594A1 - Method for outputting a signal as a function of an acceleration signal and control device for outputting a signal as a function of an acceleration signal - Google Patents

Method for outputting a signal as a function of an acceleration signal and control device for outputting a signal as a function of an acceleration signal Download PDF

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Publication number
WO2020020594A1
WO2020020594A1 PCT/EP2019/067962 EP2019067962W WO2020020594A1 WO 2020020594 A1 WO2020020594 A1 WO 2020020594A1 EP 2019067962 W EP2019067962 W EP 2019067962W WO 2020020594 A1 WO2020020594 A1 WO 2020020594A1
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WIPO (PCT)
Prior art keywords
signal
acceleration
function
control device
outputting
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PCT/EP2019/067962
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German (de)
French (fr)
Inventor
Alexander Stohr
Original Assignee
Zf Friedrichshafen Ag
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Application filed by Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2020020594A1 publication Critical patent/WO2020020594A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics

Definitions

  • the invention relates to a method for outputting a signal as a function of an acceleration signal and to a control unit for outputting a signal as a function of an acceleration signal according to the preamble of the independent claims.
  • DE 10 2006 059 068 A1 discloses a method for a driver assistance system and a driver assistance system in which an actual change or probable change in the assignment of the object to a specific lane is taken into account for determining the relevance of individual objects. A lateral and a longitudinal acceleration of this object are also determined and taken into account.
  • the method according to the invention for outputting a signal as a function of an acceleration signal and the control device according to the invention for outputting a signal as a function of an acceleration signal with the features of the independent claims have the advantage that an ego vehicle now generates an acceleration signal from which then the signal is generated, determined for an object by determining on the basis of sensor signals, which are characterized as a function of at least one geometric parameter of the object and / or of an acoustic emission of the object.
  • This means that the movement of the object and possibly the accompanying noises can be used to infer accelerations or upcoming acceleration. This enables a better classification of an object to take into account the driving behavior, in particular of an autonomously driving vehicle.
  • the ego vehicle detects other objects and uses a computer to determine from at least one geometric parameter of the object and / or an acoustic emission whether these objects want to accelerate or brake. Braking under acceleration is seen below.
  • Pedestrians must have their weight, i.e. shift their focus to the front in order to move forward from a standing position. Often this is accompanied by lifting one foot.
  • vehicles are sprung and will raise or lower unilaterally when braking or accelerating.
  • noise ie acoustic emissions from drive units such as the engine and transmission, as well as from wheels, ie. H. by slipping or squeaking, possibly also by the brakes as a loud squeak.
  • Such an acceleration signal can then be used to infer a better classification of the object or, for example, a prognosis of the further movement of the object.
  • the output of a signal means the output from the control unit that is available for other vehicle functions.
  • the signal can, as referred to in the dependent claims, mean a control signal, that is, with which an actuator system then carries out a corresponding control or driving intervention. However, it can also be used to control a display and / or this signal can also be passed on to other vehicles or an infrastructure or a control center.
  • the signal will usually be a digital signal, which can then be evaluated accordingly.
  • the acceleration signal is an acceleration signal that is assigned to an object in the vicinity of the ego vehicle.
  • This means that the object is characterized by this acceleration signal and can be used alone or in conjunction with other characterizing features to estimate whether this object is on a collision course with the ego vehicle, for example, or into a possible future lane of the ego vehicle - penetrates. It can also be concluded whether this object can be ignored because it does not represent any danger potential or only a minor danger potential for the ego vehicle.
  • the acceleration signal is a signal that usually represents a computing variable in the control device, which is also processed there in order to recognize the signal as an output signal.
  • the acceleration signal it is possible for the acceleration signal to be determined and then passed on to another unit in order to generate the signal there, for example a central computer.
  • the at least one object is another vehicle, an infrastructure or a pedestrian, a cyclist or other road users in the vicinity of the ego vehicle, on which the method according to the invention runs and the control device according to the invention is included.
  • the sensor signal is a single or a plurality of electrical or optical signals that are generated by an environmental sensor system.
  • This sensor signal is made available via an interface in the control unit in order to determine the acceleration signal therefrom.
  • This sensor signal contains an object characterization based on at least one geometric parameter of the object and / or an acoustic emission of the object. On the basis of the geometric parameter, such as a change in the inclination of the object, an acceleration or a pending acceleration can be concluded.
  • the sensor signal contains raw sensor data, which the control unit then converts into the geometric features.
  • acceleration or braking can also be inferred from an acoustic emission.
  • cameras in particular, but also other imaging sensor systems can be used in the environment sensor system.
  • the parameters can already be determined in the sensor system by evaluating the image data.
  • microphones in particular can be used, for example. Acceleration sensors, which can serve as microphones.
  • the control device is usually a component which is enclosed by a housing and in which there are at least one computer and input and output interfaces.
  • sensors, several computing units, memories etc. can also be present in the control unit, for example.
  • the control device does not necessarily have to be provided with a housing, it can also be wrapped in a film or it can also be present in the ego vehicle in a manner distributed over several devices.
  • In order to provide the sensor signal there is an interface to which a line is connected that is connected to the environment sensor system.
  • the sensor signal can be transmitted via this line, for example a bus or a point-to-point connection. It is alternatively possible that a radio connection or an optical connection can also be used.
  • a computer is provided in the control unit. This computer can consist of one or more processors, wherein the processors can have one or more processor cores.
  • a deterministic algorithm or else a neural network can be provided on the computer for determining the acceleration signal and the signal itself according to the invention.
  • the acceleration signal is generated as a function of a shift in the center of gravity of the at least one object.
  • the center of gravity is determined from, for example, the geometry of the object and how the center of gravity changes over time. It can then be concluded that the object is accelerating or decelerating. Alternatively, it is possible to infer a corresponding acceleration or deceleration on the basis of movements of the vehicle. This indirectly concludes that the focus has shifted.
  • the signal is additionally determined as a function of the road gradient and / or the vector, the acceleration due to gravity.
  • the signal it is advantageous for the signal to indicate whether control or output of a warning message is to take place.
  • the signal that is determined from the acceleration signal and then again from the sensor signal is carried out in the ego vehicle.
  • This action can be, for example, a driver intervention, that is to say a control or, for example, the output of a warning message.
  • the signal it is alternatively or additionally possible for the signal to be provided for transmission to other vehicles and / or a control center.
  • This signal can be passed on via Car-to-X or another radio link in order to improve overall driving safety.
