Control of a motor vehicle

Abstract

A method (200) for steering a motor vehicle (105) comprises steps of scanning (205) an external area of ​​the motor vehicle (105); detecting (210) an external load (135) attached to the motor vehicle (105); determining (215) a driving resistance of the motor vehicle (105) including the external load (135); and determining (215) a range of the motor vehicle (105).

Description

[0001] The present invention relates to the control of a motor vehicle. In particular, the invention relates to the control of the motor vehicle taking into account an external load attached to the motor vehicle.

[0002] A motor vehicle includes an energy storage system that can hold a predetermined amount of energy, enabling the vehicle to achieve a specific range. The vehicle's route can be planned based on this range. Specifically, the route can be divided into stages with refueling or charging stops between them, allowing the energy storage system to be replenished.

[0003] If, during the journey, it becomes apparent that the actual energy consumption deviates significantly from the assumed energy consumption, the range forecast can be recalculated. This may affect the division of the route into stages. In some cases, the entire route may need to be replanned.

[0004] The energy consumption of a motor vehicle can be affected, for example, by an external load attached to the vehicle. Known techniques do not yet allow for a sufficiently accurate consideration of an external load to make a sufficiently accurate range prediction for the vehicle. One of the problems underlying the present invention is therefore to provide an improved technique for determining the range of a motor vehicle with an external load attached to it. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0005] According to a first aspect of the present invention, a method for controlling a motor vehicle comprises steps of scanning an exterior area of ​​the motor vehicle; detecting an external load attached to the motor vehicle; determining a driving resistance of the motor vehicle including the external load; and determining a range of the motor vehicle.

[0006] External loads can be determined much more accurately than previously possible. Different external loads can be distinguished and considered individually. This allows for a more precise determination of the vehicle's rolling resistance.

[0007] Driving resistance can include, in particular, aerodynamic drag, which acts as a braking force on the vehicle when the external load is subjected to airflow. Optionally, the mass of the external load can also be considered when determining driving resistance. For example, the rolling resistance of the vehicle's wheels can increase with the load, thus increasing the vehicle's driving resistance.

[0008] The range of a motor vehicle can be determined, in particular, based on the specific driving resistance and the amount of energy carried on board. Advantageously, the range can be determined more accurately even before the vehicle has started its journey. Based on the range, a route for the vehicle can be planned more effectively, using a more accurate range estimate. This avoids the need to replan the route after the journey has begun.

[0009] It is preferred that the outer skin be scanned without contact. For this purpose, a contactless sensor on board the vehicle can be used. Such a sensor could, for example, be a camera, a radar sensor, a LiDAR sensor, or an ultrasonic sensor. More preferably, an imaging sensor is used that can provide a two- or three-dimensional representation of the external load on the vehicle. A combination of several identical or different types of sensors can also be used. In this way, the external load can be detected or determined more accurately, and details of the external load can be incorporated into the determination of the drag.

[0010] It is preferred that the external load is temporarily attached to the vehicle. In particular, the external load can be attached to or detached from the vehicle without tools. An optional anti-theft device, such as a lock, is not considered a tool-operated connection in this sense.

[0011] A permanent external load, on the other hand, can only be attached to or removed from a vehicle using tools. Often, a permanent external load requires inspection by an official body or registration in the vehicle documents. Such an external load can be considered an attachment to the vehicle.

[0012] In one variant, the external load includes a trailer load. This involves a trailer being connected to the vehicle, usually via a trailer hitch. The trailer load can be electrically connected to the vehicle, and the vehicle can detect the presence of the trailer load via this connection. However, this method does not yet differentiate between different trailer loads, meaning that, for example, a caravan might be treated similarly to a boat trailer, even though both can have significantly different characteristics regarding their rolling resistance. The proposed method of sensing the trailer load, on the other hand, allows its influence on rolling resistance to be determined more precisely and, if necessary, individually.

[0013] A trailer load comprises at least one wheel or similar element with which the trailer load is at least partially supported against a surface. The driving resistance of the trailer load can also include the rolling resistance of its own wheel or a wheel of the vehicle.

[0014] In another variant, the external load comprises a load attached to the outer skin of the motor vehicle. In this case, the external load is fully supported by the motor vehicle and has no independent support from the ground. Such an external load can include, in particular, a luggage rack, luggage, a suitcase, a box, sports equipment, or a similar item.

[0015] In one embodiment, the position, orientation, and / or configuration of the external load can be detected. The position and orientation can be combined into a single pose. This allows for consideration of the fact that the influence of the external load on the vehicle's drag can depend on how it is attached to the vehicle. The configuration of the external load can be particularly relevant if the external load is movable. For example, a bicycle as an external load can exhibit different drag characteristics depending on the direction its front wheel is turned. If the bicycle is mounted on the roof, greater drag is to be expected than if it is mounted at the rear.

