System for determining the clearance height for a vehicle

Abstract

A system for determining clearance for a vehicle may include a first distance sensor capable of measuring a distance relative to an object in the vicinity of the vehicle. The system may also include a display capable of providing information to a vehicle occupant. The system may further include a controller electrically connected to the first distance sensor and the display. The controller is programmed to determine the minimum required clearance based at least in part on the height of the vehicle. The controller is further programmed to determine a maximum available clearance using the first distance sensor. The controller is further programmed to provide a warning to the vehicle occupant via the display if it determines that the maximum available clearance is less than or equal to the minimum required clearance.

Description

INTRODUCTION

[0001] The present disclosure relates to a system for determining the clearance height for a vehicle, as is essentially known from DE 10 2020 107 143 A1.

[0002] Essentially comparable systems are described in the documents DE 10 2007 053 989 A1 and EP 1 475 765 A2.

[0003] To improve occupant comfort, convenience, and perception, vehicles can be equipped with Advanced Driver Assistance Systems (ADAS) designed to assist the occupant in operating the vehicle. ADAS systems can use various sensors such as cameras, radar, ultrasound, and LiDAR to detect and identify objects in the vehicle's surroundings, including other vehicles, pedestrians, and traffic signs. If a potential collision or obstacle is detected, the ADAS system can warn the occupant or take corrective action to prevent or mitigate the collision. In addition, vehicles can be equipped with parking sensors to assist occupants when parking, especially when maneuvering in tight spaces. Parking sensors can include, for example, ultrasonic distance sensors.However, current ADAS systems and parking sensors may not take vehicle height into account when maneuvering the vehicle in environments with low clearance and / or with additional cargo and / or accessories mounted on the vehicle roof.

[0004] While current ADAS and parking sensor systems and methods serve their purpose, there is a need for a new and improved system and method for determining the clearance height for a vehicle. SUMMARY

[0005] According to the invention, a system for determining the vertical clearance or the passage height for a vehicle is presented, which is characterized by the features of claim 1.

[0006] In another aspect of the present disclosure, the display is further configured to receive inputs from the vehicle occupant. To determine the minimum required clearance based at least in part on the height of the vehicle, the controller is further programmed to receive the height of the vehicle from the vehicle occupant via the display. To determine the minimum required clearance based at least in part on the height of the vehicle, the controller is further programmed to determine the minimum required clearance based at least in part on the height of the vehicle.

[0007] In another aspect of the present disclosure, the first distance sensor is further configured to measure a distance relative to an object in front of the vehicle. The system also includes a second distance sensor electrically connected to the controller. The second distance sensor is configured to measure a distance relative to an object behind the vehicle.

[0008] In another aspect of the present disclosure, the clearance height determination controller is further programmed to determine the clearance height using the equation: cv=de∗sin θp where c v the clearance height, d e the Euclidean distance and θ p the angle of inclination.

[0009] In another aspect of the present disclosure, the controller is further programmed to determine the minimum required clearance height such that the minimum required clearance height is equal to the maximum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0010] In another aspect of the present disclosure, to determine the minimum required clearance, the controller is further programmed to determine the height of an accessory mounted on the roof of the vehicle. To determine the minimum required clearance, the controller is further programmed such that the minimum required clearance is equal to a sum of the height of the roof-mounted accessory and the maximum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0011] In another aspect of the present disclosure, the system further comprises a telescopic photoelectric sensor system mounted on the roof of the vehicle and including a first telescopic photoelectric sensor and a second telescopic photoelectric sensor in electrical communication with the controller. The telescopic photoelectric sensor system is capable of detecting an object that obscures the line of sight between the first telescopic photoelectric sensor and the second telescopic photoelectric sensor. To determine the height of the roof-mounted accessory, the controller is further programmed to extend the first telescopic photoelectric sensor and the second telescopic photoelectric sensor until the line of sight between the first telescopic photoelectric sensor and the second telescopic photoelectric sensor is unobscured.To determine the height of the roof-mounted accessory, the controller is further programmed to retract the first telescopic photoelectric sensor and the second telescopic photoelectric sensor until the line of sight between the first telescopic photoelectric sensor and the second telescopic photoelectric sensor is obscured by the roof-mounted accessory. To determine the height of the roof-mounted accessory, the controller is further programmed to determine the height of the roof-mounted accessory to be equal to the height of the first telescopic photoelectric sensor and the second telescopic photoelectric sensor after the first telescopic photoelectric sensor and the second telescopic photoelectric sensor have been retracted until the line of sight between the first telescopic photoelectric sensor and the second telescopic photoelectric sensor is obscured by the roof-mounted accessory.

[0012] Further described is a method for determining the clearance height for a vehicle. The method may include determining a minimum required clearance height based at least in part on the height of the vehicle. The method may further include determining a maximum available clearance height using a first distance sensor. The method may further include alerting a vehicle occupant via a display when it is determined that the maximum available clearance height is less than or equal to the minimum required clearance height.

