EP3247606A1 - Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile, système d'aide à la conduite et véhicule automobile - Google Patents

Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile, système d'aide à la conduite et véhicule automobile

Info

Publication number
EP3247606A1
EP3247606A1 EP15817856.6A EP15817856A EP3247606A1 EP 3247606 A1 EP3247606 A1 EP 3247606A1 EP 15817856 A EP15817856 A EP 15817856A EP 3247606 A1 EP3247606 A1 EP 3247606A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
distance
determined
height
distance sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15817856.6A
Other languages
German (de)
English (en)
Inventor
Paul-David Rostocki
Heinrich Gotzig
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP3247606A1 publication Critical patent/EP3247606A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/08—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the cargo, e.g. overload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R9/00—Supplementary fittings on vehicle exterior for carrying loads, e.g. luggage, sports gear or the like
    • B60R9/04—Carriers associated with vehicle roof
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/201—Dimensions of vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93273—Sensor installation details on the top of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93276—Sensor installation details in the windshield area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination

Definitions

  • the present invention relates to a method for operating a
  • Driver assistance system of a motor vehicle in which by means of at least one distance sensor which is arranged on and / or in a body component of the motor vehicle, a distance between the at least one distance sensor and the object is determined, the object over a road surface on which the motor vehicle is located , is arranged.
  • the invention also relates to a
  • the interest is directed in particular to driver assistance systems which use the data from distance sensors.
  • distance sensors can be any distance sensors.
  • ⁇ be radar sensors, laser scanners or ultrasonic sensors.
  • parking aid systems are known from the prior art, which can detect the distance between the motor vehicle and an object in the surrounding area of the motor vehicle with the aid of distance sensors.
  • distance sensor determined distance data for example, free parking spaces can be detected.
  • distance sensors are usually used in the form of ultrasonic sensors. These ultrasonic sensors can be arranged in a recess of a body component, for example a bumper. Furthermore, ultrasonic sensors are known from the prior art, which are arranged hidden behind a body component. Such an ultrasonic sensor is
  • Driver assistance systems include corresponding distance sensors with which an opening area of a door can be monitored for the presence of an object. If an object is present in the opening area of the door, the
  • Opening angle of the door are limited or it can be issued a corresponding warning signal.
  • DE 103 12 252 A1 describes a device for the prevention of personal injury and damage to property by motor vehicle doors.
  • the device comprises a Monitoring unit with which the outside space can be monitored. With this monitoring unit and stationary objects above the vehicle, such as ceiling support, guided on the ceiling lines or other ceiling height reducing elements can be detected. Thus, the damage of a vehicle designed as a tailgate vehicle door can be avoided for example in an underground car park.
  • the monitoring unit has a vertical upward field of view.
  • the monitoring unit which may be formed as a camera or as an ultrasonic sensor, for example, in a bumper or in a Mobilfunkg. Radio antenna of the motor vehicle to be arranged.
  • Sensor device by means of which the input and output terminal can be detected and monitored.
  • To the sensor device includes a height measuring device with which is detectable if the vehicle height exceeds a maximum vehicle height.
  • Height measuring device may be formed in particular as a light barrier.
  • Driver assistance system with at least one distance sensor can be operated reliably.
  • This object is achieved by a method by a
  • An inventive method is used to operate a driver assistance system of a motor vehicle.
  • a distance between the at least one distance sensor and an object is determined by means of at least one distance sensor which is arranged on and / or in a body component of the motor vehicle, wherein the object is arranged above a road surface on which the motor vehicle is located ,
  • the distance to the object is determined by means of the distance sensor, while the object is in the direction of travel in front of the motor vehicle.
  • a clearance height which describes a vertical distance between the road surface and a side of the object facing the road surface, is determined on the basis of the determined distance by means of a control device.
