Device for determining overall height of vehicle having transport element mounted on vehicle, and vehicle having device for determining overall height of vehicle

Abstract

The invention relates to a device for determining the overall height of a vehicle (10) having a transport element (12) arranged on the vehicle (10), comprising a detection device (22) for detecting the transport element (12) and an evaluation unit (30) which is in signal connection with the detection device (22), the evaluation unit (30) is designed to determine the overall height (HG) of the vehicle (10) having the mounted transport element (12) from a signal of the detection device (22), the detection device (22) having at least one UWB sensor (241, 242, 243) which is arranged in a vehicle coordinate system and a UWB tag (26) which can be coupled to the UWB sensor (241, 242, 243), the UWB sensor (241, 242, 243) being arranged on the vehicle (10) and the UWB tag (26) being coupled to the UWB sensor (241, 242, 243). The UWB sensor (241, 242, 243) and the UWB tag (26) are arranged on the transport element (12), and wherein the evaluation unit (30) is designed to determine the position of the UWB tag (26) in the vehicle coordinate system by coupling the UWB tag (26) to the UWB sensor (241, 242, 243) and to determine the overall height (HG) of the vehicle (10) on the basis thereof.

Description

Technical Field

[0001] The present invention relates to a device for determining the overall height of a vehicle having transport elements arranged, particularly mounted on the vehicle, and the present invention also relates to a vehicle having a device for determining the overall height of the vehicle. Background Technology

[0002] Devices for determining the overall height of a vehicle on which a transport element is mounted are generally known in the prior art. Transport elements can be, for example, bicycle racks (possibly with bicycles mounted thereon) mounted on the roof or in the rear area, transport boxes, or roof tents. Alternatively, transport elements can be transport goods, such as excavators, mounted on trailers. In all the listed cases, there is a possibility or inevitability of increasing the overall height of the vehicle including the transport element by means of the transport element, and thus creating a collision risk when passing elements with height restrictions. Such elements can be, for example, bridges or tunnels. In other cases, such elements can also be garages or garage entrances. Such devices are known, for example, by DE 10 2013 209 873 A1, in which the device includes sensors and an evaluation unit. Sensor signals are transmitted to and evaluated in the evaluation unit to measure the overall height of the vehicle, i.e., the height of the vehicle including the mounted transport element. Summary of the Invention

[0003] The objective of this invention is to provide a device for determining the total height of a vehicle having transport elements arranged on the vehicle, the device being simple to construct and capable of measuring the total height of the vehicle with high reliability and high accuracy.

[0004] This task is accomplished through the features of claim 1.

[0005] The device includes a detection unit with at least one UWB sensor and a UWB tag. The UWB sensor is explicitly arranged on the vehicle and in a common vehicle coordinate system. The vehicle coordinate system has an x-axis oriented along the longitudinal direction of the vehicle, i.e., along the direction of travel, a y-axis oriented along the lateral direction of the vehicle, and a z-axis oriented along the height direction of the vehicle. Therefore, the x-axis and y-axis are oriented horizontally and the z-axis is oriented vertically. The UWB tag is arranged, particularly mounted on the transport element, preferably at the highest point, and can be coupled to the UWB sensor. Thus, the UWB sensor and UWB tag form the basic components of the generally known UWB technology, i.e., ultra-wideband (UWB) technology.

[0006] The device also includes an evaluation unit configured to measure the position of the UWB tag in the vehicle coordinate system by coupling the UWB tag to a UWB sensor, and based on this, to calculate the total height of the vehicle. In this case, for example, the UWB sensor receives a signal from the UWB tag, which is evaluated by the evaluation unit to calculate the position of the UWB tag relative to the UWB sensor. The total height or z-position of the UWB tag in the vehicle coordinate system can be calculated through the explicit arrangement of the UWB sensor in the vehicle coordinate system and the measured position of the UWB tag relative to the UWB sensor.

[0007] By using UWB technology, that is, by using at least one UWB sensor and a UWB tag to determine the total height, the total height can be calculated simply, reliably and with high accuracy.

[0008] Preferably, the detection device comprises only one UWB sensor, wherein the UWB sensor and the UWB tag are arranged aligned with each other in the z-direction. In this manner, the device can be constructed particularly simply because only a single UWB sensor is required for the aligned arrangement of the UWB tag relative to the UWB sensor. Alignment in the z-direction means that the UWB tag has no displacement relative to the UWB sensor in the x and y directions. The spacing between the UWB sensor and the UWB tag corresponds to the height difference between them. The spacing between the UWB sensor and the UWB tag is measured specifically by the commonly known Time-of-Flight (ToF) method, where the time required for transmission between the UWB tag and the UWB sensor is measured. Based on this, the distance between the UWB tag and the UWB sensor is calculated.

