Shunting procedure for a motor vehicle, motor vehicle

Abstract

Maneuvering procedure for a motor vehicle (1) to overcome an obstacle (3), comprising - the use of a motor vehicle (1) comprising at least one wheel (4), a detection device (2) and a drive unit (5) comprising a power-limiting area, - the provision of a shunting area having at least one obstacle (3), characterized by the steps S1: Detection of the obstacle (3) in front of and / or behind the motor vehicle (1) by the detection device (2), S2: Moving the motor vehicle (1) in relation to the obstacle (3) such that the motor vehicle (1) comes to a standstill at a distance x defined between the obstacle (3) and the wheel (4), wherein the direction of travel of the wheel (4) points towards the obstacle (3) and the distance x is calculated such that the inertial mass of the motor vehicle and the torque transmission to the road surface result in a corresponding acceleration of the motor vehicle, so that the motor vehicle has kinetic energy that allows the motor vehicle to overcome the obstacle, as well as S3: Acceleration of the motor vehicle (1) in the direction of the obstacle (3), whereby the acceleration takes place within the power-limiting range of the drive unit (5).

Description

[0001] The present invention relates to a shunting method for a motor vehicle for overcoming an obstacle and a motor vehicle for overcoming the obstacle.

[0002] Motor vehicle assistance systems for detecting obstacles in front of or behind a vehicle are widespread. These systems are designed to detect various obstacles, such as people, curbs, vehicles ahead, etc. Most often, the obstacles are detected in the immediate vicinity of the vehicle. The vehicle's response to an obstacle detection varies. These responses can involve the brakes, the steering, or a general vehicle component.

[0003] Conventional methods typically involve first making contact with the obstacle and then overcoming it using various techniques. One approach is based on an iterative algorithm, allowing the vehicle to slowly overcome the obstacle. Another approach utilizes methods that operate within a power range of the drive unit that lies outside its power-limiting range. For example, a hybrid vehicle's combustion engine is normally switched off during maneuvering but engages when an obstacle is encountered.

[0004] A method for overcoming an obstacle is disclosed in US Patent 2016 / 0102622 A1. US Patent 2016 / 0102622 A1 provides software that evaluates vehicle data and checks whether an obstacle is hindering the vehicle's movement, for example, whether a wheel of the vehicle is touching a curb. If an obstacle is detected, the software checks whether the obstacle can and should be overcome. If the answer to these questions is yes, torque is transmitted to the wheels that allow the vehicle to overcome the obstacle. This torque transmission to the wheels occurs in intervals. The iterative algorithm underlying these intervals is designed to prevent any components of the electric motor from overheating.

[0005] German patent DE 10 2013 220 931 A1 discloses a method and a device for assisting a motor vehicle in driving onto a curb. A curb located in the vicinity of the motor vehicle is first detected. One or more operating parameters of the motor vehicle are then adjusted in such a way as to reduce the shocks, impacts, or vibrations associated with driving onto the curb.

[0006] DE 10 2007 061 234 A1 discloses a method and a device for adapting the guidance of a vehicle in an area containing at least one obstacle. The method comprises the steps of determining the elevation profile of a trajectory that the vehicle is to follow when entering the area. Furthermore, the method comprises adapting the vehicle's guidance to the determined elevation profile.

[0007] Interactions between motor vehicles and people are becoming increasingly numerous and diverse. US Patent 9,368,034 B2, for example, describes an interaction between a person and a motor vehicle in which a person approaching the vehicle is detected by a vehicle's detection system. As soon as this person performs a predefined gesture, the vehicle opens its trunk. The detection system includes ultrasonic and capacitive sensors. The ultrasonic sensors are designed to detect people farther from the vehicle, while the capacitive sensors are designed to detect people closer to the vehicle. The coordination between the ultrasonic and capacitive sensors results in a predefined distance relative to the vehicle, within which a person's gesture triggers the opening of the trunk.

[0008] It is an object of the present invention to provide an advantageous method for a motor vehicle to overcome an obstacle. A further object of the present invention is to provide an advantageous motor vehicle for carrying out a method for overcoming an obstacle.

[0009] The first problem is solved by a method according to claim 1. The second problem is solved by a motor vehicle according to claim 8.

