Method for moving a vehicle to a component of an object spaced between

Abstract

A method (coordinate transformation) is described for moving a vehicle to a component of an object spaced apart therefrom, wherein the vehicle (10) has a navigation module (11) comprising a camera (12) and evaluation electronics (13), and an identification element (30) is fastened in a predetermined position on the object (20) such that the identification element is recognized by the camera in a far distance region (D max ) of the vehicle relative to the object, and a reverse travel line (40 i , 40 ii , 40 iii , 40a) of the vehicle is calculated by the evaluation electronics from the perspective position of the camera relative to the identification element. The task of the invention is solved in that in the starting position (S) of the vehicle a static object coordinate system (K O ) is generated by the navigation module, and a reverse travel line is calculated from the starting position to a predetermined point (S Vi , S Vii , S Viii ).

Description

Technical Field

[0001] The present invention relates to a method for moving a vehicle to a component of an object spaced apart from it. Background Technology

[0002] This method is used to simplify or even enable vehicles to approach stationary objects autonomously, that is, without the cooperation of a driver.

[0003] DE 10 2017 119 968 A1 discloses a pattern for detection on the front side of a semi-trailer, the pattern comprising at least one fixed predetermined point. A two-dimensional coordinate system located at the front of the semi-trailer is established using the fixed predetermined point, and, if necessary, additional points arranged at predefined intervals with respect to the fixed predetermined point, and is detected, in particular, by a detection unit configured as a camera system. A significant drawback of trailers designed in this way is the inability to locate the coupling mechanism, because during coupling, the distance of the kingpin from the front of the semi-trailer in the longitudinal direction of the vehicle is unknown, and erroneous coupling may occur, especially when the vehicle approaches at an angle.

[0004] DE 10 2014 217 746 A1 describes another prior art comprising a vehicle and a work implement to be housed by the vehicle. A flip-up sign with a checkerboard pattern recognizable by at least one camera is present on the work implement. Approach angles are calculated based on the distortion of the checkerboard pattern, wherein the exact height of the coupling mechanism located on the work implement is unknown. Furthermore, the sensing machine does not process the entire image from (multiple) cameras, but only the area of ​​interest, thus using only a small segment of the camera images. This requires the vehicle to be pre-positioned as accurately as possible, necessitating the cooperation of the driver.

[0005] DE 20 2019 104 576 U1 describes an apparatus for positioning two vehicles during a coupling process. A tag with a QR code affixed to one vehicle is affixed thereon; the QR code also contains positioning data about the associated coupling mechanism relative to the tag. This tag is identified and read by a camera mounted on the other vehicle. Finally, the other vehicle moves from its initial positioning position to the coupling position according to a calculated path. However, this known apparatus has proven unsuitable for commercial vehicles, especially in the case of saddle-type semi-trailers, where the tag is mounted at the front of the semi-trailer, and during coupling, the tag passes over the camera, rendering it unusable for navigation.

[0006] DE 10 2016 209 418 A1 explains a method and system for operating a combination of a tractor and a trailer, wherein the relative position of the trailer to the tractor is modified both before and during coupling. For this purpose, the trailer has at least one information carrier that can be read by a reading device on the tractor side. Based on the measured position of the information carrier, the relative position of the trailer to the tractor is determined, and this relative position also corresponds to the relative position of the information carrier.

[0007] DE 10 2012 003 992 A1 discloses a target guidance system for a motor vehicle, which includes a camera disposed at the rear of the vehicle, a positioning marker mounted on a stationary object, and an electronic image processing device. Information about the geometry of the marker is stored in the image processing device and compared with an image provided by the camera. The position information of the vehicle relative to the stationary object is determined based on this comparison.

[0008] DE 10 2004 029 130 A1 relates to a method for coupling a trailer to a motor vehicle. During the approach of the motor vehicle to the trailer, stored model data of the coupling region of the trailer is used to segment the model data in image data captured by an image sensor, i.e., to find the structure corresponding to the model data in the image. The stored model data of the coupling region is correctly positioned and placed in the image data, and a target area for coupling the motor vehicle to the trailer is determined from the superposition of the model data and the image data.

[0009] Given the shortcomings of existing technologies, the objective of this invention is to develop a method for improving the approach of a vehicle to a stationary object. Summary of the Invention

[0010] According to the invention, this task is accomplished using a method, as described in the invention, for moving a vehicle to a spaced-apart object. The vehicle can be a tractor unit, the object can be a trailer, and the component can be a coupling mechanism of the trailer. Advantageously, the trailer is a semi-trailer, and the coupling mechanism is a kingpin. Thus, a camera and evaluation electronics are particularly arranged on the tractor unit. Advantageously, the identification element is oriented fixedly mounted on the front side of the trailer, particularly on the front side of the semi-trailer.

