Method and system for monitoring the environment of a vehicle

Abstract

The invention relates to a method for monitoring the environment of a vehicle (1), comprising the steps: - Providing a sensor (5) with an associated field of view (6), wherein the sensor (5) is configured to monitor a detection area (7) in the vicinity of a wheel (3, 4) of the vehicle (1) for object detection; - Providing an evaluation unit (8) which is configured to receive measurement data from the sensor (5) and to perform a risk analysis based on this measurement data as well as the position and orientation of the sensor (5), generating a warning signal if the risk analysis shows that at least part of the object (10) is in a hazardous position within the detection range (7). Furthermore, the invention relates to a system for monitoring the environment of a vehicle (1) and to a vehicle (1) with such a system.

Description

[0001] The present invention relates to a method and a system for monitoring the surroundings of a vehicle. Furthermore, the invention relates to a vehicle with such a system, wherein the system is configured to carry out the method.

[0002] US 2020 / 0 282 919 A1 discloses a dump truck configured for traveling in directions of travel and for unloading loads in a direction collinear with one of the directions of travel. The dump truck comprises a chassis with wheels arranged thereon, which are mounted at the front and rear of the chassis in the direction of travel, and an obstacle detector provided at a tipping end of the chassis. The obstacle detector is designed to detect an obstacle in the tipping direction of the chassis. Furthermore, the dump truck comprises a slider capable of moving the obstacle detector into a first position in which the obstacle detector protrudes from a tipping end of the tires, and into a second position on an inner side relative to the tipping end of the tires.

[0003] DE 10 2021 214 348 A1 relates to a device for detecting obstacles for a bicycle trailer of a bicycle-trailer combination, as well as to a system comprising such a device and an environmental sensor and an information unit. Furthermore, the invention relates to a bicycle trailer and a method for detecting obstacles for a bicycle trailer.

[0004] DE 10 2017 011 147 A1 relates to a method for indicating, from outside a construction machine moving autonomously over the ground, that the construction machine has detected a person using a person detection device, a construction machine and a system for operating one or more, in particular autonomously, moving construction machines.

[0005] The present invention is based on the object of providing a method and a system for monitoring the surroundings of a vehicle, with the aid of which a collision with objects located in the vicinity of the wheels, in particular the rear wheels, of the vehicle is prevented. This object is achieved by the respective subject matter of patent claims 1, 4, and 5. Further advantageous embodiments can be found in the dependent claims.

[0006] According to a first aspect of the invention, a method for monitoring the environment of a vehicle comprises the steps: - Providing a sensor with an associated field of view, wherein the sensor is configured to monitor a detection area in the vicinity of a wheel of the vehicle for object detection; - Providing an evaluation unit which is configured to receive measurement data from the sensor and to carry out a risk analysis based on these measurement data and the position and orientation of the sensor, wherein a warning signal is generated if the risk analysis shows that at least part of the object is in a hazardous position within the detection area.

[0007] The sensor can be a simple ultrasonic sensor designed to detect a distance between the sensor and an object within the sensor's field of view. Other types of sensors are also conceivable, allowing the distance between the sensor and an object to be detected. The field of view is defined as the area that can be sensed by the sensor. The detection range is defined as an area of ​​the field of view relevant for the risk analysis. The detection range can correspond to the sensor's detectable area or a portion of the sensor's detectable area.

[0008] "Objects" within the meaning of the invention can be immobile objects, such as stones, rocks, pallets, or the like, or mobile objects, such as people, animals, other vehicles, or the like. The method is particularly advantageous for protecting people who are located or moving in the vicinity of the vehicle. The method is also advantageous for providing the driver of the vehicle with information in the event that people are located or moving within the vehicle's range of movement, particularly in the area of ​​the vehicle's wheels.

