Off-road system

Abstract

The invention relates to an off-road system with an all-terrain vehicle (1) and at least one drone (3), with the aid of which sensor data (S1 to S4) from the area in front of the vehicle (13) can be acquired during off-road driving in difficult terrain, with a vehicle-side electronic control unit (15) which has a detection module (17) which uses the sensor data (S1 to S4) to determine the ground condition (D B ) in the area in front of the vehicle (13). According to the invention, an evaluation module (19) is assigned to the electronic control unit (15), which uses the determined ground condition (D) to B ) a target ground pressure (p soll ) of the vehicle (1) which ensures off-road capability.

Description

[0001] The invention relates to an off-road system according to the preamble of claim 1.

[0002] Such a generic off-road system consists of an all-terrain vehicle and a drone. When driving in difficult terrain, the drone uses a camera to optically scan the area in front of the vehicle. The sensor data captured by the camera is transmitted to an electronic control unit in the all-terrain vehicle. The electronic control unit analyzes the sensor data, enabling the driver to detect obstacles.

[0003] However, the off-road system known from the prior art does not allow for a detailed determination of the ground conditions in front of the vehicle. This means that, for example, the driver receives no support from the off-road system when adjusting the vehicle's ground pressure and is therefore solely reliant on their experience.

[0004] The ground pressure of a vehicle is calculated by dividing the total weight of the vehicle by the contact area of ​​the vehicle's wheels on the ground. On soft or yielding ground, or in cases of excessively high ground pressure, there is a risk that the vehicle will sink into the ground, impairing its off-road capability. To maintain off-road capability in such cases, the driver, using a tire pressure control system, must, for example, reduce the tire pressure to increase the effective contact area and thus reduce the ground pressure. Alternatively, the driver can place objects (such as mats) under the tires to distribute the vehicle's weight over a larger contact area.

[0005] US patent 2020 / 0398985A1 discloses a driver assistance system using a drone launched from the vehicle. The drone is used to determine the terrain around the vehicle and to create a three-dimensional map using depth and camera sensors. GB patent 2548369A discloses an unmanned aerial vehicle (UAV) for supporting a land vehicle with a ground sensing function. This function enables the land vehicle to navigate off-road using terrain information based on camera and radar data.

[0006] German patent application DE 10 2022 131 269 A1 discloses a system for determining a drivable surface for a vehicle off-road using a three-dimensional sensor. The three-dimensional sensor is designed as an image or radar sensor and serves to acquire environmental data, which is compared with a three-dimensional ground model created by another vehicle.

[0007] German patent DE 10 2012 021 420 A1 discloses a driver assistance system for supporting the driver of a motor vehicle in an off-road environment. Terrain and drivability information is collected via vehicle sensors and displayed to the driver.

[0008] The object of the invention is to create an off-road system with an all-terrain vehicle and at least one drone that provides the driver with comprehensive support during off-road driving compared to the prior art.

[0009] The problem is solved by the features of claim 1. Preferred embodiments of the invention are disclosed in the dependent claims.

[0010] The invention relates to an off-road system comprising an all-terrain vehicle and at least one drone, which enables the acquisition of sensor data from the area in front of the vehicle during off-road driving in difficult terrain. The off-road system includes a vehicle-side electronic control unit with a detection module. This module determines the ground conditions in front of the vehicle based on sensor data provided by the drone and the all-terrain vehicle. To provide comprehensive driver support during off-road driving, an evaluation module is assigned to the electronic control unit, as defined in the characterizing part of claim 1. Based on the ground conditions determined by the detection module, the evaluation module estimates a target ground pressure for the vehicle that ensures the vehicle's off-road capability.The electronic control unit can also be assigned a comparator module that compares the target ground pressure with the vehicle's current actual ground pressure. The actual ground pressure can be calculated in a calculation module of the electronic control unit based on vehicle parameters. Based on this comparison, the electronic control unit initiates measures to lower or increase the actual ground pressure. According to the invention, the driver is therefore no longer dependent on their experience or foresight. Consequently, even an inexperienced driver can master an off-road route in difficult terrain without being overwhelmed.

[0011] Ground pressure is calculated by dividing the total weight of the vehicle by the contact area of ​​the vehicle's wheels on the ground. On soft or yielding ground, as well as in cases of excessively high ground pressure, there is a risk that the off-road vehicle will sink into the ground, thus impairing its off-road capability. The electronic control unit according to the invention proactively detects such a risk and eliminates it by initiating appropriate countermeasures.

