Method for adjusting a tilt detection system for a vehicle, in particular a commercial vehicle, computer program and / or computer-readable medium, control unit, vehicle

Abstract

Method (100) for adjusting an inclination determination device for a vehicle (200a), in particular a commercial vehicle (200b), wherein the vehicle (200a) has an inclination sensor device (220) for determining a measurement inclination (221) of the vehicle (200a). The method (100) includes acquiring (110) topographic map data (255), acquiring (120) a geoposition (209) of the vehicle (200a), determining (130) an inclination (208) of the vehicle (200a) based on the geoposition (209) and the map data (255), and adjusting (140) the inclination sensor device (220) to determine the measurement inclination (221) based on the inclination (208) determined with the geoposition (209).

Description

[0001] The disclosure relates to a method for adjusting an inclination determination for a vehicle, in particular a commercial vehicle, wherein the vehicle has an inclination sensor device for determining a measured inclination of the vehicle. The disclosure also relates to a computer program and / or computer-readable medium, a control unit for a vehicle, in particular a commercial vehicle, having an inclination sensor device for determining a measured inclination of the vehicle, and a vehicle, in particular a commercial vehicle, having an inclination sensor device for determining a measured inclination of the vehicle and having a control unit.

[0002] In particular, the disclosure relates to a method for adjusting an inclination determination for a trailer vehicle.

[0003] The vehicle, in particular a commercial vehicle, is hereinafter referred to as the vehicle.

[0004] A vehicle is known from the prior art that has an electric drive configured for regenerative braking. To operate the vehicle, the electric drive can be operated in a regenerative braking mode for regenerative braking or recuperation to decelerate the vehicle, or in a drive mode to accelerate and / or move the vehicle. The electric drive can be controlled by the direct driver's input and a corresponding request via, for example, an accelerator pedal or brake pedal or by a cruise control system. Furthermore, it is known that a coupling force sensor is used for the trailer vehicle to sense a force on a kingpin for coupling the trailer vehicle to a towing vehicle in order to determine whether the electric drive should drive or recuperate.Wheel speed sensors and tilt sensors can be used to control the electric drive and operate it in regenerative braking mode or drive mode.

[0005] EP 0 451 446 A1 discloses a device for detecting hill climbs, particularly for commercial vehicles such as trucks or buses. The device contains at least one sensor for the axle load of the rear axle and / or the front axle, as well as a device for measuring the vehicle's acceleration relative to the road surface. The signals from the sensor and the device are fed to an electronic unit. This unit then detects whether the vehicle is on an incline, a decline, or a level surface. The signal thus generated can be further used in various electronic systems, for example, in a drawbar force control system.

[0006] The vehicle should adapt the operation of the electric drive, and in particular the mode, to different scenarios or to the longitudinal movement of the vehicle in order to store energy where possible, i.e., to recuperate it when the vehicle decelerates, and to support the vehicle's operation in drive mode during acceleration. However, this requires precise and high-resolution detection of the vehicle's inclination or the inclination of the road surface on which the vehicle is traveling in order to avoid unintended deceleration and / or acceleration. For example, driving uphill while decelerating should not necessarily result in regenerative braking.

[0007] A high-resolution inclination sensor and / or acceleration sensor may be provided. Known inclination sensor devices may be configured to measure the relative inclination of the vehicle, optionally taking into account the vehicle's acceleration or deceleration.

[0008] Precise and detailed recording of inclination is crucial for efficient vehicle operation. Inclination is essential information. However, inclination cannot be measured reliably and precisely because such inclination sensor devices are typically difficult to calibrate. Particularly for a trailer, inclination of the vehicle due to coupling with a towing vehicle, varying load conditions, and / or tire wear can lead to a systematic deviation (offset) in the measured inclination measured by the inclination sensor devices, thus leading to a misinterpretation of the actual inclination.

[0009] The efficiency of operating the electric drive can be improved if the uncertainty of the inclination can be minimized, especially on a flat road surface, i.e. with a gradient of zero, in order to be able to control the drive mode reliably and efficiently.

