Identifying unsecured loads in an autonomous vehicle

Abstract

A method for identifying an unsecured load in a vehicle, in particular an autonomously operable vehicle, by a control device is disclosed, wherein measurement data determined by at least one acceleration sensor are received in the form of lateral and / or longitudinal acceleration of the vehicle, a time interval for identifying the unsecured load is initiated if the measured lateral or longitudinal acceleration exceeds a limit value, measurement data determined by at least one sensor during the initiated time interval are received, and a derivative of the received measurement data with respect to time is calculated, an event is counted if the derivative of the measurement data with respect to time exceeds a threshold value, and an unsecured load is identified when a minimum number of counted counting events during the initiated time interval is reached. Furthermore, a control device, a computer program and a machine-readable storage medium are disclosed.

Description

Technical Field

[0001] This invention relates to a method for identifying unfixed loads in vehicles, particularly those capable of automatic operation. Furthermore, this invention relates to a control device, a computer program, and a machine-readable storage medium. Background Technology

[0002] When transporting loads in vehicles, securing the load according to regulations is crucial for road safety. For manually operated or driver-controlled vehicles, the driver secures the load. Here, the driver is responsible for securing the load and monitoring the vehicle for any loose loads. However, especially for fully automated vehicles, no driver can take over both load securing and load monitoring.

[0003] Methods for identifying unsecured loads are known; these methods determine the load's center of gravity and track it over time. It can be determined whether the load's center of gravity changes over time and therefore whether the load has shifted within the loading space. This method can be particularly useful for truck trailers or containers. The location of the center of gravity can be determined by staggering or by varying loads on the wheels. However, this identification of unsecured loads requires significant displacement of the load within the loading space. Slight displacement of the load can only be insufficiently identified in this case. Summary of the Invention

[0004] The objective of this invention is to propose a method for accurately identifying the movement of transported goods carried by automatically operating vehicles.

[0005] This task is solved by means of the corresponding subject matter of the independent claim. The advantageous designs of the invention are the subject matter of the various dependent claims.

[0006] According to one aspect of the invention, a method for identifying unfixed loads in a vehicle is provided. The vehicle may preferably be designed to operate fully automatically. To perform the method, a control device may be used, which may be located on or outside the vehicle.

[0007] In one step, measurement data determined by at least one acceleration sensor is received in the form of lateral acceleration and / or longitudinal acceleration. Acceleration data from the vehicle is determined here.

[0008] In the subsequent evaluation of the range of measurement data from the accelerometer, it is checked whether the measured lateral or longitudinal acceleration exceeds a limit value. If it is determined that the limit value is exceeded, a time interval for identifying unfixed loads is initiated. This time interval can be initiated immediately or with a time delay.

[0009] Subsequently, measurement data determined by at least one sensor during the start-up time interval is received, and the derivative of the received measurement data with respect to time is calculated.

[0010] For example, if the derivative of the received measurement data with respect to time exceeds a threshold, the event is counted. When the minimum number of counted events during the start-up time interval is reached, an unfixed load is identified.

[0011] This method allows for the reliable and sensitive identification of loose loads in automatically operating vehicles. It avoids individual false detections that might be caused by, for example, individual potholes. Therefore, measuring the kinetic energy pulses of the load during a defined time period or the defined time interval prevents false alarms.

[0012] In this case, the measurement data from the accelerometer can be used as an initial trigger to check if the load is fixed.

[0013] Identifying events during the time interval is no longer limited to measurements from the accelerometer. Different sensors, such as microphones, vehicle displacement sensors, air suspension system sensors, etc., can be used to determine events during the time interval. During the active time interval, the derivative of the received measurement data with respect to time is used to trigger events and count events. In this case, the derivative of the measurement data with respect to time represents the difference between measurement data from two consecutive time points and corresponds to the slope of the tangent line to the measurement data plotted relative to time at the corresponding time point in a graph.

[0014] Events can be triggered by the movement of the load and recorded based on measurement data from at least one sensor.

[0015] According to another aspect of the present invention, a control device is provided, wherein the control device is configured to perform the method. The control device may be, for example, a control device on a vehicle, a control device external to the vehicle, or a server unit external to the vehicle, such as a cloud system.

[0016] Furthermore, according to one aspect of the invention, a computer program is provided that includes instructions, which, when executed by a computer or control device, cause the computer or control device to perform the method according to the invention.

[0017] According to another aspect of the invention, a machine-readable storage medium is provided having a computer program according to the invention stored thereon.

[0018] According to the BASt standard, vehicles can operate in assisted, partially automated, highly automated, and / or fully automated or driverless modes.

[0019] Vehicles can be, for example, passenger cars, trucks, semi-trailers, pickup trucks, robotaxis, etc. Vehicles are not limited to road use. Conversely, vehicles can also be designed as water transport vehicles, such as aircraft transporting drones.

[0020] According to one embodiment, when the lateral acceleration exceeds the limit value, a starting time point with a time offset is used. and end time Start the time interval.