[0012] For example, the off-road vehicle may have a tire pressure monitoring system (TPMS) that allows the tire pressure in the vehicle wheels to be adjusted. The electronic control unit can activate the TPMS to lower or raise the actual ground pressure by adjusting the tire pressure accordingly. If the actual ground pressure in the comparator module is significantly higher than the target ground pressure, the electronic control unit generates a corresponding control signal that activates the TPMS to lower the tire pressure and thus increase the effective contact patch.

[0013] A reliable assessment of the ground conditions is crucial for adjusting the vehicle's ground pressure to ensure optimal off-road capability. Therefore, both the drone and the off-road vehicle can be equipped with at least one camera and ground-penetrating radar sensors. The sensor data from these sensors is combined in the assessment module to create a 3D model of the area in front of the vehicle. This 3D model allows not only for simple obstacle detection (as is possible with a camera alone) but also for the identification of ground properties, specifically soil firmness and roughness. Based on this information, the target ground pressure can be estimated with extreme accuracy in the evaluation module.

[0014] The 3D model calculated in the investigation component can also contain the following: the time (sunset); environmental parameters (sun / rain / forecast), fuel level or battery charge status with distance information using the route severity; the system status, i.e. ground pressure / tire pressure / locks in %; roll and pitch position; oil and water temperature.

[0015] Additional information displayed on the screen may include: satellite reception / drone status (functioning OK or not OK); maximum range of the vehicle; distance to the nearest police / fire department / park ranger; proximity to the nearest town in conjunction with contact details for doctors / rescue, etc.

[0016] In a further development, the investigation module can determine the soil conditions not only based on the camera and ground radar sensors of the drone / vehicle, but also taking into account current environmental influences, such as rain, sunshine, snowfall or the like.

[0017] To precisely determine the drone's position and orientation in space, both the vehicle and the drone can be equipped with position sensors. Examples of such position sensors include GPS sensors, accelerometers, altimeters, ultrasonic or lidar sensors, and / or optical sensors, which, using triangulation, allow the drone's position in space to be determined.

[0018] In another version, the off-road vehicle can feature a navigation system with a display that shows the terrain to be traversed on a topographic map, including contour lines. This allows the driver to gain a comprehensive overview of the terrain. When the driver enters a destination, the navigation system can classify routes, suggesting off-road routes of varying difficulty. For example, the navigation system can display the off-road routes using vectors, similar to a rally road book. Conversely, when the off-road vehicle is driving on paved roads, the route can be displayed in a conventional, flowing format.

[0019] In the route classification mentioned above, the navigation system can also take current environmental conditions, such as rain, sunshine, or the like, into account. In particular, the navigation system can proactively reclassify suggested off-road routes based on changing environmental conditions.

[0020] In another specific implementation variant, the off-road vehicle can be equipped with a recovery system including a winch. In a recovery situation, the system can use sensor data to develop a recovery plan through simple vector and position calculations and communicate this plan to the driver. For example, the system can indicate a suitable position for a winch attachment point and / or a winch deflection point in the terrain. Furthermore, during recovery and when the winch is in use, the system can use available sensor data to determine a safety zone around the vehicle being recovered and communicate this to the driver. This eliminates the risk of an accident in the event of a break in the winch cable.

[0021] When the recovery mode is activated, the recovery system can request external support, for example via a video call.

[0022] In another embodiment, the electronic control unit can perform an environmental calculation to determine the ground structure, such as rough rock with short, moderate inclines, or a medium to difficult route due to usage and the risk of fully utilizing the ground clearance. Based on this environmental calculation, the electronic control unit can also provide the driver with a lane recommendation, if necessary.

[0023] The vehicle's MMI (Multi Media Interface) allows you to differentiate between on-road and off-road driving modes. In off-road mode, the satellite imagery can be switched to topographic map data.

[0024] Furthermore, the off-road mode can be switched to a manual mode, in which the drone can be controlled by the driver using a connectable remote control.

[0025] Exemplary embodiments of the invention are described below with reference to the accompanying figures.

[0026] They show: Fig. Figures 1 to 5 show different views, illustrating the structure and function of the off-road system according to the invention.