[0010] Particularly for a vehicle used as a trailer, a strategy for operating the electric drive that is independent of a towing vehicle is desirable in order to be able to operate the trailer with potentially different towing vehicles. This requires that the trailer can manage the operation of the electric drive without having to communicate with the towing vehicle. However, in this case, the trailer would not have any information about a driver request via the accelerator or brake pedal. Furthermore, it is desirable to be able to do without the coupling force sensor described above for controlling the electric drive.

[0011] The disclosure is based on the object of enriching the prior art and improving aspects of the prior art. In particular, the disclosure solves the problem of providing reliable information about the inclination of a vehicle, in particular a trailer vehicle, without the need for communication with a towing vehicle.

[0012] According to one aspect of the disclosure, a method for adjusting an inclination determination for a vehicle, in particular a commercial vehicle, is provided, wherein the vehicle has an inclination sensor device for determining a measured inclination of the vehicle and wherein the method comprises: acquiring topographical map data, acquiring a geoposition of the vehicle, determining an inclination of the vehicle based on the geoposition and the map data, and adjusting the inclination sensor device to determine the measured inclination based on the inclination determined with the geoposition.

[0013] The inclination sensor device can measure or detect the inclination of the vehicle as the measured inclination. The inclination sensor device can detect the measured inclination with a comparatively high dynamic range. It has been recognized that the measured inclination can be inaccurate due to systematic deviations. Nevertheless, the inclination sensor device can reliably and precisely detect changes in the measured inclination, i.e., a relative measured inclination. Furthermore, it has been recognized that topographical map data can contain comparatively accurate information about the actual inclination, for example, based on inclination and / or elevation information included in the map data. However, due to their resolution, the map data itself typically allows for a less dynamic determination of the inclination compared to the inclination sensor device.

[0014] The vehicle can be positioned relative to the map data based on its geoposition, and the inclination can be determined relatively reliably and precisely from the map data. The inclination determined from the map data can then be used to adjust the inclination sensor device. For example, a systematic deviation caused by a difference between the measured inclination and the inclination determined from the map data can be detected and taken into account in a subsequent recording of the measured inclination, in order to adjust the inclination sensor device to determine the measured inclination based on the inclination. In other words, by adjusting the inclination sensor devices based on the map data, an offset or offset error in the measured inclination can be corrected.The inclination sensor device can then determine the inclination of the vehicle comparatively dynamically and at the same time precisely as the adjusted measuring inclination based on a measuring inclination adjusted with the inclination.

[0015] The disclosure provides for an adjustment or calibration of the inclination sensor device based on current gradient information determined from the digital topographical map data. Thus, an accurate calibration or comparison between the inclination of the road and the inclination sensor device can be achieved. This makes it possible to record an adjusted measurement inclination during vehicle operation, wherein the adjusted measurement inclination more accurately reflects the inclination of the vehicle or the roadway. The adjustment is achieved based on the topographical map data. The adjustment allows the measurement inclination to be determined more accurately.

[0016] The inclination sensor device is used to determine the measured inclination. Precision is improved by adjusting the inclination sensor device based on the inclination at the respective geoposition of the vehicle. This eliminates systematic errors or offsets caused, for example, by the coupling of a trailer to a towing vehicle, load differences, and / or varying tire wear. Based on the more accurate measured inclination, the vehicle can be operated more efficiently, which can lead to lower fuel and / or energy consumption and thus more economical and environmentally friendly vehicle operation.

[0017] Substantial forces can result from gradient resistance. This means that when continuously overcoming the driving resistance, even small errors in determining the gradient or recording the measured incline can lead to significant deviations from the actually required driving forces and / or braking forces, which, in the current driving situation, precisely compensate for the driving resistance of the trailer. Adjustment can at least partially prevent the towing vehicle from being subjected to thrust and / or traction forces.

[0018] The tilt sensor device can be adjusted independently of other components, particularly wheel speed sensors or axle load sensors. In particular, in the case of a trailer, communication with a towing vehicle is unnecessary.