[0010] A first aspect of the invention relates to a maneuvering method according to the invention for a motor vehicle for overcoming an obstacle. The maneuvering method comprises the use of a motor vehicle having at least one wheel, a detection device, and a drive unit. The drive unit includes a power-limiting section. Furthermore, the maneuvering method comprises providing a maneuvering area that contains at least one obstacle. The maneuvering method is characterized by the following steps. In the first step S1, the obstacle in front of and / or behind the motor vehicle is detected by the detection device. In the second step S2, the motor vehicle is moved relative to the obstacle. The movement is such that the motor vehicle comes to a standstill at a defined distance x. The distance x is defined by the distance between the obstacle and the wheel.As soon as the vehicle comes to a standstill, one wheel points towards the obstacle. In the third step, S3, the vehicle is accelerated towards the obstacle. This acceleration takes place within the power-limiting range of the drive unit.

[0011] The maneuvering method according to the invention is therefore advantageous compared to conventional methods, since it remains within the power-limiting range of the drive unit when overcoming an obstacle. In hybrid vehicles, this means that when applying the method according to the invention, the combustion engine is not used to drive the vehicle. Furthermore, no iterative algorithm is used, which could potentially lead to rocking movements of the vehicle when slowly overcoming the obstacle.

[0012] According to one embodiment of the shunting method according to the invention, step S2 is subdivided into sub-steps. In the first sub-step of step S2, a distance x_var between the obstacle and the wheel is determined by a first module of the motor vehicle. In the second sub-step of step S2, the distance x_var is compared with the distance x during the movement of the motor vehicle. In the third sub-step of step S2, the motor vehicle is moved in such a way that the distance x_var is approximated to the distance x. With the aid of, for example, a radar system, a system with ultrasonic sensors, or a system with cameras and lasers, the distance x_var can be determined with sufficient accuracy, for example, in the centimeter range.

[0013] According to one embodiment of the shunting method according to the invention, the distance x is further calculated in step S2 by a second module of the motor vehicle. For known obstacles that have a predefined pattern or a known structure, data stored in the motor vehicle can be used to calculate the distance x. Alternatively, corresponding data can already be stored in the motor vehicle, so that a calculation is no longer necessary.

[0014] According to one embodiment of the shunting method according to the invention, in step S2 a third module of the motor vehicle determines the height of the obstacle. Using the determined height of the obstacle, the distance x is then calculated.

[0015] According to one embodiment of the maneuvering method according to the invention, in step S2 a fourth module determines the ground clearance of the vehicle. Using this determined ground clearance, the distance x is calculated. In the case of a curb or obstacles that do not have a gentle slope leading towards the vehicle, a prerequisite for overcoming the obstacle is that the vehicle has a ground clearance that exceeds the height of the obstacle. A further prerequisite for overcoming such an obstacle is that the wheel radius is greater than the height of the obstacle. When overcoming obstacles with a gentle slope leading towards the vehicle, the vehicle can only overcome the obstacle within a certain angle range.This angle of inclination depends on the distance between the wheel and an outer area at the rear or front of the vehicle. Furthermore, the angle of inclination depends on the ground clearance.

[0016] According to one embodiment of the shunting method according to the invention, in step S2 the mass of the motor vehicle is determined by a fifth module of the motor vehicle. Using the determined mass, the distance x is calculated. The inertia of the mass is a crucial factor for overcoming the obstacle.

[0017] According to one embodiment of the shunting method according to the invention, the motor vehicle is controlled autonomously in steps S1 to S3. Preferably, the control of the motor vehicle is carried out completely autonomously. The driver of the motor vehicle can be in the vehicle or, alternatively, outside of the vehicle. Another alternative to completely autonomous control of the motor vehicle is that the data, such as the distance x and the acceleration strength, are displayed by the motor vehicle, and the driver only operates the accelerator and brake pedals.

[0018] A second aspect of the invention relates to a motor vehicle for carrying out the method according to the invention. The motor vehicle comprises at least one wheel, a detection device, and a drive unit. The drive unit has a power-limiting section. The detection device detects an obstacle in front of and / or behind the motor vehicle. Furthermore, the detection device has a horizontal distance module configured to determine a distance x_var between the wheel of the motor vehicle and the obstacle. The detection device can comprise a radar system, ultrasonic sensors, one or more cameras, or a laser system. The sensors belonging to the individual systems can be mounted around the car at appropriate locations.

[0019] According to the invention, the motor vehicle has a calculation module. This module is designed to calculate a distance x. The distance x represents the distance between the obstacle and the wheel of the motor vehicle. The distance x is calculated such that the motor vehicle is stationary at this distance from the obstacle and can accelerate from a standstill towards the obstacle. In addition to properties of the obstacle, the distance x also depends on parameters of the motor vehicle, such as the transmission of a corresponding torque to the road surface and the mass of the motor vehicle. The distance x is calculated such that the inertial mass of the motor vehicle and the torque transmission to the road surface result in a corresponding acceleration of the motor vehicle, giving it sufficient kinetic energy to overcome the obstacle.

