motor vehicle

Abstract

Motor vehicle (1), in particular commercial vehicle, comprising a detection device (2) designed to capture at least one environmental information of an environment (4) of the motor vehicle (1), in particular for providing to a driver assistance system of the motor vehicle (1), and a working assembly (9) designed to perform at least one working function in a working state of the motor vehicle (1), in particular to move at least one working element (10) in the environment (4) of the motor vehicle (1), wherein at least one control device (6), in particular associated with the working assembly (9), is designed to control the operation of the working assembly (9) in the working state based on the at least one captured environmental information.

Description

[0001] The invention relates to a motor vehicle, in particular a commercial vehicle, comprising a detection device designed to detect at least one item of environmental information of an environment of the motor vehicle, in particular for provision to a driver assistance system of the motor vehicle, and a work structure designed to carry out at least one work function in a working state of the motor vehicle, in particular to move at least one work element in the environment of the motor vehicle.

[0002] Motor vehicles, especially commercial vehicles, that have work structures for performing work functions, for example, by moving at least one work element in the vicinity of the motor vehicle to perform a task, are generally known from the prior art. In this case, a crane arm, an excavator, or similar, is provided as a work element on the motor vehicle and moved within a work area in the vicinity of the motor vehicle. The execution of the work tasks and the resulting design of the work structure can vary as desired.

[0003] It is also known for such motor vehicles to have detection devices for their driving operation, which are designed to detect environmental information about the surroundings of the motor vehicle. Such environmental information can be fed, for example, to a driver assistance system while the motor vehicle is in operation, so that the driver assistance system, for example, an at least partially automated longitudinal and / or lateral guidance system of the motor vehicle, can react to the environmental information. Purely for example, this can be used to operate emergency braking assistants, lane keeping assistants, cruise control systems, adaptive cruise control systems, and many other systems.

[0004] Although there is an interface to the motor vehicle for the operation of the work structure, this is limited to rudimentary basic functions. For example, the work structure can request speed control of a drive device of the motor vehicle in order to provide sufficient operating fluid for the work structure's fluid requirements in the working state.

[0005] Additional functions are typically not available to the work structure and, since the vehicle is usually stationary during operation of the work structure, are not used in the working state. Therefore, in the working state, i.e., during operation of the work structure, only limited information about the vehicle's surroundings is available, for example, from sensors provided by the work structure itself.

[0006] The invention is based on the object of specifying a motor vehicle which is improved in comparison thereto, in which in particular the detection of the surroundings in the working state is improved.

[0007] As described, the invention relates to a motor vehicle, in particular a commercial vehicle, which has a detection device designed to detect environmental information of the environment of the motor vehicle. The environmental information can be provided, for example, to a driver assistance system of the motor vehicle. As environmental information, for example, a distance of at least one object from the motor vehicle can be detected. Furthermore, the motor vehicle has a work structure by means of which the motor vehicle is designed to perform a work function in a work state, for example to move at least one work element of the work structure within the environment of the motor vehicle, in particular within a work area in the environment.Purely by way of example and not exhaustively, a work structure can be understood as a crane structure, an excavator and the like, whereby in principle any work functions can be carried out by any work structure.

[0008] The invention is based on the finding that the motor vehicle has a control device, in particular one assigned to the work structure, which is designed to control operation of the work structure in the working state based on the at least one detected item of environmental information. The described control device can thus operate the work structure in the working state based on the environmental information detected by the detection device of the motor vehicle. In other words, the control device has access to the detection device of the motor vehicle or the environmental information detected thereby and can feed this information into the operation of the work structure. This makes it possible to use the environmental information during operation of the work structure, i.e. in the working state, and thus to improve environmental monitoring during operation of the work structure.

[0009] For example, the sensors already present on the motor vehicle for implementing the detection device can be used to monitor the surroundings of the motor vehicle and thus the working environment of the work structure. For example, it can be monitored whether there are people or objects in the movement area of ​​the work structure that could potentially pose a collision risk. On the basis of the described environmental information, it is therefore possible for the control device to operate the work structure. In particular, it can be ruled out that collisions or similarly dangerous situations could occur during operation of the work structure, since objects, i.e. items, animals and people, in the surroundings of the motor vehicle can be detected and fed to the control device via the environmental information.This allows approaching objects to be detected and thus prevents the operation of the work structure from becoming a danger to the objects or vice versa.