  • FIG. 1 shows an ego vehicle with surroundings sensors and objects in the surroundings
  • FIG. 2 shows a pedestrian in a forward movement
  • FIG. 1 shows an ego vehicle EC which has various surroundings sensor systems S1 to S8 in order to characterize the surroundings of the ego vehicle EC.
  • Objects 01 to 06 are shown in the vicinity of the vehicle and are detected by sensors S1 to S8.
  • the sensors S1 to S8 can be cameras, radar, LiDAR, ultrasound, microphones and other types of environment sensors. In the present case, these sensor systems should be able to identify geometric parameters or features of objects 01 to 06 and / or acoustic emissions of these objects 01 to 06.
  • Microphones are particularly suitable for the acoustic emission of objects 01 to 06.
  • acceleration sensors can also be used, for example, in which the low-pass filter in particular is no longer used. Any other type of recording of the acoustic signals is also possible in the present case.
  • Fig. 2 shows schematically a pedestrian P in a forward movement. Pedestrian P will raise their feet to move forward and lean forward to move their center of gravity in the direction of their walking direction.
  • FIG. 2a correspondingly shows a vehicle F which is in an exaggerated inclination, for example due to a braking operation which leads to a lowering of the front vehicle body and a lifting of the rear vehicle body.
  • This geometric change is detected by the sensor system and can therefore be evaluated for the detection of an acceleration.
  • FIG. 3 shows in a block diagram the signal processing for generating the signal S.
  • Environment sensor signals US are entered in the calculation block 1, which also includes the inclination of the road and the vector of the acceleration due to gravity.
  • an acceleration signal BS is generated via a deterministic algorithm or a neural network, which characterizes an object, for example 01 in the vicinity of the ego vehicle.
  • This acceleration signal and further signals are used in calculation block B2, for example, with the distance D and The speed V and further car-to-X information are used to characterize the object 01.
  • the signal S is then generated from this for further processing in the vehicle.
  • FIG. 4 shows a block diagram of the control device according to the invention with connected devices.
  • the environment sensors S1 to S8 are connected via the interface IF1.
  • the environmental sensor signal US is transmitted via this. Instead of a single line, several lines, a bus or a radio transmission or any other suitable data transmission can be used here.
  • the interface IF1 is designed accordingly.
  • a signal wS which stands for further sensor signals, is input into the control unit SG via a further interface IF2.
  • the interfaces IF1 and IF2 are each connected to the computer R. There these two signals are used to determine the acceleration signal BS, i.e. the calculation blocks B1 and B2 are combined in the computer R.
  • the signal S for controlling an actuator for example, is further refined.
  • the signal S is then output by the computer and output via the interface IF3 to a control AS, for example a steering system.
  • the computer R uses the environment sensor data to evaluate the geometric features of the object 01 to determine whether an acceleration can be identified. In addition, the computer R evaluates whether an acoustic emission from object 01 can be recognized. To distinguish this from other acoustic emissions, correlations, neural networks and other sensor information are used to rule out that this acoustic emission does not come from another object. In case of doubt, the acoustic emission is ignored.
  • the sensor signal US is made available at the interface IF1.
  • the sensor signal is characterized by the geometric features and / or an acoustic emission of the object.
  • the computer R determines the acceleration signal in the control unit SG using the sensor signal and possibly further sensor signals. As shown above, this can done by a deterministic algorithm or a neural network.
  • the signal S is possibly generated from the acceleration signal with the addition of further signals which identify the object, such as its speed or position.
  • FIG. 6 shows a vehicle 01 on a roadway R which has an inclination with respect to the horizontal.
  • the vector g is also shown for gravitational acceleration. Due to the inclination of the roadway R, the object 01 has a shift in the center of gravity, which has been exaggerated in the present case. This fact must be taken into account in an evaluation according to the invention in order not to arrive at incorrect conclusions.
  • This information such as road inclination and the vector of gravitational acceleration, is therefore important in order to establish the characterization of object 01.
  • FIG. 7 shows a further embodiment of the invention in a block diagram.
  • An environmental sensor system US transmits its signal to the control unit SG, as described here.
  • the control unit SG evaluates the environmental sensor signals according to the invention and transmits the signal S to a transceiver unit SE, which transmits this signal via radio signals FS with an antenna A1, for example to other vehicles, to an infrastructure or to a center for further processing.
  • FIG. 8 shows a further block diagram of the invention.
  • a plurality of possible environmental sensor systems are shown that can be used according to the invention.
  • a camera or video is particularly suitable, which are thus connected to the control unit SG.
  • a microphone M1 is particularly suitable and is therefore also connected to the control unit SG.
  • Corresponding features can also be recorded with radar, LiDAR and ultrasound PS, which are also connected to the control unit SG, or at least other features that can be used to check the plausibility of the evaluation of the acceleration signal.
  • An actuator act can then be controlled via the signal S.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for outputting a signal (S) as a function of an acceleration signal (BS), wherein at least one object (O1) in the surroundings of an ego vehicle (EC) is characterized. According to the invention, the acceleration signal (BS) is determined on the basis of at least one sensor signal (US), wherein the at least one sensor signal (US) is characterized as a function of at least one geometrical parameter of the object (O1) and/or of an acoustic emission of the object (O1). The invention also relates to a corresponding control device (SG).

Description

Verfahren zur Ausgabe eines Signals in Abhängigkeit von einem Beschleuniqunqs- siqnal sowie Steuergerät zur Ausgabe eines Signals in Abhängigkeit  Method for outputting a signal as a function of an acceleration signal and control device for outputting a signal as a function of
von einem Beschleuniqunqssiqnal  from an acceleration signal
Die Erfindung betrifft ein Verfahren zur Ausgabe eines Signals in Abhängigkeit von einem Beschleunigungssignal sowie ein Steuergerät zur Ausgabe eines Signals in Abhängigkeit von einem Beschleunigungssignal nach der Gattung der unabhängigen Patentansprüche. The invention relates to a method for outputting a signal as a function of an acceleration signal and to a control unit for outputting a signal as a function of an acceleration signal according to the preamble of the independent claims.