[0013] In another aspect of the present disclosure, determining the minimum required clearance height may further comprise performing at least one vertical height measurement using at least one vertical height sensor. The at least one vertical height measurement is the distance between the roof of the vehicle and the ground surface. Determining the minimum required clearance height may further comprise determining the minimum required clearance height based at least in part on the at least one vertical height measurement.

[0014] In another aspect of the present disclosure, determining the minimum required clearance height may further comprise performing a first vertical height measurement using a first vertical height sensor. The first vertical height measurement is a distance between a first corner of the vehicle roof and the ground surface. Determining the minimum required clearance height may also comprise performing a second vertical height measurement using a second vertical height sensor. The second vertical height measurement is a distance between a second corner of the vehicle roof and the ground surface. Determining the minimum required clearance height may also comprise performing a third vertical height measurement using a third vertical height sensor. The third vertical height measurement is a distance between a third corner of the vehicle roof and the ground surface.Determining the minimum required clearance height may also include performing a fourth vertical height measurement with a fourth vertical height sensor. The fourth vertical height measurement is a distance between a fourth corner of the vehicle roof and the ground surface. Determining the minimum required clearance height may further include determining the minimum required clearance height based at least in part on the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0015] In another aspect of the present disclosure, determining the maximum available clearance using the first range sensor may further comprise measuring a Euclidean distance between the first range sensor and an object in the vicinity of the vehicle using a distance measuring element of the first range sensor. Determining the maximum available clearance using the first range sensor may further comprise determining a clearance based at least in part on the Euclidean distance and a tilt angle of the range sensor relative to the roof of the vehicle. Determining the maximum available clearance using the first range sensor may also comprise rotating the range sensor to change the tilt angle of the range sensor.Determining the maximum available clearance using the first distance sensor may further comprise repeatedly measuring the Euclidean distance, determining the clearance, and rotating the distance sensor to determine a plurality of clearances. Determining the maximum available clearance using the first distance sensor may further comprise determining the maximum available clearance as the sum of a minimum value of the plurality of clearances and a minimum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0016] In another aspect of the present disclosure, determining the minimum required clearance height may further comprise determining the minimum required clearance height to be equal to the maximum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0017] In another aspect of the present disclosure, determining the minimum required clearance height may also include determining the height of an accessory mounted on the roof of the vehicle. Determining the minimum required clearance height may further include determining that the minimum required clearance height is equal to the sum of the height of the roof-mounted accessory and the maximum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0018] In another aspect of the present disclosure, determining the height of the roof-mounted accessory may further comprise extending a first telescopic photoelectric sensor and a second telescopic photoelectric sensor until a line of sight between the first telescopic photoelectric sensor and the second telescopic photoelectric sensor is not obscured. Determining the height of the roof-mounted accessory may further comprise retracting the first telescopic photoelectric sensor and the second telescopic photoelectric sensor until the line of sight between the first telescopic photoelectric sensor and the second telescopic photoelectric sensor is obscured by the roof-mounted accessory.Determining the height of the roof-mounted accessory may further include determining the height of the roof-mounted accessory equal to the height of the first telescopic photoelectric sensor and the second telescopic photoelectric sensor after the first telescopic photoelectric sensor and the second telescopic photoelectric sensor have been retracted until the line of sight between the first telescopic photoelectric sensor and the second telescopic photoelectric sensor is obscured by the roof-mounted accessory.

[0019] Further described is another system for determining the clearance height for a vehicle. The system may include a first distance sensor that measures a distance relative to an object in front of the vehicle. The first distance sensor includes a distance measuring element and an electric motor that rotates the distance measuring element about a tilt axis. The system may further include at least one vertical height sensor. The system may further include a display that can provide information to a vehicle occupant. The system may further include a controller electrically connected to the first distance sensor, the at least one vertical height sensor, and the display. The controller is programmed to perform at least one vertical height measurement using the at least one vertical height sensor.The at least one vertical height measurement is the distance between the roof of the vehicle and the ground surface. The controller is programmed to determine the minimum required clearance based at least in part on the at least one vertical height measurement. The controller is programmed to determine the maximum available clearance using the first distance sensor. The controller is programmed to provide a warning to the vehicle occupant via the display if it determines that the maximum available clearance is less than or equal to the minimum required clearance.

