Method for detecting tire damage on a motor vehicle

Abstract

In order to provide a method for detecting tire damage of a motor vehicle, which is particularly suitable for use in autonomously driving motor vehicles, a method (100) for detecting tire damage of a motor vehicle (200) comprising the following steps is proposed: - Collecting sensor data, - Determining an impending or already occurring tire damage by means of a data processing device (12) using the sensor data, - initiating an emergency protocol if an impending or actual tire failure has been detected, wherein it is provided that the data processing device (12) detects an impending or actual tire failure if the sensor data indicate spongy driving behavior of the motor vehicle (200) and / or spongy steering behavior of the motor vehicle (200), and / or if the sensor data indicate vehicle vibrations and / or vibrations of a steering system, and / or if the sensor data indicate smoke development on the motor vehicle (200), and / or if the sensor data indicate increased noise development of the motor vehicle (200).

Description

[0001] The present invention relates to a method for detecting tire damage of a motor vehicle, comprising the steps: - Collecting sensor data, - Determining an impending or already existing tire damage by means of a data processing device using the sensor data, - Initiate an emergency protocol when an impending or actual tire failure is detected.

[0002] Furthermore, the present invention relates to a motor vehicle equipped to carry out a method for detecting tire damage.

[0003] Tire damage, especially tire fires or blowouts, while driving can lead to dangerous driving situations that can result in accidents, damage to people and vehicles, and endanger other road users. With autonomous vehicles, the driver is no longer responsible for controlling the vehicle, which can detect tire damage early and intervene accordingly.

[0004] EP 3 626 556 A1 discloses a method for emergency response in the event of a tire pressure loss of a vehicle, comprising the steps of detecting a tire pressure at a wheel of the vehicle and detecting an inclination angle at an axle of the vehicle associated with the wheel.

[0005] An automatic driving system for the event of a tire blowout is known from CN 112141078 A. The automatic driving system comprises a system controller, sensors, and an execution mechanism. The sensors include a tire pressure sensor and a yaw rate sensor. The execution mechanism includes a steering system, a braking system, and a drive system of a vehicle. When the system controller determines a tire blowout and a position of the tire blowout according to a yaw rate and a tire pressure change, the driving system takes over driving the vehicle and adjusts a steering angle to ensure that the vehicle does not deviate from a driving lane during the tire blowout.

[0006] CN 113200045 A discloses auxiliary control methods in the event of a vehicle tire blowout. The method includes the following steps: acquiring tire pressure information from a vehicle's tires, judging whether the tire pressure is normal, and, if not, decelerating the vehicle.

[0007] It is an object of the present invention to provide a method for detecting tire damage of a motor vehicle, which is particularly suitable for use in autonomously driving motor vehicles.

[0008] To achieve the object underlying the invention, a method for detecting tire damage of a motor vehicle is proposed, comprising the following steps: - Collecting sensor data, - Determining an impending or already existing tire damage by means of a data processing device using the sensor data, - Initiating an emergency protocol if an impending or actual tire failure has been detected, wherein it is provided that the data processing device detects an impending or actual tire failure if the sensor data indicate spongy driving behavior of the motor vehicle and / or spongy steering behavior of the motor vehicle, and / or if the sensor data indicate vehicle vibrations and / or vibrations of a steering system, and / or if the sensor data indicate smoke development on the motor vehicle, and / or if the sensor data indicate increased noise development of the motor vehicle.

[0009] The tire damage could be, for example, a loss of tire pressure, a tire fire or a tire blowout.

[0010] According to the method, sensor data is recorded. The sensor data is then forwarded directly or indirectly to a data processing device, which is preferably located in the motor vehicle. Using the sensor data, the data processing device determines whether tire damage is imminent or has already occurred. If tire damage is detected as imminent or has already occurred, an emergency protocol is initiated. The emergency protocol can be initiated by the data processing device.

[0011] According to the invention, the data processing device determines an impending or already existing tire damage if the sensor data indicate spongy driving behavior of the motor vehicle and / or spongy steering behavior of the motor vehicle, and / or if the sensor data indicate vehicle vibrations and / or vibrations of a steering system, and / or if the sensor data indicate smoke development on the motor vehicle, and / or if the sensor data indicate increased noise development of the motor vehicle.

