Device for detecting obstacles, vehicle and method for operating the vehicle

Abstract

The invention relates to a device (3) for detecting obstacles (9), comprising a base body (5), at least one sensor (6) connected to the base body (5), and at least one sensor (7). The at least one sensor (7) is designed to detect a force exerted on the sensor (6) and to generate sensor data based on the detected force. The device (3) further comprises an interface for outputting the sensor data. The invention further relates to a vehicle (1) having such a device (3), and to a method for operating the vehicle (1).

Description

Field of the invention

[0001] The invention relates to a device for detecting obstacles, particularly in the vicinity of vehicles. Furthermore, the invention relates to a vehicle with such a device and a method for operating such a vehicle. background

[0002] When maneuvering a vehicle, especially a large vehicle such as a bus, truck, or lorry, there is a risk of the vehicle colliding with overhanging objects, which could damage the vehicle and / or the objects. These overhanging objects could be, for example, branches, roofs, cables, or pipes. Damage to the vehicle's upper sensor clusters is particularly disadvantageous, as damaged sensors no longer guarantee safe operation of the vehicle and repairing these sensors is expensive. However, the sensor clusters themselves can often only detect overhanging objects inaccurately or unreliably at close range, for example at distances of 15 cm or less, or can no longer detect them at all. Summary

[0003] It is therefore the object of the invention to provide a device for detecting obstacles that overcomes the aforementioned disadvantages and, in particular, enables detection of obstacles in extremely close proximity, even to the point of contact. Furthermore, the object of the invention is to provide a vehicle with such a device and a method for operating such a vehicle. This object is achieved by the subject matter of the independent patent claims. Further developments of the invention emerge from the subclaims and the following description.

[0004] One aspect of the invention relates to a device for detecting obstacles. This device is particularly designed for use in vehicles, for example, in lorries, buses, and / or cars. The obstacles are any objects with which the vehicle could collide. In particular, the obstacles can be overhanging obstacles such as branches, roofs, cables, or pipes. However, the obstacles can also be other vehicles, stationary objects such as buildings and trees, people, or animals.

[0005] The device comprises a base body. This base body can be a separate base body of the device, but the base body can also be another part of the vehicle, for example, a sensor, a sensor cluster, or a bumper.

[0006] Furthermore, the device comprises at least one sensor connected to the base body and a sensor configured to detect a force exerted on the sensor. Thus, when the sensor touches an obstacle, a force is exerted on the sensor, and this force is detected by the sensor. Furthermore, the at least one sensor is configured to generate sensor data based on the detected force. In particular, this sensor data can be generated as an electrical or electronic signal.

[0007] The device further comprises an interface for outputting the sensor data. This interface can be embodied, for example, as an electrical and / or electronic connection, for example, with a plug or as hard wiring. However, the interface can also be a wireless connection, so that the sensor data is output via a radio signal.

[0008] The described device can therefore detect obstacles at close range, in particular within a few centimeters, and even more particularly within a range of less than 15 cm, up to the point of contact with the obstacle. It can therefore prevent collisions between the vehicle and obstacles without damaging the device, the vehicle to which the device is assigned, or the obstacle being contacted. In particular, the device can protect other sensors or sensor clusters of the vehicle from damage, but the device can also be used to protect people or animals. The device also facilitates maneuvering and navigation, particularly at low speeds, and increases safety.

[0009] In some embodiments, each sensor is an elongated element. In this context, an elongated element is understood to be an element whose extension along a longitudinal line is much greater, in particular more than 10 times as large, most particularly more than 30 times as large, than the extension perpendicular to this longitudinal line. The elongated element can be straight, so that the longitudinal line is a straight line. Alternatively, the elongated element can be slightly curved, so that the longitudinal line has a curved shape. Because the sensor is an elongated element, it is very space-saving.