[0011] Alternatively, the vehicle may include a tractor and a trailer coupled thereto, the object may be a loading platform, and the component may be positioned at the center of the upper edge of the loading platform. In this variant, the camera is particularly positioned on the side of the trailer facing away from the tractor. Advantageously, a second camera is mounted on the rear side of the trailer, which is flush with the side of the trailer opposite to the front side.

[0012] This method also enables vehicles to approach objects autonomously or semi-autonomously. Autonomous approach is understood as a fully automated approach by the vehicle without any interaction from the driver or other personnel, where the initiation of the method can also be automated. In semi-autonomous approach, the driver can at least initiate the method and trigger or take over individual steps as necessary.

[0013] The identification element is preferably a sign mounted on the object within the camera's field of view, on which three-dimensional positional information is applied. Suitablely, the sign is positioned on the object within an assembly radius of up to 1.30m around the component. This allows the camera's field of view to be focused on a relatively small area at the front of the trailer. The identification element includes specifications regarding its spacing along the object's longitudinal axis, its transverse axis, and, if necessary, its height axis.

[0014] If the identification element is not precisely positioned directly above the leading edge of the trailer, additionally, the identification element may also store information about the positioning of the semi-trailer's leading edge relative to the identification element along the longitudinal axis of the object.

[0015] Based on three-dimensional positional information, accurate knowledge of components, especially coupling mechanisms such as the kingpin, is possible during vehicle approach to an object. For example, starting from the leading edge of a semi-trailer, the kingpin may be located at different positions along the longitudinal axis of the object depending on the semi-trailer type. Therefore, tank trucks or silo trucks typically have a distance of 600mm to 700mm from the leading edge of the semi-trailer to the kingpin, while in common semi-trailers, the distance is approximately 1700mm. If the position of the kingpin relative to the identification element along the longitudinal axis of the object is unknown, there is a risk of excessive vehicle speed during coupling, which could cause considerable damage to the kingpin and potentially damage the tractor coupling.

[0016] Furthermore, there are risks that, without knowing the spatial positioning of the kingpin, the tractor coupling may travel too far under the tractor during coupling, and if the rear of the tractor is lifted with a delay using the air suspension, the tractor coupling may be pressed against the kingpin along the vehicle's height axis, potentially causing damage. Conversely, lifting the tractor coupling too early is also problematic, as it's possible that during the rear-end lifting, the tractor coupling may only travel partially under the semi-trailer's front edge, thus subjecting the coupling plate to bending stresses not pre-designed. Additionally, when the coupling is only partially under the semi-trailer's front edge, a particularly large lever arm acts on the tractor coupling and also on the semi-trailer, which experiences increased bending stresses when the tractor coupling is lifted and under load.

[0017] In principle, a point near the object can be understood as a predetermined location, such as a lift point where the vehicle's air suspension is raised to raise the trailer, or a target positioning of the vehicle where the tractor coupling closes after the coupling mechanism moves in. However, a more particularly preferred method is one where the predetermined location is a virtual point before the object, at which the camera loses its identifying element from its field of view as the tractor approaches the object further. When the object is in the form of a trailer, especially a semi-trailer, the camera is advantageously mounted in the rear region or on the periphery of the tractor coupling, or on a component of the tractor coupling, so that as the tractor continues to approach, the camera moves under the semi-trailer and can no longer identify the identifying element fastened to the front of the trailer.

[0018] Initiation localization involves detecting an object and establishing a static object coordinate system within the navigation module. In principle, the vehicle is positioned within this object coordinate system. The main advantage of this method is that the reverse driving line is calculated only once in the static object coordinate system, thus requiring significantly less computational power than recalculating the reverse driving line in a dynamic vehicle coordinate system during iterative steps.

[0019] Appropriately, the vehicle approaches the object in reverse from the initial positioning stage. In this case, the vehicle changes from forward to reverse movement during the initial positioning stage.

[0020] It is also meaningful that the localization process begins by shifting from a dynamic vehicle coordinate system to a static object coordinate system. This transformation from a dynamic vehicle coordinate system to a static object coordinate system occurs in which no iterative calculations occur between the vehicle's actual location and the target location. Therefore, the considerations for further proximity shift from the vehicle to the object. The dynamic vehicle coordinate system is present in modern vehicles and typically includes three mutually perpendicular axes and a yaw rate sensor that measures the vehicle's rotational orientation around the height axis.

[0021] Advantageously, a proximity zone bounded by a proximity zone radius in the direction of the object is defined, and a virtual predetermined point is set on the proximity zone radius. The origin of the proximity zone radius is in the target positioning, which corresponds to a component of the object, and can be formed, for example, by the central axis of the kingpin of the semi-trailer. The opening angle of the proximity zone radius is limited by the field of view of the camera. The inclined approach and the resulting tilting coupling of the trailer can be configured within limits and should not exceed + / -25° from the longitudinal axis of the object, preferably + / -15°. The proximity zone radius, originating from the component of the object, especially from the kingpin, is approximately 3.00m to 4.00m, preferably 3.50m.

