Vehicle with a detection device for recognizing a water crossing and a method for indirectly determining water depth

Abstract

The invention relates to a vehicle with a detection device that is designed and / or suitable for detecting whether the vehicle (1) is passing through a body of water (G). According to the invention, the detection device is designed and / or suitable for indirectly determining the water depth (T) of the body of water (G) during passage through the body of water.

Description

[0001] The invention relates to a vehicle with a detection device for recognizing a water crossing according to the preamble of claim 1 and according to claim 10 a method for indirectly determining a water depth.

[0002] A vessel of this type, equipped with a detection device for recognizing water crossings, is known from GB 2 486 452 A. Vessels are generally designed to navigate through water bodies up to a maximum depth. Above this maximum depth, there is a risk of damage to the vessel. For example, the engine or electronics may be damaged. Therefore, increased caution is required when navigating waterways.

[0003] The vehicle's detection system consists of an ultrasonic parking aid. This system comprises several ultrasonic sensors located on the front and rear bumpers. Each sensor contains a diaphragm that vibrates upon activation. The system measures the diaphragm's settling time between activations. This settling time depends on the medium in which the diaphragm vibrates. Based on the vibration behavior, particularly the settling time, the system determines whether the ultrasonic sensors are surrounded by water or air. If the system detects that the sensors are surrounded by water, it concludes that the vehicle is driving through a body of water.

[0004] Because the detection device only determines whether the vehicle is passing through a body of water, the vehicle has the disadvantage that the maximum wading depth can be unknowingly exceeded, thus endangering the safety of the vehicle and its occupants.

[0005] DE 10 2004 028 157 B3 discloses a vehicle with an auxiliary unit mounted close to the ground. DE 10 2012 015 764 A1 discloses a motor vehicle with a flood detection system and a corresponding method. DE 10 2014 210 103 A1 describes the detection of a vehicle wading through water. DE 10 2018 212 785 A1 discloses a method and a system for carrying out at least partially automated wading.

[0006] The object of the invention is to provide a vehicle with a detection device that increases the safety of the occupants and the vehicle when crossing water.

[0007] The problem is solved by the features of the independent claims. Preferred embodiments of the invention are disclosed in the dependent claims.

[0008] The invention proposes a vehicle with a detection device designed and / or suitable for detecting whether the vehicle is passing through a body of water. The invention further provides that the detection device is designed and / or suitable for determining the water depth of the body of water during passage, preferably indirectly. The water depth can therefore be determined either indirectly or directly. Thus, the detection device not only detects whether the vehicle is currently passing through a body of water, but also simultaneously determines the water depth during passage. This makes it possible to trigger predefined vehicle actions depending on the water depth determined by the detection device.

[0009] To determine the water depth cost-effectively using existing vehicle sensors, i.e., without additional water sensors that directly measure the depth of the body of water, an exemplary embodiment provides that the detection device comprises vehicle sensors and a control unit connected to the vehicle sensors via signal transmission. The control unit is designed and / or suitable for receiving electrical and / or electronic input signals, preferably a driving data input signal, a buoyancy data input signal, a temperature data input signal, an image input signal, a trailer load input signal, a peripheral data input signal, and / or an additional data input signal, from the vehicle sensors and for determining the water depth, preferably indirectly, based on these input signals.

[0010] In order to determine the water depth using driving data in a simple and cost-effective manner, an exemplary embodiment provides that the vehicle sensor system includes at least one driving data sensor which is designed and / or suitable for recording driving data of the vehicle and, depending on the driving data, generates a driving data input signal as one of the input signals and transmits it to the control unit, wherein it is preferably provided that the driving data includes the vehicle speed, the vehicle inclination, the actual torque of a vehicle motor, the actual power of a vehicle motor and / or the accelerator pedal position of the vehicle.

[0011] In order to determine the water depth based on the buoyancy force and thus largely free from interference by environmental influences such as the weather, an exemplary embodiment provides that the vehicle sensor system includes at least one buoyancy data sensor, wherein the buoyancy data sensor is designed and / or suitable for detecting the value of the vehicle level and, depending on the value of the vehicle level, generating a buoyancy data input signal as one of the input signals and transmitting it to the control unit, and / or wherein the vehicle has an air suspension, and the buoyancy data sensor is designed and / or suitable for detecting the value of the operating pressure of the air suspension and, depending on the value of the operating pressure, generating a buoyancy data input signal as one of the input signals and transmitting it to the control unit.