[0012] The indicators "spongy driving behavior", "spongy steering behavior", "vehicle vibrations", "vibrations of a steering system" or "smoke development on a motor vehicle" are indicators which can indicate or indicate an impending tire damage at an early stage. An increased noise development is also a good indicator for an impending or occurred tire damage. The increased noise development can be an increase in the noise level. It is also possible that the increased noise development is an increase in the rolling noise of the wheels of the motor vehicle.

[0013] In particular, in the method according to the invention, the use of sensor data of a tire pressure sensor can be dispensed with, since tire pressure sensors can be prone to errors. Nevertheless, it is basically possible to additionally use sensor data of a tire pressure sensor.

[0014] Preferably, the motor vehicle is a passenger car or a truck.

[0015] Modern passenger cars and trucks are equipped with a multitude of sensors that can collect sensor data that can be used to determine indicators of impending or already existing tire failure. Such sensors often collect sensor data for vehicle dynamics control or an electronic stability control (ESC) system.

[0016] Especially in the case of trucks, it is particularly advantageous if a tire damage can be detected early and an emergency protocol can be initiated due to the large masses moved.

[0017] It is further advantageous that the motor vehicle is an autonomous or automatically driving motor vehicle.

[0018] The method is particularly advantageous for autonomously driving vehicles. For example, autonomously driving vehicles usually lack a driver who can react to an impending or already existing tire failure. While a human driver can usually easily detect spongy driving or steering behavior, vehicle vibrations, steering vibrations, or smoke development, this is not readily possible for the control system of an autonomously driving vehicle. In an autonomously driving vehicle, the proposed method can therefore also detect these indicators, which are easily detectable by a human driver, and initiate an appropriate emergency protocol.

[0019] It is further advantageously provided that the sensor data are recorded by at least one sensor, wherein the at least one sensor comprises a steering angle sensor, and / or a wheel speed sensor, and / or a yaw rate sensor, and / or a lateral acceleration sensor, and / or a temperature sensor, in particular a tire temperature sensor, and / or an ambient temperature sensor, and / or a tire pressure sensor, and / or a camera, in particular a front camera, a rear camera or an exterior mirror camera, and / or a microphone, and / or a thermal imaging camera.

[0020] It is therefore particularly advantageous for the data processing device to access a large number of sensor data from a wide variety of sensors in the motor vehicle. Sensor fusion is performed to determine whether tire damage is imminent or has already occurred.

[0021] If, for example, spongy driving behavior or spongy steering behavior of the motor vehicle is used as an indicator, this can be determined using the sensor data of a steering angle sensor, a wheel speed sensor and a yaw rate sensor.

[0022] If vehicle vibrations or steering vibrations are used as indicators, the sensor data can in this case be determined by a steering angle sensor and / or a lateral acceleration sensor.

[0023] For determining smoke development in a motor vehicle, cameras, in particular a front camera, a rear camera and / or an exterior mirror camera, can be used. Here, the data processing device can in particular perform a comparison of the sensor data of a front camera and a rear camera or an exterior mirror camera. For example, if smoke is detected via the sensor data of the rear camera while the sensor data of the front camera does not indicate any smoke development, it can be concluded that the smoke development is coming from the motor vehicle and thus a tire damage may be imminent or may already have occurred. The determination of smoke development can also be done directly. Thus, a smoke development at the rear tires can be determined by means of the exterior mirror camera. In particular in the case of trucks, a smoke development at the front tires can be determined by means of a blind spot camera.

[0024] The microphone can be used to detect increased noise levels. A temperature increase in the vehicle can be detected using the thermal imaging camera. The thermal imaging camera can be mounted on the vehicle itself, i.e., the ego vehicle, or on another vehicle. If a temperature increase in the ego vehicle is detected using a thermal imaging camera mounted on another vehicle, this sensor data can be transmitted to the data processing device of the ego vehicle, for example, via car-to-car communication.

[0025] The indicators can also be combined so that the data processing device can access a variety of sensor data from the sensors explained above.