Aus DE 10 2006 059 068 A1 sind ein Verfahren für ein Fahrerassistenzsystem und ein Fahrerassistenzsystem bekannt, bei dem für die Bestimmung der Relevanz von einzelnen Objekten eine tatsächliche Veränderung oder wahrscheinliche Verände- rung der Zuordnung des Objekts zu einer bestimmten Fahrspur berücksichtigt wird. Dabei werden auch eine Lateral- und eine Längsbeschleunigung dieses Objekts be- stimmt und berücksichtigt. DE 10 2006 059 068 A1 discloses a method for a driver assistance system and a driver assistance system in which an actual change or probable change in the assignment of the object to a specific lane is taken into account for determining the relevance of individual objects. A lateral and a longitudinal acceleration of this object are also determined and taken into account.
Das erfindungsgemäße Verfahren zur Ausgabe eines Signals in Abhängigkeit von einem Beschleunigungssignal bzw. das erfindungsgemäße Steuergerät zur Ausgabe eines Signals in Abhängigkeit von einem Beschleunigungssignal mit den Merkmalen der unabhängigen Patentansprüche haben demgegenüber den Vorteil, dass nun- mehr ein Ego-Fahrzeug ein Beschleunigungssignal, aus dem dann das Signal er- zeugt wird, für ein Objekt dadurch bestimmt, dass anhand von Sensorsignalen, die in Abhängigkeit von wenigstens einem geometrischen Parameter des Objekts und/oder von einer akustischen Emission des Objekts gekennzeichnet sind, bestimmt wird. Damit kann anhand der Bewegung des Objekts und ggfs der dabei begleitenden Geräusche auf Beschleunigungen bzw. anstehende Beschleunigung geschlossen werden. Dies ermöglicht eine bessere Klassifikation eines Objekts zur Berücksichti- gung für das Fahrverhalten insbesondere eines autonom fahrenden Fahrzeugs. Dem liegt die Erkenntnis zu Grunde, dass mittlere bis starke Beschleunigung von Fremd- fahrzeugen für Menschen auch ohne Sinn für Geschwindigkeit sehr gut zu erkennen sind. Autonom fahrende Fahrzeuge sind von diesem Erfahrungsschatz bislang aus- geschlossen. Erfindungsgemäß soll die Vorausschau solcher Fahrzeuge und anderer Objekte verbessert werden und deren Qualität dieser Vorausschau gesteigert wer- den. Mit einer Umfeldsensorik erfasst das Ego-Fahrzeug andere Objekte und be- stimmt mittels eines Rechners aus wenigstens einem geometrischen Parameter des Objekts und/oder einer akustischen Emission, ob diese Objekte beschleunigen oder bremsen wollen. Im Folgenden wird Bremsen unter Beschleunigen gesehen. The method according to the invention for outputting a signal as a function of an acceleration signal and the control device according to the invention for outputting a signal as a function of an acceleration signal with the features of the independent claims have the advantage that an ego vehicle now generates an acceleration signal from which then the signal is generated, determined for an object by determining on the basis of sensor signals, which are characterized as a function of at least one geometric parameter of the object and / or of an acoustic emission of the object. This means that the movement of the object and possibly the accompanying noises can be used to infer accelerations or upcoming acceleration. This enables a better classification of an object to take into account the driving behavior, in particular of an autonomously driving vehicle. This is based on the knowledge that medium to strong acceleration of third-party vehicles can be recognized very well for people without a sense of speed. Autonomous vehicles have so far been excluded from this wealth of experience. According to the invention, the forecast of such vehicles and other objects is to be improved and the quality of this forecast is to be increased. the. With an environment sensor system, the ego vehicle detects other objects and uses a computer to determine from at least one geometric parameter of the object and / or an acoustic emission whether these objects want to accelerate or brake. Braking under acceleration is seen below.
Fußgänger müssen ihr Gewicht, d.h. ihren Schwerpunkt, nach vorne verlagern, um aus einer Standhaltung in eine Vorwärtsbewegung zu kommen. Oftmals wird dies durch das Heben eines Fußes begleitet. Dies kann nun erfindungsgemäß ausgewer- tet werden. Andererseits sind Fahrzeuge gefedert und werden sich dadurch einseitig heben oder senken, wenn es zum Bremsen oder zum Beschleunigen kommt. Zeit- gleich kann es auch zu Geräuschentwicklungen also zu akustischen Emissionen durch Antriebseinheiten wie Motor und Getriebe sowie durch Räder, d. h. durch Schlupf oder Quietschen ggf. auch durch die Bremsen als ein lautes Quietschen kommen. Diese Merkmale werden erfindungsgemäß ausgewertet, um ein Beschleu- nigungssignal für ein Objekt in der Ego-Fahrzeugumgebung zu bestimmen. Mit solch einem Beschleunigungssignal kann dann eine bessere Klassifizierung des Objekts oder bspw. Prognose auf die weitere Bewegung des Objekts geschlossen werden. Pedestrians must have their weight, i.e. shift their focus to the front in order to move forward from a standing position. Often this is accompanied by lifting one foot. This can now be evaluated according to the invention. On the other hand, vehicles are sprung and will raise or lower unilaterally when braking or accelerating. At the same time, there can also be noise, ie acoustic emissions from drive units such as the engine and transmission, as well as from wheels, ie. H. by slipping or squeaking, possibly also by the brakes as a loud squeak. These features are evaluated according to the invention in order to determine an acceleration signal for an object in the ego vehicle environment. Such an acceleration signal can then be used to infer a better classification of the object or, for example, a prognosis of the further movement of the object.
Mit der Ausgabe eines Signals ist vorliegend die Ausgabe aus dem Steuergerät ge- meint, die für andere Fahrzeugfunktionen zur Verfügung steht. Mit dem Signal kann, wie in den abhängigen Ansprüchen bezeichnet, ein Steuersignal gemeint sein, also mit dem eine Aktuatorik dann eine entsprechende Steuerung bzw. einen Fahreingriff vornimmt. Es kann aber auch damit eine Anzeige angesteuert werden und/oder die- ses Signal kann aber auch an andere Fahrzeuge oder eine Infrastruktur oder eine Zentrale weitergegeben werden. Bei dem Signal wird es sich üblicherweise um ein digitales Signal handeln, das entsprechend dann ausgewertet werden kann. In the present case, the output of a signal means the output from the control unit that is available for other vehicle functions. The signal can, as referred to in the dependent claims, mean a control signal, that is, with which an actuator system then carries out a corresponding control or driving intervention. However, it can also be used to control a display and / or this signal can also be passed on to other vehicles or an infrastructure or a control center. The signal will usually be a digital signal, which can then be evaluated accordingly.