[0012] In order to be able to detect the acting lift force, preferably indirectly and in a particularly cost-effective manner, an exemplary embodiment provides that the lift data sensor or the drive data sensors are arranged on the chassis of the vehicle, preferably on an air chassis or on a steel chassis.

[0013] In order to be able to determine the water depth in a particularly simple way using temperature sensors already present in the vehicle, a preferred embodiment provides that the vehicle sensor system has at least one temperature data sensor which is designed and / or suitable for acquiring temperature data from the vehicle and, depending on the temperature data, generating a temperature data input signal as one of the input signals and transmitting it to the control unit, wherein it is preferably provided that the temperature data includes a temperature change rate and / or an absolute value of an outside temperature, a temperature change rate and / or an absolute value of a temperature of a control unit of the vehicle,include a temperature change rate and / or an absolute temperature value of a high-voltage battery of the vehicle and / or a temperature change rate and / or an absolute temperature value of a transmission oil of the vehicle.

[0014] Preferably, the temperature data sensor or one of the temperature data sensors is arranged in a transmission of the vehicle and is designed and / or suitable and / or arranged in such a way that the temperature change rate and / or the absolute value of the temperature of the transmission oil of the vehicle can be determined by means of the temperature data sensor.

[0015] For example, it is provided that the temperature data sensor or one of the temperature data sensors is arranged in the control unit of the vehicle and is designed and / or suitable and / or arranged in such a way that the temperature change rate and / or the absolute value of the temperature of the control unit of the vehicle can be determined by means of the temperature data sensor.

[0016] In order to be able to determine the water depth alone or using optical data, among other things, an exemplary embodiment provides that the vehicle sensor system has at least one image sensor which is designed and / or suitable to optically detect the vehicle's surroundings and, depending on the optically detected surroundings of the vehicle, generate an image input signal as one of the input signals and transmit it to the control unit, preferably being formed by one or more on-board cameras of the vehicle.

[0017] In order to be able to detect the water depth even when using a trailer attached to the vehicle, an exemplary embodiment provides that the vehicle sensor system has at least one trailer load sensor which is designed and / or suitable to detect an actual trailer load of the vehicle exerted on the vehicle by a trailer connected to the vehicle, and to generate a trailer load input signal as one of the input signals depending on the actual trailer load and transmit it to the control unit.

[0018] By way of example, it is further provided that the vehicle sensor system has at least one peripheral data sensor which is designed and / or suitable for acquiring peripheral data of the vehicle and, depending on the peripheral data, generating a peripheral data input signal as one of the input signals and transmitting it to the control unit, wherein it is preferably provided that the peripheral data includes environmental data, GPS data of the vehicle, weather data and / or car-to-car data.

[0019] By way of example, it is also provided that the vehicle sensor system has at least one additional data sensor which is designed and / or suitable for acquiring additional data, preferably from the vehicle, and which, depending on the additional data, generates an additional data input signal as one of the input signals and transmits it to the control unit, wherein it is preferably provided that the additional data includes air pressure, tire pressure of the vehicle, data from a rain sensor, data from an airbag sensor, data from a parking sensor, data from a LIDAR sensor and / or data from an ESP sensor.

[0020] In order to further process the determined water depth, an exemplary embodiment provides that the control unit is designed and / or suitable to generate at least one output signal, depending on the value of the indirectly determined water depth of the body of water, and to transmit it to function modules of the vehicle, which activate a vehicle function on the basis of the output signal.

[0021] For example, the vehicle function is provided for by one or more of the following vehicle functions: limiting the maximum speed of the vehicle, safety unlocking of the vehicle doors, opening of the vehicle windows, switching on all vehicle lights, autonomous operation of the vehicle, optical and / or visual and / or haptic signal output to the driver of the vehicle, and / or automatic making of an emergency call and opening all vehicle doors and / or all vehicle windows.