[0009] The evaluation unit can be a vehicle control unit or a part of the vehicle control unit. Information about the position and orientation of the sensor is stored on the evaluation unit. The "position" of the sensor is understood to be the connection position of the sensor on the vehicle, in particular on the chassis, in relation to a longitudinal, transverse and / or vertical axis of the vehicle. The "orientation" of the sensor is understood to be the angle of the field of view or an axis of the field of view in relation to a longitudinal, transverse and / or vertical axis of the vehicle and / or the direction of travel of the vehicle. An extrinsic calibration of the sensor is calculated as translation and rotation by the evaluation unit for the purpose of risk analysis or a worst-case assumption.

[0010] The sensor is positioned and aligned in such a way that it does not sense any components of the vehicle, such as the contour of a wheel or parts of the chassis, or any areas of the surface being driven on, thus preventing false detections and unwanted warning signals. Alternatively or additionally, it can be provided that if parts of the machine or the surface are detected in the sensor's field of view, their image is learned by the sensor and cut out or masked out from further measurements by the sensor. Conversely, this means that a signal with measurement data can be transmitted to the evaluation unit as soon as the sensor detects something in its field of view. By appropriately positioning and aligning the sensor on the vehicle, particularly on the chassis, areas in front of, behind or next to the wheels or other dangerous areas of the vehicle that are not visible to the driver while driving can be monitored.

[0011] The risk analysis is carried out by the evaluation unit based on the position and orientation of the sensor as well as on the measurement data measured by the respective sensor with regard to the detected object. The risk analysis can be understood as a worst-case analysis in which the measured distance of the object from the sensor is evaluated, taking into account the position and orientation of the sensor, in order to draw conclusions as to whether the object is in a dangerous position or the specified hazardous position within the field of view. For example, a dangerous situation can be detected even if the sensor measures a large distance from the object, but this distance, due to the position and orientation of the sensor, means that the object is directly in the danger zone, for example, of a wheel.

[0012] A dangerous position, for example, is the location of the object in the blind spot, i.e., in an area not visible to the driver. A dangerous position is also an area in the forward direction of travel behind the rear wheels. Alternatively or additionally, a dangerous position is an area in the forward direction of travel to the side of the vehicle's wheels.

[0013] If an object is detected within the sensor's detection range, i.e., within the sensor's perimeter, the evaluation unit assumes that the object, particularly an obstacle, is located at a dangerous point or position relative to the vehicle. This is considered a worst-case assumption. Upon detection of the object, the evaluation unit issues a warning signal, which allows the driver to intervene in the vehicle's operation either manually or at least partially automatically via the vehicle's control unit.

[0014] The invention includes the technical teaching that the warning signal is output by at least one output device. The warning signal can be output to the driver or to persons moving in the vicinity of the vehicle. The warning signal can be output, in particular, visually, via a warning light and / or information displayed on a screen, and / or acoustically, via a loudspeaker, a siren, or the like. Accordingly, the output device is a visual and / or acoustic output device.

[0015] In a further development of the invention, the actual geometry of the sensor's field of view is determined before performing the risk analysis. Typically, a sensor field of view is represented or monitored by the sensor with a substantially conical or partially circular geometry. Depending on the sensor, the field of view may in reality have a geometry that deviates from a conical or partially circular geometry, in particular a polygonal geometry. The actual geometry of the field of view can be determined through preliminary tests or measurements, for example, by measuring the visibility of a standard target or standardized target. The actual geometry of the field of view is stored on the evaluation unit and taken into account for the risk analysis.

[0016] According to one embodiment, the sensor is arranged on the vehicle in such a way that, for object detection, an area in the forward direction of travel of the vehicle behind a wheel of the vehicle is monitored as the detection area. Accordingly, the sensor's detectable area corresponds to a substantially horizontal plane. An axis of the field of view is arranged or aligned at an angle to a horizontal axis, in particular the longitudinal axis of the vehicle. By monitoring the area behind a wheel of the vehicle, a collision with the object can be prevented before the driver initiates or executes reversing.