[0020] According to one embodiment of the motor vehicle according to the invention, the drive unit, which includes a power-limiting range, is electrically powered. This drive unit can comprise either an electric motor or an internal combustion engine. However, in the shunting method according to the invention, the internal combustion engine is not engaged. The motor vehicle, known as a hybrid vehicle, moves purely electrically during the shunting method according to the invention. Alternatively, a fuel cell system can also serve as the drive unit. Here, too, the shunting of the motor vehicle is carried out with power limitation.

[0021] According to one embodiment of the vehicle according to the invention, the detection device includes a height module. The height module is designed to determine the height of the obstacle. The height module preferably comprises one or more cameras or a laser system.

[0022] According to one embodiment of the vehicle according to the invention, the detection device includes a ground clearance module. The ground clearance module is designed to determine the distance between the underbody of the vehicle and the ground on which the vehicle is moving. Preferably, the vehicle moves on a road surface, in particular on a road or carriageway. The ground clearance module can comprise ultrasonic sensors or a laser system.

[0023] According to one embodiment of the motor vehicle according to the invention, the motor vehicle has a mass module. The mass module is designed to determine the mass of the motor vehicle.

[0024] In an advantageous embodiment of the motor vehicle according to the invention, the motor vehicle can have a control device configured to control the motor vehicle. Preferably, the control device controls the actions of the motor vehicle, for example, the steering and acceleration of the motor vehicle. Furthermore, the control device can control the optical and acoustic signals of the motor vehicle.

[0025] Further features, properties and advantages of the present invention will become apparent from the following description of two exemplary embodiments with reference to the accompanying figures. Fig. Figure 1 shows a schematic representation of a motor vehicle of an embodiment according to the invention in relation to an obstacle. Fig. Figure 2 represents a flowchart illustrating the sequence of a first embodiment of a shunting method according to the invention. Fig. Figure 3 represents a flowchart illustrating the sequence of a second embodiment of the shunting method according to the invention.

[0026] The following will be based on the Fig. 1 to 3 two embodiments of a shunting method according to the invention for a motor vehicle 1 to overcome an obstacle 3 are explained in more detail.

[0027] In both embodiments, a shunting method is described in which a motor vehicle 1 equipped with an electric drive unit 5 is used. The electric drive unit 5, here an electric motor 5 of a hybrid vehicle, is operated in a power-limiting range. The combustion engine of the hybrid vehicle is not active in the shunting method according to the invention. By using the electric motor 5 in the power-limiting range and by not using the combustion engine, a shunting method is provided that enables purely electric shunting using low-voltage hybrid technology. Furthermore, in both embodiments, the motor vehicle 1 is operated fully autonomously.

[0028] In Fig. Figure 1 shows an embodiment of a motor vehicle 1 according to the invention. The motor vehicle 1 is located at a distance x_var from an obstacle 3. Here, the distance x_var is the distance between a wheel 4 of the motor vehicle 1 and the obstacle 3. The horizontal distance module 10 installed in the motor vehicle 1 continuously measures the distance x_var as the motor vehicle 1 moves relative to the obstacle 3. In this embodiment, the movement of the motor vehicle 1 is achieved by means of an electric motor 5. The movement of the motor vehicle 1 ends when the distance x_var equals a distance x. The distance x, which represents the target distance between the wheel 4 and the obstacle 3 for overcoming the obstacle 3, is calculated by the calculation module 11 of the motor vehicle 1.The parameters required for calculating the distance x are provided by a height module 12, which determines the height 22 of the obstacle 3, a ground clearance module 13, which determines the distance between the underbody of the motor vehicle 1 and the roadway 6, and a mass module 14, which determines a mass of the motor vehicle 1.

[0029] In both embodiments, the motor vehicle 1 overcomes a curb edge 3 using the maneuvering method according to the invention. Both maneuvering methods according to the invention begin when a wheel 4 of the motor vehicle 1 touches the curb edge 3 and the motor vehicle 1 is in front of the curb edge 3.