[0026] It can be provided that the sensor data are received and evaluated by an ESC control unit, and that the ESC control unit creates driving dynamics data on the basis of the sensor data and sends the driving dynamics data to the data processing device.

[0027] Particularly if the indicator is spongy driving behavior or spongy steering behavior of the motor vehicle, it is advantageous if the sensor data is received and evaluated by an ESC control unit, and if the ESC control unit generates driving dynamics data based on the sensor data and sends the driving dynamics data to the data processing device. The driving dynamics data thus contain information indicating spongy driving behavior and / or spongy steering behavior of the motor vehicle.

[0028] In this case, the sensor data is transmitted indirectly to the data processing device via the ESC control unit.

[0029] In addition, it is possible for the data processing device to determine an impending or occurred tire damage if the sensor data indicate a rising temperature of at least one tire and / or a falling tire pressure of at least one tire.

[0030] Accordingly, the sensor data from a tire temperature sensor and / or a tire pressure sensor can then be provided. If a rising temperature is used as an indicator of tire damage, it is particularly advantageous to use the sensor data from an ambient temperature sensor and, if applicable, information on the load condition of the vehicle in addition to the sensor data from a tire temperature sensor. This can, for example, filter out temperature fluctuations in the tires that can occur at high ambient temperatures and under heavy load conditions. Comparing the temperature data from the temperature sensor with the temperature data from the ambient temperature sensor, possibly including load data, represents a reliable indicator for determining whether tire damage is imminent or has already occurred.

[0031] With further advantage, it can be provided that the data processing device determines an impending or occurred tire damage if the sensor data indicate a reduced lateral guidance force of at least one tire.

[0032] The cornering force can at least be estimated based on the sensor data. For example, the sensor data from a steering angle sensor, which indicates the driver's desired direction of travel, can be used to determine the cornering force. In addition, the data from a wheel speed sensor and / or a yaw rate sensor can be used. The cornering forces of a tire can be estimated from this sensor data. Furthermore, it can be provided that the cornering force is determined or estimated under load, for example during braking of the motor vehicle. In this case, sensor data from a brake pressure sensor, in particular a master brake cylinder pressure sensor and / or a wheel brake pressure sensor, can also be used to determine or estimate the cornering force. The cornering force can also be determined or estimated by an ESC control unit.

[0033] Advantageously, the emergency protocol includes the issuance of an acoustic and / or visual warning to vehicle occupants.

[0034] For example, a warning can be issued via voice output. Interior lighting or a screen output can also be used to convey the warning.

[0035] It may be further advantageous for the emergency protocol to include an acoustic and / or visual output of instructions to a vehicle driver.

[0036] This preferred embodiment is particularly advantageous if the motor vehicle is not an autonomously driving vehicle or a vehicle with a lower level of automation.

[0037] The instructions output acoustically or optically to the driver can, for example, include the instruction that the driver should firmly hold the steering wheel with both hands, slowly reduce the speed or steer carefully. In a motor vehicle with a lower level of automation, the instructions can also include the request to take over vehicle control.

[0038] The instructions can in particular be output by means of a voice output.

[0039] Furthermore, the emergency protocol can include an acoustic and / or optical warning to other road users.

[0040] For example, it is possible for the hazard warning lights on the vehicle to be activated to alert other road users to the dangerous situation. Furthermore, it is also possible for information regarding an impending or already existing tire failure on the vehicle to be transmitted to other road users via car-to-car communication.

[0041] Another advantage of the emergency protocol is that it can include the ability to place an emergency call. For example, an emergency call can be automatically transmitted to an emergency control center, allowing assistance to be requested without any intervention from the driver.

[0042] Furthermore, the emergency protocol can include automatic implementation of pre-crash measures, such as raising the seats or tightening the seat belts. This is particularly advantageous when contact with other road users or objects cannot be avoided.

[0043] A further advantageous embodiment provides that the emergency protocol includes automatic and / or autonomous lateral and / or longitudinal guidance of the motor vehicle.

[0044] For example, automatic lateral or longitudinal guidance of the vehicle can automatically countersteer slightly in the event of a tire blowout to keep the vehicle in lane. This is particularly advantageous for autonomous vehicles.