[0017] According to a further embodiment, the sensor is arranged on the vehicle in such a way that, for object detection, an area in the forward direction of travel to the side of a wheel of the vehicle is monitored as the detection area. Accordingly, the sensor's detectable area corresponds to a substantially vertical plane. One axis of the field of view is arranged or aligned at an angle to a vertical axis, in particular the vertical axis of the vehicle. By monitoring the area next to a wheel of the vehicle, a collision with the object can be prevented before the driver initiates or executes a turn.

[0018] In a further development of the invention, the method further comprises the step of providing at least one further sensor with an associated field of view, wherein the further sensor is configured to monitor a further detection area in the vicinity of a wheel of the vehicle for object detection. The further sensor is arranged with respect to the (first) sensor described above in such a way that the field of view that can be monitored by the first sensor is expanded. The further sensor can be arranged with respect to the (first) sensor described above in such a way that the fields of view of at least two sensors overlap, whereby a plausibility check of the measurement data from the sensors can be carried out. With regard to the design and arrangement of the further sensor, reference is made to the above explanations.

[0019] According to a further development of the invention, the sensor's field of view is extended at its boundaries by an additional radius. In other words, the area of ​​the sensor's field of view can be extended due to uncertainties, for example due to measurement errors. If a real field of view has been determined as a polygonal area, the polygon function, i.e. the area of ​​the real field of view, can be extended by uncertainties. Accordingly, if the field of view was recorded according to standardized targets, the field of view can be extended with an additional radius around the polygon in the sense of the worst-case assumption. This could also be used to issue a warning signal if only parts of an object, in particular a person, are detected in the sensor's field of view. In this case, a warning signal can be generated if the risk analysis shows that only part of the object is in the hazardous position within the detection range.

[0020] According to a second aspect of the invention, a system for monitoring the surroundings of a vehicle is configured to carry out the method according to the first aspect of the invention. The system is an assistance system for a vehicle and comprises a sensor system with at least one of the aforementioned sensors. The system monitors the surroundings of the vehicle, and if an object is detected in the detection area, a warning signal is issued to avoid a collision with the object.

[0021] The system is preferably designed as a control unit that evaluates the measurement data from the sensors to issue a warning signal in the event of an object located in the vehicle's danger zone. The control unit can be configured to at least indirectly influence the vehicle's drive system as a result of the warning signal. For example, an emergency stop procedure can be initiated, during which the vehicle's drive system can be shut down and / or decoupled.

[0022] According to a third aspect of the invention, a vehicle comprises a chassis with wheels arranged thereon, as well as a system according to the second aspect of the invention, wherein the said sensor is arranged on the chassis in such a way that a detection area in the vicinity of one of the wheels of the vehicle can be monitored for object detection. The chassis is a vehicle frame with wheels arranged at the front and rear in the direction of travel. The sensor is arranged and aligned in such a way that a detection area is preferably monitored behind the rear wheels or to the side of the wheels of the vehicle, in particular an outer side of at least one wheel.

[0023] "Vehicles" within the meaning of the invention include, in particular, agricultural vehicles or machines (agricultural technology) as well as construction vehicles. The vehicle can be powered by an internal combustion engine and / or an electric motor. Furthermore, it is conceivable that the vehicle can be operated autonomously, at least temporarily.

[0024] The above definitions as well as statements on technical effects, advantages and advantageous embodiments of the inventive method for monitoring the surroundings of a vehicle according to the first aspect of the invention also apply mutatis mutandis to the inventive system according to the second aspect of the invention and to the inventive vehicle according to the third aspect of the invention, and vice versa.

[0025] In the following, an embodiment of the invention is explained in more detail with reference to the figures. Fig. 1 a highly simplified schematic plan view of a vehicle according to the invention with an environment monitoring system according to the invention, Fig. 2 a highly schematic representation of a field of view of a first sensor of the system for environmental monitoring according to Fig. 1, Fig. 3 a highly schematic representation of a field of view of a second sensor of the environmental monitoring system according to Fig. 1 and Fig. 2, and Fig. 4 a schematic perspective view of the vehicle according to the invention to illustrate a field of view of a third sensor of the system for monitoring the environment according to Fig. 1 to Fig. 3.