[0027] In Fig. Figure 1 shows an off-road vehicle 1 during off-road driving in difficult terrain, where the off-road vehicle 1 moves over rough rocks 2 and over inclines along an off-road route. The off-road vehicle 1, together with a drone 3, forms an off-road system according to the invention, which comprehensively supports the driver in finding the way and in assessing the off-road route and ensures sufficient off-road capability of the vehicle 1.

[0028] As from the Fig. 1 or Fig. As shown in Figure 2, the drone 3 is equipped with a camera 5 and ground-penetrating radar sensors 7. Similarly, the vehicle 1 is also equipped with a camera 9 and ground-penetrating radar sensors 11. Using the cameras 5 and 9, as well as the ground-penetrating radar sensors 7 and 11 of the vehicle and the drone 3, the vehicle's forecourt 13 ( Fig. 2) of the off-road vehicle 1 recorded.

[0029] According to the block diagram of the Fig. 3. The sensor data S1 to S4 acquired by cameras 5, 9 and ground radar sensors 7, 11 are transmitted to an electronic control unit 15 of the vehicle 1. Its software architecture is described in the Fig. Figure 3 is shown schematically only to the extent necessary for understanding the invention. Accordingly, the electronic control unit 15 has a detection module 17. In the detection module 17, the sensor data S1 to S4 are combined by means of morphing to form a 3D model of the area in front of the vehicle 13. With such a 3D model, in addition to the mere obstacle detection of the rocks 2, the identification of the ground properties is also made possible, i.e., in particular the ground strength and the ground roughness. Based on the obstacle detection and the identified ground properties, the detection module 17 generates a data set D. B Regarding the ground conditions in the vehicle apron 13. Data set D B is directed to an evaluation module 19. This module estimates based on the data set D. B a target soil pressure ρ for the soil condition sollof the off-road vehicle 1, in which off-road capability is guaranteed.

[0030] The electronic control unit 15 is also assigned a comparator module 21, which determines the target ground pressure ρ soll with an actual ground pressure p ist of the off-road vehicle. The actual ground pressure p ist is calculated in a calculation module 23 of vehicle 1, namely from the current total weight of vehicle 1 divided by the contact area provided by the vehicle wheels 27.

[0031] Based on this comparison, the electronic control unit 15 generates a control signal y, which can be used to control a tire pressure control system 25 of the vehicle 1, with which the tire pressure of the vehicle wheels 27 can be adjusted.

[0032] For example, in evaluation module 19, a soft or yielding ground in the vehicle's approach area 13 can be detected. Such a yielding ground, in combination with an excessively high actual ground pressure p, ist In rough terrain, there is a risk that the vehicle 1 will sink into the ground, thus impairing its off-road capability. In such a case, the electronic control unit 15 automatically reduces the tire pressure of the vehicle wheels 27 to increase their effective contact area and thus the actual ground pressure p. ist to reduce. The off-road capability of vehicle 1 can therefore be maintained without active intervention from the driver.

[0033] As from the Fig. As further shown in Figure 2, both the vehicle 1 and the drone 3 have position sensors 29, which enable a precise determination of the position and orientation of the drone 3 in space using triangulation.

[0034] It should be emphasized that the present invention is in no way limited to the invention described in the Fig. The embodiment shown in Figure 3 is limited. Rather, according to a further development of the invention, the vehicle's electronic control unit 15 can autonomously adjust the entire vehicle based on the acquired sensor data. Alternatively and / or additionally, the vehicle's electronic control unit 15 can suggest settings to the driver to ensure the vehicle's off-road capability. The entire vehicle setting for power output / transmission of drive power to the ground is determined by the ground pressure, taking into account the predictive drone imagery.

[0035] A key aspect of the invention is therefore that the vehicle systems concerned are not only displayed, but are also adjusted autonomously or the settings are suggested to the driver.

[0036] To ensure the vehicle's off-road capability, the vehicle's electronic control unit 15 generates further control signals for the axle locks, center differentials, gear ratios, and the like – alternatively and / or additionally to the control signal y for the tire pressure control system 25. The electronic control unit 15 can also, for example, take into account the thermal load of the drive system (cooling capacity). Especially in electrically powered vehicles or hybrid vehicles, the current flow, temperature, and cooling can also be considered when generating the control signals.