[0010] In some embodiments, each probe is elastic. When a force is applied to the probe, the probe deforms, and the sensor detects this elastic deformation of the probe. For example, the sensor may include one or more piezoelectric sensors that determine the elastic deformation of the probe. The elasticity of the probe prevents damage to the obstacle upon contact with the obstacle.

[0011] In some embodiments, each sensor is movably connected to the base body. If a force is exerted on the sensor, the sensor moves relative to the base body, and the sensor is designed to detect this movement of the sensor relative to the base body. The connection of the sensor to the base body can be established, for example, via a spring element. The movement of the sensor relative to the base body can be measured in a variety of ways, for example via capacitive distance sensors or strain sensors. The fact that the sensor is movably connected to the base body also prevents damage to the obstacle when it comes into contact with the obstacle.

[0012] In some embodiments, each sensor can be transferred from a first state in which it is integrated in the base body to a second state in which it protrudes from the base body, and back again. In particular, the sensor can be folded into the base body (first state) and folded out again (second state). Alternatively, or additionally, the sensor can be retracted into the base body (first state) and extended out of the base body again (second state). The transfer between the first state and the second state can be carried out, for example, by an electric motor, electromagnetically, hydraulically, or pneumatically. Detection of a force exerted on the sensor, and thus detection of obstacles, is carried out in particular in the second state.The second state is adopted in particular when the vehicle is in a second driving state, wherein the second driving state is, for example, a shunting maneuver and is activated, for example, when the vehicle speed falls below a predetermined threshold, for example 5 km / h or 3 km / h. If, on the other hand, the vehicle is in a first driving state, for example, a long-distance journey, wherein the first driving state is, for example, activated when the vehicle speed exceeds a predetermined threshold, for example 20 km / h or 50 km / h, the first state is adopted. The first state is the more aerodynamically favorable one, which is particularly important at the higher speeds of the first driving state. Furthermore, damage to the sensor, for example due to vibrations triggered by the airstream, is avoided.Because the sensors can be switched from the first state to the second state and back, they can be adapted to the respective driving situation.

[0013] In some embodiments, a plurality of sensors are arranged, and at least one sensor is assigned to each sensor. This makes it possible to determine which sensor(s) a force has been exerted on, and thus in the area of ​​which of the sensors the obstacle is located. The sensors can in particular be arranged next to one another, so that a spatial resolution of the obstacle in one direction, in particular a horizontal direction, is possible. The number of sensors can be, for example, 3 or 4 to obtain a coarse spatial resolution, or, for example, 10 to 20 to obtain a finer spatial resolution. Furthermore, a higher number of sensors can also cover a larger area, so that this larger area is protected from a collision with an obstacle.

[0014] In some embodiments, the sensors have different lengths. Shorter sensors are arranged where higher spatial resolution is desired, for example, at corners of the vehicle and / or where smaller parts of the vehicle are to be protected from collisions, while longer sensors are arranged where lower spatial resolution is sufficient, for example, on the sides of the vehicle and / or where larger parts of the vehicle are to be protected from collisions.

[0015] In some versions, the individual sensors are replaceable. This allows for easy replacement of broken, damaged, or scratched sensors, allowing for quick and cost-effective replacement of sensors.

[0016] A further aspect of the invention relates to a vehicle comprising the device according to the preceding description. The vehicle can in particular be a truck, a tractor unit, a van, a bus, or a car. Because the device can detect obstacles in close range, in particular in the range of a few centimeters, most particularly in the range of less than 15 cm, up to the point of contact with the obstacles, it is therefore possible to avoid collisions between the vehicle and obstacles, whereby neither the device, the vehicle, nor the obstacle to be contacted are damaged. Furthermore, the available space for maneuvering can be optimally utilized. Even people or animals are not injured if they come into contact with the device. Safe navigation at low speeds is therefore facilitated and safety is increased.

[0017] In some embodiments, the device is arranged on and / or near additional sensors of the vehicle, in particular upper sensor clusters. This protects these additional sensors and / or upper sensor clusters from collisions, particularly with overhanging obstacles. This prevents damage to the sensors and / or upper sensor clusters, which would compromise safe operation of the vehicle and result in costly repairs.