Bei dem Beschleunigungssignal handelt es sich vorliegend um ein Beschleunigungs- signal, das einem Objekt in der Umgebung des Ego-Fahrzeugs zugeordnet wird. D.h. das Objekt wird durch dieses Beschleunigungssignal charakterisiert und kann alleine oder in Verbindung mit anderen charakterisierenden Merkmalen dazu verwendet werden, um abzuschätzen, ob dieses Objekt bspw. auf einem Kollisionskurs mit dem Ego-Fahrzeug ist oder in eine mögliche zukünftige Fahrspur des Ego-Fahrzeugs ein- dringt. Auch kann daraus geschlossen werden, ob dieses Objekt ignoriert werden kann, weil es kein Gefahrenpotential oder ein nur geringes Gefahrenpotential für das Ego-Fahrzeug darstellt. In the present case, the acceleration signal is an acceleration signal that is assigned to an object in the vicinity of the ego vehicle. This means that the object is characterized by this acceleration signal and can be used alone or in conjunction with other characterizing features to estimate whether this object is on a collision course with the ego vehicle, for example, or into a possible future lane of the ego vehicle - penetrates. It can also be concluded whether this object can be ignored because it does not represent any danger potential or only a minor danger potential for the ego vehicle.
Bei dem Beschleunigungssignal handelt es sich um ein Signal, das im Steuergerät üblicherweise eine Rechengröße darstellt, die dort auch weiterverarbeitet wird, um das Signal als Ausgabesignal zu erkennen. Alternativ ist es möglich, dass das Be- schleunigungssignal bestimmt wird und dann an eine andere Einheit weitergegeben wird, um dort das Signal zu erzeugen bspw. ein Zentralrechner. The acceleration signal is a signal that usually represents a computing variable in the control device, which is also processed there in order to recognize the signal as an output signal. Alternatively, it is possible for the acceleration signal to be determined and then passed on to another unit in order to generate the signal there, for example a central computer.
Bei dem wenigstens einen Objekt handelt es sich um ein anderes Fahrzeug, eine Infrastruktur oder ein Fußgänger, ein Fahrradfahrer oder andere Verkehrsteilnehmer in der Umgebung des Ego-Fahrzeug, auf dem das erfindungsgemäße Verfahren läuft und das erfindungsgemäße Steuergerät enthalten ist. The at least one object is another vehicle, an infrastructure or a pedestrian, a cyclist or other road users in the vicinity of the ego vehicle, on which the method according to the invention runs and the control device according to the invention is included.
Bei dem Sensorsignal handelt es sich um ein einzelnes oder eine Mehrzahl von elektrischen oder optischen Signalen, die von einer Umfeldsensorik erzeugt werden. Dieses Sensorsignal wird über eine Schnittstelle im Steuergerät bereitgestellt, um daraus das Beschleunigungssignal zu bestimmen. Dieses Sensorsignal enthält eine Objektcharakterisierung anhand wenigstens eines geometrischen Parameters des Objekts und/oder einer akustischen Emission des Objekts. Anhand des geometri- schen Parameters, wie bspw. einer Veränderung in der Neigung des Objekts, kann auf eine Beschleunigung oder anstehende Beschleunigung geschlossen werden. Alternativ enthält das Sensorsignal Sensorrohdaten, die dann vom Steuergerät erst in die geometrischen Merkmale überführt werden. The sensor signal is a single or a plurality of electrical or optical signals that are generated by an environmental sensor system. This sensor signal is made available via an interface in the control unit in order to determine the acceleration signal therefrom. This sensor signal contains an object characterization based on at least one geometric parameter of the object and / or an acoustic emission of the object. On the basis of the geometric parameter, such as a change in the inclination of the object, an acceleration or a pending acceleration can be concluded. Alternatively, the sensor signal contains raw sensor data, which the control unit then converts into the geometric features.
Wie oben dargestellt, kann auch über eine akustische Emission auf eine Beschleuni- gung oder ein Bremsen geschlossen werden. Insbesondere in Kombination mit den geometrischen Parametern wird daraus eine noch belastbarere Aussage. Für die Identifikation dieser Parameter sind in der Umfeldsensorik insbesondere Kameras aber auch andere bildgebende Sensoriken einsetzbar. Die Parameter können bspw. bereits in der Sensorik durch eine Auswertung aus den Bilddaten ermittelt werden. Um eine akustische Emission aufzunehmen, sind insbesondere Mikrophone aber bspw. Beschleunigungssensoren, die als Mikrophone dienen können, verwendbar. As shown above, acceleration or braking can also be inferred from an acoustic emission. In combination with the geometric parameters in particular, this results in an even more reliable statement. For the identification of these parameters, cameras, in particular, but also other imaging sensor systems can be used in the environment sensor system. For example, the parameters can already be determined in the sensor system by evaluating the image data. In order to record an acoustic emission, microphones in particular can be used, for example. Acceleration sensors, which can serve as microphones.
Bei dem Steuergerät handelt es sich üblicherweise um ein Bauteil, das durch ein Ge- häuse umschlossen ist und in dem sich zumindest ein Rechner und Eingabe- und Ausgabeschnittstellen befinden. Im Steuergerät können bspw. aber auch Sensoren, mehrere Recheneinheiten, Speicher usw. vorhanden sein. Das Steuergerät muss nicht notwendigerweise mit einem Gehäuse versehen sein, es kann auch durch eine Folie umwickelt sein oder es kann auch verteilt über mehrere Geräte im Ego- Fahrzeug vorhanden sein. Um das Sensorsignal bereitzustellen, ist eine Schnittstelle vorhanden, an die eine Leitung angeschlossen ist, die mit der Umfeldsensorik ver- bunden ist. Über diese Leitung bspw. ein Bus oder eine Punkt -zu-Punkt-Verbindung kann das Sensorsignal übertragen werden. Es ist alternativ möglich, dass auch eine Funkverbindung oder eine optische Verbindung verwendet werden kann. Weiterhin ist, wie oben angegeben, ein Rechner im Steuergerät vorgesehen. Dieser Rechner kann aus einem oder mehreren Prozessoren bestehen, wobei die Prozessoren ein oder mehrere Prozessorkerne aufweisen können. Auf dem Rechner kann zur erfin- dungsgemäßen Bestimmung des Beschleunigungssignals und des Signals selbst ein deterministischer Algorithmus oder auch ein neuronales Netzwerk vorgesehen sein. The control device is usually a component which is enclosed by a housing and in which there are at least one computer and input and output interfaces. However, sensors, several computing units, memories etc. can also be present in the control unit, for example. The control device does not necessarily have to be provided with a housing, it can also be wrapped in a film or it can also be present in the ego vehicle in a manner distributed over several devices. In order to provide the sensor signal, there is an interface to which a line is connected that is connected to the environment sensor system. The sensor signal can be transmitted via this line, for example a bus or a point-to-point connection. It is alternatively possible that a radio connection or an optical connection can also be used. Furthermore, as stated above, a computer is provided in the control unit. This computer can consist of one or more processors, wherein the processors can have one or more processor cores. A deterministic algorithm or else a neural network can be provided on the computer for determining the acceleration signal and the signal itself according to the invention.
