Method to assist a driver of a commercial vehicle in deciding whether to drive through a roundabout

Abstract

The invention relates to a method for assisting the driver of a commercial vehicle (2) in deciding whether to drive through a roundabout (1), wherein the commercial vehicle (2) comprises a tractor unit (3) and at least one semi-trailer (4) or trailer, wherein the commercial vehicle (2) has multiple axles, wherein the length of the commercial vehicle (2), the position and optionally the state of the axles of the semi-trailer (4) or trailer are detected and / or read out by means of sensors, wherein an approach to a roundabout (1) is detected based on position data, direction of travel and map data and / or via optical and / or light-based sensors of the commercial vehicle (2), wherein an angle between an entry (E1 to E5) and an exit (A1 to A5) of the roundabout (1) that is too small for the commercial vehicle (2) and its turning radius based on the length of the commercial vehicle (2), position and state of the axles is detected.when route guidance of a navigation system of the commercial vehicle (2) is active or when a turn signal of the commercial vehicle (2) is activated in the roundabout (1) to exit the roundabout (1), whereby if an insufficient angle is detected between the entrance (E1 to E5) and the exit (A1 to A5), a visual and / or acoustic warning and / or recommendation to drive one lap in the roundabout (1) before driving onto the exit (A1 to A5) is issued.

Description

[0001] The invention relates to a method for assisting the driver of a commercial vehicle in deciding whether to drive through a roundabout according to the preamble of claim 1.

[0002] In normal road traffic, commercial vehicles (trucks) navigate roundabouts. When entering and exiting a roundabout, as well as while driving within it, trucks must pay attention to various points, particularly the turning radius of the truck's trailer or semi-trailer. The turning radius describes how the trailer or semi-trailer turns a curve, requiring a smaller turning radius compared to the tractor unit. When entering a roundabout, a truck should initially drive as far inward as possible. Within the roundabout, the outside lane should be used. When exiting, the truck should briefly move inward again before exiting the roundabout.

[0003] If the entrance to and exit of the roundabout are close together, the truck (depending on its length) may not be able to exit directly through the exit. Instead, it may have to complete a full rotation within the roundabout before taking the exit. This is due to the turning radius described above. If the truck exits within a short distance of the entrance, it will make a very tight turn, and the trailer will make an even tighter turn. This can cause the trailer to hit the curb or another barrier of the roundabout and, in the worst-case scenario, tip over.

[0004] The truck driver is responsible for deciding whether to complete a full lap of the roundabout before taking the exit or to proceed directly to the exit without circling. The truck driver typically relies on experience for this decision. They estimate the distance between the entrance and exit and compare it to the length of their truck. They also consider the available lane width, the turning radii for entering and exiting the roundabout, and the radius of the roundabout itself. Generally, if unsure, the truck driver can choose the conservative approach and complete a full lap, as this usually doesn't worsen the situation. However, the extra lap takes additional time and consumes additional energy (diesel, electricity, hydrogen).

[0005] DE 10 2015 226 840 A1 describes a method for operating a longitudinal control device of a motor vehicle in a roundabout, comprising the steps: - Locating the motor vehicle in the roundabout; - essentially maintaining a constant speed of the motor vehicle between entering the roundabout and turning to exit the roundabout; and - Defined acceleration of the motor vehicle while exiting the roundabout.

[0006] EP 1 347 269 A1 describes how, when a moving body (e.g., a car) enters a roundabout, a navigation device extracts connection data of the roundabout from the road map data. Based on this connection data, the navigation device identifies a route leading into the roundabout (i.e., the route the moving vehicle is currently taking), the center point of the roundabout, and a route leading out of the roundabout. This allows the device to determine the angle of the exit route relative to the entry route. A directional marker indicating the angle of the exit route is then created as a directional guidance image. Within the roundabout, the navigation device can display a corresponding route (direction) without increasing the amount of stored image data.

[0007] US 11,506,506 B2 describes a method for trajectory planning for a commercial vehicle at a traffic intersection, particularly a roundabout, using a control unit. The method checks whether a lane for the commercial vehicle can be navigated within one lane width of the intersection before entering the intersection. If normal navigation through the intersection is not possible, the method checks whether a route through the center of the intersection via an alternative trajectory. This involves detecting and / or predicting surrounding traffic and planning the alternative trajectory, taking the detected and / or predicted surrounding traffic into account.

[0008] The invention is based on the objective of providing a novel method to assist the driver of a commercial vehicle in deciding whether to drive through a roundabout.

[0009] The problem is solved according to the invention by a method for assisting the driver of a commercial vehicle in deciding whether to drive through a roundabout with the features of claim 1.