[0018] In some embodiments, the device is arranged on and / or near a bumper of the vehicle. Many obstacles are also expected in this area, so the device is also very effective in this area. In particular, the device can be arranged on a front side of the vehicle and at the front corners of the vehicle. Additionally, the device can also be arranged on a rear side of the vehicle, at the rear corners, and / or on a side of the vehicle.

[0019] Yet another aspect of the invention relates to a method for operating the vehicle according to the preceding description. In this case, a force exerted on the at least one sensor is detected by the at least one sensor. Based on the detected force, sensor data is then generated by the at least one sensor. This generated sensor data is sent by the at least one sensor to a computing unit of the vehicle. This computing unit can be, for example, a central computing unit of the vehicle. Alternatively, or additionally, the computing unit can be a computing unit of a driving system of the vehicle, in particular an autonomous driving system or a driver assistance system. The computing unit then detects an obstacle based on the sensor data. If an obstacle is detected, the computing unit generates feedback.This feedback is particularly designed to prevent a collision between the vehicle and the obstacle. Thus, the method prevents a collision between the vehicle and obstacles, such as overhanging obstacles. Furthermore, especially when maneuvering, it allows the vehicle to approach obstacles until they touch, allowing optimal use of the space available for maneuvering.

[0020] In some embodiments, the feedback comprises the output of a warning signal. This warning signal can be a visual and / or acoustic warning signal. In the case of a visual warning signal, the warning signal can also indicate in which area of ​​the vehicle the obstacle is touched. In addition, the warning signal can also indicate the strength of the force exerted on the sensor, for example through a volume of the acoustic signal, a beeping frequency of the acoustic signal, colors and / or sizes of the visual signal. With the help of the warning signal, a driver of the vehicle recognizes that the vehicle has approached an obstacle and, if applicable, how close it has come, and can brake the vehicle accordingly to avoid a collision between the vehicle and the obstacle.

[0021] In some embodiments, the feedback includes automatic braking. This automatic braking prevents the vehicle from colliding with the obstacle.

[0022] In some embodiments, the computing unit determines a driving state of the vehicle. In particular, a first driving state and a second driving state can be determined. The first driving state corresponds, for example, to a route journey and is determined, for example, when the speed of the vehicle exceeds a predetermined threshold value, for example 20 km / h or 50 km / h. Alternatively, the first driving state can be determined, for example, when the vehicle is on a main road, a country road, or a motorway. The second driving state corresponds, for example, to a shunting maneuver and is determined, for example, when the speed of the vehicle falls below a predetermined threshold value, for example 5 km / h or 3 km / h. Alternatively, the second driving state can be determined, for example, when the vehicle is on a secondary road or on factory premises.The sensors are then controlled by the processing unit so that they are in the first state during the first driving mode and in the second state during the second driving mode. This means, for example, that during a long-distance journey, the sensors are folded and / or retracted into the base body to ensure the lowest possible drag coefficient for the vehicle and to prevent damage to the sensors, for example, due to vibrations. During a maneuvering maneuver, they are folded and / or extended to detect obstacles. This allows for particularly efficient use of the sensors.

[0023] For further clarification, the invention is described with reference to embodiments illustrated in the figures. These embodiments are to be understood as examples only and not as limitations. Short description of the characters