Durch die in den abhängigen Ansprüchen aufgeführten Maßnahmen Weiterbildungen sind vorteilhafte Verbesserungen des in den unabhängigen Patentansprüchen ange- gebenen Verfahrens bzw. Steuergeräts möglich. Advantageous improvements of the method or control device specified in the independent patent claims are possible through the measures further developments listed in the dependent claims.
Ein vorteilhafter Aspekt der Erfindung ist, dass das Beschleunigungssignal in Abhän- gigkeit von einer Schwerpunktsverlagerung des wenigstens einen Objekts erzeugt wird. Dies bedeutet, dass aus bspw. der Geometrie des Objekts eine Schwerpunkts- bestimmung stattfindet und über die Zeit bestimmt wird, wie sich dieser Schwerpunkt verändert. Daraus kann dann auf eine Beschleunigung oder ein Abbremsen des Ob- jekts geschlossen werden. Alternativ ist es möglich, dass anhand von Bewegungen des Fahrzeugs auf eine entsprechende Beschleunigung oder Verzögerung geschlos- sen wird. Damit wird indirekt auf die Schwerpunktsverlagerung geschlossen. Gemäß einem weiteren Aspekt der Erfindung ist es vorteilhaft, dass das Signal zu- sätzlich in Abhängigkeit von der Fahrbahnneigung und/oder dem Vektor die Erdbe- schleunigung bestimmt wird. Wenn die Fahrbahn eine vorgegebene Neigung auf- weist, dann führt das bereits zu einer entsprechenden Schwerpunktsverlagerung des Objekts, um dieser Neigung gerecht zu werden. Auch anhand der Erdbeschleuni- gung bzw. dem Vektor und damit der Richtung der Erdbeschleunigung kann hier nun zusätzlich berücksichtigt werden, um nicht einen Fehlschluss zu begehen, dass sich das Objekt in einer bestimmten Verzögerung oder Beschleunigung befindet. An advantageous aspect of the invention is that the acceleration signal is generated as a function of a shift in the center of gravity of the at least one object. This means that the center of gravity is determined from, for example, the geometry of the object and how the center of gravity changes over time. It can then be concluded that the object is accelerating or decelerating. Alternatively, it is possible to infer a corresponding acceleration or deceleration on the basis of movements of the vehicle. This indirectly concludes that the focus has shifted. According to a further aspect of the invention, it is advantageous that the signal is additionally determined as a function of the road gradient and / or the vector, the acceleration due to gravity. If the roadway has a predefined inclination, this already leads to a corresponding shift in the center of gravity of the object in order to do justice to this inclination. On the basis of the acceleration of gravity or the vector and thus the direction of the acceleration of gravity, additional consideration can now be given here so as not to make a mistake that the object is in a certain deceleration or acceleration.
Gemäß einem weiteren Aspekt der Erfindung ist es vorteilhaft, dass das Signal kenn- zeichnet, ob eine Steuerung oder eine Ausgabe einer Warnmeldung erfolgen soll. Dem Signal, das aus dem Beschleunigungssignal und dann wiederum aus dem Sen- sorsignal bestimmt wird, wird im Ego-Fahrzeug eine weitere Aktion durchgeführt. Diese Aktion kann bspw. ein Fahreingriff sein, also eine Steuerung oder bspw. die Ausgabe einer Warnmeldung. According to a further aspect of the invention, it is advantageous for the signal to indicate whether control or output of a warning message is to take place. The signal that is determined from the acceleration signal and then again from the sensor signal is carried out in the ego vehicle. This action can be, for example, a driver intervention, that is to say a control or, for example, the output of a warning message.
Gemäß einem weiteren Aspekt der Erfindung ist es alternativ oder zusätzlich dazu möglich, dass das Signal zur Weitergabe an weitere Fahrzeuge und/oder eine Zent- rale bereitgestellt wird. Damit kann über Car-to-X oder eine andere Funkverbindung dieses Signal weitergegeben werden, um die Fahrsicherheit insgesamt zu verbes- sern. According to a further aspect of the invention, it is alternatively or additionally possible for the signal to be provided for transmission to other vehicles and / or a control center. This signal can be passed on via Car-to-X or another radio link in order to improve overall driving safety.
Ausführungsbeispiele der Erfindung sind anhand der Figuren dargestellt und werden in der nachfolgenden Beschreibung näher erläutert. Exemplary embodiments of the invention are illustrated with the aid of the figures and are explained in more detail in the description below.
Fig. 1 zeigt ein Ego-Fahrzeug mit Umfeldsensorik und Objekten in der Umgebung, Fig. 2 zeigt einen Fußgänger in einer Vorwärtsbewegung, 1 shows an ego vehicle with surroundings sensors and objects in the surroundings, FIG. 2 shows a pedestrian in a forward movement,
Fig. 2a zeigt ein Fahrzeug bei einer Beschleunigung,  2a shows a vehicle during acceleration,
Fig. 3 zeigt ein Blockschaltbild der Erfindung,  3 shows a block diagram of the invention,
Fig. 4 zeigt ein weiteres Blockschaltbild der Erfindung,  4 shows a further block diagram of the invention,
Fig. 5 ein Flussdiagramm des erfindungsgemäßen Verfahrens,  5 shows a flow diagram of the method according to the invention,
Fig. 6 ein Fahrzeug auf einer geneigten Fahrbahn,  6 shows a vehicle on an inclined roadway,
Fig. 7 ein weiteres Blockschaltbild der Erfindung und Fig. 8 ein weiteres Blockschaltbild der Erfindung. 7 shows a further block diagram of the invention and 8 shows a further block diagram of the invention.