[0030] A transmission of torque from the vehicle 1 to the road surface 6 results in a force acting in the direction of the vehicle 1's movement. The vehicle 1 follows the direction of the force as soon as the power of the drive unit 5 is sufficient. If the torque transmission occurs within the power-limiting range of the electric motor 5, the vehicle 1 can usually only accelerate from a standstill if there is no obstacle 3. As soon as an obstacle 3 is present and at least one wheel 4 is blocked, the electrical power for the vehicle 1 is typically insufficient to overcome the obstacle 3. In a hybrid vehicle, the combustion engine is typically started in this case, ensuring sufficient torque transmission from the vehicle 1 to the road surface 6 and enabling the vehicle 1 to overcome the obstacle 3.However, this approach contradicts the idea of ​​a shunting procedure with a purely electric drive operating in a power-limiting range.

[0031] In Fig. Figure 2 illustrates the steps of a first embodiment of a shunting method according to the invention. In the first step S1, the obstacle 3 in front of and / or behind the vehicle 1 is detected by the detection device 2. In the second step S2, the vehicle 1 is moved relative to the obstacle 3. The movement is such that the vehicle 1 comes to a standstill at a distance x defined between the obstacle 3 and the wheel 4. The wheel 4 is oriented in the direction of the obstacle 3. In the third step S3, the vehicle 1 is accelerated in the direction of the obstacle 3. This acceleration takes place within the power-limiting range of the drive unit 5.

[0032] In the second embodiment, the shunting procedure comprises 5 steps, designated S1, S2a, S2b, S2c and S3, and in the Fig. 3 are shown schematically.

[0033] In the first step S1 of the shunting procedure, the detection device 2 detects the obstacle 3, in this case the curb 3. In the second step S2a of the shunting procedure, the distance between the wheel 4 of the vehicle 1 and the curb 3 is determined using a horizontal distance module 10 of the vehicle 1. This distance is denoted as x_var. In a third step S2b of the shunting procedure, a distance x is calculated by a calculation module 11 of the vehicle 1. The distance x represents the distance between the curb 3 and the wheel 4 of the vehicle 1 from which the vehicle 1 can accelerate towards the curb 3 and overcome it. Parameters of the vehicle 1 and the curb 3 are necessary for calculating the distance x. Specifically, the height 22 of the curb 3 is required for this calculation.The height 22 of the curb 3 is determined by the height module 12 of the vehicle 1. The ground clearance 21 of the vehicle 1 is also required to calculate the distance x. The ground clearance 21 of the vehicle 1 is determined by the ground clearance module 13. For an obstacle 3 with a non-gradient slope, such as the curb 3, the distance between the wheel 4 and the foremost point of the vehicle's front end or the rearmost point of the vehicle's rear end is relevant for overcoming the obstacle 3 or the curb 3. The slope of the obstacle 3 or the curb 3 also influences the distance x. Furthermore, in cases such as the present embodiment, where a curb 3 is to be overcome and the ground clearance 21 is higher than the height 22 of the curb 3, the radius 20 of the wheel 4 plays a role.Preferably, the radius 20 of the wheel 4 is greater than the height 22 of the obstacle 3 or the curb 3.

[0034] After calculating the distance x, the vehicle 1 moves away from the curb 3 in this embodiment. In this fourth step S2c, the vehicle 1 moves away in such a way that the continuously measured distance x_var approaches the distance x. As soon as the distance x_var matches the distance x, the vehicle 1 comes to a standstill. At this point, one direction of rotation of the wheel 4 points towards the curb 3. The movement of the vehicle 1 towards the distance x is preferably indicated to the driver and / or persons outside the vehicle by visual and acoustic signals. In this embodiment, a buzzer sounds and the headlights and / or taillights are switched on. Furthermore, the hazard warning lights are activated.

[0035] In a fifth step S3 of the shunting procedure, the vehicle 1 is accelerated from a standstill towards the curb 3. This acceleration takes place within the power-limiting range of the electric motor 5. In this particular embodiment, the power limit is 48 volts. Once the vehicle 1 has cleared the curb 3, the originally planned shunting maneuver can be continued.

[0036] Alternatively, in a fully autonomously controlled motor vehicle 1, the maneuvering method according to the invention can be initiated earlier. In this case, the obstacle 3 is detected and measured at a greater distance from the motor vehicle 1. From the data obtained from the obstacle 3 and from the vehicle data, the distance x between a wheel 4 of the motor vehicle 1 and the obstacle 3 can already be calculated at this point. The vehicle data required for the calculation can either be measured again at this point or taken from previous maneuvering operations. As a further alternative, the speed of the motor vehicle 1 can be adjusted at a greater distance so that the obstacle 3 can be easily overcome without bringing the motor vehicle 1 to a standstill. This always assumes that the drive unit 5 of the motor vehicle 1 is operated in the power-limiting range. Reference symbol list 1 motor vehicle 2 Detection device 3 Obstacle 4-wheeler 5 Drive unit 6 lanes 10 Horizontal distance module 11 Calculation module 12 Height module 13 Ground clearance module 14 Mass module 20 Radius of the wheel 21 Ground clearance 22 Height of the obstacle S1 Detection of an obstacle S2 Moving the motor vehicle to a distance x S2a Determining the distance x_var between the obstacle and a wheel of the motor vehicle S2b Calculating the distance x to the obstacle from which the accelerated motor vehicle can overcome the obstacle S2c Moving the motor vehicle to a distance x by comparing the distance x_var with the distance x S3 Accelerating the vehicle towards the obstacle