  • the driver assistance system comprises at least one distance sensor, which may include, for example, a radar sensor and / or a laser scanner. Alternatively or additionally, the at least one distance sensor may comprise a camera which is designed to detect a distance between the motor vehicle and the object. Preferably, the at least one distance sensor may comprise an ultrasonic sensor. The at least one distance sensor is arranged on and / or in a body component or trim part of the motor vehicle. The distance sensor operates in particular according to the echo sounder principle. That means that
  • the driver assistance system also includes a control device, for example, by a control unit of the motor vehicle
  • the control device can be connected to the at least one distance sensor for data transmission.
  • the control device can be connected to the at least one distance sensor for data transmission.
  • Control device serves to evaluate the sensor signals of the distance sensor accordingly.
  • the at least one distance sensor is so on and / or in the
  • the Body component arranged so that it can determine the distance to an object which is above a road surface of a road on which the motor vehicle is located.
  • the detection range of the at least one distance sensor is thus preferably directed upward and / or in the direction of travel.
  • the installation height of the at least one distance sensor may preferably be less than the maximum height of the Be motor vehicle.
  • the object can therefore be arranged substantially above the motor vehicle.
  • the distance to the object is determined while the object is in the direction of travel in front of the motor vehicle.
  • the distance to the object can be determined while the object is in the direction of travel in front of the at least one distance sensor.
  • the distance to the object may be determined while the motor vehicle is moving toward the object. In this case, the motor vehicle can be moved forward or backward.
  • the control device can now determine a clearance height based on the distance detected by the distance sensor.
  • the headroom describes the distance between the
  • the passage height can be determined.
  • the main emission direction describes the direction in which the sensor signal is usually emitted and the sensor signal reflected by the object is received again.
  • the passage height can be determined starting from the distance.
  • the headroom under an object can be determined by means of a distance sensor.
  • Preferred is a height of the motor vehicle and / or a height of one of the
  • the height of the motor vehicle in particular describes the maximum spatial extent between the road surface and the body of the motor vehicle.
  • the height of the motor vehicle can also describe a maximum spatial extent between the road surface and a roof rail of the motor vehicle.
  • the device which can be arranged on the motor vehicle can be, for example, a roof rack and / or a transport piece.
  • the height of the device particularly describes the spatial extent between the highest point of the device, which is arranged on the motor vehicle, and the road surface. With the control device, the height of the
  • the determined passage height can alternatively or additionally arranged with the height of the motor vehicle
  • the Device are compared. In this way it can be determined whether the maximum total height of the motor vehicle is lower than the headroom. Thus, it can be determined whether the motor vehicle can be moved under the object. In this way, for example, it can be determined whether with the vehicle on which where appropriate, the device is arranged, a drive in a garage, through a driveway and / or in an underground car park is possible.
  • a warning signal is output to the driver of the motor vehicle by means of an output device, if the determined height of the motor vehicle and / or the determined height of the device arranged on the motor vehicle is greater than the ascertained headroom. If the height of the motor vehicle is greater than the determined passage height, it can be assumed that a collision between the motor vehicle and the object will occur. In the case where the height of the device is greater than the headroom, it can be assumed that a collision occurs between the object and the device. In this case, the headroom is already determined when the object is in
  • a warning can be issued in good time to the driver. This warning can be given to the driver by means of
  • Output device optically, acoustically and / or haptically output.
  • the driver can be warned in good time before a possible collision. This gives the driver sufficient time to take appropriate countermeasures, for example one
  • the motor vehicle is maneuvered at least semi-autonomously on the basis of the determined height of the motor vehicle and / or on the basis of the determined height of the device arranged on the motor vehicle.
  • the motor vehicle can be maneuvered at least semi-autonomously by means of the driver assistance system.
  • the motor vehicle can be maneuvered semi-autonomously by the driver initiating a braking intervention and the driver assistance system.
  • the driver assistance system can, for example, perform a pre-braking and / or enhance the braking intervention initiated by the driver.
  • an autonomous braking intervention is carried out by means of the driver assistance system in this case. It can also be provided that, depending on the determined height of the motor vehicle and / or the determined height of
  • the height of the motor vehicle is determined based on data describing the dimensions of the motor vehicle and which in one
  • Memory unit are stored. For example, the data in one
  • the data may describe the outer dimensions of the motor vehicle.