[0019] Optionally, the vehicle has an electric drive configured for regenerative braking, and the method further comprises outputting a control signal for operating the electric drive taking into account an adjusted measurement inclination. The operation of the electric drive can be based on a precise physical measurement of the inclination. The control signal can control a drive mode and / or a regenerative braking mode of the electric drive. The adjusted measurement inclination can enable better coordinated operation of the electric drive. For example, the electric drive can be switched to one of the modes more precisely in time to provide drive torque or regenerative braking in good time. This can prevent the trailer vehicle from pushing onto a towing vehicle or mistakenly braking the vehicle.Even a comparatively small incline of -0.7%, i.e., a downhill gradient, can cause the trailer's driving resistance to be compensated for by the downhill force, causing the trailer to start to push forward even without any drive power. If the measured inclination has an offset error of +1%, this results in the trailer continuing to apply a drive force intended to compensate for the driving resistance when driving downhill at -0.7%. However, since the downhill force already does this, the trailer will start to push forward significantly, and the towing vehicle and / or the vehicle combination can be brought into a critical driving condition without the electrically driven trailer being aware of this.

[0020] Optionally, the vehicle can be a trailer of a multi-unit vehicle. It was discovered that the method can be carried out autonomously by the vehicle. In particular, the method can be used in a trailer. The more efficient operation of the electric drive configured for regenerative braking enables more effective support of the towing vehicle. Furthermore, the adjusted measurement inclination can be used to validate the calculation of the forces acting on the kingpin.

[0021] Optionally, the acquisition of map data includes retrieving the map data from the vehicle's on-board memory. It has been recognized that map data may typically already be available in the vehicle's on-board memory for navigation purposes. Retrieving the map data from the vehicle's on-board memory eliminates the need for network coverage and / or a communication connection for communication with an external server.

[0022] Optionally, the acquisition of map data includes retrieving the map data from a server external to the vehicle. Retrieving the map data from the server enables easy updating of the map data and / or the provision of particularly high-precision map data. For improved security, the map data is retrieved via an encrypted connection between the server and the vehicle.

[0023] Optionally, adjusting the inclination sensor device includes determining a weighted average. The weighted average can, for example, be an average of various differences between the measured inclination and the actual inclination, with the respective weight of each term of the average depending on the inclination and / or geoposition. This allows values ​​considered precise to be given greater weight to further improve the accuracy of the adjustment.

[0024] According to one aspect of the disclosure, a computer program and / or computer-readable medium comprising instructions is provided which, when the program or instructions are executed by a control unit, cause the control unit to perform the method described above and / or the steps of the method described above. Optionally, the computer program and / or computer-readable medium comprises instructions which, when the program or instructions are executed by a control unit, cause the control unit to implement a feature of the method described above described as optional or advantageous in order to achieve an associated technical effect.

[0025] According to one aspect of the disclosure, a control unit for a vehicle, in particular a commercial vehicle, is provided with an inclination sensor device for detecting a measurement inclination, wherein the control unit is configured to carry out the method described above. Optionally, the control unit is configured to implement a feature of the method described above that is described as optional or advantageous in order to achieve an associated technical effect.

[0026] According to one aspect of the disclosure, a vehicle is provided with an inclination sensor device for detecting a measured inclination of the vehicle and with the control unit described above. Optionally, the vehicle is configured to implement a feature of the method described above, described as optional or advantageous, in order to achieve an associated technical effect.

[0027] Optionally, the vehicle can be used as a trailer of a multi-unit vehicle. This allows the trailer to adjust the tilt sensor device independently of the towing vehicle.

[0028] Optionally, the vehicle has a frame, and the inclination sensor device includes a position sensor permanently mounted on the frame. It was recognized that a position sensor can reliably measure the relative orientation of the vehicle, but the fixed arrangement on the frame already causes an offset, which can be reliably and effectively accounted for by the adjustment method.

[0029] Further features of the disclosure as well as its technical effects emerge from the figures and the description of the preferred embodiments shown in the figures. Fig. 1 a schematic representation of a vehicle, in particular a commercial vehicle, according to one aspect of the disclosure; Fig. 2 shows a schematic representation of a vehicle, in particular a commercial vehicle, according to one aspect of the disclosure; and Fig. 3 a schematic flow diagram of a method according to one aspect of the disclosure.