[0045] In addition, the interventions of the lateral and longitudinal guidance may also include the vehicle being slowed down or braked and / or brought to a standstill.

[0046] Thus, it can be provided in particular that the emergency protocol includes a reduction in speed and / or bringing the motor vehicle to a standstill.

[0047] It can be further advantageously provided that the data processing device, when it has detected an impending or already existing tire damage, determines a suitable parking location for the motor vehicle.

[0048] For example, the data processing device can use data from a navigation device, among other things, to search for parking spaces where the motor vehicle can be parked safely. Unsuitable parking spaces may include those in a tunnel, under a bridge, or near a factory building. Other unsuitable parking spaces include those near a school or a gas station.

[0049] If the motor vehicle is a truck, the emergency protocol may also include uncoupling and securing a trailer.

[0050] Furthermore, information on loaded hazardous goods can also be included for the implementation of the emergency protocol, particularly for the selection of measures to be implemented. This is particularly advantageous for trucks where the loaded goods pose an increased fire risk.

[0051] A further solution to the problem underlying the invention consists in providing a motor vehicle equipped to carry out a method described above.

[0052] The motor vehicle accordingly comprises a data processing device and sensors for determining sensor data. Thus, the motor vehicle can preferably comprise a steering angle sensor, and / or a wheel speed sensor, and / or a yaw rate sensor, and / or a lateral acceleration sensor, and / or a temperature sensor, in particular a tire temperature sensor, and / or an ambient temperature sensor, and / or a tire pressure sensor, and / or a camera, in particular a front camera, a rear camera, or an exterior mirror camera. Furthermore, the motor vehicle preferably comprises an ESC system and / or a driver assistance system, wherein the driver assistance system is designed to intervene in the lateral and / or longitudinal guidance of the motor vehicle.

[0053] The invention is explained in more detail below with reference to the accompanying figures. They show: Fig. 1 is a flowchart of a method for detecting a tire damage of a motor vehicle, and Fig. 2 a motor vehicle is equipped to carry out such a procedure.

[0054] A method 100 for detecting tire damage according to Fig. 1 is based on the Fig. 2. The motor vehicle 200 is designed as an autonomously driving motor vehicle 10. The motor vehicle 200 comprises a plurality of sensors 11, wherein the sensors 11 comprise a steering angle sensor 11a, a wheel speed sensor 11b, a yaw rate sensor 11c, and a lateral acceleration sensor 11d. Furthermore, the sensors 11 comprise a front camera 11e, a rear camera 11f, and a tire temperature sensor 11g. In a first method step S1 according to Fig.1, sensor data is acquired. The sensor data is acquired by the sensors 11 and sent either directly to a data processing device 12 or to an ESC control unit 13 of the motor vehicle 200.

[0055] In a second method step S2, the data processing device 12 uses the sensor data to determine whether tire damage is imminent or has occurred.

[0056] Thus, based on the data from the steering angle sensor 11a, the wheel speed sensor 11b, the yaw rate sensor 11c, and / or the lateral acceleration sensor 11d, the data processing device 12 can determine that the motor vehicle 200 is exhibiting spongy driving or steering behavior. Using the lateral acceleration sensor 11d and the steering angle sensor 11a, vibrations of the motor vehicle 200 and vibrations of the steering system can also be detected. Such events can indicate an impending or already existing tire failure.

[0057] In addition, the data processing device 12 can also use the sensor data from the front camera 11e and the rear camera 11f. For example, if smoke development is detected based on the sensor data from the rear camera 11f and the sensor data from the front camera 11e indicate no smoke development, the data processing device 12 can conclude that the smoke development is occurring on the motor vehicle 200 and may therefore indicate tire damage.

[0058] It is also possible for the data processing device 12 to consider the sensor data from the tire temperature sensor 11g. If the temperature of a tire rises sharply, this may indicate impending or already occurring tire damage.

[0059] As soon as the data processing device 12 has determined an impending or already existing tire damage, an emergency protocol is initiated in a third method step S3.