[0010] The working state can, for example, be carried out when the motor vehicle is stationary, although combined operating states are also possible in which the work structure can be operated while the motor vehicle is moving. Here, too, (joint) use of the environmental information detected by the detection device of the motor vehicle is possible. The described control device can be a control device of the work structure or comprise such a device. It is also possible for the control device to be designed as a control device of the motor vehicle or for the control device to form a higher-level control device to which at least one control device of the motor vehicle and at least one control device of the work structure are subordinate.As described, the control device can also be understood as an "interface" that grants the work structure, for example, a control device of the work structure, access to the data from the detection device. The interface can be implemented, for example, as part of a cyclic query of the detected environmental information.

[0011] According to one embodiment of the motor vehicle, it can be provided that the detection device is designed to detect at least one position and / or a trajectory and / or a distance from the motor vehicle of at least one object or "detection object" in the surroundings, wherein the control device is designed to control the operation of the work structure based on the at least one detected position and / or the at least one detected trajectory and / or the at least one detected distance. As described, the detection device can generally detect environmental information in the surroundings of the motor vehicle. Based on the described information, for example the trajectory of the object or the position of the object or the distance of the object from the motor vehicle, the control device can determine how the work structure can be operated, for example to avoid or prevent collisions.

[0012] By using the detection device of the motor vehicle, in particular, optionally supplemented by a detection range of detection devices of the work structure, a complete detection area around the motor vehicle can be covered, so that objects in the entire surroundings of the motor vehicle can be detected. In particular, the entire movement range or working area of ​​the work structure can be detected, so that collisions between the work structure and an object can be reliably prevented. The control device can, in particular, determine a change in the current position of the object and / or the work structure and incorporate it into the calculation for controlling the movement of the work structure.

[0013] In a further embodiment, the detection device and / or the control device can be designed to classify the at least one detected object, wherein the control device is designed to control the operation of the work structure based on the at least one detected object class. In other words, it can be detected which object class the object is assigned to, for example, whether the detected object is a person, an animal, or an object. Depending on the detected object class of the detected object, the control device can thus control the work structure. Different parameter sets can be maintained for different object classes, and the operation of the work structure can be carried out accordingly based on the parameter set provided for the detected object class.For example, greater safety distances can be maintained for animals or children than for detected adults or objects, which can be assigned different parameter sets. In other words, the control of the work setup can be incorporated into the object class, and in particular, a different response from the control device can be executed depending on the object class.

[0014] The control device can further be configured to control the operation of the work structure based on a combination of the at least one acquired piece of environmental information and work information, in particular movement information, of at least one movable work element of the work structure. When controlling the operation of the work structure based on the combination of information, the work information is also included in addition to the previously described control of the operation of the work structure based on the environmental information. In other words, in this embodiment, the control device can also use the work information to control the operation of the work structure in addition to the previously described control. The work information describes, in particular, a movement of a movable work element of the work structure, for example a crane arm or the like.This allows both the positions and movements of objects in the surrounding area and the positions and movements of the work setup to be taken into account. This improves collision analysis. In particular, path planning can also be performed by the work setup, which takes the movements and positions of the objects into account, so that the work setup can be moved without a collision occurring.

[0015] In a further development of the described motor vehicle, the control device can be configured to reduce, in particular stop, a movement speed of the work structure and / or to control a movement speed of the work structure based on a positioning of at least one movable work element in one of at least two different sub-areas of the surroundings. For example, if a collision is imminent or an object is located in the vicinity of the work structure, the movement speed can be reduced to reduce hazards.