[0030] Fig. 1 shows a schematic representation of a vehicle 200a, in particular commercial vehicle 200b, according to one aspect of the disclosure.

[0031] Fig. 1 shows a multi-unit vehicle 200 or a vehicle combination and, in the example shown, comprises a towing vehicle 202 and a trailer vehicle 201 coupled to the towing vehicle 202. In another embodiment, the multi-unit vehicle 200 can also comprise several trailer vehicles 201 (not shown).

[0032] The trailer vehicle 201 is the vehicle 200a, in particular the commercial vehicle 200b, according to the disclosure. The vehicle 200a, in particular the commercial vehicle 200b, is also referred to below as the vehicle 200a, 200b. The vehicle 200a, 200b or the trailer vehicle 201 is a land vehicle. In another embodiment (not shown), the vehicle 200a, 200b is the towing vehicle 202 and / or a single-unit vehicle and also a land vehicle.

[0033] The vehicle 200a, 200b is designed to carry out the Fig. 3 described method 100. For this purpose, the vehicle 200a, 200b according to Fig. 1 comprises an inclination sensor device 220 for detecting a measured inclination 221, an electric drive 210 configured for regenerative braking NB, and a control unit 250. The electric drive 210 is configured to provide a drive torque for driving the trailer 201 or for drive assistance for the multi-unit vehicle 200 in a drive mode, and to provide a braking torque for braking the trailer 201 or for braking assistance for the multi-unit vehicle 200, as well as for recuperation, in a regenerative braking mode.

[0034] The control unit 250 is configured to acquire topographical map data 255. For this purpose, the vehicle 200a, 200b has a vehicle-side memory 203 that is communicatively connected to the control unit 250. The topographical map data 255 are stored in the memory so that they can be retrieved by the control unit 250. The control unit 250 can be connected to a vehicle-external server 300 for wireless communication. For this purpose, the vehicle 200a, 200b has a communication interface (not shown) that is communicatively connected to the control unit 250, wherein the communication interface is configured to communicate with the server 300. For this purpose, the communication interface is configured to communicate with the server 300, for example, via a mobile radio network and / or a wireless local area network (WLAN).Topographic map data 255 for the control unit 250 are also stored on the server 300 and can be transmitted from the server 300 to the control unit 250 by means of encrypted communication.

[0035] The topographic map data 255 includes information about terrain forms and / or features of the Earth's surface geometry. In particular, the topographic map data 255 includes spatially resolved elevation information and / or slope information. The topographic map data 255 includes, for example, contour lines that describe an elevation of an area bounded by one or more of the contour lines.

[0036] The vehicle 200a, 200b has a position sensor 212, which is communicatively connected to the control unit 250, for detecting a geoposition 209 of the vehicle 200a, 200b. The position sensor 212 is, for example, a GPS sensor. The geoposition 209 describes the actual position of the vehicle 200a, 200b and can be set in relation to the topographical map data 255.

[0037] The control unit 250 is configured to determine the inclination 208 based on the map data 255. Based on a difference between two geopositions in the topographical map data 255, an inclination 208, or an uphill gradient and / or a downhill gradient, can be determined based on the respective height of the two geopositions. One of the two geopositions can be the geoposition 209 detected by the position sensor 212, and the other of the two geopositions can be a future geoposition determined, for example, based on a direction of travel of the vehicle 200a, 200b, a road layout, and / or route planning. Alternatively, two successively detected geopositions 209 can be used to determine the inclination 208.

[0038] The control unit 250 is configured to output a control signal 211 for operating the electric drive 210. The control signal 211 can switch the electric drive 210 to drive mode or regenerative braking mode. Optionally, the control signal 211 includes a request for a drive or braking torque.

[0039] The vehicle 200a, 200b has a frame 260 and the inclination sensor device 220 comprises a position sensor 222 fixedly arranged on the frame 260, which can effectively and reliably determine the relative position or orientation of the vehicle 200a, 200b.