[0037] In summary, the control strategy provided by the vehicle's electronic control unit 15 is structured with an overarching focus on the delivery of the vehicle's drive power to the ground. The tire pressure control system 25 is just one of several systems controllable by the electronic control unit 25 that contribute to the transfer of drive torque to the ground.

[0038] In the Fig. Figure 4 shows display 31 of the vehicle 1's navigation system. Display 31 shows the terrain to be traversed on a topographic map including contour lines, to give the driver a realistic impression of the route's difficulty. When the driver enters a destination B, the navigation system performs a route classification, suggesting off-road routes 33, 34, and 35 of varying difficulty levels. Display 31 of the Fig. Routes 33, 34, and 35 are shown as vectors with GPS coordinates, as in a rally road book. In contrast, for on-road driving, the routes may be shown in a conventional, flowing format.

[0039] For example, route 33, shown with a solid line in display 31, is classified as difficult with a yielding, loose surface and steep inclines. Route 34, shown with a dashed line, is classified as medium with a moderate surface and moderate inclines. Route 35, shown with a dash-dotted line, is classified as easy with roads or dirt tracks and a moderate to slight incline.

[0040] The following is based on the Fig. 5 describes a recovery system for the all-terrain vehicle 1, which includes a winch 37. In the Fig. Figure 5 shows a recovery scenario in which vehicle 1 has traveled along a route in the direction of travel (FR) along lane 45 and is stuck in difficult terrain, meaning it can no longer free itself. For recovery, the following is described in the Fig. 5. The winch 37 located at the front of the vehicle is used. One end of the winch cable 39 is attached to a fixed anchor point 41 (for example, a tree) and deflected to the vehicle 1 via a deflection point 43. In this way, the vehicle 1 can be freed from its position in a controlled manner until it is once again capable of off-road travel. The vehicle recovery takes place in the Fig. 1 in a recovery direction BR oriented in the opposite direction to the direction of travel FR along the previous lane 45, so that a vehicle recovery with as few disturbance contours as possible can be carried out.

[0041] The recovery system according to the invention can, based on the sensor data S1 to S4, perform simple vector and position calculations to determine the location in the Fig. Develop the recovery concept shown in section 5 and inform the driver of the positioning of the anchor point 41 and the deflection point 43 in order to carry out the recovery in the opposite direction to the previous direction of travel FR.

[0042] During the Fig. In the case of the recovery operation indicated by the winch 37, the danger zone for untrained persons is correspondingly large, especially in the event of a cable breakage of the tensioned cable 39. Against this background, the recovery system of vehicle 1 communicates a safety zone 47 to the driver, limiting the off-road vehicle 1, so that an accident risk is excluded in the event of a cable breakage.

[0043] Generally, when recovering a vehicle, in addition to the position of vehicle 1 relative to the terrain, the recovery method is important. For example, the recovery system might recommend the use of a tow bar to the driver, which reduces the risk due to a direct connection between vehicles 1 and 2.

[0044] In the Fig. 5. The recovery of the off-road vehicle 1 is carried out from the rear by means of a cable pull to the back and a deflection point 43. The in the Fig. The recovery concept shown in Figure 5, involving the placement of an earth anchor (i.e., the deflection point 43), is one of the most difficult, especially if the vehicle 1 is still at an extreme tilt. A mispositioned anchor point 41 could easily cause the vehicle 1 to tip over.

[0045] However, the calculation of the position relative to the anchor point 41, performed in the electronic control unit 15, allows for a safe recovery without risk of the vehicle 1 tipping over with a high degree of probability. The parameters of rope length, position, and distance traveled are sufficient in conjunction with knowledge of the surroundings.

[0046] The mountain system is of course not limited to the areas in the Fig.The difficult vehicle recovery shown in Figure 5 is applicable. However, the recovery system can also be used in a simpler variant where vehicle 1 is pulled forward over an obstacle. Since the driving resistance is known from the previous journey, it is also possible to estimate whether the pulling power of the winch 37 is sufficient for the recovery maneuver. REFERENCE MARK LIST: 1 off-road vehicle 2 rocks 3 drones 5 cameras 7 Ground-penetrating radar sensors 9 Camera 11 Ground-penetrating radar sensors 13 Vehicle apron 15 electronic control unit 17 Investigation module 19 Evaluation module 21 Comparator module 23 Calculation module 25 Tire pressure control system 27 vehicle wheel 29 Position sensor 31 Display 33, 34, 35 Off-road driving routes 37 winch 39 rope 41 Anchor point 43 Deflection point 45 lanes 47 Security area S1, S2 drone sensor data S3, S4 vehicle sensor data D B Data set on soil composition ρ soll Target ground pressure p ist Actual ground pressure y control variable A starting point B Destination FR Direction of travel BR Mountain direction QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] US 2020 / 0 398 985 A1