  • the data may be based on information from the vehicle manufacturer.
  • the data may also have been entered by a user.
  • the height of the motor vehicle can be determined in a simple manner and compared with the determined passage height.
  • the at least one distance sensor which is arranged on the motor vehicle, it can be checked whether a device is currently arranged on the motor vehicle. For example, it can be checked whether a roof rack, a roof box, a bicycle or another transport piece is arranged on the motor vehicle. If it is detected with the at least one distance sensor that the device is present on the motor vehicle, for example, a corresponding output can take place by means of the output device to the driver. Thus, it can be pointed out that the device is currently on the motor vehicle.
  • Driver assistance system the information that the device is currently located on the motor vehicle.
  • the height of the device is determined based on input data input upon user input. If with the at least one
  • a corresponding command prompt can be output by means of the output device to the driver. Then the driver can make a corresponding operator input, in which he indicates which device is currently arranged on the motor vehicle.
  • the driver can, for example, a plurality of predetermined
  • the prompt may also include the driver entering the dimensions of the device or the height of the device.
  • the control device can determine the height of the device arranged on the motor vehicle.
  • the height of the device arranged on the motor vehicle is determined on the basis of sensor data, which are detected by a sensor device of the motor vehicle.
  • the sensor device may, for example, be arranged on the motor vehicle such that it matches the external dimensions of the vehicle body
  • the sensor device can be formed, for example, by the at least one distance sensor itself. Alternatively or additionally, the sensor device may be designed to detect an identifier which is arranged on the device. Thus it can be recognized which
  • the outer dimensions may be stored in the storage unit. These external dimensions can be called up according to the control device and on the basis of these dimensions the height of the device which is arranged on the motor vehicle can then be determined.
  • the device in one embodiment, the device, the height of which is determined, arranged on a roof of the motor vehicle roof rack and / or arranged in the region of the roof transport piece.
  • the device may for example be a roof rack, which is arranged on a roof rail and / or a body of the motor vehicle.
  • the device may also be a roof box.
  • the device may be, for example, a bicycle or a surfboard.
  • the device may also be arranged on a carrier, which in turn is mounted on a trailer hitch or tailgate of the motor vehicle.
  • the at least one distance sensor by means of which a distance to the object is detected, is arranged in a recess of the body component.
  • the at least one distance sensor is designed in particular as an ultrasonic sensor.
  • the body component may be formed, for example, of metal.
  • the body component may have a recess into which the at least one distance sensor is inserted flush.
  • the at least one distance sensor with which the distance to the object is detected, is arranged concealed behind the body component.
  • the at least one distance sensor can emit the sensor signal through the body component and receive the sensor signal reflected by the object through the body component. Due to the concealed installation of the at least one distance sensor, the appearance of the body component is not negatively influenced.
  • the at least one distance sensor opposite
  • the at least one distance sensor with which the distance to the object is detected, is arranged on and / or in an engine hood of the motor vehicle. In such an arrangement of the distance sensor, the
  • Passage height in forward travel already be determined before the risk of collision between the object and, for example, the roof of the motor vehicle. If the motor vehicle is to be moved backwards under the object, it may also be provided that a distance sensor is arranged in the region of a tailgate of the motor vehicle. Thus, the motor vehicle can be operated very safe.
  • the at least one distance sensor with which the distance to the object is detected, is arranged on and / or in a roof of the motor vehicle.
  • the detection range of the at least one distance sensor may be directed substantially upward from the vehicle.
  • the at least one distance sensor with which the distance to the object is detected, on and / or in a bumper of
  • the distance sensor can be designed in particular as a radar sensor or as a laser scanner.
  • the detection range of the distance sensor can be designed so that the object which is located substantially above the motor vehicle, can be detected.
  • already existing distance sensors on the motor vehicle, which are arranged in and / or concealed behind the bumper, can additionally be used to determine the passage height under the object.
  • the at least one distance sensor is arranged on and / or in a windshield of the motor vehicle.