[0022] Preferably, a target path is calculated from a virtual predetermined point in the direction toward the component of the object. For example, the target path refers to the trajectory curve traversed by the vehicle without changing the steering knuckle deflection or steering angle adjusted at the predetermined point. A particularly preferred design of this method is that the target path is formed by a linearly extended target straight line. Therefore, the tractor reverses accurately in a straight line from the predetermined point at the end of the reverse travel line. This achieves a transition from complex adjustments involving monitoring and comparing the target with the actual positioning to a relatively simpler control in which the vehicle reverses toward the component without controlled movement. The reverse travel can advantageously be queried and adjusted by querying the steering angle via the vehicle's steering system.

[0023] Significantly, multiple reverse driving lines are always calculated using different mathematical functions, and the vehicle follows one of these selected reverse driving lines. Here, the multiple reverse driving lines, after calculation, can be stored as a group of curves in the evaluation electronics. The vehicle then selects the ideal reverse driving line and traverses it. The resulting advantage is that less computational power is required in the evaluation electronics compared to iterative models. In iterative models, new reverse driving lines must always be calculated sequentially as the vehicle continues to approach.

[0024] Suitablely, virtual predetermined points are calculated separately for each of the multiple reverse driving lines within a proximity radius. The predetermined points for all multiple reverse driving lines are arranged adjacently with a common proximity radius and at different distances from the longitudinal axis of the object.

[0025] According to a particularly advantageous design, the target path in the direction of the component of the object can always be calculated starting from each virtual predetermined point. Here, the target path of a virtual predetermined point located on the radius of the proximity region that is farther from the longitudinal axis of the object has a larger angle compared to the target path of a virtual predetermined point located on the radius of the proximity region that is in or adjacent to the longitudinal axis of the object.

[0026] Advantageously, the reverse driving line selected from multiple reverse driving lines is the one that minimizes the angle between the target path and the longitudinal axis of the object. Due to the small angle, the tractor approaches and couples with the object as accurately as possible along its longitudinal axis.

[0027] Each reverse driving line can have a tolerance zone within which the vehicle's actual driving path is corrected. If the vehicle deviates from the allowable tolerance zone due to special events such as a slope, thin ice, or unstable ground, the reverse driving will be interrupted, and the situation will be reassessed from a new starting position at that location.

[0028] Advantageously, when leaving the tolerance zone, a new reverse driving line can be calculated starting from the new starting position.

[0029] Advantageously, the identification elements are read and verified in a distant region. In the method to be performed, the distant region of the vehicle is the spatially furthest region relative to the object. First, the identification elements should be searched in the distant region. For this purpose, a camera is prepared and adjusted in terms of camera resolution and exposure time. The search for identification elements is based on an algorithm that first searches for identification elements specific to a certain type of semi-trailer or loading / unloading platform.

[0030] Preferably, the object is then identified in a distant region using information stored on the identification element. This can be done by reading an identification number from the identification element. The object's type, such as a trailer or loading platform, can be determined based on the identification number or an object type ID supplemented by the identification number. Furthermore, the trailer's geometry can be associated with the type ID, including special considerations regarding design features with disruptive profiles that must be taken into account when a vehicle approaches.

[0031] Within a distant area, it is preferable to initiate a method for bringing the vehicle closer to an object, which can be done semi-autonomously, for example, by a request made by the driver on a display screen. In the case of an autonomous method, initiation is triggered by a predetermined procedure or a signal transmitted from an external source, possibly from a control center.

[0032] It has proven particularly suitable to establish a proximity zone between a distant zone and a near zone, the proximity zone being demarcated relative to the distant zone by a proximity zone radius, and also relative to the near zone by a near zone radius, wherein a reverse driving line is calculated using mathematical functions in the distant zone and / or the near zone. At least one ideal reverse driving line is generated within both the distant and / or near zones. The mathematical functions are particularly understood to be trigonometric or exponential functions. The generation of the reverse driving line is typically performed in the evaluation electronics of the navigation module. Within the distant and / or near zones, the navigation module determines the three-dimensional stationary position of the vehicle relative to parts of an object by reading identification elements.

[0033] According to another advantageous method, the target area follows the proximity area in the direction of the object and is separated by the radius of the target area, wherein a lifting point is defined on the radius of the target area, at which the vehicle's air suspension is raised. The lifting point is arranged between the leading edge of the semi-trailer and the coupling mechanism of the trailer. This relieves the load on the outriggers initially positioned at the trailer. Furthermore, starting from the lifting point, the semi-trailer deck is positioned on the upper side of the coupling plate, thereby forcing the tractor coupling and the kingpin of the semi-trailer to align with each other at their predetermined height positions based on this contact, and reducing the risk of coupling failure due to incorrect positioning in the vehicle's height axis.