In Fig. 1 ist ein Ego-Fahrzeug EC dargestellt, das verschiedene Umfeldsensoriken S1 bis S8 aufweist, um die Umgebung des Ego-Fahrzeugs EC zu charakterisieren. In der Umgebung des Fahrzeugs sind die Objekte 01 bis 06 dargestellt, die durch die Sensoriken S1 bis S8 erfasst werden. Bei den Sensoriken S1 bis S8 kann es sich um Kameras, Radar, LiDAR, Ultraschall, Mikrophone und anders geartete Umfeldsenso- riken handeln. Vorliegend sollen diese Sensoriken in der Lage sein, geometrische Parameter bzw. Merkmale der Objekte 01 bis 06 und/oder akustische Emissionen dieser Objekte 01 bis 06 zu identifizieren. Für die akustische Emission der Objek- te 01 bis 06 sind insbesondere Mikrophone geeignet. Dazu können bspw. auch Be- schleunigungssensoren verwendet werden, in dem insbesondere der Tiefpassfilter nicht mehr verwendet wird. Aber auch jede andere Art der Aufnahme der akustischen Signale ist vorliegend möglich. 1 shows an ego vehicle EC which has various surroundings sensor systems S1 to S8 in order to characterize the surroundings of the ego vehicle EC. Objects 01 to 06 are shown in the vicinity of the vehicle and are detected by sensors S1 to S8. The sensors S1 to S8 can be cameras, radar, LiDAR, ultrasound, microphones and other types of environment sensors. In the present case, these sensor systems should be able to identify geometric parameters or features of objects 01 to 06 and / or acoustic emissions of these objects 01 to 06. Microphones are particularly suitable for the acoustic emission of objects 01 to 06. For this purpose, acceleration sensors can also be used, for example, in which the low-pass filter in particular is no longer used. Any other type of recording of the acoustic signals is also possible in the present case.
Fig. 2 zeigt schematisch einen Fußgänger P in einer Vorwärtsbewegung. Der Fuß- gänger P wird die Füße heben, um sich vorwärts zu bewegen und sich nach vorne neigen, um seinen Schwerpunkt in die Richtung seiner Gehrichtung zu bewegen.Fig. 2 shows schematically a pedestrian P in a forward movement. Pedestrian P will raise their feet to move forward and lean forward to move their center of gravity in the direction of their walking direction.
Dies kann je nach Art des Gehens oder Laufens variieren. This can vary depending on the type of walking or running.
Fig. 2a zeigt entsprechend ein Fahrzeug F, das sich in einer hier übertrieben darge- stellten Schieflage befindet, bspw. aufgrund eines Bremsvorgangs, der zu einem Ab- senken der vorderen Fahrzeugkarosserie und einem Anheben der hinteren Fahr- zeugkarosserie führt. Diese geometrische Veränderung wird durch die Sensorik er- fasst und kann somit für die Erkennung einer Beschleunigung ausgewertet werden. 2a correspondingly shows a vehicle F which is in an exaggerated inclination, for example due to a braking operation which leads to a lowering of the front vehicle body and a lifting of the rear vehicle body. This geometric change is detected by the sensor system and can therefore be evaluated for the detection of an acceleration.
Fig. 3 zeigt in einem Blockschaltbild, die eine Signalverarbeitung zur Erzeugung des Signals S. Umfeldsensoriksignale US werden in den Berechnungsblock 1 eingege- ben, in den auch die Neigung der Fahrbahn und der Vektor der Erdbeschleunigung eingeht. Daraus wird über einen deterministischen Algorithmus oder ein neuronales Netzwerk ein Beschleunigungssignal BS erzeugt, das ein Objekt bspw. 01 in der Umgebung des Ego-Fahrzeugs charakterisiert. Mit diesem Beschleunigungssignal und weiteren Signalen wird im Berechnungsblock B2 bspw. mit der Entfernung D und der Geschwindigkeit V und weiteren Ca r-to-X- Informationen eine Charakterisierung des Objekts 01 vorgenommen. Daraus wird dann das Signal S erzeugt für die weite- re Verarbeitung im Fahrzeug. 3 shows in a block diagram the signal processing for generating the signal S. Environment sensor signals US are entered in the calculation block 1, which also includes the inclination of the road and the vector of the acceleration due to gravity. From this, an acceleration signal BS is generated via a deterministic algorithm or a neural network, which characterizes an object, for example 01 in the vicinity of the ego vehicle. This acceleration signal and further signals are used in calculation block B2, for example, with the distance D and The speed V and further car-to-X information are used to characterize the object 01. The signal S is then generated from this for further processing in the vehicle.
Fig. 4 zeigt ein Blockschaltbild des erfindungsgemäßen Steuergeräts mit ange- schlossenen Geräten. Über die Schnittstelle IF1 ist die Umfeldsensorik S1 bis S8 angeschlossen. Darüber wird das Umfeldsensoriksignal US übertragen. Anstatt einer einzigen Leitung können hier mehrere Leitungen einen Bus oder eine Funkübertra- gung oder jeder andere geeignete Datenübertragung verwendet werden. Entspre- chend ist die Schnittstelle IF1 ausgebildet. Über eine weitere Schnittstelle IF2 wird ein Signal wS, das für weitere Sensorsignale steht, in das Steuergerät SG eingege- ben. Die Schnittstellen IF1 und IF2 sind jeweils mit dem Rechner R verbunden. Dort werden diese beiden Signale verwendet, um das Beschleunigungssignal BS zu be- stimmen, d.h. die Berechnungsblöcke B1 und B2 sind im Rechner R vereinigt. Mit den weiteren Sensorsignalen IS wird das Signal S zur Ansteuerung bspw. einer Akto- rik noch weiter verfeinert. Das Signal S wird dann vom Rechner ausgegeben und über die Schnittstelle IF3 an eine Ansteuerung AS bspw. einer Lenkung ausgegeben. 4 shows a block diagram of the control device according to the invention with connected devices. The environment sensors S1 to S8 are connected via the interface IF1. The environmental sensor signal US is transmitted via this. Instead of a single line, several lines, a bus or a radio transmission or any other suitable data transmission can be used here. The interface IF1 is designed accordingly. A signal wS, which stands for further sensor signals, is input into the control unit SG via a further interface IF2. The interfaces IF1 and IF2 are each connected to the computer R. There these two signals are used to determine the acceleration signal BS, i.e. the calculation blocks B1 and B2 are combined in the computer R. With the further sensor signals IS, the signal S for controlling an actuator, for example, is further refined. The signal S is then output by the computer and output via the interface IF3 to a control AS, for example a steering system.