[0024] It shows: Fig. 1a is a schematic side view of a vehicle with an embodiment of an obstacle detection device in a first state; Fig. 1b is a schematic side view of the vehicle with the embodiment of the device for detecting obstacles from Fig. 1a in a second state; Fig. 1c is a schematic side view of the vehicle with the embodiment of the device for detecting obstacles from Fig. 1a and Fig. 1b when touching an obstacle; Fig. 2 is a schematic plan view of a vehicle with an upper sensor cluster and a further embodiment of an obstacle detection device; Fig. 3a is a schematic representation of yet another embodiment of a device for detecting obstacles in a first state; Fig. 3b is a schematic representation of the embodiment of the device for detecting obstacles from Fig. 3a in a second state; Fig. 3c is a schematic representation of the embodiment of the device for detecting obstacles from Fig. 3a and Fig. 3b when touching an obstacle; Fig. 4a is a schematic representation of yet another embodiment of a device for detecting obstacles in a first state; Fig. 4b is a schematic representation of the embodiment of the device for detecting obstacles from Fig. 4a in a second state; and Fig. 4c is a schematic representation of the embodiment of the device for detecting obstacles from Fig. 4a and Fig. 4b when touching an obstacle. Detailed description of embodiments

[0025] In the figures, like reference numerals indicate either like elements or elements with equivalent functions. Elements that have already been described are not necessarily described again in the following figures.

[0026] Fig. 1a shows a schematic side view of a vehicle 1. The vehicle 1 is shown here as a tractor, but the invention also relates to other vehicles such as trucks, vans, buses, cars, or forklifts.

[0027] The vehicle 1 comprises an upper sensor cluster 2, which comprises, for example, various sensors such as radar sensors, lidar sensors, and / or cameras.

[0028] Furthermore, the vehicle 1 comprises a device 3 for detecting obstacles. This device 3 is, as shown in Fig. 1a, arranged on the upper sensor cluster 2. However, the invention is not limited to devices 3 arranged on upper sensor clusters 2, but also relates to devices 3 arranged at other locations on the vehicle 1, for example on and / or in the vicinity of a bumper 4 of the vehicle 1. Furthermore, the invention also relates to devices 3 arranged on vehicles 1 that do not have an upper sensor cluster 2.

[0029] In Fig. 1a, the device 3 is shown in a first state, which is assumed in particular in a first driving state, wherein the first driving state is, for example, a long-distance journey. The first driving state is determined, for example, when the speed of the vehicle 1 exceeds a predetermined threshold value, for example, 20 km / h or 50 km / h, or when the vehicle 1 is on a main road, a country road, or a motorway.

[0030] The device 3 comprises a base body 5 and at least one sensor 6 connected to the base body 5. In the present embodiment, the base body 5 is the upper sensor cluster 2, but the base body 5 can also be a separate base body or another part of the vehicle 1. Furthermore, in the present embodiment, two sensors 6 are shown, but a different number of sensors 6, in particular a plurality of sensors 6, is also possible. The sensor 6 is in the Fig. 1a, integrated into the base body 5, for example folded into the base body 5 or retracted into the base body 5.

[0031] Furthermore, the device 3 comprises at least one sensor 7. In particular, at least one sensor 7 is assigned to each sensor 6. The sensor 7 is designed to detect a force exerted on the sensor 6 and to generate sensor data based on this detected force. The device 3 further comprises an interface (not labeled here for the sake of clarity) for outputting the sensor data generated by the sensor 7. The device 3 is connected to a computing unit 8 of the vehicle 1 via this interface. This connection is shown as a wired connection in the present embodiment, but a wireless connection is also possible. The computing unit 8 can be, for example, a central computing unit 8 of the vehicle 1 or a computing unit 8 of a driving system of the vehicle 1, in particular an autonomous driving system or a driver assistance system.

[0032] The sensor data output by sensor 7 can therefore indicate a force exerted on sensor 6, as is the case, for example, when sensor 6 touches an obstacle. Thus, the sensor data output by sensor 7 can indicate an obstacle touched by device 3. In particular, obstacles in the near range, in particular in the range of a few centimeters, especially in the range of less than 15 centimeters, can be detected. If device 3 is arranged near the upper sensor cluster 2, as shown in Fig. 1a, overhanging obstacles can thus be detected, and a collision of the vehicle 1 with these overhanging obstacles can be avoided. In particular, this prevents damage to the upper sensor cluster 2, thus ensuring safe operation of the vehicle 1 and avoiding costly repairs. With the device 3, it is also possible, for example, to optimally utilize the available space for maneuvering. In this case, neither the device 3, nor the vehicle 1, nor the obstacle to be contacted is damaged. Nor are people or animals injured when contacted by the device 3. This also makes navigation at low speeds easier and increases safety.