[0034] Suitable, within the target area, the camera identifies the trailer's coupling mechanism, especially the kingpin, and / or alternative features arranged on the object.

[0035] Significantly, the target area is reached by closing the tractor coupling. From the lifting point until reaching the target area, the tractor coupling slides under the trailer. After closing the tractor coupling, the kingpin is held rotatably within the tractor coupling, thus mechanically connecting the tractor and trailer. Attached Figure Description

[0036] To better understand, the invention will now be explained in more detail with reference to eight accompanying drawings. Wherein:

[0037] Figure 1 : A perspective view showing the tractor and an object in the form of a semi-trailer before coupling;

[0038] Figure 2 : Shows a top view of an identification element in the form of a sign;

[0039] Figure 3 : A perspective view showing an object in the form of a loading / unloading platform;

[0040] Figure 4 : Shows a side view of the vehicle, including the tractor and the semi-trailer coupled thereto, as it approaches the loading platform;

[0041] Figure 5 : Showing a perspective view of the tractor unit, which has a navigation module fastened to the tractor unit coupling;

[0042] Figure 6 : A top view of a tractor unit with three reverse driving lanes leading to the semi-trailer;

[0043] Figure 7 A top view of the tractor unit is shown, featuring reverse driving lines that traverse different areas leading to the semi-trailer; and

[0044] Figure 8: A flowchart illustrating the method steps according to the present invention. Detailed Implementation

[0045] Figure 1 A perspective view of a vehicle 10 in the form of a tractor 15 is shown, the vehicle reversing toward a component 21 of an object 20 in the form of a trailer 22 spaced apart from the tractor 15, so as to accommodate the trailer 22 and mechanically couple it to each other.

[0046] In the coupled state, the tractor unit 15 and the trailer 22 form a saddle-type tractor-trailer. The tractor unit 15 has a tractor coupling part 16 for releasable connection with the trailer 22, and the coupling mechanism 23 of the trailer 22 can be moved into the tractor coupling part and locked. Figure 5 The tractor coupling section 16 can be seen particularly clearly, and it includes a coupling plate 17, which is fastened to the tractor 15 by means of two bearing seats 18 that are laterally engaged with it. The bearing seats 18 are located on a mounting plate 19, which in turn is built on and permanently connected to two struts of the frame (not further labeled).

[0047] The coupling mechanism 23 of the trailer 22 is typically a downwardly projecting kingpin, which forms part 21 of the object 20 and... Figure 1 The image is magnified for better identification. For frictionless and damage-free coupling, the tractor 15 must back up as precisely as possible to approach the stationary trailer 22.

[0048] To enable the tractor unit 15 to approach the trailer 22 autonomously or semi-autonomously, the tractor unit 15 has a navigation module 11, which includes at least one camera 12 and evaluation electronics 13. Preferably, the navigation module 11 is mounted on a component of the tractor unit coupling 16, particularly on the coupling plate 17, one of the bearing seats 18 and / or the mounting plate 19.

[0049] Vehicle 10 persistently generates a dynamic vehicle coordinate system K. F This dynamic vehicle coordinate system is at least defined by the longitudinal axis X of vehicle 10. KF and the lateral axis Y KF Expanding on this, the navigation module 11 of vehicle 10 also generates an object coordinate system K. O The coordinate system of this object can be specifically defined by the longitudinal axis X of object 20, such as trailer 22. KO Horizontal axis Y KO and height axis Z KO Further, the yaw angle Φ of object 20, such as trailer 22, is also known, which is significant for a highly reliable coupling process.

[0050] In all cases, camera 12 is positioned along the longitudinal axis X of vehicle 10. KFThe detectable field of view is pointing backward toward the object 20.

[0051] An identification element in the form of a sign 30 is fixedly installed above the object 20. Figure 1 In the center, the identification element is located on the front side 24 of the trailer 22. The nameplate 30 may (but is not required to) be centered on the longitudinal axis X of the trailer 22. KO Central orientation. However, it is preferable to install the sign 30 on a section T that is equivalent to half the width of the trailer 22. B (See Figure 7 The longitudinal axis X around trailer 22 KO Assembly radius R S This makes it highly likely that the sign will be found and read by camera 12.

[0052] Signage 30 has an exemplary feature in Figure 2 Multiple markers 31 can be seen. Each marker 31 is constructed as a square grid with a high-contrast dark fill on the surface of the sign 30. The markers 31 are used to calculate perspective changes based on the relative positions of the camera 12 and the sign 30 in the evaluation electronics 13 on the tractor 15. Figure 6 At least one reverse driving line 40 in the diagram i 40 ii 40 iii As vehicle 10 approaches, the further the camera 12 is offset laterally relative to sign 30, the greater the distortion of sign 31. The positioning of vehicle 10 relative to sign 30 is calculated based on the distortion of sign 31. Sign 30 is always detected within the entire field of view of camera 12.