[0009] Alternatively, the detection device includes multiple UWB sensors that can be coupled to UWB tags disposed on the transport element. The UWB sensors can be disposed anywhere on the vehicle. The position of the UWB tag relative to the UWB sensors is determined, for example, by a so-called TDoA (Time Difference of Arrival) method, in which the UWB sensors are synchronized with each other. In the installed transport element, the UWB tag transmits signals at regular intervals, which are received by the UWB sensors within their detection range and timestamped by the UWB sensors. The data from the UWB sensors and the time difference of arrival are then analyzed, and the position of the UWB tag is calculated using a polygonal method. Alternatively, the position of the UWB tag in the vehicle coordinate system can also be determined by other known methods.

[0010] The objective of the present invention is also achieved by the vehicle according to claim 6.

[0011] The vehicle includes the equipment according to any one of claims 1 to 5, a clearance height determination device, and a control unit. The clearance height determination device is configured to identify elements with a limited clearance height arranged on a future travel section and to calculate the permissible clearance height. The evaluation unit is configured to compare the total height calculated by the equipment with the clearance height calculated by the clearance height determination device. When the calculated total height is greater than the calculated clearance height, the evaluation unit outputs an obstacle signal. The obstacle signal indicates an impending collision between the vehicle, or transport element, and the elements limiting the clearance height. When the calculated clearance height is greater than the calculated total vehicle height, no obstacle signal is issued.

[0012] This provides a reliable way to prevent collisions between vehicles and components that limit the passage height.

[0013] Preferably, the control unit can be coupled to mounting sensors arranged on the transport element and / or on the vehicle, such that the control unit is automatically activated when the mounted transport element is detected by the mounting sensors. Alternatively, the control unit can be manually activated. Thus, the vehicle height monitoring function is activated only when the transport element is mounted on the vehicle, and particularly when the normal height of the vehicle is actually exceeded by the transport element.

[0014] In the preferred design, the sensor consists of a UWB sensor and a UWB tag, so that the control unit is automatically activated once the UWB tag is detected within the detection range of the UWB sensor. This allows for the detection of transport components using existing sensors without the need for additional sensors.

[0015] Preferably, the clearance height determination device includes an obstacle detection element, a positioning element, and a clearance determination module, which are arranged on the vehicle and / or on the transport element. The obstacle detection element and the positioning element are signal-connected to the clearance determination module, and the clearance determination module is configured to: identify elements with a defined clearance height existing in the travel section ahead of the vehicle from information from the obstacle detection element; measure the elements based on information from the positioning element; and measure the clearance height of the elements based on data allocated to the elements. The data allocated to the elements is stored, in particular, in a map, which the clearance determination module can access.

[0016] Alternatively, the clearance height determination device includes an obstacle detection element for imaging and a clearance determination module, wherein the obstacle detection element is signal-connected to the clearance determination module, and the clearance determination module is configured to: identify elements present in the image on the driving section in front of the vehicle with a defined clearance height, and calculate the clearance height of said elements. Here, other elements with predefined and known dimensions, such as vehicles traveling ahead, are additionally measured by the obstacle detection element, and a scaling factor is calculated thereby, wherein the scaling factor is used to determine the clearance height. In this way, the clearance height can be calculated simply and reliably.

[0017] Preferably, the control unit is signal-connected to an output device for issuing warnings to vehicle occupants. When a comparison between the measured total height and the measured clearance height indicates that the total height exceeds the clearance height, a warning signal is transmitted to the output device, thereby providing the driver with advance information about an impending collision while continuing to drive.

[0018] Alternatively or additionally, the control unit is connected to the braking and / or steering system signals, enabling automatic braking and / or steering intervention upon detection of an obstacle signal. In this way, impending collisions can be automatically and reliably prevented. Attached Figure Description

[0019] The invention will now be explained in more detail with reference to the accompanying drawings. Herein:

[0020] The figure shows a vehicle with transport elements arranged thereon, equipment for determining the overall height of the vehicle, and a passage height determining device. Detailed Implementation

[0021] The figure schematically shows a side view of vehicle 10, which in this example is a sedan, moving in the direction of travel F, i.e., the x-direction of the vehicle coordinate system, and approaching an element 100 that defines the passage height HD, such as a garage entrance, tunnel, or bridge. The vehicle coordinate system also includes a y-direction extending in the lateral direction of the vehicle and a z-direction extending in the height direction of the vehicle.

[0022] A rooftop bicycle rack 14 is installed on the vehicle 10, with bicycles 16 fixed thereon. The rooftop bicycle rack 14 with bicycles 16 fixed thereon forms a transport element 12. The transport element 12 may also be a roof box or a transport box or bicycle rack device arranged on the tailgate or tow hook.