[0020] In another aspect of the present disclosure, to determine the minimum required clearance, the controller is further programmed to perform a first vertical height measurement using a first vertical height sensor. The first vertical height measurement is a distance between a first corner of the vehicle roof and the ground surface. To determine the minimum required clearance, the controller is further programmed to perform a second vertical height measurement using a second vertical height sensor. The second vertical height measurement is a distance between a second corner of the vehicle roof and the ground surface. To determine the minimum required clearance, the controller is further programmed to perform a third vertical height measurement using a third vertical height sensor.The third vertical height measurement is a distance between a third corner of the vehicle roof and the ground surface. To determine the minimum required clearance, the controller is further programmed to perform a fourth vertical height measurement using a fourth vertical height sensor. The fourth vertical height measurement is a distance between a fourth corner of the vehicle roof and the ground surface. To determine the minimum required clearance, the controller is further programmed to determine the minimum required clearance based at least in part on the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement. The minimum required vertical clearance is the maximum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0021] In another aspect of the present disclosure, to determine the maximum available clearance using the first range sensor, the controller is further programmed to measure a Euclidean distance between the first range sensor and the object in the vicinity of the vehicle using the range measuring element. To determine the maximum available clearance using the first range sensor, the controller is further programmed to determine a clearance based at least in part on the Euclidean distance and an inclination angle of the first range sensor relative to the roof of the vehicle. To determine the maximum available clearance using the first range sensor, the controller is further programmed to rotate the range measuring element using the electric motor to change the inclination angle of the range measuring element.To determine the maximum available clearance using the first distance sensor, the controller is further programmed to repeatedly measure the Euclidean distance, determine the clearance, and rotate the distance measuring element to determine a plurality of clearances. To determine the maximum available clearance using the first distance sensor, the controller is further programmed to determine the maximum available clearance as the sum of a minimum value of the plurality of clearances and a minimum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0022] Further areas of application will become apparent from the description provided herein. It is understood that the description and specific examples are for illustrative purposes only. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described here are for illustrative purposes only. Fig. 1 is a schematic representation of a system for determining the clearance height of a vehicle from a side view, according to an exemplary embodiment; Fig. 2 is a schematic diagram of a system for determining the clearance height of a vehicle in plan view, according to an exemplary embodiment; and Fig. 3 is a flowchart of a method for determining the clearance height for a vehicle, according to an exemplary embodiment. DETAILED DESCRIPTION

[0024] The following description is for illustrative purposes only.

[0025] In aspects of the present disclosure, occupants may wish to maneuver a vehicle in a space with low clearance, such as a parking garage, tunnel, bridge underpass, and / or the like. In addition, vehicles may be equipped with roof-mounted accessories and / or cargo, such as a roof-mounted cargo box, which increases the effective height of the vehicle. Current ADAS and parking assist systems may not provide measurement or warning capabilities based on vehicle height. Therefore, the present disclosure provides a new and improved system and method for determining clearance for a vehicle that enables measurement of surrounding clearance, determination of vehicle height, and determination of additional vehicle height added by roof-mounted accessories and / or cargo.

[0026] In Fig. 1 and Fig. 2, a system for determining the clearance height for a vehicle is illustrated and generally designated by the reference numeral 10. The system 10 is illustrated with an exemplary vehicle 12. Although a passenger car is illustrated, the vehicle 12 may be any type of vehicle without departing from the scope of the present disclosure. Fig. 1 shows a schematic representation of the system 10 from the side view of the vehicle 12. Fig. 2 shows a schematic representation of the system 10 in a top view of the vehicle 12. The system 10 generally includes a controller 14, a first distance sensor 16a, a second distance sensor 16b, at least one vertical height sensor 18, a telescopic light barrier sensor system 20, and a display 22.

[0027] The controller 14 is used to perform a method 100 for determining the clearance height for a vehicle, as described below. The controller 14 includes at least one processor 24 and a non-transitory computer-readable storage device or medium 26. The processor 24 may be a custom or off-the-shelf processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor among multiple processors connected to the controller 14, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, a combination thereof, or generally an instruction-executing device. The computer-readable storage device or medium 26 may include volatile and non-volatile memory, such as read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM).KAM is a permanent or non-volatile memory that can be used to store various operating variables while the processor 24 is powered off. The computer-readable storage device or medium 26 can be implemented using a variety of storage devices such as PROMs (programmable read-only memories), EPROMs (electrical PROMs), EEPROMs (electrically erasable PROMs), flash memory, or other electrical, magnetic, optical, or combination storage devices capable of storing data, some of which are executable instructions used by the controller 14 in controlling various systems of the vehicle 12. The controller 14 can also consist of multiple controllers that are in electrical communication with one another. The controller 14 can be connected to additional systems and / or controllers of the vehicle 12 so that the controller 14 can access data such asspeed, acceleration, braking and steering angle of the vehicle 12.

[0028] The controller 14 is in electrical communication with the first distance sensor 16a, the second distance sensor 16b, the at least one vertical height sensor 18, the telescopic light barrier sensor system 20, and the display 22. In an exemplary embodiment, the electrical communication is established, for example, via a CAN network, a FLEXRAY network, a local area network (LAN, e.g., WiFi, Ethernet, etc.), a serial peripheral interface (SPI) network, or the like. It is understood that various additional wired and wireless technologies and communication protocols for communicating with the controller 14 are possible.