[0053] To calculate the reverse driving line 40 with absolute certainty i 40 ii 40 iii In particular, the corners of the outer sign 32 are used, forming a closed outer boundary. The additional inner sign 33 enables the navigation module 11 to identify whether the vehicle 10 approaches the object 20 from the front or rear, because sometimes there are no signs 31, especially no inner sign 33, on the rear side of the non-attached sign 30. The inner signs 33 are arranged to be offset inwards from the outer contour of the outer sign 32 by a certain scale. Each inner sign 33 is adjacent to a free surface 34, which has the same size as the inner sign 33. All signs 31 are, in principle, placed on a single sign 30.

[0054] The three-dimensional position information of component 21 is also stored in identifier 31, especially in internal identifier 33. Figure 1In this embodiment, the position information of the main pin 23 relative to the sign 30 is provided. The three-dimensional position information is understood as the position of the sign 30 along the longitudinal axis X of the object 20. KO Horizontal axis Y KO and height axis Z KO The distance between the middle component 21, such as the main pin 23.

[0055] The navigation module 11 reads the three-dimensional position information and, based on the offset, calculates and modifies the assembly positioning coordinates of the sign 30, so that the vehicle 10 hits the component 21 of the object 20 instead of the sign 30. Crucially, the sign 30 is always fixedly attached to the object 20 in a fixed orientation according to the three-dimensional position information relative to the component 21 stored on it, and its own position remains unchanged.

[0056] The identification mark 31, and especially the internal identification mark 33, also contains information about the identity of the object 20, which is also read by the navigation module 11. For example, the vehicle 10 obtains information about the type of trailer 22 to be coupled in this way. The type of trailer 22 is understood, for example, as whether it is a refrigerated semi-trailer, a silo semi-trailer, or a tank semi-trailer. Such trailers 22 often have a disruptive profile that must be taken into account when the vehicle 10 approaches. In addition, the information contained in the identification mark 31 also involves geometric or technical data about the nature of the object 20 in calculating the reverse driving line 40. i 40 ii 40 iii (See Figure 6 , Figure 7 This information was taken into account in order to achieve accident-free approach.

[0057] In addition to the label 31, the sign 30 also has a coding area 35, in particular a QR code. Furthermore, it is also possible to set an identification number for the trailer 22 in the sign 30, suitably in the coding area 35, or alternatively in the label 31, especially in the internal label 33, the identification number being read by the camera 12. The identification number allows the sign 30 to associate logistics information related to the object 20 or trailer 22, thereby identifying the object 20 or trailer 22 as the target when the tractor 15 approaches. In principle, the information contained in the coding area 35 is primarily important for logistics assessment, and less significant for navigation assessment.

[0058] The lifting point S of the tractor unit 15 can also be defined by means of the identification number of the trailer 22 implemented in the coding area 35, particularly in the internal identification 33. A At this lifting point, the air suspension 14 of the tractor 15 (see...) Figure 5 It is at least raised until the coupling plate 17 contacts the semi-trailer 22.

[0059] Figure 3 An alternative embodiment of the invention is shown, wherein object 20 is a loading / unloading platform 25, and the midpoint of the upper edge 26 of the loading / unloading platform represents the component 21 to be driven towards. A fixed sign 30 is fixed at a predetermined positioning location on the loading / unloading platform, storing three-dimensional position information of the midpoint of the upper edge 26 of the loading / unloading platform 25 relative to the sign 30. According to... Figure 4 For example, the vehicle 10, consisting of the tractor 15 and the semi-trailer 22 coupled thereto, moves toward the sign 30, corrects the three-dimensional position information of the middle positioning of the upper edge 26 of the loading and unloading platform 25, and reverses to center and encounter the component 21 to which it is to be driven.

[0060] In this embodiment, a camera 12 of the navigation module 11 or a camera 12a additionally connected to the navigation module 11 is arranged on the rear side 27 of the trailer 22 to ensure a free field of view to the sign 30.

[0061] Figure 6 The image shows a top view of a vehicle 10, in the form of a tractor unit 15, approaching a parked trailer 22. The tractor unit 15 is in the starting position S. The sign 30 on the trailer 22 has been detected, read, and calculated by the camera 12 of the navigation module 11 mounted on the tractor unit 15, and a total of three reverse driving lines 40 have been calculated based on different mathematical functions. i 40 ii 40 iii .

[0062] For clarity, there are only three reverse driving lanes at 40. i 40 ii 40 iii The middle reverse driving line 40a that has been identified by navigation module 11 as the selected reverse driving line 40a ii A tolerance zone 41 is provided. The tolerance zone 41 is understood to be around one or more reverse driving lines 40. i 40 ii 40 iii Within the envelope curve, the tractor 15 can still reverse control to return to the initially selected reverse travel line 40a even if it deviates from the selected reverse travel line 40a. If the navigation module 11 confirms that the current position of the tractor 15 is outside the tolerance zone 41, reversing control is no longer possible. Instead, this current position will be interpreted as a new starting position S, from which a new reverse travel line 40a is recalculated in the navigation module 11. i 40 ii 40 ii The curve group. The newly calculated reverse driving line 40 i 40 ii 40iii Preferably, each of them is provided with a tolerance zone 41.