Claims

[1] Manoeuvring method for a motor vehicle (1) for overcoming an obstacle (3), comprising - using a motor vehicle (1) having at least one wheel (4), a detection device (2) and a drive unit (5) comprising a power-limiting area, - providing a shunting area having at least one obstacle (3), characterized by the steps S1: Detection of the obstacle (3) in front of and / or behind the motor vehicle (1) by the detection device (2), S2: Moving the motor vehicle (1) in relation to the obstacle (3) in such a way that the motor vehicle (1) comes to a standstill at a distance x defined between the obstacle (3) and the wheel (4), wherein a running direction of the wheel (4) points in the direction of the obstacle (3) and the distance x is calculated such that the inertial mass of the motor vehicle and the torque transmission to the roadway lead to a corresponding acceleration of the motor vehicle, so that the motor vehicle has a kinetic energy that allows the motor vehicle to overcome the obstacle, and S3: Acceleration of the motor vehicle (1) in the direction of the obstacle (3), wherein the acceleration takes place within the power-limiting range of the drive unit (5). [2] Shunting method according to claim 1, characterized by that in step S2 - a distance x_var between the obstacle (3) and the wheel (4) is determined by a first module of the motor vehicle (1), - the distance x_var is compared with the distance x during the movement of the motor vehicle (1) and - the movement of the motor vehicle (1) occurs in such a way that the distance x_var is approximated to the distance x. [3] Shunting method according to claim 1 or 2, characterized by that in step S2 the distance x from a second module of the motor vehicle (1) is calculated. [4] Shunting method according to claim 3, characterized by that in step S2 - a height of the obstacle (3) is determined by a third module of the motor vehicle (1) and - the distance x is calculated using the determined height of the obstacle (3). [5] Shunting method according to claim 3 or 4, characterized by that in step S2 - a ground clearance of the motor vehicle (1) is determined by a fourth module and - the distance x is calculated using the determined ground clearance of the motor vehicle (1). [6] Shunting method according to claim 3 or 4, characterized by that in step S2 - the mass of the motor vehicle (1) is determined by a fifth module of the motor vehicle (1) and - the distance x is calculated using the determined mass. [7] Shunting method according to one of claims 1 to 6, characterized by that in steps S1 to S3 the motor vehicle (1) is controlled autonomously. [8] Motor vehicle (1) for carrying out a manoeuvring method according to one of claims 1 to 7, comprising at least one wheel (4), a detection device (2) and a drive unit (5) comprising a power-limiting area, wherein the detection device (2) detects an obstacle (3) in front of and / or behind the motor vehicle (1), characterized byin that the detection device (2) has a horizontal distance module (10) which is designed to determine a distance x_var between the wheel (4) of the motor vehicle (1) and the obstacle (3), and the motor vehicle (1) has a calculation module (11) which is designed to calculate a distance x between the obstacle (3) and the wheel (4) of the motor vehicle (1) required to overcome the obstacle (3) in such a way that the inertial mass of the motor vehicle and the torque transmission to the roadway lead to a corresponding acceleration of the motor vehicle, so that the motor vehicle has a kinetic energy which allows the motor vehicle to overcome the obstacle. [9] Motor vehicle (1) according to claim 8, characterized by that the drive unit (5) comprising a power-limiting area is electric. [10] Motor vehicle (1) according to claim 8 or 9, characterized bythat the detection device (2) has a height module (12) which is designed to determine a height of the obstacle (3). [11] Motor vehicle (1) according to one of claims 8 to 10, characterized by that the detection device (2) has a ground clearance module (13) which is designed to determine a distance between an underbody of the motor vehicle (1) and a ground on which the motor vehicle (1) is moving. [12] Motor vehicle (1) according to one of claims 8 to 11, characterized by that the motor vehicle (1) has a mass module (14) which is designed to determine a mass of the motor vehicle (1).

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