[0029] The first distance sensor 16a and the second distance sensor 16b are used to measure distances to objects in the vicinity of the vehicle 12. In an exemplary embodiment, the first distance sensor 16a is configured to measure a distance relative to a first object 28a in front of the vehicle 12. The second distance sensor 16b is configured to measure a distance relative to a second object 28b behind the vehicle 12. In one non-limiting example, the first distance sensor 16a is used when the vehicle 12 is moving forward (e.g., toward the first object 28a). The second distance sensor 16b is used when the vehicle 12 is moving backward (e.g., toward the second object 28b).

[0030] In the present disclosure, all statements relating to the first distance sensor 16a also apply to the second distance sensor 16b. All statements relating to the second distance sensor 16b also apply to the first distance sensor 16a. It is understood that all system components and methods discussed with respect to the first distance sensor 16a and / or the second distance sensor 16b are equally applicable to the second distance sensor 16b and / or the first distance sensor 16a. In an exemplary embodiment, the first distance sensor 16a and the second distance sensor 16b are structurally and functionally identical and differ primarily in their position on the vehicle 12 and their field of view relative to the vehicle 12. It is understood that device-specific operating parameters, such asCalibration parameters and / or the like, can also distinguish between the first distance sensor 16a and the second distance sensor 16b.

[0031] The first distance sensor 16a and the second distance sensor 16b comprise a distance measuring element 30 and an electric motor 32. The distance measuring element 30 is used to measure a Euclidean distance d ebetween the distance measuring element 30 and the first object 28a and / or the second object 28b. In an exemplary embodiment, the distance measuring element 30 is a LiDAR (Light Detection and Ranging) sensor. In an exemplary embodiment, the LiDAR sensor functions by targeting objects in the environment with a laser and measuring the time it takes for the reflected light from the laser to return to the LiDAR sensor. The use of alternative and / or additional distance sensors, such as ultrasonic distance sensors, radar sensors, time-of-flight sensors, and / or cameras, is within the scope of the present disclosure. The distance measuring element 30 is in electrical communication with the controller 14 as described above.

[0032] The electric motor 32 is used to rotate the distance measuring element 30 about an inclination axis 34 ( Fig. 2), whereby the distance measuring element 30 can measure distances between multiple points in the environment. In an exemplary embodiment, the electric motor 32 is a brushed DC motor, a brushless DC motor, an AC motor, a stepper motor, a servo motor, and / or the like. The angle of the distance measuring element 30 is defined as the inclination angle θ p In an exemplary embodiment, the electric motor 32 further comprises a device for measuring the inclination angle θ pconfigured, for example, a rotary encoder, a magnetic angle sensor, and / or the like. In an exemplary embodiment, the electric motor 32 is capable of rotating the distance measuring element 30 over a range of tilt angles defined as a tilt angle range. In one non-limiting example, the tilt angle range includes a minimum tilt angle of -45 degrees and a maximum tilt angle of 45 degrees. The electric motor 32 is in electrical communication with the controller 14 as described above.

[0033] In an exemplary embodiment, the first distance sensor 16a and the second distance sensor 16b are mounted on the roof 36 of the vehicle 12. In a non-limiting example, the first distance sensor 16a is mounted near the front of the roof 36 and has a field of view in front of the vehicle 12. The second distance sensor 16b is mounted near the rear of the roof 36 and has a field of view behind the vehicle 12. A distance between the roof 36 and a point on the first object 28a and / or the second object 28b is referred to as the clearance height c v defined. The clearance height c v can be calculated based on the Euclidean distance d e and the inclination angle θ p be determined, as explained in more detail below.

[0034] The at least one vertical height sensor 18 is used to determine the height of the vehicle 12. In an exemplary embodiment, the at least one vertical height sensor 18 comprises a plurality of vertical height sensors 18. In an exemplary embodiment, the plurality of vertical height sensors 18 are configured to measure a distance relative to a ground surface 38. In an exemplary embodiment, a first vertical height sensor 18a provides a first vertical height measurement H1 ( Fig. 1) between a first corner of the roof 36 and the ground surface 38. A second vertical height sensor 18b provides a second vertical height measurement H2 ( Fig. 1) between a second corner of the roof 36 and the ground surface 38. A third vertical height sensor 18c ( Fig. 2) provides a third vertical height measurement H3 (not shown) between a third corner of the roof 36 and the ground surface 38. A fourth vertical height sensor 18d ( Fig. 2) provides a fourth vertical height measurement H4 (not shown) between a fourth corner of the roof 36 and the ground surface 38.

[0035] In an exemplary embodiment, the plurality of vertical height sensors 18 are LiDAR (Light Detection and Ranging) sensors. In an exemplary embodiment, LiDAR sensors operate by targeting the ground surface 38 with a laser and measuring the time it takes for the reflected light from the laser to return to the LiDAR sensor. The use of alternative and / or additional ranging sensors, such as ultrasonic ranging sensors, radar sensors, time-of-flight sensors, and / or cameras, is within the scope of the present disclosure. The vertical height sensors 18 are in electrical communication with the controller 14 as described above.