[0005] GB 2 548 369 A

[0005] DE 10 2022 131 269 A1

[0006] DE 10 2012 021 420 A1

[0007]

Claims

[1] Off-road system with an all-terrain vehicle (1) and at least one drone (3) which can be used to acquire sensor data (S1 to S4) from the area in front of the vehicle (13) during off-road driving in difficult terrain, with a vehicle-side electronic control unit (15) which has a detection module (17) which uses the sensor data (S1 to S4) to determine the ground condition (D B ) determined in the vehicle area (13), characterized by , that the electronic control unit (15) is assigned an evaluation module (19) which uses the determined soil properties (D) B ) a target ground pressure (p soll ) of the vehicle (1) which ensures off-road capability. [2] Off-road system according to claim 1, characterized by , that the electronic control unit (15) is assigned a comparator module (21) which determines the target ground pressure (p soll ) with an actual ground pressure (p ist) of the vehicle (1) compares, and that the electronic control unit (15) uses this comparison to take measures to reduce or increase the actual ground pressure (p ist ) initiates. [3] Off-road system according to claim 2, characterized by , that the vehicle wheels (27) of the vehicle (1) are assigned a tire pressure control system (25) with which the tire pressure in the vehicle wheels (27) can be adjusted, and that the tire pressure control system (25) can be controlled by the electronic control unit (15) in order to adjust the actual ground pressure (p) by adjusting the tire pressure ist ) to lower or increase. [4] Off-road system according to claim 1, 2 or 3, characterized by that for a meaningful determination of the soil condition (D B) the drone (3) is equipped with at least one camera (5) and ground-penetrating radar (7), and / or the vehicle (1) is equipped with at least one camera (9) and ground-penetrating radar (11), and that their sensor data (S1 to S4) can be combined in the detection module (17) to form a 3D model of the area in front of the vehicle (13), which, in addition to mere obstacle detection, also enables the identification of ground properties, i.e., in particular ground hardness and ground roughness, on the basis of which the target ground pressure (p) is calculated in the evaluation module (19). soll ) can be estimated. [5] Off-road system according to one of the preceding claims, characterized by , that the investigation module (17) in the determination of soil condition (D B) environmental influences are taken into account, such as rain, sunshine or the like, and / or that the drone (3) has position sensors (29) that enable a precise determination of the position and orientation of the drone (3) in space by means of triangulation. [6] Off-road system according to one of the preceding claims, characterized by , that the vehicle (1) has a navigation system with a display (31) in which the terrain to be traversed is shown in a topographic map including contour lines, and that in particular the navigation system, when a destination (B) is entered by the driver, performs a route classification in which off-road driving routes (33, 34, 35) of different difficulty levels are suggested to the driver. [7] Off-road system according to claim 6, characterized by, that the navigation system displays the off-road routes (33, 34, 35) in the display (31) using vectors in the manner of a rally road book, and that, in particular, during on-road driving, the on-road route is displayed in a flowing representation in the display (31). [8] Off-road system according to claim 6 or 7, characterized by that the navigation system takes environmental factors such as rain, sun or the like into account when classifying routes, and that in particular the navigation system evaluates the proposed off-road driving routes proactively with a classification adapted to changing environmental factors. [9] Off-road system according to any one of the preceding claims, characterized by, that the off-road vehicle (1) has a recovery system with a winch (37), and that in a recovery situation the recovery system develops a recovery concept based on the sensor data (S1 to S4) by vector and position calculation and suggests to the driver, for example the positioning of an attachment point (41) or a deflection point (43) for the winch (37) in the terrain. [10] Off-road system according to claim 9, characterized by , that in the event of recovery, when using the winch (37), the recovery system determines a safety zone (47) around the off-road vehicle (1) to be recovered based on the sensor data (S1 to S4) and informs the driver in order to exclude the risk of an accident in the event of a break in the tensioned cable (39).

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