[0040] The control unit 250 is configured to adjust the inclination sensor device 220 to determine the measurement inclination 221 based on the inclination 208. Before adjustment, the measurement inclination 221 has an uncertainty 270, which is Fig. 1 above the vehicle 200a, 200b is schematically illustrated with reference to the detected measurement inclination 221 by two arrows with dashed lines. The inclination sensor device 220 may exhibit a systematic deviation due to mounting on the frame 260, due to a load on the trailer vehicle 201, due to tire wear, due to the effects of the chassis and / or due to the trailer vehicle 201 resting on the towing vehicle 202, as indicated by the difference between the horizontally oriented vehicle 200a, 200b and the non-horizontal measurement inclination 221 in Fig. 1. Up to +- 1% inclination variation can occur, for example, due to different towing vehicles 202 on the trailer vehicle 201. The adjustment of the measuring inclination 221 is intended to reduce and / or avoid this difference and is further described with reference to Fig. 2 described.

[0041] Fig. 2 shows a schematic representation of a vehicle 200a, in particular commercial vehicle 200b, according to one aspect of the disclosure. Fig. 2 is with reference to Fig. 1 described.

[0042] To adjust the inclination sensor device 220, the inclination 208 is determined at the geoposition 209. The inclination sensor device 220 is adjusted such that the inclination sensor device 220 detects the inclination 209 determined based on the topographical map data 255 as the adjusted measurement inclination 221' at the geoposition 209. This results in a combination of information from the topographical map data 255 and the sensor data of the inclination sensor device 220.

[0043] The adjustment can be performed locally, for example, at predetermined locations. For example, the adjustment can be performed when topographical map data is available, particularly with a certain degree of accuracy. For example, the topographical map data 255 can be map data for a predictive automated driving function for reducing the fuel and / or energy consumption of the vehicle 200a, 200b.

[0044] Adjusting the inclination sensor device 220 includes determining 145 a weighted mean 256. The adjustment can be performed multiple times at the same geoposition 209 and / or at different geopositions 209. Depending on the accuracy of the determination of the inclination 208, a weight can be determined for weighting the summands of the weighted mean 256. The weighted mean 256 can then be calculated as a weighted sum of inclinations 208 and set as the adjusted measured inclination 221'. The determination 145 of a weighted mean 256 can be performed, for example, during a journey, for example, when changing the ignition, since conditions influencing the measured inclination 221, such as load, towing vehicle, and tires, remain largely constant and thus the offset between the measured inclination 221 and the inclination 208 as the assumed actual road inclination does not change.Thus, an adjustment of the inclination sensor device 220 can be performed at various geopositions 209, and the weighted average value 145 for the offset can be determined from this. As soon as, for example, a towing vehicle 202 and / or the load changes, it can be assumed that the offset also changes, in which case the previously determined weighted average value 145 for adjusting the inclination sensor device 220 is discarded and a new weighted average value 145 is determined.

[0045] The adjusted measurement inclination 221' has a reduced uncertainty 270 compared to the not yet adjusted measurement inclination 221. Based on the adjusted measurement inclination 221', the inclination sensor device 220 can now reliably and dynamically determine the actual inclination, even if no map data 255 is available locally during a trip and / or map data 255 is too inaccurate. The adjusted measurement inclination 221' corresponds to the inclination 208 of the vehicle 200a, 200b, as shown schematically in Fig. 2 illustrated.

[0046] The control unit 250 is configured to output a control signal 211 for operating the electric drive 210, taking into account an adjusted measurement inclination 221'. This allows the electric drive 210 to be controlled more precisely and thus more efficiently.

[0047] Fig. 3 shows a schematic flowchart of a method 100 according to one aspect of the disclosure. The method 100 is a method 100 for adjusting an inclination determination for a vehicle 200a, 200b, wherein the vehicle 200a, 200b has an inclination sensor device 220 for determining a measured inclination 221 and an electric drive 210 configured for regenerative braking NB. Such a vehicle 200a, 200b is described with reference to Fig. 1 and Fig. 2 described. Fig. 3 is made with reference to Fig. 1 and Fig. 2 described.