[0026] According to Fig. 1 to Fig. 4 shows a vehicle 1 according to the invention, at least partially and highly schematically. The vehicle 1 is a dump truck here. The vehicle 1 comprises a chassis 2 and two axles, with two first wheels 3 being arranged on a first axle, here a front axle, and two second wheels 4 being arranged on a second axle, here a rear axle. At least one of the wheels 3, 4, preferably several or all of the wheels 3, 4, is / are rotatably drivable. The vehicle 1 further comprises a system for monitoring the surroundings of a vehicle 1, the function of which is described in more detail below. The system can be used to carry out a method according to the invention for monitoring the surroundings of the vehicle 1.

[0027] The system comprises several sensors 5, each designed as an ultrasonic sensor. Fig. 1 to Fig. 3 show two of the sensors 5 on a rear axle of the vehicle 1. The left of the two sensors 5 is arranged offset rearwardly with respect to the chassis 2 and is aligned transversely such that a first detection area 7, 7.1 in the forward direction V of the vehicle 1 behind the right wheel 4, i.e. the right rear wheel of the rear axle, can be monitored (cf. Fig. 2). The right of the two sensors 5 is arranged offset rearwardly with respect to the chassis 2 and aligned transversely in such a way that a second detection area 7, 7.2 can be monitored in the forward direction V of the vehicle 1 behind the left wheel 4, i.e. the left rear wheel of the rear axle (cf. Fig. 3). Fig. 1 to Fig. The sensors 5 shown in Figure 3 are thus arranged on the vehicle 1 in such a way that, for object detection, a detection area 7.1, 7.2 is monitored in the forward direction V of the vehicle 1 behind each of the wheels 4. The fields of view 6 of these sensors 5, or their axes A, are rotated about a longitudinal axis L of the vehicle 1, i.e., arranged transversely thereto. The fields of view 6 are therefore not aligned radially to the vehicle 1, as is otherwise usual.

[0028] Fig. 4 shows an exemplary further sensor 5 on a flank, here the left side, of the vehicle 1. The sensor 5 is arranged on the vehicle 1 in such a way that a third detection area 7, 7.3 in the forward direction V of the vehicle 1 is monitored to the left of a wheel 3, here to the left of the left front wheel of the vehicle 1, for object detection. The sensor according to Fig. 4 is rotated vertically. Consequently, a field of view 6 of this sensor 5, or rather its axis, is oriented rotated around a vertical axis H of the vehicle 1.

[0029] On the right side of the vehicle 1, a further sensor 5 can be arranged analogously, which is not shown here, but analogous to the sensor 5 according to Fig. 4 and monitors a detection area - not shown here - in the forward direction of travel to the right of a wheel 3, i.e., to the right of the right front wheel of the vehicle 1. Likewise, with appropriately arranged sensors, the areas to the side of one of the wheels 4 or both wheels 4 of the rear axle can be monitored.

[0030] The Fig. Sensor 5 shown in Figure 4 is compared to the sensors according to Fig. 1 to Fig. 3 is mounted relatively high on the vehicle 1. This allows for personnel safety, particularly for large construction machines. It also prevents this sensor 5 from becoming dirty and thus generating false signals. High mounting may also be necessary in cases of limited space, for example, with forklifts or the like.

[0031] Fig. 1 further indicates an evaluation unit 8 of the system. The position and orientation of the previously described sensors 5 are stored on the evaluation unit 8, wherein the evaluation unit 8 is configured to receive measurement data from the sensors 5 and, based on this measurement data and taking into account the known position and orientation of the respective sensor 5 or the field of view 6 or the detection range 7, 7.1, 7.2, 7.3 of the respective sensor 5, to perform a risk analysis, specifically when an object 10 is detected in the field of view 6 of the respective sensor 5. The position of the object 10 is calculated by the evaluation unit 8.