[0063] In all embodiments, the navigation module 11 calculates (multiple) reverse driving lines 40 i 40 ii 40 iii Always at the designated location S in front of trailer 22 Vi S Vii S Vii End at this point. As one of the predetermined locations S is reached... Vi S Vii S Vii The tractor 15 then travels only backward in a straight line. Therefore, upon passing the predetermined point S... Vi S Vii S Viii After that, the reverse driving line 40 will no longer be reversed. i 40 ii 40 ii The continuous calculation. Where each predetermined site S... Vi S Vii S Viii All are located in a close-range region with a radius of R min Above, the radius of the near-field region and the distance between it and the object 20 are predetermined by the field of view of cameras 12, 12a. Cameras 12, positioned around the periphery of the tractor coupling unit 16, travel to the front side 24 of the trailer 22, close to the fixed sign 30, during the approach of the tractor 15, thereby causing the sign 30 to be positioned from the predetermined point S. Vi S Vii S Vii It was no longer within the field of view of camera 12 from the start. From the predetermined point S Vi S Vii S Viii Initially, the approach is no longer the adjusted approach of the tractor 15 along the selected reverse travel line 40a, but rather along the target straight line 43. i 43 ii 43 ii The target line is formed by controlled straight-line travel in the linear direction of component 21 of object 20.

[0064] exist Figure 6 The reverse driving line extending from the left side of the image is 40. i At the designated location S Vi The radius R of the near-field region min End of above. The target straight line 43 extends from here towards the coupling mechanism 23. i With the longitudinal axis X of trailer 22 KO Angle expanded The reverse driving line 40 extends to the right side of the map. iii Similarly, in the near-distance region, radius R min On the predetermined site S Viii End of process. From the predetermined site S Viii The target straight line 43 extends in the direction of the coupling mechanism 23 iii With the longitudinal axis X of trailer 22 KO Angle expanded

[0065] The middle reverse driving line 40 ii Centered in front of trailer 22, within a close-range radius R min On the predetermined site S Vii End of middle. Target line 43 ii From the predetermined site S Vii Extending towards the coupling mechanism 23, and ideally aligned with the longitudinal axis X of the trailer 22. KO Alignment. In this case, angle. It is 0°.

[0066] Navigation module 11 calculates the reverse driving line 40 i 40 ii 40 iii Identify the angle The reverse driving line with the minimum value is selected as the reverse driving line 40a.

[0067] Typically, the movement of vehicle 10 toward object 20 proceeds along a travel route 42 extending through four different areas, which in Figure 7 It is illustrated in the figure, and in Figure 8 The flowchart is used to illustrate this. To simplify the diagram, Figure 7 The image only shows multiple possible reverse driving lines 40 i 40 ii 40 iii One of them, namely Figure 6 The middle has been identified as a favorable reverse driving line 40 ii .

[0068] In the distant region D max In the middle, vehicle 10, such as tractor 15, moves forward to approach the semi-trailer 22 to be saddle-connected. The semi-trailer 22 has a predetermined length T. L and width T B .

[0069] Long distance region D max In the radial direction relative to object 20, at a distance of region radius R max Outwardly bounded, and in the direction of object 20 at a distance close to the region radius R. medBoundary. Within a radius R of a distant region. max Apart from this, vehicle 10 moves in its normal driving environment, regardless of the methods and systems used for vehicle 10 to approach stationary object 20. The radius R of the distant region. max The length from the lift point S A The initial distance is 12.00m to 17.00m, preferably 13.00m to 16.00m, more preferably 14.00m to 15.00m, and sweeps at an angle of 100° to 120° towards the right front of the object 20.

[0070] In the distant region D max Within, as the system approaches point A, S This triggers a method for moving vehicle 10 toward object 20. The system can be activated manually by the driver, remotely via a control center, or through a pre-defined procedure.

[0071] While vehicle 10 is still moving forward, it reaches the approach point A where the connection was established. V From this point onward, camera 12 is activated and searches for sign 30 on object 20. If at point A... V If the connection is successfully established, then the object information will subsequently be located at point A. O The identification number of object 20, especially trailer 22, is read. Therefore, navigation module 11 knows the type of trailer 22, and sometimes its geometric dimensions. The forward movement of vehicle 10 along route 42 ends during positioning S. The speed of vehicle 10 in the long-distance region D... max Within 50 km / h.