Wie oben dargestellt, wertet der Rechner R aus den Umfeldsensorikdaten die geo- metrischen Merkmale des Objekts 01 dahingehend aus, ob daran eine Beschleuni- gung zu erkennen ist. Zusätzlich wertet der Rechner R aus, ob eine akustische Emission vom Objekt 01 zu erkennen ist. Um dies von anderen akustischen Emissi- onen zu unterscheiden, wird mit Korrelationen, neuronalen Netzwerken und weiteren Sensorinformationen gearbeitet, um auszuschließen, dass nicht von einem anderen Objekt diese akustische Emission stammt. Im Zweifel wird die akustische Emission ignoriert. As shown above, the computer R uses the environment sensor data to evaluate the geometric features of the object 01 to determine whether an acceleration can be identified. In addition, the computer R evaluates whether an acoustic emission from object 01 can be recognized. To distinguish this from other acoustic emissions, correlations, neural networks and other sensor information are used to rule out that this acoustic emission does not come from another object. In case of doubt, the acoustic emission is ignored.
Fig. 5 zeigt ein Flussdiagramm des erfindungsgemäßen Verfahrens. In Verfahrens- schritt 500 wird das Sensorsignal US an der Schnittstelle IF1 bereitgestellt. Das Sen- sorsignal ist durch die geometrischen Merkmale und/oder eine akustische Emission des Objekts gekennzeichnet. In Verfahrensschritt 501 erfolgt im Steuergerät SG durch den Rechner R die Bestimmung des Beschleunigungssignals anhand des Sensorsignals und ggf. weiterer Sensorsignale. Dies kann, wie oben dargestellt, durch einen deterministischen Algorithmus oder ein neuronales Netzwerk gesche- hen. Im Verfahrensschritt 502 wird aus dem Beschleunigungssignal evtl unter Hin- zuziehung weiterer Signale, die das Objekt kennzeichnen, wie dessen Geschwindig- keit oder Position, das Signal S erzeugt. 5 shows a flow diagram of the method according to the invention. In method step 500, the sensor signal US is made available at the interface IF1. The sensor signal is characterized by the geometric features and / or an acoustic emission of the object. In method step 501, the computer R determines the acceleration signal in the control unit SG using the sensor signal and possibly further sensor signals. As shown above, this can done by a deterministic algorithm or a neural network. In method step 502, the signal S is possibly generated from the acceleration signal with the addition of further signals which identify the object, such as its speed or position.
In Fig. 6 ist ein Fahrzeug 01 dargestellt auf einer Fahrbahn R, die eine Neigung ge- genüber der Horizontalen aufweist. Ebenfalls ist der Vektor g dargestellt für die Erd- beschleunigung. Durch die Neigung der Fahrbahn R weist das Objekt 01 eine Ver- schiebung des Schwerpunkts auf, die vorliegend übertrieben dargestellt wurde. Die- se Tatsache ist in einer Auswertung gemäß der Erfindung zu berücksichtigen, um nicht zu falschen Schlüssen zu gelangen. Daher sind diese Informationen wie Fahr- bahnneigung und der Vektor der Erdbeschleunigung wichtig, um die Charakterisie- rung des Objekts 01 herzustellen. 6 shows a vehicle 01 on a roadway R which has an inclination with respect to the horizontal. The vector g is also shown for gravitational acceleration. Due to the inclination of the roadway R, the object 01 has a shift in the center of gravity, which has been exaggerated in the present case. This fact must be taken into account in an evaluation according to the invention in order not to arrive at incorrect conclusions. This information, such as road inclination and the vector of gravitational acceleration, is therefore important in order to establish the characterization of object 01.
Fig. 7 zeigt in einem Blockschaltbild eine weitere Ausführung der Erfindung. Eine Umfeldsensorik US überträgt sein Signal an das Steuergerät SG, wie vorliegend be- schrieben. Das Steuergerät SG wertet die Umfeldsensoriksignale erfindungsgemäß aus und überträgt das Signal S an eine Sendeempfangseinheit SE, die über Funk- signale FS mit einer Antenne A1 dieses Signal überträgt bspw. zu anderen Fahrzeu- gen, zu einer Infrastruktur oder zu einer Zentrale zur weiteren Verarbeitung. 7 shows a further embodiment of the invention in a block diagram. An environmental sensor system US transmits its signal to the control unit SG, as described here. The control unit SG evaluates the environmental sensor signals according to the invention and transmits the signal S to a transceiver unit SE, which transmits this signal via radio signals FS with an antenna A1, for example to other vehicles, to an infrastructure or to a center for further processing.
Fig. 8 zeigt ein weiteres Blockschaltbild der Erfindung. Vorliegend ist eine Mehrzahl von möglichen Umfeldsensoriken dargestellt, die erfindungsgemäß verwendet wer- den können. Um die Objekte bzgl. der geometrischen Merkmale auszuwerten, ist besonders eine Kamera, Video geeignet, die somit an das Steuergerät SG ange- schlossen sind. Um eine akustische Emission aufzunehmen, ist insbesondere ein Mikrophon Ml geeignet und somit auch an das Steuergerät SG angeschlossen. Aber auch mit Radar, LiDAR und Ultraschall PS, die ebenfalls an das Steuergerät SG an- geschlossen sind, können entsprechende Merkmale aufgenommen werden oder aber zumindest andere Merkmale, die zur Plausibilisierung der Auswertung des Be- schleunigungssignals verwendet werden können. Damit kann dann über das Sig nal S eine Aktorik Akt angesteuert werden. Bezuaszeichen 8 shows a further block diagram of the invention. In the present case, a plurality of possible environmental sensor systems are shown that can be used according to the invention. In order to evaluate the objects with regard to the geometric features, a camera or video is particularly suitable, which are thus connected to the control unit SG. In order to record an acoustic emission, a microphone M1 is particularly suitable and is therefore also connected to the control unit SG. Corresponding features can also be recorded with radar, LiDAR and ultrasound PS, which are also connected to the control unit SG, or at least other features that can be used to check the plausibility of the evaluation of the acceleration signal. An actuator act can then be controlled via the signal S. Bezuaszeichen
EC Ego-Fahrzeug EC ego vehicle
S1 bis S8 Umfeldsensorik  S1 to S8 environment sensors
01 bis 06 Objekt 01 to 06 object
P Fußgänger P pedestrians
F Fahrzeug F vehicle
US Umfeldsensoriksignal, Umfeldsensorik US environment sensor signal, environment sensor system
B1 Berechnungsblock B1 calculation block