[0016] For example, if the distance between an object and the work structure is too small, particularly due to unauthorized entry into a movement area or work area of ​​the work structure by a person, the control device can reduce the movement of the work structure or stop it completely. Alternatively, different sub-areas can be defined depending on which objects were detected in the work structure's work area. The control device can control the movement speed of the work structure differently in the different sub-areas. It is also possible to define a so-called "no-go zone" into which the work structure cannot be moved, at least temporarily, for example, because people are present there.If the control device intervenes in a movement of the work structure, it can also be provided that resumption or execution is (again) possible despite restrictions by the control device after acknowledgment by the user.

[0017] In a further embodiment of the motor vehicle, the control device can be designed to output a warning signal to a user of the work structure and / or the surrounding area. The warning signal can generally be output visually and / or acoustically and / or haptically. When the warning signal is output to the user, the user can be informed of an impending collision or generally about objects in the surrounding area of ​​the work structure. Particularly in the case of work structures that restrict the user's field of vision to part of the entire work area, the user can thus be warned of objects that may be located in a concealed sub-area. Alternatively or additionally, the warning signal can be output to the surrounding area or the surroundings. This allows people approaching the work structure or entering the work area of ​​the work structure to be warned of the operation of the work structure.In principle, output devices of the work structure and / or the motor vehicle can be used to output the warning signal, for example traffic lights, loudspeakers, a horn signal or the horn of the motor vehicle and the like.

[0018] In a further development of the motor vehicle, it can be provided that at least one detection area of ​​at least one sensor of the detection device is registered with a coordinate system of the work structure. By registering the coordinate systems, no transformation is necessary when the work structure is controlled by the control device. In other words, objects that were detected by the detection device in the vicinity of the motor vehicle can be transferred directly to the control device for controlling the operation of the work structure, without the need for a complex transformation from the coordinate system of the motor vehicle or the detection device into the coordinate system of the work structure. This is particularly advantageous if the coordinate systems between the motor vehicle and the work structure change during operation, for example in the case of a rotatable or pivotable work structure.

[0019] The detection device can further comprise at least one acceleration sensor, in particular designed to detect the acceleration of the work structure relative to six spatial axes. Modern motor vehicles typically have acceleration sensors anyway to characterize the movement of the motor vehicle during driving, for example with regard to rolling movements, yaw movements, tipping movements, and the like. Such an acceleration sensor or such an acceleration sensor system can also be used during operation of the work structure. In particular, tipping or rolling movements of the work structure or of the entire motor vehicle can be detected at an early stage, and the movement of the work structure can be restricted or reversed accordingly by the control device in order to prevent tipping or rolling of the motor vehicle at an early stage.

[0020] The control device of the motor vehicle can further be configured to store at least one environmental scenario, in particular a movement scenario. The stored environmental scenario can subsequently be evaluated. For example, the environmental scenario can be stored to subsequently evaluate a collision sequence. Furthermore, based on at least one stored environmental scenario, movement control, for example, a trajectory calculation, can be improved. For example, the environmental information acquired by the detection device, the movements of the at least one object in the environment, and the movement of the work structure can be stored in the environmental scenario.

[0021] In addition to the motor vehicle, the invention relates to a control device, in particular for a previously described motor vehicle, which is designed to control, in a working state of a work structure of the motor vehicle, an operation of the work structure based on at least one item of environmental information detected by means of a detection device of the motor vehicle.Furthermore, the invention relates to a method for controlling the operation of a motor vehicle, comprising a detection device designed to detect at least one item of environmental information of the environment of the motor vehicle, in particular for providing it to a driver assistance system of the motor vehicle, and a work structure designed to carry out at least one work function in a working state of the motor vehicle, in particular to move at least one work element in the environment of the motor vehicle, in which working state an operation of the work structure is controlled based on the at least one item of environmental information detected.

[0022] All advantages, details, and features described with reference to the motor vehicle are fully applicable to the control device and method. The control device is particularly designed to carry out the method.

[0023] The invention is explained below using exemplary embodiments with reference to the figures. The figures are schematic representations and show: Fig. 1 a schematic diagram of a motor vehicle with a work structure; and Fig. 2 supervision of a motor vehicle in accordance with Fig. 1.