[0021] Alternatively, when the longitudinal acceleration exceeds the limit value, the starting time point with a time offset is used. and end time Start the time interval.

[0022] Here, the time offset of the starting time point depends on the corresponding acceleration in the lateral or longitudinal direction and the dimensions of the vehicle's loading space in the corresponding direction. Therefore, the length of the loading space is relevant when the longitudinal acceleration is determined, while the width of the loading space is relevant when the lateral acceleration of the load is determined.

[0023] Loading space can be located within the vehicle itself, such as in the trunk or rear seats, in the vehicle's structure, on the roof rack or roof box, in a trailer, in a semi-trailer, etc.

[0024] According to another embodiment, the derivative of the measurement data with respect to time is calculated by at least one differentiator. The differentiator can be designed in hardware or software. The measurement data is fed to the input of the differentiator or differential amplifier. The output of the differentiator then provides the change of the measurement data over time or the derivative of the measurement data with respect to time. This measure allows for the technically simple recording of events during the initial time interval.

[0025] According to another embodiment, measurement data is received from at least one acceleration sensor, sound sensor, vehicle air suspension sensor, microphone, and / or displacement sensor (e.g., displacement sensors of the vehicle's wheel suspension) during the start-up time interval. Load fixation is thus checked based on the measurement data from the different sensors. This method can therefore be implemented using a variety of sensors.

[0026] According to another embodiment, a control command for outputting a warning message is generated when a minimum number of counted events during the start-up time interval is reached. This measure allows remote operators of the vehicle or fleet to be notified via the control device if an unsecured or loose load is recorded in at least one vehicle.

[0027] The warning message can be transmitted via a communication connection. This communication connection can be based on wireless transmission technology, for example. Specifically, the warning message can be sent using transmission standards such as WLAN, UMTS, GSM, and 5G.

[0028] According to another embodiment, when a minimum number of counted events during the start-up time interval is reached, the vehicle is switched to a safe state and / or its dynamics are reduced. Depending on the design of the vehicle and load, the reduction in vehicle dynamics is sufficient to ensure safe transport.

[0029] If the load is particularly sensitive or if the load has a greater mass than the vehicle, it may be advantageous to switch the vehicle to a safe state to eliminate hazards in road traffic when the load is not fixed. For this purpose, the vehicle can be parked on the side of the road or kept under control until the next parking lot or service area.

[0030] The vehicle, now in a safe condition, can then be inspected for any loose loads. Here, the vehicle's loose loads can be manually secured, ensuring the vehicle can continue driving with those loads. Attached Figure Description

[0031] Preferred embodiments of the invention will now be explained in more detail based on greatly simplified schematic diagrams. In this case...

[0032] Figure 1 A floor plan of a vehicle with loading space is shown to illustrate the method according to an embodiment, and

[0033] Figure 2 A schematic flowchart illustrating the method according to an embodiment is shown. Detailed Implementation

[0034] Figure 1 A plan view of a vehicle 1 having a loading space 2 is shown to illustrate method 4 according to an embodiment. Method 4 is... Figure 2 A more detailed explanation can be found in the text.

[0035] Vehicle 1 has a control device 6 that can receive and evaluate measurement data from various sensors 8, 10, and 12. For example, vehicle 1 may have an acceleration sensor 8, whose measurement data can be used for initial checks with a fixed load. The acceleration sensor 8 may, for example, be located within the body of vehicle 1.

[0036] Transported goods or loads 14 are exemplarily present in the loading space of vehicle 1. In the illustrated embodiment, the loading space 2 is designed in the form of the rear seats or trunk of vehicle 1. According to the BASt standard, vehicle 1 can be designed as a fully autonomous vehicle, and therefore can operate without a driver.

[0037] The additional sensor 10 can be implemented as a microphone or an interior space microphone, for example. Furthermore, the control device 6 can receive measurement data from the sensor 12, which is designed as a displacement sensor.

[0038] The control device 6 can also establish a communication connection 16 to a remote operator 18.

[0039] In the illustrated embodiment, the communication connection 16 can be designed as an LTE connection or a WLAN connection. In particular, the communication connection 16 can be used to receive instructions or transmit warning messages.

[0040] Figure 2 A schematic flowchart illustrating method 4 according to an embodiment is shown. Method 4 is used to identify an unsecured load 14 in vehicle 1 and can preferably be executed by control device 6.

[0041] Basically, Method 4 can be broken down into several parts. Here, in the first part, a time interval is opened, within which events are counted.

[0042] Based on the count events collected during the second part, unsecured or loose loads 14 can be detected.

[0043] The third part of method 4 is configured to react to the identified unfixed load 14. The reaction may be implemented, for example, in the form of a warning message and / or by switching vehicle 1 to a safe state.

[0044] In the first step 20, with lateral acceleration and / or longitudinal acceleration The system receives measurement data determined by at least one accelerometer sensor 8.

[0045] The limit value identifier 22 compares the determined measurement data with predefined limit values. These limit values ​​can be predefined within a calibrated range.