  • the distance sensor can also be arranged on and / or in another pane of the motor vehicle.
  • the distance sensor may be formed in this case as an ultrasonic sensor, which is arranged behind the disc.
  • the Distance sensor can also be designed as a radar sensor, laser scanner and / or camera.
  • the distance sensor may be arranged in the interior of the motor vehicle in a region of the rearview mirror. Thus, the distance sensor is protected from environmental influences.
  • the at least one distance sensor with which the distance to the object is detected, on and / or in the on the motor vehicle
  • the device can - as mentioned above - be arranged on the body and / or on a roof rail.
  • the device can also be arranged on a trailer hitch or tailgate of the motor vehicle.
  • the device may in particular be a roof box or comprise this.
  • the device may also be or include a roof rack.
  • the device may also be a carrier for bicycles, skis, surfboards, canoes or the like.
  • the device has a distance sensor with which a distance to an object in the vicinity of the device can be determined. If the device is designed as a roof box, the distance sensor can be arranged, for example, concealed behind a wall or a housing of the roof box.
  • the device also has a
  • Communication device which is coupled to the further distance sensor. Data can be transmitted with the communication device.
  • the sensor data determined by the distance sensor can be transmitted.
  • Communication device can transmit the data wirelessly.
  • the communication device can have a corresponding transmitting and receiving device and transmit the sensor data, for example via a radio network. It can also be provided that the communication device transmits the data by cable.
  • the device may have a corresponding connection device in the form of a plug connection or contacts, which with a
  • the corresponding terminal device of the motor vehicle can be connected.
  • the communication device By means of the communication device, the sensor data of the distance sensor can be transmitted from the device to the control device. This can be the
  • Control device of the motor vehicle determine the distance between the device and the object in the surrounding area.
  • the control device can determine the passage height under the object. Thus, it can be reliably determined whether a collision between the device and the object threatens.
  • An inventive driver assistance system is for performing a
  • the driver assistance system comprises in particular the control device and the at least one distance sensor.
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • the motor vehicle in particular comprises the device.
  • Embodiments and their advantages apply correspondingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.
  • FIG. 1 is a schematic representation of a motor vehicle according to a
  • Fig. 2 shows the motor vehicle according to Fig. 1 in a further embodiment, wherein
  • Fig. 3 shows the motor vehicle according to Fig. 1 in a further embodiment, wherein a distance sensor are arranged in a device of the motor vehicle.
  • FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention
  • the motor vehicle 1 is in the present embodiment as
  • the motor vehicle 1 comprises a
  • the driver assistance system 2 in turn comprises a
  • the control device 3 can be, for example, a control device of the motor vehicle 1.
  • the driver assistance system 2 comprises at least one distance sensor 4, 5, 17, 19, 21.
  • the at least one distance sensor 4, 5, 17, 19, 21 may comprise an ultrasonic sensor, a radar sensor, a laser scanner and / or a camera.
  • the at least one distance sensor 4, 5, 17, 19, 21 can determine a distance a to an object 9 in an environmental region of the motor vehicle 1. This can be done, for example, according to the echo sounder principle. In the present embodiment, this includes
  • the distance sensors 4, 5 are arranged in and / or on a body component of the motor vehicle 1.
  • the first distance sensor 4 is arranged in and / or on an engine hood 6 of the motor vehicle 1.
  • the second distance sensor 5 is in and / or on a roof 7 of the
  • the distance sensors 4, 5 can thus in one
  • Distance sensors 4, 5 can also be arranged concealed behind the body component.
  • the distance sensors 4, 5 serve to determine the distance a to an object 9 not shown in FIG.
  • the distance sensors 4, 5 may be formed in the present embodiment as ultrasonic sensors.
  • the distance sensors 4, 5 send out an ultrasonic signal.
  • the corresponding transducer for example, a piezoelectric element to stimulated mechanical vibrations.
  • This ultrasound signal is reflected by the object 9 and reaches the respective distance sensor 4, 5 again. Based on the transit time, the distance a from the object 9 can be determined.