[0024] Fig. 1 shows a simplified schematic diagram of a motor vehicle 1, in particular a commercial vehicle. The motor vehicle 1 has a detection device 2, which, as shown for example in Fig. 2, has a plurality of sensors 3. The detection device 2 is thus fundamentally designed to detect an environment 4 of the motor vehicle 1. In particular, the detection device 2 can detect objects 5 in the environment 4 of the motor vehicle 1. In order to detect the object 5 in the environment 4 of the motor vehicle 1, the detection device 2 detects environmental information, for example a position of the object 5 in the environment 4 or a distance of the object 5 relative to the motor vehicle 1 and / or a trajectory or a speed and direction of movement of the object 5.

[0025] For example, the motor vehicle 1 can use the detection device 2 to determine objects 5 in a travel path, so that at least one driver assistance system of the motor vehicle 1 can control the operation of the motor vehicle 1 based on the detected environmental information. Purely by way of example, a higher-level control device 6 is shown, which comprises, for example, a first control device 7 of the motor vehicle 1 and a second control device 8, which is assigned to a work structure 9. Instead of combining the first control device 7 and the second control device 8 into the control device 6, the control device 6 can also be designed as a single control device and configured to execute the control tasks.

[0026] As described, the motor vehicle 1 has the working structure 9, which can in principle be designed in any way, for example, as shown in Fig. 2, as a crane. The work structure 9 has, for example, a work element 10 that can be moved within a work area 11. The control device 6 is designed to control the operation of the work structure 9 in a working state, i.e., a state in which the work structure 9 of the vehicle 1 is used, based on the at least one detected piece of environmental information, which, as described above, was detected by the detection device 2.

[0027] In other words, the detection device 2 detects the environmental information, for example whether an object 5 is present in the environment 4 or whether the object 5 is moving in the environment 4. In particular, it can also be determined whether the object 5 is located in the work area 11 or is moving there, so that this is or becomes relevant for the execution of the work function by the work structure 9, for example a movement of the work element 10. As described, the detection device 2 can, in particular, detect the position and / or the trajectory and / or the distance of the object 5 in the environment 4 and feed it to the control device 6 so that the latter can control the operation of the work structure 9.

[0028] The control device 6 or directly the detection device 2 can classify the object 5 so that the object 5 can be assigned to an object class. Different object classes can be distinguished, for example, person, object, adult, child, animal, and the like. Based on the assigned object class, the control device 6 can use different parameter sets for controlling the operation of the work structure 9.

[0029] Specifically, the control device 6 can execute the operation of the work structure 9 based on combination information composed of the acquired environmental information and work information describing at least one movable work element 10 of the work structure 9. The work information can be ascertained or determined, for example, recorded or calculated. Specifically, path planning is possible that prevents collisions between the work element 10 of the work structure 9 and the object 5. Depending on where the object 5 was detected in the environment 4 or how the movement path or trajectory of the object 5 and the work element 10 is planned, the control device 6 can reduce the movement speed of the work structure 9, in particular stop it, in order to avoid a collision.

[0030] For example, different sub-areas, in particular of the working area 11, can be defined for this purpose. In sub-areas of the working area 11 in which the object 5 is not present or into which the object 5 is not moving, a first movement speed can be selected, for example. In contrast, in sub-areas in which an object 5 is present or into which an object 5 is moving, a second movement speed that is reduced compared to the first movement speed can be selected.

[0031] Fig. 1 that the motor vehicle 1 has at least one output means 12 which is designed to output a warning signal.

[0032] The warning signal can be output in particular to a user of the work structure 9 or to the surrounding area 4, for example to warn persons in the surrounding area 4. The output means 12 can, in particular, provide a haptic and / or optical and / or acoustic warning.

[0033] In addition to the sensors 3 shown, further sensors can be assigned to the detection device 2, in particular acceleration sensors designed to detect the acceleration of the work structure 9, particularly along six spatial axes. Tilting or rolling movements of the work structure 9 or the entire motor vehicle 1 can thus be detected early, and the movement of the work structure 9 can be adjusted accordingly.