[0060] The emergency protocol can include an acoustic or visual warning to the vehicle occupants. Furthermore, instructions can be transmitted to a driver of the motor vehicle 200 via a corresponding voice output device 14 to assist the driver in controlling the motor vehicle 200. If the motor vehicle 200 is an autonomously driving motor vehicle 10, automatic lateral or longitudinal guidance of the motor vehicle 200 can also be performed. For example, the speed of the motor vehicle 200 can be reduced, or the motor vehicle 200 can be brought to a stop in a safe location. A driver assistance system (not shown in detail) can be used for the lateral or longitudinal guidance of the motor vehicle 200. List of reference symbols 100 procedures 200 motor vehicles 10 Autonomous vehicle 11 Sensor 11a Steering angle sensor 11b Wheel speed sensor 11c Yaw rate sensor 11d Lateral acceleration sensor 11e front camera 11f rear camera 11g tire temperature sensor 12 Data processing device 13 ESC control unit 14 Speech output device S1-S3 process steps QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] EP 3 626 556 A1

[0004] CN 112141078 A

[0005] CN 113200045 A

[0006]

Claims

[1] Method (100) for detecting tire damage of a motor vehicle (200) comprising the following steps: - Collecting sensor data, - Determining an impending or already occurring tire damage by means of a data processing device (12) using the sensor data, - Initiating an emergency protocol if an impending or actual tire failure has been identified, characterized by that the data processing device (12) determines an impending or occurred tire damage if the sensor data indicate spongy driving behavior of the motor vehicle (200) and / or spongy steering behavior of the motor vehicle (200), and / or if the sensor data indicate vehicle vibrations and / or vibrations of a steering system, and / or if the sensor data indicate smoke development on the motor vehicle (200), and / or if the sensor data indicate increased noise development of the motor vehicle (200). [2] Method (100) according to claim 1, characterized by that the motor vehicle (200) is a passenger car or a goods vehicle. [3] Method (100) according to claim 1 or 2, characterized by that the motor vehicle (200) is an autonomously or automatically driving motor vehicle (10). [4] Method (100) according to one of the preceding claims, characterized by that the sensor data are recorded by at least one sensor (11), wherein the at least one sensor (11) comprises a steering angle sensor (11a), and / or a wheel speed sensor (11b), and / or a yaw rate sensor (11c), and / or a lateral acceleration sensor (11d), and / or a temperature sensor, in particular a tire temperature sensor (11g) and / or an ambient temperature sensor, and / or a tire pressure sensor, and / or a camera, in particular a front camera (11e), a rear camera (11f) or an exterior mirror camera, and / or a microphone, and / or a thermal imaging camera. [5] Method (100) according to one of the preceding claims, characterized by that the sensor data are received and evaluated by an ESC control unit (13), and that the ESC control unit (13) creates driving dynamics data on the basis of the sensor data and sends the driving dynamics data to the data processing device (12). [6] Method (100) according to one of the preceding claims, characterized by that the data processing device (12) determines an impending or occurred tire damage if the sensor data indicate a rising temperature of at least one tire and / or a falling tire pressure of at least one tire. [7] Method (100) according to one of the preceding claims, characterized by that the data processing device (12) determines an impending or occurred tire damage if the sensor data indicate a reduced lateral guidance force of at least one tire. [8] Method (100) according to one of the preceding claims, characterized by that the emergency protocol includes issuing an acoustic and / or visual warning to vehicle occupants. [9] Method (100) according to one of the preceding claims, characterized by that the emergency protocol includes an acoustic and / or visual output of instructions to a vehicle driver. [10] Method (100) according to one of the preceding claims, characterized by that the instructions are given via voice output. [11] Method (100) according to one of the preceding claims, characterized by that the emergency protocol includes an acoustic and / or visual warning to other road users. [12] Method (100) according to one of the preceding claims, characterized by that the emergency protocol includes making an emergency call. [13] Method (100) according to one of the preceding claims, characterized bythat the emergency protocol includes automatic and / or autonomous lateral and / or longitudinal guidance of the motor vehicle (200). [14] Method (100) according to one of the preceding claims, characterized by that the emergency protocol includes a reduction in speed and / or bringing the motor vehicle (200) to a standstill. [15] Motor vehicle (200) arranged to carry out a method (100) according to one of the preceding claims.

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