[0033] The sensor 6 can be moved, for example by an electric motor, electromagnetically, hydraulically, or pneumatically, from the Fig. 1a shown first state into one in Fig. 1b. In this second state, the sensor 6 protrudes from the base body 5, i.e., for example, it is folded out from the base body 5 or extended from the base body 5. Likewise, the sensor 6 can be transferred from the second state back to the first state. The second state is assumed in particular when the vehicle 1 is in a second driving state, for example, a shunting operation. This second driving state is determined, for example, when the speed of the vehicle 1 falls below a predetermined threshold value, for example 5 km / h or 3 km / h, or when the vehicle 1 is on a secondary road or on factory premises.

[0034] If the sensor 6 in the second state now encounters an obstacle 9, as in Fig. As shown in Figure 1c, a force is exerted on the sensor 6. This force exerted on the sensor 6 is detected by the sensor 7, whereupon the sensor 7 transmits sensor data to the computing unit 8.

[0035] If the computing unit 8 detects the obstacle 9, it can issue a warning signal. This warning signal can be a visual and / or acoustic warning signal. In the case of a visual warning signal, the warning signal can also indicate in which area of ​​the vehicle 1 the obstacle 9 is touched. In addition, the warning signal can also indicate the magnitude of the force exerted on the sensor 6, for example through a volume of the acoustic signal, a beeping frequency of the acoustic signal, colors and / or sizes of the visual signal. With the help of the warning signal, a driver of the vehicle 1 recognizes that, and if necessary also how close, the vehicle 1 has approached the obstacle 9, and can brake the vehicle 1 accordingly in order to avoid a collision between the vehicle 1 and the obstacle 9.Alternatively, or additionally, the computing unit 8 can trigger an automatic braking of the vehicle 1, by means of which a collision of the vehicle 1 with the obstacle 9 is prevented.

[0036] Fig. 2 shows a schematic plan view of a vehicle 1 with an upper sensor cluster 2 and a further embodiment of a device 3 for detecting obstacles 9 with a plurality of sensors 6. For the sake of clarity, only the sensors 6 are shown here in the second state.

[0037] It can be seen that each sensor 6 is an elongated element. In this context, an elongated element is understood to be an element whose extension along a longitudinal line is much larger, in particular more than 10 times as large, most particularly more than 30 times as large, than the extension perpendicular to this longitudinal line. The elongated element can, as in Fig. 2, be slightly curved, so that the longitudinal line has a curved shape. Alternatively, the elongated element can be straight, so that the longitudinal line is a straight line. Because the sensor 6 is an elongated element, it is very space-saving.

[0038] The feelers 6 in Fig. 2 have different lengths and are arranged at different distances from each other. In particular, the sensors 6 in the area of ​​the corners of the vehicle 1 are shorter but arranged closer together, so that a higher spatial resolution of obstacles 9 is achieved in this area, while the sensors 6 in the area of ​​the front of the vehicle are longer but arranged less closely together.

[0039] Fig. Figure 3a shows a schematic representation of yet another embodiment of a device 3 for detecting obstacles 9 in a first state. The sensor 6 is movably connected to the base body 5 via an elastic element 10, shown here as a spring. Furthermore, the sensor 6 is folded into the base body 5 in the first state.

[0040] In the Fig. In the second state shown in Figure 3b, the sensor 6 is then folded out of the base body 5. The sensor 7 is designed such that it detects a movement of the sensor 6 relative to the base body 5, for example, as a distance sensor.