[0072] From the distant region D max Starting from the initial positioning S, from the dynamic vehicle coordinate system K... F The object coordinate system K is transformed into a static coordinate system. O And with the help of navigation module 11, at least one reverse driving line 40 is generated. i 40 ii 40 iii ,exist Figure 7 The selected reverse driving line 40a is marked in the middle. Reverse driving line 40 ii Based on the perspective orientation calculation of the camera 12 relative to the sign 31 placed on the sign 30, and corrected for the three-dimensional position information of the component 21 of the object 20, wherein the position information is also stored in the sign 31 of the sign 30, the navigation module 11 can, when necessary, target one or more reverse driving lines 40. i 40 ii 40 ii It was also learned that the tolerance zone it belonged to was 41. ii .

[0073] After passing through the region radius R med Afterwards, vehicle 10 has moved to the approach area D. med Medium. Approaching region radius R med The length from the lift point S A The initial range is 6.00m to 10.00m, especially 7.00m to 9.00m, and it sweeps at an angle of 130° to 140° towards the right front of object 20. Furthermore, it passes through the approach area D. med During this period, the vehicle passed the already generated reverse driving line by 40. ii 40a, and here, three-dimensional position information is read from sign 30, and the relative position of sign 30 with respect to camera 12 is tracked. The speed of vehicle 10 in approach area D med Medium relative to the distant region D max The speed limit has been reduced, and for example, it can be up to 20 km / h.

[0074] As the radius R of the close-range region is reached min Approaching region D med Transition to close-range region D min From the target positioning S that coincides with component 21 Z Initially, the radius R of the near-field region min The length is 3.00m to 4.00m, preferably 3.30m to 3.70m, and sweeps at an angle of up to 140° towards the right front of object 20. The speed of vehicle 10 in the close-range region D min In relation to the nearby region D med It can be further reduced, and for example, it can be up to 5 km / h.

[0075] As the radius R of the close-range region is reached min Vehicle 10 is at the predetermined location S Vii In this context, the predetermined position is located immediately in front of the component 21 of the object 20 in the forward direction. From the predetermined position S Vii Initially, the sign 30 mounted on the front side 24 of object 20 is no longer detected by the field of view of camera 12 because the rear of the tractor 15 has moved under the semi-trailer 22 and therefore no longer helps in detecting the relative position of vehicle 10 relative to object 20. However, the tractor 15 and trailer 22 are along the longitudinal axis X of trailer 22. KO The tractor 15 is aligned with each other so that it only needs to reverse to reach the coupling mechanism 23 of the trailer 22.

[0076] As the target area radius R is reached mic Near-field area D min Transition to target area D micFrom the target positioning S that coincides with component 21 Z Initially, the target area radius R mic The length is equivalent to half the width of the object (20), which in this example is the width of the trailer (22T). B (For example, 2.55m) halfway, and sweeps at an angle of up to 180° towards the right front of object 20. On the longitudinal axis X KO Up, rise point S A Located in the target region radius R mic At this lifting point, the rear of the tractor unit 15, along with the tractor coupling unit 16, is lifted by the air suspension 14. From the lifting point S... A Initially, the tractor coupling unit 16 and the trailer 22 slide into contact until the target positioning S is reached. Z In this target positioning, the kingpin 22 moves into the tractor coupling unit 16. The speed of vehicle 10 in the target area D mic In the near-distance region D min It can be further reduced, and for example, it can be up to 2.5 km / h.

[0077] List of reference numerals

[0078] 10 vehicles

[0079] 11 Navigation Module

[0080] 12 cameras

[0081] 12a Trailer's Attached Camera

[0082] 13. Evaluate electronic devices

[0083] 14. Air suspension

[0084] 15 tractor units

[0085] 16 Tractor Coupling Unit

[0086] 17 Coupler Plate

[0087] 18 Bearing housing

[0088] 19 Assembly Panel

[0089] 20 objects

[0090] 21 components

[0091] 22 Trailers and semi-trailers

[0092] 23. Coupling mechanism, main pin

[0093] 24. Front side of the trailer

[0094] 25 Loading and unloading platforms

[0095] 26. Center positioning of the upper edge of the loading and unloading platform.

[0096] 27. Rear side of the trailer

[0097] 30 Identification Components / Labels

[0098] 31. Marking

[0099] 32 External Identification

[0100] 33 Internal signage

[0101] 34 The Face of Freedom

[0102] 35 Coding Area

[0103] 40 i ~40 iii Reverse driving line

[0104] 40a Selected reverse driving line

[0105] 41 Tolerance Zone

[0106] 42. Vehicle's driving route

[0107] 43 i ~43 iii Target path / (multiple) target straight lines

[0108] A O Points of proximity to object information

[0109] A S System startup proximity point

[0110] A V Proximity points for connection establishment

[0111] D max Long distance area

[0112] D med Nearby area

[0113] D min Close range

[0114] D mic target area

[0115] R max Long-distance area radius

[0116] R med Approaching region radius

[0117] R min Near-field radius

[0118] Rmic Target area radius

[0119] R S Assembly radius of the sign

[0120] S Start positioning

[0121] S Vi ~S Viii Pre-selected site

[0122] S A rise point

[0123] S Z Target positioning

[0124] T B Width of trailer / semi-trailer

[0125] T L Length of trailer / semi-trailer

[0126] K F Vehicle coordinate system

[0127] X KF longitudinal axis of the vehicle

[0128] Y KF lateral axis of the vehicle

[0129] K O Object coordinate system

[0130] X KO longitudinal axis of the object

[0131] Y KO The horizontal axis of the object

[0132] Z KO The height axis of the object

[0133] Φ is the yaw angle of the object.