[0016] Furthermore, the size and / or nature of the external load can be identified. For example, a large e-bike can be distinguished from a small children's bicycle, or an inflatable boat from a boat made of rigid plastic. This can further improve the determination of the driving resistance, especially the drag.

[0017] In one embodiment, the vehicle's rolling resistance and the rolling resistance of the external load are determined separately and then mathematically combined. In a simpler embodiment, the rolling resistances can be added together. In another embodiment, it can be taken into account that the external load can influence the vehicle's rolling resistance, or vice versa. This can be particularly relevant for drag. For example, a surfboard can improve airflow around the vehicle, so that the vehicle's drag combined with the surfboard is lower than the sum of the drag of the vehicle without the surfboard and the drag of the surfboard.

[0018] Preferably, the specific range of a vehicle's route planning is used as the basis. The route can comprise a journey between the vehicle's current and desired geographical positions.

[0019] The route can comprise one or more stages, with a refueling or charging stop planned at the end of each stage to replenish the vehicle's energy storage system. If the vehicle is powered by an internal combustion engine, the energy storage system can be a fuel storage unit. If the vehicle is electrically powered, the energy storage system can be electrochemical and electrically rechargeable. Alternatively, an electric generator or a fuel cell can be used, each converting fuel into electrical energy.

[0020] A leg of the journey is preferably planned in such a way that the vehicle's onboard energy reserves are sufficient to complete it safely. In other words, the leg is preferably chosen to be no longer than the vehicle's determined range. The more accurately the range is determined, the longer the leg can be. Optionally, the leg can be shortened by a predetermined safety margin. The probability that the vehicle will be unable to complete the leg due to insufficient energy can be reduced by improving the range determination, thus allowing the safety margin to be decreased.

[0021] In a further embodiment, the actual amount of energy required to propel the vehicle is determined during travel. This determination can, in particular, include a specific consumption figure, which can be expressed as energy per kilometer. Based on this, the actual influence of the external load on the vehicle's range can be determined. In other words, an actual value for the external load's resistance to driving, or for the external load's influence on the vehicle's resistance to driving, including the external load, can be determined. This observation can then be used to predict the vehicle's range in the future.

[0022] In particular, the previously determined influence of a specific external load on the vehicle's range can be validated or improved based on this influence. Machine learning techniques can be used for this purpose. With an increasing number of data points, such a technique can provide further improved predictions of the external load's influence on drag and the vehicle's range. As the method is used more frequently, the results achieved can be continuously improved. For example, the influence of an external load on drag can be learned. This allows even an initially unknown external load to be accurately factored into range calculations after several test drives.

[0023] According to a further aspect of the present invention, a device for controlling a motor vehicle comprises a sensor for scanning an exterior area of ​​the motor vehicle and a processing unit. The processing unit is configured to detect an external load attached to the exterior area based on the scanning; to determine the driving resistance of the motor vehicle, including the external load; and to determine the vehicle's range in this respect.

[0024] The processing device is preferably configured to partially or completely execute a method described herein. For this purpose, the processing device may be electronic and may, for example, comprise an integrated circuit, a programmable logic device, or a programmable microcomputer. The method may be implemented as a configuration or as a computer program product with program code means for the processing device. The configuration or the computer program product may be stored on a computer-readable data carrier. Features or advantages of the method may be transferred to the device or vice versa.

[0025] The device can be used to improve route planning for a motor vehicle. In one embodiment, the device is configured to perform such route planning. For this purpose, an interface can be provided that is connected to a sensor for determining the vehicle's geographical position. Furthermore, a map memory can be provided in which information regarding a road network that can be used by the vehicle is stored. Additionally, a user interface can be provided to allow a person on board the vehicle to specify a desired destination.

[0026] According to another aspect of the present invention, a motor vehicle comprises a device described herein. The motor vehicle can, for example, be a passenger car or a motorcycle. Furthermore, the motor vehicle can, for example, be a truck or a bus. The motor vehicle can be conventionally powered by an internal combustion engine and / or electrically. For example, the motor vehicle can be a battery electric vehicle (BEV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), or a fuel cell electric vehicle (FCEV).

[0027] According to a further aspect of the present invention, a system comprises a motor vehicle and an external entity. The motor vehicle and the external entity are connected to each other by means of appropriate communication devices. The motor vehicle is equipped with a sensor for scanning an external area of ​​the motor vehicle. The external entity comprises a processing device configured to detect an external load on the motor vehicle based on appropriate scanning, to determine the driving resistance of the external load with or without the motor vehicle, and / or to determine the range of the motor vehicle.