[0036] The telescopic light barrier system 20 comprises a first telescopic light barrier sensor 20a and a second telescopic light barrier sensor 20b. The first telescopic light barrier sensor 20a and the second telescopic light barrier sensor 20b are used to determine the height h aa roof-mounted accessory 40. As used in the present disclosure, roof-mounted accessory 40 is any additional equipment mounted on the roof 36 of the vehicle 12 to provide additional utility, functionality, and / or aesthetic modification to the vehicle 12 (e.g., increasing storage capacity, improving aerodynamics, increasing connectivity, and / or the like). Roof-mounted accessory 40 includes, for example, a roof rack, a cargo box, a roof basket, a roof-mounted storage bag, a roof-mounted tent, a bike rack, a roof-mounted solar panel, a roof-mounted antenna, and / or the like.

[0037] In an exemplary embodiment, the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b comprise a telescopic bracket 42 and a photoelectric element 44. The telescopic bracket 42 serves to raise the photoelectric element 44 above the roof 36. The telescopic bracket 42 is attached to the roof 36 at a first end and to the photoelectric element 44 at a second end. In a non-limiting example, the telescopic bracket 42 is removably attached to the roof 36 with a magnetic mount. In an exemplary embodiment, the telescopic bracket 42 comprises a series of nested tubes of progressively smaller diameter. By means of hydraulic and / or pneumatic actuation, the nested tubes are extended, thereby increasing the length of the telescopic bracket 42.

[0038] In another exemplary embodiment, the telescoping mount 42 includes one or more electromechanical linear actuators, e.g., a lead screw, a screw jack, a ball screw, a roller screw, a rack and pinion, and / or the like. In another exemplary embodiment, the telescoping mount 42 includes a compliant mechanism that is hydraulically, pneumatically, and / or electrically actuated. In an exemplary embodiment, the telescoping mount 42 further includes one or more sensors for measuring the height B of the photointerrupter elements 44 above the roof 36, including, for example, a linear encoder and / or the like. It is understood that any mechanism for raising the photointerrupter element 44 above the roof 36 is within the scope of the present disclosure. The telescoping mount 42 is in electrical communication with the controller 14 as described above.

[0039] The light barrier element 44 is used to detect the occlusion of a line of sight between the first telescopic light barrier sensor 20a and the second telescopic light barrier sensor 20b. In an exemplary embodiment, the light barrier element 44 comprises a light emitter and / or a light sensor. The light emitter is a light source configured to generate a focused light beam. In a non-limiting example, the light emitter is a laser, a light-emitting diode (LED), and / or the like. The light sensor is a sensor configured to detect the focused light beam generated by the light emitter. In a non-limiting example, the light sensor comprises a photodiode, a phototransistor, a photoresistor, and / or the like.

[0040] In an exemplary embodiment, the photoelectric element 44 of the first telescopic photoelectric sensor 20a is configured to emit a light beam that impinges on the light sensor of the photoelectric element 44 of the second telescopic photoelectric sensor 20b. The photoelectric element 44 of the second telescopic photoelectric sensor 20b is configured to provide an electrical signal to the controller 14 indicating whether or not the light beam is received by the light sensor. If the light beam is not received by the light sensor, the line of sight between the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b is considered obscured. It should be understood that either the first telescopic photoelectric sensor 20a or the second telescopic photoelectric sensor 20b may be used to transmit or receive the light beam without departing from the scope of the present disclosure.

[0041] As already mentioned, the light barrier element 44 can be extended over the roof 36 using the telescopic bracket 42. The telescopic bracket 42 of the first telescopic light barrier sensor 20a and the second telescopic light barrier sensor 20b are extended and retracted together, so that the light barrier elements 44 of the first telescopic light barrier sensor 20a and the second telescopic light barrier sensor 20b are aligned with each other. The light barrier element 44 is electrically connected to the controller 14 as described above.

[0042] The first telescopic light barrier sensor 20a and the second telescopic light barrier sensor 20b are aligned such that the line of sight between the first telescopic light barrier sensor 20a and the second telescopic light barrier sensor 20b is obscured when the height B of the light barrier elements 44 above the roof 36 is less than or equal to the height h aof the roof-mounted accessory is 40. Therefore, the height h a of the roof-mounted accessory 40 using the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b, as will be explained in more detail below.

[0043] While in Fig. 1 and Fig. 2 illustrates two telescopic photoelectric sensors (i.e., the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b), the system 10 may include additional telescopic photoelectric sensors without departing from the scope of the present disclosure. In one non-limiting example, the additional telescopic photoelectric sensors are arranged so that they can be used to measure the height of cargo carried in a commercial vehicle, e.g., around the perimeter of the bed of a pickup truck. In another non-limiting example, the additional telescopic photoelectric sensors are arranged to completely cover the vehicle 12 and enable the measurement of any objects that extend above the roof 36 of the vehicle 12.