B2 Berechnungsblock  B2 calculation block
N Neigung  N slope
g Erdbeschleunigung g gravitational acceleration
BS Beschleunigungssignal  BS acceleration signal
D Position  D position
V Geschwindigkeit  V speed
CX Car-to-X-Kommunikation  CX Car-to-X communication
S Signal  S signal
wS Weitere Sensorsignale wS Further sensor signals
IF1 bis 3 Schnittstellen  IF1 to 3 interfaces
R Rechner R calculator
SG Steuergerät  SG control unit
AS Ansteuerung  AS control
500 bis 502 Verfahrensschritte  500 to 502 process steps
R Fahrbahn  R lane
SE Sendeempfangseinheit  SE transceiver unit
A1 Antenne  A1 antenna
FS Funksignale, Video, Kamera  FS radio signals, video, camera
Ml Mikrophon  Ml microphone
Radar Radar  Radar radar
LiDAR LiDAR  LiDAR LiDAR
PS Ultraschall  PS ultrasound
Akt Aktorik  Act actuator

Claims

Patentansprüche claims
1. Verfahren zur Ausgabe eines Signals (S) in Abhängigkeit von einem Beschleuni- gungssignal (BS), mit dem wenigstens ein Objekt (01 ) in der Umgebung eines Ego- Fahrzeugs (EC) charakterisiert wird, dadurch gekennzeichnet, dass das Beschleuni- gungssignal (BS) anhand wenigstens eines Sensorsignals (US) bestimmt wird, wobei das wenigstens eine Sensorsignal (US) in Abhängigkeit von wenigstens einem geo- metrischen Parameter des Objekts (01 ) und/oder von einer akustischen Emission des Objekts (01 ) gekennzeichnet ist. 1. Method for outputting a signal (S) as a function of an acceleration signal (BS), with which at least one object (01) is characterized in the environment of a ego vehicle (EC), characterized in that the acceleration signal (BS) is determined on the basis of at least one sensor signal (US), the at least one sensor signal (US) being identified as a function of at least one geometric parameter of the object (01) and / or of an acoustic emission of the object (01).
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass das Beschleunigungs- signal in Abhängigkeit von einer Schwerpunktsverlagerung des wenigstens ein Ob- jekts (01) erzeugt wird. 2. The method according to claim 1, characterized in that the acceleration signal is generated as a function of a shift in the center of gravity of the at least one object (01).
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Signal (S) zusätzlich in Abhängigkeit von der Fahrbahnneigung und/oder dem Vektor (G) die Erdbeschleunigung bestimmt wird. 3. The method according to claim 1 or 2, characterized in that the signal (S) is additionally determined as a function of the road gradient and / or the vector (G) the gravitational acceleration.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass das Signal (S) kennzeichnet, ob eine Steuerung oder eine Ausgabe einer Warnmeldung erfolgen soll. 4. The method according to any one of claims 1 to 3, characterized in that the signal (S) indicates whether control or an output of a warning message is to take place.
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das Signal (S) zur Weitergabe an weitere Fahrzeuge und/oder eine Zentrale bereitgestellt wird. 5. The method according to any one of claims 1 to 4, characterized in that the signal (S) is provided for transmission to other vehicles and / or a control center.
6. Steuergerät (SG) zur Ausgabe eines Signals (S) in Abhängigkeit von einem Be- schleunigungssignal (BS), mit dem wenigstens ein Objekt (01 ) in der Umgebung ei- nes Ego-Fahrzeugs (EC) charakterisiert ist, dadurch gekennzeichnet, dass eine Schnittstelle (IF1 ) vorhanden ist, die wenigstens ein Sensorsignal (US) bereitstellt, dass ein Rechner (R) vorgesehen ist, mit dem anhand des wenigstens einen Sensor- signals (US) das Beschleunigungssignal (BS) bestimmt wird, dass das wenigstens eine Sensorsignal (US) in Abhängigkeit wenigstens eines geometrischen Parameters des Objekts (01 ) oder von einer akustischen Emission des Objekts gekennzeichnet ist. 6. Control device (SG) for outputting a signal (S) as a function of an acceleration signal (BS), with which at least one object (01) in the environment of an ego vehicle (EC) is characterized, characterized in that that there is an interface (IF1) that provides at least one sensor signal (US), that a computer (R) is provided, with which the acceleration signal (BS) is determined on the basis of the at least one sensor signal (US), that the at least one a sensor signal (US) depending on at least one geometric parameter of the object (01) or is characterized by an acoustic emission of the object.
7. Steuergerät (SG) nach Anspruch 6, dadurch gekennzeichnet, dass der Rech- ner (R) dazu konfiguriert ist, dass das Beschleunigungssignal (BS) in Abhängigkeit von einer Schwerpunktsverlagerung des wenigstens ein Objekts erzeugt wird. 7. Control device (SG) according to claim 6, characterized in that the computer (R) is configured so that the acceleration signal (BS) is generated as a function of a shift in the center of gravity of the at least one object.
8. Steuergerät (SG) nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass der Rechner (R) dazu konfiguriert ist, dass ein Beschleunigungssignal (BS) zusätzlich in Abhängigkeit von der Fahrbahnneigung und/oder dem Vektor der Erdbeschleunigung bestimmt wird. 8. Control device (SG) according to claim 6 or 7, characterized in that the computer (R) is configured so that an acceleration signal (BS) is additionally determined as a function of the road gradient and / or the vector of the acceleration due to gravity.
9. Steuergerät (SG) nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass der Rechner das Signal derart ausgibt, dass das Signal kennzeichnet, ob eine Steuerung des Ego-Fahrzeugs (EC) oder eine Ausgabe einer Warnmeldung erfolgen soll. 9. Control device (SG) according to one of claims 6 to 8, characterized in that the computer outputs the signal in such a way that the signal indicates whether the ego vehicle (EC) is to be controlled or a warning message is to be output.
10. Steuergerät (SG) nach einem der Ansprüche 6 bis 9, dadurch gekennzeichnet, dass der Rechner (R) das Signal (S) derart ausgibt, dass das Signal (S) zur Weiter- gabe an weitere Fahrzeuge oder eine Zentrale bereitgestellt wird. 10. Control device (SG) according to one of claims 6 to 9, characterized in that the computer (R) outputs the signal (S) in such a way that the signal (S) is provided for transmission to other vehicles or a control center.
PCT/EP2019/067962 2018-07-27 2019-07-04 Method for outputting a signal as a function of an acceleration signal and control device for outputting a signal as a function of an acceleration signal WO2020020594A1 (en)

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