  • the motor vehicle 1 or the driver assistance system 2 comprises a
  • the output device 8 may include, for example, a screen or a display, with which the driver optically information
  • the output device 8 may alternatively or additionally comprise a loudspeaker for outputting acoustic signals. Further, the output device 8 may be configured to output a haptic feedback to the driver.
  • the output device 8 is connected with a corresponding data line to the control device 3 for data transmission. Furthermore, the distance sensors 4, 5 are connected to the control device 3 for data transmission. Corresponding data lines are not shown here for the sake of clarity.
  • Fig. 2 shows the motor vehicle 1 in a further embodiment. Here is one
  • the device is in particular part of the motor vehicle 1.
  • the motor vehicle 1 is located on a roadway 14. In the present case, the motor vehicle 1 is moved forward.
  • the distance sensors 4, 5, 19, 21 are arranged on the motor vehicle 1 such that the object 9 can be detected, which is located above a road surface 13 of the roadway 14.
  • the distance sensors 4, 5, 19, 21 are arranged such that the distance a to the object 9 can be determined when the object 9 is in the direction of travel in front of the motor vehicle 1.
  • the object 9 can first be detected with the first distance sensor 4, which is arranged concealed behind the engine hood 6 in the present embodiment.
  • the distance a between the first distance sensor 4 and the object 9 can be measured.
  • the sensor data is transmitted from the distance sensor 4 to the control device 3.
  • information is also preferably stored which describes the main emission direction of the first distance sensor 4.
  • the first distance sensor 4 is emitted along the main emission direction and is also reflected back along the main emission direction from the object 9 to the first distance sensor 4.
  • the proper motion of the motor vehicle 1 can additionally be taken into account, which is determined for example by means of odometry.
  • Distance sensor 5 are determined, which is arranged in the present embodiment concealed behind a roof. Furthermore, it can be provided that the distance a to the object 9 is determined alternatively or additionally with the third distance sensor 19. The third distance sensor 19 is present concealed behind a
  • the third distance sensor 19 may be formed, for example, as a radar sensor and / or as a laser scanner. Alternatively or additionally, the distance a to the object 9 with the fourth distance sensor 21 can be determined.
  • the fourth distance sensor 21 is present behind a
  • the fourth distance sensor 21 may, for example, as an ultrasonic sensor, camera, radar sensor and / or as
  • control device 3 which describes the angle between the main emission direction of the respective distance sensor 4, 5, 19, 21 and a vertical starting from the respective distance sensor 4, 5, 19, 21.
  • the control device 3 is also designed to determine the height h1 of the motor vehicle 1.
  • the height h1 of the motor vehicle 1 describes the vertical distance from the road surface 13 to an upper edge of the body of the motor vehicle 1.
  • the height h1 of the motor vehicle 1 can, for example, in the memory unit of
  • Control device 3 deposited.
  • the control device 3 is further designed to determine a height h 2 of the device 10 which is arranged on the motor vehicle 1.
  • the device 10 comprises a roof rack 1 1 and a arranged on the roof rack 1 1 transport piece 12.
  • the transport piece 12 is present a roof box.
  • the height h2 of the device 10 describes the vertical distance between the road surface 13 and the upper edge of the at the
  • the driver assistance system 2 can also be used to check whether a device 10 is currently arranged on the motor vehicle 1. For this purpose, it can be detected, for example, with the second distance sensor 5 and / or the fourth distance sensor 21, whether the device 10 is currently arranged on the motor vehicle 1. If it is detected with the second and / or the fourth distance sensor 5, 21 that the device 10 is arranged on the motor vehicle 1, by means of
  • Output device 8 a corresponding note to the driver are issued.
  • an input request to the driver of the motor vehicle 1 can be output by means of the output device 8.
  • the driver can be asked to enter which device 10 is currently arranged on the motor vehicle 1.
  • the prompt may also include the driver inputting the dimensions of the device 10 via a corresponding operator input.
  • the device 10 can also be detected by means of a corresponding sensor device of the motor vehicle 1.