[0134] The angle between the target path or the target line / object's longitudinal axis

Claims

1. A method for moving a vehicle (10) to a component (21) of an object (20) spaced apart therefrom, wherein, The vehicle (10) has a navigation module (11) including a camera (12) and evaluation electronics (13), and has a recognition element (30) fixed at a predetermined position on the object (20), such that in the far distance region (D) of the vehicle (10) relative to the object (20) max Within the vehicle (10), the camera (12) identifies the identification element, and the evaluation electronics (13) calculates the reverse driving line (40) of the vehicle (10) based on the perspective positioning of the camera (12) relative to the identification element (30). i 40 ii 40 iii , 40a), Its features are, During the vehicle's (10) startup positioning (S), a static object coordinate system (K) is generated by the navigation module (11). O ), and calculate the reverse travel line (40) from the starting position (S) to the predetermined position. i 40 ii 40 iii , 40a).

2. The method according to claim 1, characterized in that, The vehicle (10) approaches the object (20) in reverse from the starting position (S).

3. The method according to claim 1, characterized in that, From the start of positioning (S), from the dynamic vehicle coordinate system (K) F ) is transformed into the static object coordinate system (K) O ).

4. The method according to claim 1, characterized in that, The radius (R) of the proximity region is defined in the direction of the object (20). min The near-field region of the boundary (D) min ), and will virtual reserved sites (S Vi S Vii S Viii Let the radius (R) of the near-distance region be... min )superior.

5. The method according to claim 4, characterized in that, From virtual reservation site (S Vi S Vii S Viii ) Calculate the target path (43) in the direction of the component (21) of the object (20). i 43 ii 43 iii ).

6. The method according to claim 1, characterized in that, Multiple reverse driving lines are always calculated using different mathematical functions (40) i 40 ii 40 iii ), and make the vehicle (10) follow a selected reverse driving line (40a).

7. The method according to claim 4, characterized in that, Multiple reverse driving lines are always calculated using different mathematical functions (40) i 40 ii 40 iii ), and cause the vehicle (10) to follow a selected reverse driving line (40a), wherein, in the near distance area radius (R min The above are the multiple reverse driving lines (40) i 40 ii 40 iii Each reverse driving line in the calculation of the virtual predetermined point (S) is calculated separately. Vi S Vii S Viii ).

8. The method according to claim 7, characterized in that, From each virtual reservation site (S Vi S Vii S Viii )Starting from the beginning, the target path (43) is always calculated in the direction of the component (21) of the object (20). i 43 ii 43 iii ).

9. The method according to claim 8, characterized in that, From the multiple reverse driving lines (40) i 40 ii 40 iii In ) determine which path makes the target path (43) i 43 ii 43 iii ) and the longitudinal axis (X) of the object KO The angle (φ) between ) i φ ii φ iii The smallest possible reverse driving line is selected as the reverse driving line (40a).

10. The method according to any one of claims 1 to 9, characterized in that, The reverse driving line (40) i 40 ii 40 iii 40a) has a tolerance zone (41) within which the actual driving route (42) of the vehicle (10) is corrected.

11. The method according to claim 10, characterized in that, When leaving the tolerance zone (41), calculate the new reverse travel line (40) starting from the new starting position (S). i 40 ii 40 iii , 40a).

12. The method according to claim 1, characterized in that, In the distant region (D) max The identification element (30) is read and verified in the process.

13. The method according to claim 1, characterized in that, In the distant region (D max The object (20) is identified by means of information stored on the identification element (30).

14. The method according to claim 4, characterized in that, In the distant region (D) max ) and the near-field region (D) min A proximity zone (D) is set between them. med The proximity region is relative to the distance region (D). max ) using the radius of the approximate region (R) med The boundary is defined by ) and relative to the near region (D) min ) using the radius of the near-field region (R) min The boundary is defined by ) and in the distant region (D) max ) in and / or in the vicinity of the region (D med The reverse driving line (40) is calculated using mathematical functions. i 40 ii 40 iii , 40a).

15. The method according to claim 4 or 14, characterized in that, Target area (D) mic ) in the direction of the object (20) and in the near region (D) min After that, and with the target area radius (R) mic ) separated, wherein, in the target area radius (R) mic The elevation point (S) is specified on the document. A At the lift point, the air suspension (14) of the vehicle (10) is raised.

Images