[0044] The display 22 serves to provide information (for example, a warning) to the occupants of the vehicle 12. For the purposes of the present disclosure, the occupants include a driver and / or a passenger of the vehicle 12. In the Fig. 1, the display 22 is a human-machine interface (HMI) located in the passenger's field of view and capable of displaying text, graphics, and / or images. It is understood that HMI display systems including LCD displays, LED displays, and the like may be employed. Other exemplary embodiments in which the display 22 is disposed in a rearview mirror are also possible. In another exemplary embodiment, the display 22 includes a head-up display (HUD) configured to provide information to the occupant by projecting text, graphics, and / or images onto the windshield of the vehicle 12. The text, graphics, and / or images are reflected off the windshield of the vehicle 12 and are visible to the occupant without requiring the occupant to look away from the roadway in front of the vehicle 12.In another exemplary embodiment, the display 22 includes an augmented reality head-up display (AR-HUD). The AR-HUD is a type of HUD configured to enhance the occupant's view of the roadway ahead of the vehicle 12 by overlaying text, graphics, and / or images onto physical objects surrounding the vehicle 12 within the occupant's field of view. In an exemplary embodiment, the occupant may interact with the display 22 via a human-interface device (HID), such as a touchscreen, an electromechanical switch, a capacitive switch, a rotary knob, or the like. It is understood that additional systems for displaying information to the occupants of the vehicle 12 are also possible. The display 22 is in electrical communication with the controller 14 as described above.

[0045] In Fig.3, a flowchart of the method 100 for determining the clearance height for a vehicle is shown. The method 100 begins at block 102 and proceeds to blocks 104, 106, and 108. At block 104, the controller 14 determines the height of the vehicle 12. In an exemplary embodiment, the controller 14 uses the display 22 to determine the height of the vehicle 12. In one non-limiting example, the controller 14 prompts the occupant of the vehicle 12 to indicate the height of the vehicle 12. The occupant then interacts with the display 22 via a human-interface device (HID), e.g., a touchscreen, an electromechanical switch, a capacitive switch, a rotary knob, a voice recognition system, and / or the like, to indicate the height of the vehicle.

[0046] In another exemplary embodiment, the controller 14 uses the plurality of vertical height sensors 18 to determine the height of the vehicle 12. In one non-limiting example, the controller 14 performs the first vertical height measurement H1 with the first vertical height sensor 18a, the second vertical height measurement H2 with the second vertical height sensor 18b, the third vertical height measurement H3 with the third vertical height sensor 18c, and the fourth vertical height measurement H4 with the fourth vertical height sensor 18d, as described above. The height of the vehicle 12 is determined as the maximum value of H1, H2, H3, and H4: hv=max(H1,H2,H3,H4) where h v the height of the vehicle 12. After block 104, the method 100 proceeds to block 110, as explained in more detail below.

[0047] In block 106, the controller 14 extends the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b. In one non-limiting example, the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b are extended by actuating the telescopic bracket 42 as described above. In one exemplary embodiment, the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b are extended at least far enough that the line of sight between the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b is not obscured by the roof accessory 40. In one non-limiting example, the line of sight is detected using the photoelectric element 44 mentioned above. After block 106, the method 100 continues to block 112.

[0048] In block 112, the controller 14 retracts the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b until the line of sight is obscured by the roof-mounted accessory 40. In one non-limiting example, the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b are retracted by actuating the telescopic bracket 42 as described above. In one non-limiting example, the line of sight is detected using the photoelectric element 44 mentioned above. After block 112, the method 100 continues to block 114.

[0049] In block 114, the controller 14 determines the height of the roof-mounted accessory 40. In one exemplary embodiment, the height of the roof-mounted accessory 40 is determined to be equal to the height B of the photoelectric elements 44 above the roof 36 after completion of block 112. In another exemplary embodiment, the controller 14 prompts the occupant of the vehicle 12 to indicate the height of the roof-mounted accessory 40. The occupant then interacts with the display 22 via a human-machine interface (HID), e.g., a touchscreen, an electromechanical switch, a capacitive switch, a rotary knob, a voice recognition system, and / or the like, to determine the height of the roof-mounted accessory 40. After block 114, the method 100 proceeds to block 110.

[0050] In block 110, the controller 14 determines the minimum required clearance for the vehicle 12. In an exemplary embodiment, the minimum required clearance is defined by an equation: vreq,min=ha+hv where v req,min the minimum required clearance height, h a the height of the roof-mounted accessories 40 determined in block 114 and h v is the height of the vehicle determined in block 104 and defined in equation 1 above. After block 110, the method 100 proceeds to block 116, as explained in more detail below.