[0010] Advantageous embodiments of the invention are the subject of the dependent claims.

[0011] A method is proposed to assist the driver of a commercial vehicle in deciding whether to drive through a roundabout, wherein the commercial vehicle comprises a tractor unit and at least one semi-trailer or trailer, wherein the commercial vehicle has multiple axles, and wherein the length of the commercial vehicle, the position and optionally the state of the axles of the semi-trailer or trailer are detected and / or read out by means of sensors.According to the invention, an approach to a roundabout is detected using position data, direction of travel and map data and / or via optical and / or light-based sensors of the commercial vehicle, wherein an angle between an entry and an exit of the roundabout that is too small for the commercial vehicle and its swept path based on the length of the commercial vehicle, position and state of the axles is detected, if route guidance of a navigation system of the commercial vehicle is active or if a turn signal of the commercial vehicle to exit the roundabout is activated in the roundabout, wherein if an angle that is too small between entry and exit is detected, an optical and / or acoustic warning and / or recommendation to drive a lap in the roundabout before driving to the exit is issued.

[0012] The condition of the axles is understood here to mean whether at least one optionally available lift axle is raised or lowered.

[0013] The present invention solves the problem of correctly assessing whether the truck should complete a lap in the roundabout before exiting it.

[0014] The solution according to the invention offers increased safety by enabling safe navigation through roundabouts, preventing accidents caused by collisions with curbs and / or infrastructure, or by trailer or semi-trailer tipping over. Furthermore, easier navigation through roundabouts increases comfort. Finally, accident prevention can lead to cost savings.

[0015] Exemplary embodiments of the invention are explained in more detail below with reference to drawings.

[0016] This shows: Fig. 1: a schematic view of a roundabout, and Fig. 2: A schematic view of a procedure to assist a driver in deciding whether to drive through a roundabout.

[0017] Corresponding parts are marked with the same reference symbols in all figures.

[0018] Fig. Figure 1 is a schematic view of a roundabout 1 with several entrances E1 to E5 and exits A1 to A5. A commercial vehicle 2, comprising a tractor unit 3 and a semi-trailer 4 or trailer, is located at one of the entrances E1 to the roundabout 1. The commercial vehicle 2 or its driver intends to enter the roundabout 1 and exit it via the nearest exit A2. In countries with right-hand traffic, this is the nearest exit A2 counterclockwise when viewed from above; in countries with left-hand traffic, it is the nearest exit A5 clockwise.

[0019] According to the present invention, the commercial vehicle 2, in particular the towing vehicle 3, is configured to indicate to the driver whether he should drive one lap in the roundabout 1 before leaving the roundabout 1 through exit A2.

[0020] Fig. Figure 2 is a schematic view of a procedure to assist a driver in deciding whether to drive through a roundabout 1.

[0021] In step S1, the length of the commercial vehicle 2, including the semi-trailer 4 or trailer, and the position of the axles of the commercial vehicle 2 are determined. This is important because the turning radius of the semi-trailer 4 or trailer depends on it. It is also determined whether the semi-trailer 4 has a steered rear axle and whether one or more optional lift axles are raised. This data can either be read directly from at least one control unit or determined using image recognition from a rearview camera. This step S1 is independent and can be performed at any time during the journey.

[0022] In step S2, it is determined whether the commercial vehicle 2 is approaching a roundabout 1. This can be done using a device in the commercial vehicle 2 for determining its position and direction of travel, and using map data from an electronic map. The position is determined, for example, by a sensor of a satellite navigation system (such as GPS). The direction of travel is the change in position relative to the orientation of the commercial vehicle 2. The map data is stored in the navigation system. This data, comprising position, direction of travel, and map data, is combined to determine whether the commercial vehicle 2 is approaching a roundabout 1. Alternatively, the roundabout 1 can also be detected by a camera installed in the commercial vehicle 2, particularly the towing vehicle 3, using image recognition. Destination navigation does not necessarily have to be active for this; however, it can be advantageous.

[0023] In step S3, when destination navigation is active, the system of commercial vehicle 2 or its towing vehicle 3 knows in advance at which exit A1 to A5 commercial vehicle 2 is likely to exit roundabout 1. In this case, the system can calculate, even before entering roundabout 1 at E1 to E5, whether the angle between entrance E1 to E5 and exit A1 to A5 is too small and, in step S4, provide the driver with a visual warning on a human-machine interface or on a navigation system display and / or an audible warning. Additionally, if route guidance is active in the navigation system, the system will indicate that commercial vehicle 2 should complete one lap in roundabout 1 before exiting. For example, the following voice output could be given: "Due to the turning radius, please complete one lap in the following roundabout 1 before taking the exit."This instruction can also be repeated at entrances E1 to E5 into roundabout 1: "Due to the turning radius, now drive one lap in roundabout 1 before taking the exit."