[0046] If the measured lateral acceleration and / or longitudinal acceleration If the limit is exceeded, a time interval 24 for identifying unfixed load 14 will be initiated within the event counting time period.

[0047] For example, exceeding the limit value might occur due to an unsecured load 14 impacting the loading space 2 of vehicle 1. The time interval 24 can have an immediate start time point or a time-delayed start time point t0. Correspondingly, the time interval 24 can have an adapted end time point t0. end .

[0048] If lateral acceleration If the limit is exceeded, then the start time point t0 and the end time point t end The following formula can be used to calculate this:

[0049] and .

[0050] If longitudinal acceleration If the limit value is exceeded, then

[0051] and .

[0052] Here, b i Corresponding to the width of loading space 2, and The length corresponding to loading space 2.

[0053] For example, when given lateral acceleration In the event that a loose object or load 14 slides from the left side of the interior space of the loading space 2 to the right side of the interior space and touches the wall there, the point in time can be located at the center of the event counting window or time interval 24.

[0054] During the start-up time interval 24, measurement data determined by at least one sensor 8, 10, 12 is received and the change of the received measurement data over time, or the time derivative 26, 28, 30, is calculated. This can be achieved, for example, by integrating multiple differential amplifiers 26, 28, 30 into the control device 6.

[0055] Each sensor 8, 10, 12 may have a separate differential amplifier 26, 28, 30, which transforms the corresponding measurement data into the time derivative of the measurement data.

[0056] The measurement data from multiple displacement sensors 12 of the wheel suspension are evaluated. For example, each of the four wheel suspensions can have its own displacement sensor 12. The corresponding displacement sensor 12 can determine the measurement data in the form of path or distance d1, d2, d3, d4.

[0057] At least one internal space microphone 10 can determine measurement data in the form of an audio signal, which is converted into a sound pressure level L by a sound pressure level calculation 32. p .

[0058] Subsequently, the derivatives of the corresponding time measurements with respect to time, 26, 28, and 30, were calculated during the 24-minute intervals of the activity. Lateral acceleration was then calculated. and / or longitudinal acceleration The derivative with respect to time, 26, produces a lateral acceleration, j. y and / or jerk j in the longitudinal directionx .

[0059] The derivative of the measured data with respect to time is then thresholded to 34, 36, and 38. If the derivative of the received measured data with respect to time exceeds the threshold, the event is counted.

[0060] Events can be counted by event counter 40, which is activated during the time interval 24.

[0061] If the minimum number of counted events (42) counted during the startup time interval of 24 is reached, an unfixed load is identified.

[0062] If an unfixed load is identified, control device 6 can initiate response 44. To this end, control device 6 can generate control commands that either generate a warning message or place vehicle 1 in a safe state.

Claims

1. A method for identifying an unsecured load (14) in a vehicle (1) via a control device (6), wherein - Receive measurement data determined by at least one acceleration sensor (8) in the form of the lateral acceleration and / or longitudinal acceleration of the vehicle (1). - If the measured lateral or longitudinal acceleration exceeds the limit value, a time interval (24) is initiated to identify the unfixed load (14). - Receive measurement data determined by at least one sensor (8, 10, 12) during the start-up time interval (24), and calculate the derivative of the received measurement data with respect to time. - If the derivative of the received measurement data with respect to time exceeds a threshold, then the event is counted. - When the minimum number of counted events counted during the startup time interval (24) is reached, an unfixed load (14) is identified. in, When the lateral acceleration exceeds the limit value, the time interval has a starting time point with a time offset. and end time Alternatively, when the longitudinal acceleration exceeds the limit value, the time interval has a starting time point with a time offset. and end time ,in It is the length of the loading space (2) of the vehicle (1). It is the width of the loading space (2) of the vehicle (1). It is the longitudinal acceleration of the vehicle (1). It is the lateral acceleration of the vehicle (1).

2. The method according to claim 1, wherein, The derivative of the measurement data with respect to time is calculated by at least one differentiator.

3. The method according to any one of claims 1 to 2, wherein, Measurement data are received from at least one acceleration sensor (8), sound sensor, microphone (10) and / or displacement sensor (12) during the start-up time interval (24).

4. The method according to any one of claims 1 to 2, wherein, When the minimum number of counted events counted during the start-up time interval (24) is reached, a control command is generated to output a warning message.

5. The method according to any one of claims 1 to 2, wherein, When the minimum number of counted events counted during the start-up time interval (24) is reached, the vehicle (1) is switched to a safe state and / or the vehicle dynamics are reduced.

6. The method according to claim 3, wherein, The displacement sensor is a displacement sensor of the wheel suspension of the vehicle (1).

7. A control device (6), wherein the control device (6) is configured to perform the method (4) according to any one of claims 1 to 6.

8. A computer program product comprising instructions that, when executed by a computer or control device (6), cause the computer or control device to perform the method (4) according to any one of claims 1 to 6.

9. A machine-readable storage medium having a computer program product according to claim 8 stored thereon.

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