[0032] Before the risk analysis is performed, the actual geometry of the field of view 6 of the respective sensor 5 is determined. The actual geometry of the field of view 6 can be determined by measuring the visibility of a standard target. This actual field of view geometry is shown in Fig. 2 to Fig. 4 each represented in the form of a polygonal surface.

[0033] Based on the known, real geometry of the field of view 6 as well as the position and orientation of the respective sensor 5, the risk analysis can be carried out by the evaluation unit 8 if the respective sensor 5 generates measurement data relating to a detected object 10 in the field of view 6 of the sensor 5 and transmits it to the evaluation unit 8. Based on the aforementioned parameters and measurement data, a worst-case assumption is made regarding the hazard potential of the detected position of the object 10. In other words, if several possible positions of the object 10 are detected, the most dangerous position for the vehicle and the object 10 is assumed, and a warning signal is generated accordingly and output via an output means 9. Thus, a warning signal is generated if the risk analysis shows that at least part of the object 10 is in a predefined hazardous position within the detection area 7.1, 7.2, 7.3.In particular, the most dangerous position for the object 10 is assumed to ensure that a collision of the vehicle 1 with the object 10 is prevented in the event that the object 10 is a person. The warning signal is generated by at least one in . Fig. 1 indicated output means 9. This can be a visual and / or acoustic output means, which is located, for example, in the driver's cab of the vehicle 1.

[0034] The invention is not limited to the disclosed embodiments. Further embodiments or variations will become apparent to those skilled in the art upon use of the present invention and upon careful analysis of the drawings, the description, and the patent claims. It is conceivable to expand the field of view 6 of the sensor 5 at its boundaries with an additional radius. This can prevent a risk of collision even if only part of an object is detected. Alternatively or additionally, at least one further sensor—not shown here—can be provided, which is configured to monitor a further detection area in the vicinity of a wheel of the vehicle for object detection. The further sensor can be arranged such that the field of view 6 monitored by one of the sensors 5 is expanded.Accordingly, the calculated position of the object 10 in terms of the measured field of view 6 and the worst-case assumption is fused with the measurement data of the other sensor. Reference symbol 1 vehicle 2 chassis 3 wheel or front wheel 4th wheel or rear wheel 5 Sensor 6 Field of view 7 Detection range 7.1 Detection range 7.2 Detection range 7.3 Detection range 8 Evaluation unit 9 Output media 10 objects A axis of the field of view H Vertical axis of the vehicle L Longitudinal axis of the vehicle V Forward direction

Claims

[1] Method for monitoring the environment of a vehicle (1) designed as an agricultural utility vehicle or construction vehicle, comprising the steps: - Providing a sensor (5) with an associated field of view (6) which is extended at its boundaries with an additional radius, wherein the sensor (5) is designed to monitor a detection area (7) in the forward direction of travel (V) of the vehicle (1) behind a wheel (3, 4) of the vehicle (1) for object detection; - Providing an evaluation unit (8) which is designed to receive measurement data from the sensor (5) during driving operation and to carry out a risk analysis based on these measurement data and the position and orientation of the sensor (5), wherein a warning signal is generated if the risk analysis shows that at least part of the object (10) is in a hazardous position within the detection area (7). [2] Method according to claim 1, wherein the warning signal is output by at least one output means (9). [3] Method according to claim 1 or claim 2, wherein the real geometry of the field of view (6) of the sensor (5) is determined before carrying out the risk analysis. [4] System for monitoring the surroundings of a vehicle (1), which is designed to carry out the method according to one of the preceding claims. [5] Vehicle (1) comprising a chassis (2) with wheels (3, 4) arranged thereon and a system according to claim 4, wherein the sensor (5) is arranged on the chassis (3) in such a way that a detection area (7) in the vicinity of one of the wheels (3, 4) of the vehicle (1) can be monitored for object detection. [6] Vehicle (1) according to claim 5, wherein the vehicle (1) is an agricultural vehicle, a construction vehicle or a construction machine.

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