[0048] The procedure 100 according to Fig. 3 comprises capturing 110 topographical map data 255. Capturing 110 of the map data 255 includes retrieving 115a the map data 255 from a vehicle-side memory 203 and / or retrieving 115b the map data 255 from a vehicle-external server 300.

[0049] The method 100 comprises detecting 120 a geoposition 209 of the vehicle 200a, 200b.

[0050] The method 100 further comprises determining 130 a slope 208 based on the geoposition 209 and the map data 255.

[0051] The method 100 includes adjusting 140 the inclination sensor device 220 to determine the measured inclination 221 based on the inclination 208. Adjusting 140 the inclination sensor device 220 includes determining 145 a weighted average 256.

[0052] The method 100 comprises outputting 150 a control signal 211 for operating the electric drive 210 taking into account an adjusted measuring inclination 221'. Reference symbol (part of the description) 100 procedures 110 Capturing topographic map data 115a Retrieving the map data 115b Retrieving the map data 120 Capturing a geoposition 130 Determining a slope 140 Adjusting an inclination sensor device 145 Determining a weighted mean 150 Outputting a control signal 200 multi-unit vehicle 200a vehicle 200b commercial vehicle 201 trailer vehicle 202 towing vehicle 203 vehicle-side storage 208 inclination 209 Geoposition 210 electric drive 211 Control signal 212 Position sensor 220 Tilt sensor device 221 Measuring inclination 221' adjusted measuring inclination 222 Position sensor 250 control unit 255 topographic map data 256 weighted mean 260 frames 270 Uncertainty 300 servers NB regenerative braking QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 0 451 446 A1

[0005]

Claims

[1] Method (100) for adjusting an inclination determination for a vehicle (200a), in particular a commercial vehicle (200b), wherein the vehicle (200a) has an inclination sensor device (220) for determining a measuring inclination (221) of the vehicle (200a), and wherein the method (100) comprises: - Capturing (110) topographic map data (255); - detecting (120) a geoposition (209) of the vehicle (200a); - determining (130) an inclination (208) of the vehicle (200a) based on the geoposition (209) and the map data (255); and - Adjusting (140) the inclination sensor device (220) to determine the measuring inclination (221) based on the inclination (208) determined with the geoposition (209). [2] Method (100) according to claim 1, wherein the vehicle (200a) has an electric drive (210) configured for regenerative braking (NB), and the method (100) further comprises: outputting (150) a control signal (211) for operating the electric drive (210) taking into account an adjusted measurement inclination (221') of the vehicle (200a). [3] Method (100) according to claim 1 or 2, wherein the vehicle (200a) is a trailer vehicle (201) of a multi-unit vehicle (200). [4] The method (100) of claim 3, wherein the detecting (110) of the map data (255) comprises retrieving (115a) the map data (255) from a vehicle-side memory (203). [5] Method (100) according to one of the preceding claims, wherein the acquisition (110) of the map data (255) comprises retrieving (115b) the map data (255) from a vehicle-external server (300). [6] Method (100) according to one of the preceding claims, wherein adjusting (140) the inclination sensor device (220) comprises determining (145) a weighted mean value (256). [7] Computer program and / or computer-readable medium, comprising instructions which, when the program or instructions are executed by a control device (250), cause the control device (250) to carry out the method (100) and / or the steps of the method (100) according to one of the preceding claims. [8] Control unit (250) for a vehicle (200a), in particular a commercial vehicle (200b), with an inclination sensor device (220) for determining a measuring inclination (221) of the vehicle (200a), wherein the control unit (250) is configured to carry out the method (100) according to one of claims 1 to 6. [9] Vehicle (200a), in particular a commercial vehicle (200b), with an inclination sensor device (220) for detecting a measuring inclination (221) of the vehicle (200a) and with a control device (250) according to claim 8. [10] Vehicle (200a) according to claim 9, wherein the vehicle (200a) is a trailer vehicle (201) of a multi-unit vehicle (200). [11] Vehicle (200a) according to claim 9 or 10, wherein the vehicle (200a) has a frame (260) and the inclination sensor device (220) comprises a position sensor (222) fixedly arranged on the frame (260).

Images