[0051] In block 108, the controller 14 measures the Euclidean distance d ebetween the distance measuring element 30 and the first object 28a and / or the second object 28b using the first distance sensor 16a and / or the second distance sensor 16b, as described above. After block 108, the method 100 proceeds to block 118.

[0052] In block 118, the controller 14 determines the clearance height c v based at least in part on the Euclidean distance d measured in block 108 e and the inclination angle θ p of the distance measuring element 30. In an exemplary embodiment, the clearance height c v determined using an equation: cv=de∗sin θp where c v the clearance height, d e the Euclidean distance and θ p is the angle of inclination. After block 118, the method 100 continues with block 120.

[0053] In block 120, the controller 14 determines whether the first distance sensor 16a and / or the second distance sensor 16b has been rotated through the entire tilt angle range. If the first distance sensor 16a and / or the second distance sensor 16b has not been rotated through the entire tilt angle range, the method 100 proceeds to block 122. If the first distance sensor 16a and / or the second distance sensor 16b has been rotated through the entire tilt angle range, the method 100 proceeds to block 124, as explained in more detail below.

[0054] In block 122, the controller 14 uses the electric motor 32 to rotate the distance measuring element 30 to determine the inclination angle θ pof the distance measuring element 30. In an exemplary embodiment, the distance measuring element 30 is rotated by a predetermined step size of the tilt angle (e.g., five degrees). After block 122, the method 100 returns to block 108 to determine the Euclidean distance d e In other words, the method 100 repeatedly measures the Euclidean distance d e , determines the clearance height c v and rotates the distance measuring element to accommodate a variety of clearance heights c v at a variety of inclination angles θ p which enables a complete characterization of the position of the first object 28a and / or the second object 28b relative to the vehicle 12.

[0055] In block 124, the controller 14 determines a maximum available clearance. In an exemplary embodiment, the maximum available clearance is determined using an equation: vavail,max=min(cv,1,vv,2,⋯,cv,n)+min(H1,H2,H3,H4) where v avail,max the maximum available clearance height and mine (c v,1 , c v,2 , ···, c v,n ) is a minimum value of the plurality of clearance heights determined in block 118. After block 124, the method 100 continues with block 116.

[0056] In block 116, the controller 14 compares the maximum available clearance determined in block 124 with the minimum required clearance determined in block 110. If the maximum available clearance is less than or equal to the minimum required clearance, the method 100 proceeds to block 126. If the maximum available clearance is greater than the minimum required clearance, the method 100 transitions to a standby state in block 128.

[0057] In block 126, the controller 14 uses the display 22 to communicate a warning message to the occupant of the vehicle 12. In one exemplary embodiment, the warning message includes a visual light notification, a graphical message, a text notification, and / or the like displayed to the vehicle occupant via the display 22. In another exemplary embodiment, the warning message also includes additional feedback to the occupant, such as haptic feedback, audible feedback, and / or the like. In another exemplary embodiment, the controller 14 also uses an advanced driver assistance system (ADAS) to prevent a collision of the vehicle 12 with the first object 28a and / or the second object 28b.In another exemplary embodiment, the controller 14 uses an automated driving system of the vehicle 12 to prevent a collision of the vehicle 12 with the first object 28a and / or the second object 28b. After block 126, the method 100 transitions to the standby state in block 128.

[0058] The system 10 and method 100 of the present disclosure provide several advantages. Using the first range sensor 16a and the second range sensor 16b, the system 10 can determine the clearance height of objects in front of and behind the vehicle 12, thus providing an opportunity to avoid a collision. The use of the electric motor 32 to adjust the tilt angle of the ranging elements 30 enables a comprehensive scan of the environment and thus an accurate determination of the clearance height when the geometry of the overhead environment is complex. Using the plurality of vertical height sensors 18, the system 10 can determine the height of the vehicle 12, taking into account height variations caused, for example, by loading, suspension adjustment, tire size, tire pressure, and / or the like.Using the first telescopic photoelectric sensor 20a and the second telescopic photoelectric sensor 20b, the system 10 can determine the height of roof-mounted accessories 40 attached to the vehicle 12 and / or other cargo carried by the vehicle 12.