[0034] Furthermore, the control device 6 can be configured to store at least one environmental scenario. The environmental scenario can include, for example, whether and where objects 5 are located in the environment 4. Furthermore, the environmental scenario can include the trajectories of the objects 5 and the work structure 9. The movement of the objects 5 and the work structure 9 can be stored. This can subsequently be evaluated, for example, to improve trajectory planning for the work structure 9 or to document or reconstruct the course of a collision.

[0035] All advantages, details, and features described in the individual exemplary embodiments are interchangeable, combinable, and transferable. The advantages, details, and features described with reference to motor vehicle 1 are transferable to control device 6. Control device 6 is particularly designed to carry out the method described herein. Reference symbol 1 motor vehicle 2 Detection device 3 Sensor 4 Environment 5 Object 6 Control device 7 first control device 8 second control device 9 Work structure 10 work element 11 Work area 12 output media

Claims

[1] Motor vehicle (1), in particular commercial vehicle, comprising a detection device (2) designed to detect at least one item of environmental information of an environment (4) of the motor vehicle (1), in particular for providing it to a driver assistance system of the motor vehicle (1), and a work structure (9) designed to carry out at least one work function in a working state of the motor vehicle (1), in particular to move at least one work element (10) in the environment (4) of the motor vehicle (1), characterized by at least one control device (6), in particular assigned to the work structure (9), which is designed to control an operation of the work structure (9) in the working state based on the at least one detected item of environmental information. [2] Motor vehicle (1) according to claim 1, characterized byin that the detection device (2) is designed to detect at least one position and / or a trajectory and / or a distance from the motor vehicle (1) of at least one object (5) in the environment (4), wherein the control device (6) is designed to control the operation of the work structure (9) based on the at least one detected position and / or the at least one detected trajectory and / or the at least one detected distance. [3] Motor vehicle (1) according to claim 1 or 2, characterized by that the detection device (2) and / or the control device (6) is designed to classify the at least one detected object (5), wherein the control device (6) is designed to control the operation of the work structure (9) based on the at least one detected object class. [4] Motor vehicle (1) according to one of the preceding claims, characterized byin that the control device (6) is designed to control the operation of the work structure (9) based on combination information of the at least one detected item of environmental information and work information, in particular movement information, of at least one movable work element (10) of the work structure (9). [5] Motor vehicle (1) according to one of the preceding claims, characterized by in that the control device (6) is designed to reduce, in particular to stop, a movement speed of the work structure (9) and / or to control a movement speed of the work structure (9) based on a positioning of at least one movable work element (10) in one of at least two different sub-regions of the environment (4). [6] Motor vehicle (1) according to one of the preceding claims, characterized bythat the control device (6) is designed to output a warning signal to a user of the work structure (9) and / or the environment (4). [7] Motor vehicle (1) according to one of the preceding claims, characterized by that at least one detection area of ​​at least one sensor of the detection device (2) is registered with a coordinate system of the work structure (9). [8] Motor vehicle (1) according to one of the preceding claims, characterized by that the detection device (2) has at least one acceleration sensor, in particular is designed to detect the acceleration of the work structure (9) with respect to six spatial axes. [9] Motor vehicle (1) according to one of the preceding claims, characterized by that the control device (6) is designed to store at least one environmental scenario. [10] Control device (6) for a motor vehicle (1) according to one of the preceding claims, which is designed to control, in a working state of a work structure (9) of the motor vehicle (1), an operation of the work structure (9) based on at least one item of environmental information detected by means of a detection device (2) of the motor vehicle (1). [11] Method for controlling the operation of a motor vehicle (1), comprising a detection device (2) designed to detect at least one item of environmental information of an environment (4) of the motor vehicle (1), in particular for providing it to a driver assistance system of the motor vehicle (1), and a work structure (9) designed to carry out at least one work function in a working state of the motor vehicle (1), in particular to move at least one work element (10) in the environment (4) of the motor vehicle (1), characterized bythat in the working state, operation of the work structure (9) is controlled based on the at least one detected piece of environmental information.

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