[0028] The external entity can perform one or more of the aforementioned processing steps. Other processing steps can be performed by the vehicle itself. Information required to perform a processing step can be transmitted from the vehicle to the external entity, and the result of a determination carried out by the external entity can be transmitted back to the vehicle.

[0029] The external entity is preferably equipped to process information from a large number of motor vehicles. Furthermore, the external entity is preferably equipped to implement a machine learning technique. This technique can be trained indefinitely to continuously improve the results achieved. The training can be based, in particular, on data provided by one of the motor vehicles.

[0030] The invention will now be described in more detail with reference to the attached drawings, in which: Fig. 1. a system; and Fig. 2. A flowchart of a process illustrated.

[0031] Fig. Figure 1 shows a schematic representation of a system 100 with a motor vehicle 105 and an external location 110. The motor vehicle 105 is shown as a passenger car for illustrative purposes, but other types of motor vehicles 105 are also possible. The external location 110 can be, for example, a server or a service, optionally in a cloud. Preferably, the external location 110 is configured to implement a technique described herein with a large number of motor vehicles 105.

[0032] A device 115 is provided on board the motor vehicle 105, comprising at least one sensor 120 and a processing unit 125. Preferably, a communication unit 130 is also provided.

[0033] One or more identical or different types of sensors 120 can be used. A sensor 120 is configured to scan the outer surface of the motor vehicle 105. The scanning is preferably contactless and more preferably image-generating. Examples of sensors 120 include a radar sensor, an ultrasonic sensor, a LiDAR sensor, or a camera. A sensor 120 that is already installed on the motor vehicle 105 for other reasons, such as an exterior or reversing camera, may also be used.

[0034] A temporary external load 135 can be attached to the motor vehicle 105. The external load 135 is not part of the motor vehicle 105 and can be attached to or removed from it relatively quickly, particularly by a user of the motor vehicle 105.

[0035] In one variant, the external load 135 includes a trailer, which may have one or more axles with wheels that at least partially support the trailer against a ground. Examples of trailers include flatbed trailers, lowbed trailers, single- or multi-axle trailers, or trailers, for example, for another vehicle or sports equipment such as a boat or a glider.

[0036] In another variant, the motor vehicle 105 carries the entire external load 135. The external load 135 can include a luggage rack or a container on or in which items can be placed. For example, the external load 135 can be as in Fig. Figure 1 shows a roof box or a bicycle carrier. In other embodiments, the external load 135 can also include, for example, a roof tent, a water or fuel canister, or a similar object.

[0037] The external device 110 can comprise a processing unit 140 and a communication unit 145. The communication units 130 and 145 are configured to enable preferably bidirectional communication between the device 115 on board the motor vehicle 105 and the external device 110. At least part of the communication link is preferably wireless.

[0038] The technique described herein can be carried out entirely or partially on board the motor vehicle 105. If part of this technique is to be carried out by the external entity 110, corresponding information can be transmitted from the device 115 to the external entity 110. A result of a processing step can be transmitted from the external entity 110 to the device 115.

[0039] If several processing steps are carried out outside the motor vehicle 105, it is also conceivable that different external bodies 110 are provided for this purpose.

[0040] Fig. Figure 2 shows a flowchart of a method 200, which can be executed in particular by means of a system 100. Not all illustrated steps of the method 200 need to be implemented in all embodiments.

[0041] In step 205, the outer skin of the motor vehicle 105 is scanned. The scanning can be carried out using one or more sensors 120 and result in one or more pictorial representations.

[0042] In step 210, an external load 135 of the motor vehicle 105 can be detected based on one or more generated scans. A generic detection can be performed, which determines an object class of the external load 135, for example, a bicycle, a boat, or a surfboard.

[0043] Preferably, individual recognition is used, which allows, for example, different boats, surfboards, or bicycles to be distinguished from one another. Properties can be assigned to a recognized object or a recognized class of objects, on the basis of which the driving resistance of the external load 135 or the influence of the external load 135 on the driving resistance of the motor vehicle 105 including the external load 135 can be determined.

[0044] In step 215, the driving resistance of the external load 135 or the influence of the external load 135 on the driving resistance of the vehicle 105 can be determined. If the driving resistance includes drag, an interaction between the flow behavior of the vehicle 105 and the external load 135 can also be considered. Based on the determined driving resistance, the vehicle's range can be determined. The range can be determined based on the amount of energy available for propulsion. Optionally, characteristics of a route to be traveled can also be considered when determining the range. These characteristics can include, for example, curves, road surface conditions, gradients, or inclines.

[0045] In step 220, a destination for the motor vehicle 105 can be determined. The destination can be specified, in particular, by a person who intends to reach the destination with the motor vehicle 105. In step 225, an energy supply available on board the motor vehicle 105 for its propulsion can be determined.