Claims

[1] System (10) for determining the clearance height for a vehicle (12), the system (10) comprising: a first distance sensor (16a) operable to measure a distance relative to an object in the vicinity of the vehicle (12); a display (22) operable to provide information to a vehicle occupant; and a controller (14) in electrical connection with the first distance sensor (16a) and the display (22); wherein the controller (14) is programmed to: Determining a minimum required clearance height based at least in part on the height of the vehicle (12); Determining a maximum available clearance height using the first distance sensor (16a); and transmitting a warning to the vehicle occupant via the display (22) in response to the maximum available clearance being less than or equal to the minimum required clearance; characterized by , that the system (10) further comprises a first vertical height sensor (18a), a second vertical height sensor (18b), a third vertical height sensor (18c), and a fourth vertical height sensor (18d), each electrically connected to the controller (14); wherein the controller (14) for determining the minimum required clearance height based at least in part on the height of the vehicle (12) is further programmed to: Performing a first vertical height measurement using the first vertical height sensor (18a), the first vertical height measurement being a distance between a first corner of the vehicle roof (36) and the ground surface; Performing a second vertical height measurement using the second vertical height sensor (18b), the second vertical height measurement being a distance between a second corner of the vehicle roof (36) and the ground surface; Performing a third vertical height measurement using the third vertical height sensor (18c), the third vertical height measurement being a distance between a third corner of the vehicle roof (36) and the ground surface; Performing a fourth vertical height measurement using the fourth vertical height sensor (18d), wherein the fourth vertical height measurement is a distance between a fourth corner of the vehicle roof (36) and the ground surface; and Determining the minimum required clearance height based at least in part on the first vertical height measurement, the second vertical height measurement, the third vertical height measurement and the fourth vertical height measurement; wherein the first distance sensor (16a) further comprises a distance measuring element (30) and an electric motor (32) operable to rotate the distance measuring element (30) about a tilt axis, and wherein, for determining the maximum available clearance height using the first distance sensor (16a), the controller (14) is further programmed to: Measuring the Euclidean distance between the first distance sensor (16a) and the object in the surroundings of the vehicle (12) using the distance sensor (16a); Determining a clearance height based at least in part on the Euclidean distance and the angle of inclination of the distance sensor (16a) with respect to the vehicle roof (36); Rotating the distance measuring element (30) using the electric motor (32) to change the inclination angle of the distance measuring element (30); repeatedly measuring the Euclidean distance, determining the clearance height and rotating the distance measuring element (30) to determine a plurality of clearance heights; and Determining the maximum available clearance height as the sum of a minimum value of the plurality of clearance heights and a minimum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement and the fourth vertical height measurement. [2] The system (10) of claim 1, wherein the display (22) is further configured to receive inputs from the vehicle occupant, and wherein, to determine the minimum required clearance based at least in part on the height of the vehicle (12), the controller (14) is further programmed to: Receiving the height of the vehicle (12) from the vehicle occupant via the display (22); and Determining the minimum required clearance height based at least partly on the height of the vehicle (12). [3] The system (10) of claim 1, wherein the first distance sensor (16a) is further configured to measure a distance relative to an object in front of the vehicle (12), the system (10) further comprising a second distance sensor (16b) in electrical communication with the controller (14), and wherein the second distance sensor (16b) is configured to measure a distance relative to an object behind the vehicle (12). [4] The system (10) of claim 1, wherein to determine the clearance height, the controller (14) is further programmed to: Determine the vertical distance using the equation: cv=de∗sin θp where c v the clearance height, d e the Euclidean distance and θ p the angle of inclination. [5] The system (10) of claim 1, wherein to determine the minimum required clearance, the controller (14) is further programmed to: Determining the minimum required clearance height as the maximum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement and the fourth vertical height measurement. [6] The system (10) of claim 1, wherein to determine the minimum required clearance, the controller (14) is further programmed to: Determining the height of an accessory (40) mounted on the roof (36) of the vehicle (12); and Determining the minimum required clearance height as the sum of the height of the accessory (40) mounted on the roof (36) and the maximum value of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement and the fourth vertical height measurement. [7] The system (10) of claim 6, further comprising a telescopic photoelectric sensor system (20) mounted on the roof (36) of the vehicle (12) and including a first telescopic photoelectric sensor (20a) and a second telescopic photoelectric sensor (20b) electrically connected to the controller (14), wherein the telescopic photoelectric sensor system (20) is capable of detecting an object obscuring a line of sight between the first telescopic photoelectric sensor (20a) and the second telescopic photoelectric sensor (20b), and wherein, to determine the height of the accessory (40) mounted on the roof (36), the controller (14) is further programmed to: Extending the first telescopic light barrier sensor (20a) and the second telescopic light barrier sensor (20b) until the line of sight between the first telescopic light barrier sensor (20a) and the second telescopic light barrier sensor (20b) is not obscured; Retracting the first telescopic photoelectric sensor (20a) and the second telescopic photoelectric sensor (20b) until the line of sight between the first telescopic photoelectric sensor (20a) and the second telescopic photoelectric sensor (20b) is obscured by the accessory (40) mounted on the roof (36); and Determining the height of the accessory (40) mounted on the roof (36) as the height of the first telescopic photoelectric sensor (20a) and the second telescopic photoelectric sensor (20b) after the first telescopic photoelectric sensor (20a) and the second telescopic photoelectric sensor (20b) have been retracted until the line of sight between the first telescopic photoelectric sensor (20a) and the second telescopic photoelectric sensor (20b) is obscured by the accessory (40) mounted on the roof (36).

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