  • different devices 10 corresponding identifiers can be assigned, which are detected with the sensor device of the motor vehicle 1.
  • the control device 3 the
  • the controller 3 then determine the height h2 of the device 10 arranged on the motor vehicle 1.
  • Fig. 3 shows the motor vehicle 1 in a further embodiment.
  • the device 10 has a distance sensor 17. With this distance sensor 17, the distance a between the distance sensor 17 and the object 9 can be determined.
  • the distance sensor 17 is arranged in the transport piece 12 designed as a roof box. Here, the distance sensor 17 is hidden behind the wall of the roof box. It can also be provided that the distance sensor 17 is arranged on the roof rack 1 1.
  • the device 10 has a
  • Communication device 18 by means of which the sensor data determined by the distance sensor 17 can be transmitted to the control device 3 of the motor vehicle 1. It is also possible to transmit further data, which for example describe the installation position of the distance sensor 17 in and / or on the device 10, to the control device 3 by means of the communication device 18. The data may also describe the dimensions of the device 10. Thus, by means of the control device 3, the passage height d and / or the height h2 of the device 10 can be determined. Of course, the embodiments shown in FIGS. 2 and 3 can also be combined. Thus, distance sensors 4, 5, 17, 19, 21 may be provided on the engine hood 6, on the roof 7, on the bumper 20, on the windshield 22 and on the device 10. Only one or more of the distance sensors 4, 5, 17, 19, 21 can also be used.
  • the passage height d is compared with the height h1 of the motor vehicle and / or with the height h2 of the device 10. In the present embodiment, it follows that the height h1 of the motor vehicle 1 is less than the passage height d. The motor vehicle 1 without device 10 could thus be moved under the object 9 through. In the present
  • a control signal is output by means of the control device 3.
  • This control signal can be transmitted to the output device 8, as a result of which a warning signal is output by means of the output device 8 to the driver.
  • an autonomous braking intervention can be carried out as a result of the control signal. In this way, a collision between the motor vehicle 1, on which the device 10 is arranged, and the object 9 can be prevented.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne un procédé permettant de faire fonctionner un système d'aide à la conduite (2) d'un véhicule automobile (1), selon lequel on détermine, au moyen d'au moins un capteur de distance (4, 5, 17, 19, 21) qui est agencé dans et/ou sur un élément de carrosserie du véhicule automobile, une distance (a) entre le ou les capteurs de distance (4, 5) et un objet (9), l'objet (9) étant agencé au-dessus de la surface (13) de la chaussée sur laquelle se trouve le véhicule automobile (1). La distance (a) par rapport à l'objet (9) est déterminée au moyen du ou des capteurs de distance (4, 5, 17, 19, 21) pendant que l'objet (9) se trouve devant le véhicule automobile (1) dans le sens de la marche, et on détermine, sur la base de la distance déterminée (a), au moyen d'un dispositif de commande (3), une hauteur de passage (d) qui décrit une distance verticale entre la surface (13) de la chaussée et un côté (15) de l'objet (9) faisant face à la surface (13) de la chaussée.
EP15817856.6A 2015-01-20 2015-12-23 Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile, système d'aide à la conduite et véhicule automobile Withdrawn EP3247606A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015100719.3A DE102015100719A1 (de) 2015-01-20 2015-01-20 Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug
PCT/EP2015/081105 WO2016116246A1 (fr) 2015-01-20 2015-12-23 Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile, système d'aide à la conduite et véhicule automobile

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Publication Number Publication Date
EP3247606A1 true EP3247606A1 (fr) 2017-11-29

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EP15817856.6A Withdrawn EP3247606A1 (fr) 2015-01-20 2015-12-23 Procédé permettant de faire fonctionner un système d'aide à la conduite d'un véhicule automobile, système d'aide à la conduite et véhicule automobile

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EP (1) EP3247606A1 (fr)
DE (1) DE102015100719A1 (fr)
WO (1) WO2016116246A1 (fr)

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DE102015100719A1 (de) 2016-07-21

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