[0046] In step 230, a route from the current geographical position of the vehicle 105 to the desired destination can be determined. The route can comprise one or more stages. A stop can be planned between two stages, during which an energy storage device on board the vehicle 105 is recharged. The energy storage device can be partially or fully recharged to cover the next stage. The length of a stage is determined to be no longer than the range of the vehicle 105. Typically, the stage is chosen to be somewhat shorter to maintain an energy reserve in the energy storage device. The range of the vehicle 105 with respect to the available energy supply is preferably determined in step 215, taking into account the external load 135.

[0047] Steps 220 to 235 can also be comprised of a separate procedure, which can take as input the influence of external load on consumption, the specific fuel consumption of the vehicle per kilometer, or a similar value from a procedure with steps 205 to 215 (and possibly 235). The procedure for steps 220 to 235 can divide the route into stages and, if necessary, perform further optimizations, for example, regarding the attractiveness of a stage, the availability of a charging station between two stages, or the energy price charged there.

[0048] During the subsequent phase of the process, the actual energy consumption of vehicle 105 can be determined while driving along the route. This can be correlated with a detected external load 135. Based on this, the actual influence of the external load 135 on the driving resistance of vehicle 105 (including the external load 135) and thus on the range of vehicle 105 can be determined. This observation can be provided as training data for a machine learning technique. The influence of the external load 135 on the driving resistance can thus be learned by the machine.

[0049] By minimizing the difference between an observed and a specific influence of an external load 135 on the driving resistance of the motor vehicle 105 including the external load 135, increasingly improved predictions for the range of the motor vehicle 105 can be provided.

[0050] This technique can be used to improve the execution of step 215 during a subsequent iteration of procedure 200. An observation made on one motor vehicle 105 can be applied to a determination for another motor vehicle 105. Observations or a model trained on observations can be provided for this purpose by the external body 110. Reference sign 100 System 105 motor vehicles 110 external position 115 Device 120 Sensor 125 Processing unit 130 Communication device 135 external load 140 processing equipment 145 Communication device 200 procedures 205 Scan the outer skin of the motor vehicle 210 Detect external load 215 Determine consumption influence 220 Determine destination 225 Determine energy supply 230 Determine route / stage 235 Determine actual energy consumption

Claims

[1] Method (200) for steering a motor vehicle (105), wherein the method (200) comprises the following steps: - Scanning (205) an exterior area of ​​the motor vehicle (105); - Detection (210) of an external load (135); - Determining (215) a driving resistance of the motor vehicle (105) including the external load (135); and - Determining (215) a range of the motor vehicle (105). [2] Method (200) according to claim 1, wherein the outside area is scanned (205) without contact. [3] Method (200) according to claim 1 or 2, wherein the external load (135) is temporarily attached to the motor vehicle (105). [4] Method (200) according to one of the preceding claims, wherein the external load comprises a trailer load. [5] Method (200) according to one of the preceding claims, wherein the external load is attached to an outer skin of the motor vehicle (105). [6] Method (200) according to any of the preceding claims, wherein a position, orientation and / or configuration of the external load (135) is detected (210). [7] Method (200) according to one of the preceding claims, wherein a size and / or a quality of the external load (135) is detected (210). [8] Method (200) according to one of the preceding claims, wherein the driving resistance is determined (215) on the basis of a driving resistance of the motor vehicle (105) and a driving resistance of the external load (135). [9] Method (200) according to one of the preceding claims, wherein a route of the motor vehicle (105) is determined (230) with respect to the specified range. [10] Method (200) according to claim 9, wherein the route includes a stage after which a refilling of an energy storage device of the motor vehicle (105) is planned. [11] Method (200) according to one of the preceding claims, wherein during the journey with the motor vehicle (105) an amount of energy actually required to propel the motor vehicle (105) and an influence of the determined external load (135) on the range is determined (235). [12] Method (200) according to claim 11, wherein an assumed influence of the specified external load (135) on the range is validated (235) on the basis of the specified influence. [13] Device (115) for controlling a motor vehicle (105), wherein the device (115) comprises the following elements: - a sensor (120) for scanning an outer skin of the motor vehicle (105); and - a processing device (125) for detecting an external load (135) attached to the outer skin on the basis of scanning; for determining a driving resistance of the motor vehicle (105) including the external load (135); and for determining a range of the motor vehicle (105). [14] Motor vehicle (105) comprising a device (115) according to claim 13. [15] System (100) comprising a motor vehicle (105) with a sensor (120) for scanning an exterior area of ​​the motor vehicle (105) and a communication device (130); and an external body (110) with a communication device and a processing device for determining a driving resistance of an external load (135) attached to the motor vehicle (105) on the basis of the scanning.

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