[0024] If no route guidance is active in step S3, the system cannot know which exit A1 to A5 the commercial vehicle 2 will take in roundabout 1. Therefore, no warning can be issued before entering roundabout 1 at entrances E1 to E5. The system only reacts when the driver activates a turn signal to exit roundabout 1. At this moment, the system checks the angle between entrances E1 to E5 and exits A1 to A5 and, if necessary, provides the driver with a visual and / or audible warning. For example, the following warning could be issued: "Caution, turning radius too small, drive around roundabout 1 once before taking the exit." This warning can also be issued if the driver, despite active route navigation, selects a different exit A1 to A5 in roundabout 1 where the turning radius is too small.The system can use the past movements of commercial vehicle 2 to check whether it has already completed a circuit of roundabout 1 between entrances E1 to E5 and exits A1 to A5. If this has already occurred (and therefore the angle is not too small), no warning is issued.

[0025] The calculation for step S3 is performed in both cases based on the map data stored in the navigation system or on the route detected, for example, by a camera installed in the tractor unit 3. The map data contains the position and, in some cases, the angles of the entrances E1 to E5 and exits A1 to A5 to roundabout 1. When using the camera, lane markings on the road are detected, and the positions and angles of the roads are calculated. The map data and the camera data can also be fused to increase accuracy. Based on this data, as well as the length of the commercial vehicle 2 and the position of its axles, it can be calculated during a simulated passage through roundabout 1 whether the turning radius becomes too small and the semi-trailer 4 or trailer would hit the curb or collide with the infrastructure.The calculation also takes into account whether trailer 4 has a steered rear axle and whether any lift axles are in the up or down position. If a collision is calculated, the warning described above is issued.

[0026] It should be noted that the system assumes, during its calculations, that the driver follows a very good to optimal trajectory at entrances E1 to E5 and exits A1 to A5, as well as in roundabout 1. If the driver does not follow a very good to optimal trajectory, it is still possible for the semi-trailer 4 or trailer to hit the curb, even if no warning is issued.

[0027] The system can be designed as a warning-only system to simplify implementation. All sensors required for implementation may already be present in the commercial vehicle 2, so that only a software update is needed to implement the solution according to the invention. Reference symbol list 1 roundabout 2 commercial vehicles 3 Towing vehicle 4 semi-trailers A1 to A5 exit E1 to E5 Entrance S1 to S4 step 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] DE 10 2015 226 840 A1

[0005] EP 1 347 269 A1

[0006] US 11 506 506 B2

[0007]

Claims

[1] Method for assisting the driver of a commercial vehicle (2) in deciding whether to drive through a roundabout (1), wherein the commercial vehicle (2) comprises a towing vehicle (3) and at least one semi-trailer (4) or trailer, wherein the commercial vehicle (2) has multiple axles, wherein the length of the commercial vehicle (2), the position and optionally the state of the axles of the semi-trailer (4) or trailer are detected and / or read out by means of sensors, characterized by, that an approach to a roundabout (1) is detected based on position data, direction of travel and map data and / or via optical and / or light-based sensors of the commercial vehicle (2), wherein an angle between an entry (E1 to E5) and an exit (A1 to A5) of the roundabout (1) that is too small for the commercial vehicle (2) and its turning radius based on the length of the commercial vehicle (2), position and state of the axles is detected, if route guidance of a navigation system of the commercial vehicle (2) is active or if a turn signal of the commercial vehicle (2) to exit the roundabout (1) is activated in the roundabout (1), wherein if an angle that is too small between the entry (E1 to E5) and the exit (A1 to A5) is detected, an optical and / or acoustic warning and / or recommendation to drive one lap in the roundabout (1) before driving onto the exit (A1 to A5) is issued. [2] Method according to claim 1, characterized by, that the length of the commercial vehicle (2), the position and condition of the axles of the semi-trailer (4) or trailer is determined via at least one optical system, in particular at least one mirror replacement camera, or via information stored in a control unit. [3] Method according to claim 1 or 2, characterized by , that the information about the position and state of the axes includes the number of axes and the type of axes. [4] Method according to any one of the preceding claims, characterized by , that when determining the condition of the axles, it is determined whether at least one lift axle present on the commercial vehicle (2) is raised or lowered.

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