[0041] If an obstacle 9 touches the sensor 6, as in Fig. 3c, the sensor 6 moves relative to the base body 5, this movement being detected by the sensor 7, and thus the obstacle 9 can be deduced from the detected movement.

[0042] Fig. Figure 4a shows a schematic representation of yet another embodiment of a device 3 for detecting obstacles 9 in a first state. In this case, the sensor 6 is elastic and retracted into the base body 5 in the first state.

[0043] In the Fig. In the second state shown in Figure 4b, the sensor 6 is then extended from the base body 5. The sensor 7 is designed to detect an elastic deformation of the sensor 6, for example, as a piezo sensor.

[0044] If an obstacle 9 touches the sensor 6, as in Fig. 4c, the sensor 6 is elastically deformed, this elastic deformation being detected by the sensor 7, and thus the obstacle 9 can be deduced from the detected elastic deformation.

[0045] The Fig. 2, 3a - 3c and 4a - 4c can also be combined with each other. For example, the sensors 6 in the embodiments of Fig. 3a - 3c and 4a - 4c may also be slightly bent. Likewise, the sensor 6 may be made of Fig. 3a - 3c can be moved in or out of the base body 5, or the sensor 6 can be moved out of Fig. 4a - 4c can be folded in or out of the base body 5. List of reference symbols 1 vehicle 2 upper sensor cluster 3 Device for detecting obstacles 4 bumper 5 basic bodies 6 sensors 7 Sensor 8 computing unit 9 Obstacle 10 elastic element

Claims

[1] A device (3) for detecting obstacles (9), comprising: a base body (5); at least one sensor (6) connected to the base body (5); at least one sensor (7), formed for detecting a force exerted on the sensor (6) and to generate sensor data based on the sensed force; and an interface for outputting the sensor data. [2] The device (3) according to claim 1, wherein each sensor (6) is an elongated element, which is in particular straight or slightly curved. [3] The device (3) according to claim 1 or 2, wherein each sensor (6) is elastic and the sensor (7) detects an elastic deformation of the sensor (6). [4] The device (3) according to claim 1 or 2, wherein each sensor (6) is movably connected to the base body (5) and the sensor (7) detects a movement of the sensor (6) relative to the base body (5). [5] The device (3) according to one of claims 1 to 4, wherein each sensor (6) can be transferred from a first state in which it is integrated in the base body (5) to a second state in which it protrudes from the base body (5) and back. [6] The device (3) according to one of claims 1 to 5, wherein a plurality of sensors (6) are arranged, in particular next to one another, and at least one sensor (7) is assigned to each sensor (6). [7] The device (3) according to claim 6, wherein the sensors (6) have different lengths. [8] The device (3) according to one of claims 1 to 7, wherein the individual sensors (6) are interchangeable. [9] A vehicle (1) comprising the device (3) according to one of claims 1 to 8. [10] The vehicle (1) according to claim 9, wherein the device (3) is arranged on and / or in the vicinity of further sensors of the vehicle (1), in particular upper sensor clusters (2). [11] The vehicle (1) according to claim 9 or 10, wherein the device (3) is arranged on and / or near a bumper (4) of the vehicle (1). [12] A method for operating the vehicle (1) according to any one of claims 9 to 11, wherein a force exerted on the at least one sensor (6) is detected by the at least one sensor (7); from the at least one sensor (7), sensor data is generated based on the detected force; the generated sensor data are passed from the at least one sensor (7) to a computing unit (8) of the vehicle (1); an obstacle (9) is detected by the computing unit (8) based on the sensor data; and when an obstacle (9) is detected, feedback is generated by the computing unit (8). [13] The method of claim 12, wherein the feedback comprises issuing a warning signal. [14] The method of claim 12 or 13, wherein the feedback comprises automatic braking. [15] The method according to any one of claims 12 to 14, wherein a driving state of the vehicle (1) is determined by the computing unit (8), and the sensors (6) are controlled by the computing unit (8) such that they are in the first state in a first driving state and in the second state in a second driving state.

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