[0023] To avoid collisions between the vehicle 10, or transport element 12, and element 100 during operation, a device 20, a passage height determining device 40, and a control unit 60 are provided for determining the total height HG of the vehicle 10 when the transport element 12 is mounted on the vehicle 10.

[0024] The clearance height determination device 40 includes an obstacle detection element 42, a positioning element 44, and a clearance determination module 46. The obstacle detection element 42 is disposed in the front region above the windshield of the vehicle 10 and is used to detect the travel section located in front of the vehicle 10. The detection element 42 may be, for example, a camera or radar. The positioning element 44 is disposed in the rear region of the roof and is used to determine the temporary position of the vehicle 10. The clearance determination module 46 is signal-connected to the obstacle detection element 42 and the positioning element 44. The clearance determination module 46 is configured to: detect or identify, during driving, an element 100 with a defined clearance height HD existing in the travel section in front of the vehicle 10 from the information of the obstacle detection element 42; measure the element 100 based on the information of the positioning element 44; and calculate the clearance height HD of the element 100 based on data assigned to the element 100. For example, the obstacle detection element 42 may identify the element 100 from an image from a camera, and based on this, the positioning device 44 may be used to calculate the current position of the vehicle 10. By locating vehicle 10, element 100 can be measured on a map containing the dimensions of element 100, particularly its clearance height HD, and the passage determination module 46 can access this map. Finally, the clearance height HD of element 100 can be determined based on the measured element 100. Alternatively, the clearance height HD can be determined by measuring the clearance height HD of element 100 from the image of the obstacle detection element. Here, other elements with predefined and known dimensions, such as vehicles traveling ahead, are additionally detected by obstacle detection element 42, and a scaling factor is calculated from this, which is used to determine the clearance height HD. In this case, locating vehicle 10 is unnecessary.

[0025] The device 20 is used to determine the total height HG of the vehicle 10, that is, the height including the transport element 12 (currently a roof bicycle rack 14 with a bicycle 16 fixed thereon) mounted on the vehicle 10, and the device includes a detection device 22 and an evaluation unit 30.

[0026] The detection device 22 has multiple UWB sensors 241, 242, 243 and UWB tags 26. The UWB sensors 241, 242, 243 are arranged on the vehicle 10. The UWB tags 26 are arranged on the bicycle 16 and at the highest point of the transport element 12.

[0027] The evaluation unit 30 is signal-connected to the detection device 22, i.e., to the UWB sensors 241, 242, and 243, wherein each UWB sensor 241, 242, and 243 is assigned a specific position in the vehicle coordinate system, i.e., in the x, y, and z directions. Specifically, this gives the height H1 of the UWB sensors 241, 242, and 243. The evaluation unit 30 is configured to, for example, calculate the position of the UWB tag 26 relative to the UWB sensors 241, 242, and 243 using a so-called TDoA method. Based on the specific positions of the UWB sensors 241, 242, and 243 in the vehicle coordinate system, the position of the UWB tag 26 in the vehicle coordinate system is also calculated by measuring the relative position of the UWB tag 26 with the UWB sensors 241, 242, and 243. In this case, the measured z-coordinate of the UWB tag 26 in the vehicle coordinate system corresponds to the total height HG of the vehicle 10, since the UWB tag 26 is fixed at the highest point of the transport element 12. The position of the UWB tag 26 can also be determined by other commonly known methods. Alternatively, the detection device 22 may include only a single UWB sensor, wherein the UWB tag and the UWB sensor must be arranged aligned with each other in the z-direction.

[0028] During the operation of vehicle 10, control unit 60 obtains information from device 20 and clearance height determination device 40, and compares the total height HG with the clearance height HD. If the clearance height HD is greater than the total height HG of vehicle 10, control unit 60 does not output anything because no collision is expected. If the clearance height HD is less than the total height HG of vehicle 10, control unit 60 transmits an obstacle signal to the braking system 70 of vehicle 10, i.e., to the controller of the braking system 70, and transmits a warning signal to output device 72. The obstacle signal activates braking system 70 and triggers an automatic braking process. Output device 72 is, for example, a display or speaker arranged in the interior space of vehicle 10, wherein, based on the warning signal, a warning of an impending collision is given to the driver in the form of an image display on the display or an acoustic sound from the speaker.

[0029] The collision warning function is activated only when the transport element 12 is also actually mounted on the vehicle 10. For this purpose, UWB sensors 241, 242, 243 and UWB tag 26 are used as mounting sensors. Therefore, the collision warning function is activated only when the UWB tag 26 is positioned within the detection range of the UWB sensors 241, 242, 243 and there is signal exchange between the UWB sensors 241, 242, 243 and the UWB tag 26.

[0030] List of reference numerals

[0031] 10 vehicles

[0032] 12 transport components

[0033] 14. Rooftop bicycle rack

[0034] 16 bicycles

[0035] 20 devices

[0036] 22 Detection Devices

[0037] 241UWB sensor

[0038] 242UWB sensor

[0039] 243UWB sensor

[0040] 26UWB tags

[0041] 30 assessment units

[0042] 40 Passage Height Determining Device

[0043] 42 obstacle detection elements

[0044] 44 positioning elements

[0045] 46 Passage Determination Module

[0046] 60 control unit

[0047] 70 Braking System

[0048] 72 Output Device

[0049] 100 Components with limited access height

[0050] HD Passage Height

[0051] The overall height of the HG vehicle

Claims

1. An apparatus for determining the total height of a vehicle (10) having transport elements (12) arranged on the vehicle (10), the apparatus having a detection device (22) for detecting the transport elements (12) and an evaluation unit (30) signal-connected to the detection device (22), wherein, The evaluation unit (30) is configured to calculate the total height (HG) of the vehicle (10) with the installed transport element (12) from the signal of the detection device (22). The detection device (22) is characterized by having at least one UWB sensor (241, 242, 243) specifically arranged in the vehicle coordinate system and a UWB tag (26) capable of being coupled to the UWB sensor (241, 242, 243), wherein the UWB sensor (241, 242, 243) is arranged on the vehicle (10) and the UWB tag (26) is arranged on the transport element (12), wherein the evaluation unit (30) is configured to: measure the position of the UWB tag (26) in the vehicle coordinate system by coupling the UWB tag (26) to the UWB sensor (241, 242, 243), and measure the total height (HG) of the vehicle (10) based thereon.

2. The device according to claim 1, characterized in that, The detection device (22) has only one UWB sensor (241, 242, 243), wherein the UWB sensor (241, 242, 243) and the UWB tag (26) are arranged aligned with each other in the z direction.

3. The device according to claim 1, characterized in that, The detection device (22) has multiple UWB sensors (241, 242, 243) that can be coupled to the UWB tag (26).

4. The device according to any one of the preceding claims, characterized in that, The evaluation unit (30) is configured to: at least measure the position of the UWB tag (26) relative to the at least one UWB sensor (241, 242, 243) in the z direction, the at least one UWB sensor being explicitly arranged in the vehicle coordinate system at least in the z direction, and calculate the z coordinate of the position of the UWB tag (26) based thereon.

5. The device according to any one of the preceding claims, characterized in that, The UWB tag (26) is positioned at the highest point of the transport element (12).

6. A vehicle having a device (20) according to any one of claims 1 to 5, a clearance height determining device (40) and a control unit (60), the control unit being configured to: compare a total height (HG) measured by the device (20) with a clearance height (HD) measured by the clearance height determining device (40), and output an obstacle signal based thereon when the total height (HG) exceeds the clearance height (HD).

7. The vehicle according to claim 6, characterized in that, The control unit (60) is capable of coupling with a mounting sensor arranged on the transport element (12) and / or the vehicle (10) such that the control unit (60) is automatically activated when the mounted transport element (12) is detected by the mounting sensor.

8. The vehicle according to claim 7, characterized in that, The installation sensor is formed by the UWB sensor (241, 242, 243) and the UWB tag (26), such that the control unit (60) is automatically activated once the UWB tag (26) is detected within the detection range of the UWB sensor (241, 242, 243).

9. The vehicle according to any one of claims 6 to 8, characterized in that, The passage height determination device (40) has an obstacle detection element (42), a positioning element (44), and a passage determination module (46), wherein the obstacle detection element (42) and the positioning element (44) are signal-connected to the passage determination module (46), and the passage determination module (46) is configured to: identify an element (100) that defines the passage height (HD) in the driving section in front of the vehicle from the information of the obstacle detection element (42), calculate the element (100) based on the information of the positioning element (44), and calculate the passage height (HD) of the defined element (100) located in front based on the data associated with the element (100).

10. The vehicle according to any one of claims 6 to 9, characterized in that, The clearance height determination device (40) has an obstacle detection element (42) for imaging and a clearance determination module (46), wherein the obstacle detection element (42) for imaging is signal-connected to the clearance determination module (46), wherein the clearance determination module (46) is configured to: identify from the image an element (100) that defines the clearance height (HD) in the driving section in front of the vehicle and to calculate the clearance height (HD) of the element (100) from the image.

11. The vehicle according to any one of claims 6 to 10, characterized in that, The control unit (60) is signal-connected to an output device (72) for issuing warnings to vehicle occupants.

12. The vehicle according to any one of claims 6 to 11, characterized in that, The control unit (60) is signal-connected to the braking system (70) and / or the steering system, enabling automatic braking and / or steering intervention when an obstacle signal is measured.

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