[0022] Preferably, the detection device is designed and / or suitable to determine the position of the vehicle when the emergency call is automatically placed and to transmit this information to an emergency call receiving center along with the emergency call.

[0023] It should be explicitly noted here that all described sensors, such as the lift data sensor or the driving data sensor, can be formed not only by sensors in the general sense, but of course by any kind of detection and / or receiving device with which the data is recorded, detected, and / or received. In other words: The term "sensor" and the terms in which the term "sensor" appears are to be interpreted broadly to include all sensors and / or detection and / or receiving devices.

[0024] Furthermore, it is expressly pointed out that the control unit is designed and / or suitable for using several or all of the aforementioned input signals to determine the water depth. Generally speaking, as the number of input signals used by the control unit to determine the water depth increases, the accuracy of the indirectly determined water depth also increases, and the detection device operates more robustly.

[0025] The invention further proposes a method for determining, preferably indirectly, a water depth, comprising a deployment step in which a vehicle as described above is deployed, an evaluation step in which the control unit determines the water depth of the body of water, preferably indirectly, based on the electrical and / or electronic input signals from the vehicle's sensors, and preferably providing that the measurement method includes an output step in which the control unit generates at least one output signal depending on the value of the indirectly determined water depth of the body of water and transmits it to at least one function block of the vehicle, so that the function block activates a vehicle function of the vehicle based on the output signal.

[0026] Exemplary embodiments of the invention are explained in more detail below with reference to the attached schematic drawing.

[0027] They show: Fig. 1 in a purely schematic side view a vehicle on a dry road surface, and Fig. 2 in a purely schematic side view of the vehicle during a water crossing.

[0028] In the Fig. 1 and Fig. 2 represents a vehicle, specifically vehicle 1 shown. Vehicle 1 is, here only as an example, a battery-electric vehicle. In the Fig. Vehicle 1 is depicted on dry road surface FB. Fig. 2 is vehicle 1 - compared to the representation in the Fig. 1 - Depicted during a passage through a body of water G. The body of water G has a water depth T.

[0029] Vehicle 1 is equipped with a detection device. The detection device comprises vehicle sensors and a control unit 3. The vehicle sensors essentially include sensors and detection devices that are factory-installed in or attached to vehicle 1. These sensors and detection devices communicate with the control unit 3, enabling the control unit 3 to receive electrical and / or electronic input signals from the sensors and detection devices and indirectly determine the water depth T of the body of water G based on these input signals.

[0030] Vehicle 1, shown here only as an example, has an air suspension system. Furthermore, the detection device specifically includes four lift data sensors 5, each assigned to one of the air spring bellows of the air suspension system. Each lift data sensor 5 measures the current operating pressure, i.e., the internal pressure, of its assigned air spring bellows. Each lift data sensor 5 transmits a lift data input signal to the control unit 3, which corresponds to the measured operating pressure.

[0031] In practical terms, this means that in the, in the Fig. In the waterway shown in Figure 2, the water of water body G exerts a buoyant force on the vehicle 1. This changes the vehicle's level from a first, in the Fig. The level value N1 shown in the first section is moved to a second level, in which... Fig. 2 shown, level value N2. Furthermore, the operating pressure in the air springs decreases. The values ​​of the operating pressure in the air springs are therefore lower than in the Fig. The state of the vehicle 1 is shown in Figure 1. The lower values ​​or changes in values ​​are detected by the control unit 3, which then indirectly determines the water depth T based on these lower values ​​or changes in values. Of course, in this or any other embodiment of the vehicle 1, the vehicle level or changes in vehicle level can also be measured by the buoyancy data sensors 5 instead of the operating pressure. The buoyancy data input signals then correspond to the vehicle level and not the operating pressure. The processing of the buoyancy data input signals is carried out in the same way as when the operating pressure is detected.

[0032] Depending on the value of the indirectly determined water depth T of the body of water G, the control unit 3 also transmits one or more output signals to function modules of the vehicle 1. Such a function module can be, for example, a control unit or an actuator of the vehicle 1. Upon receiving its assigned output signal, each function module activates a specific function of the vehicle 1. The vehicle functions can be diverse.For example, the vehicle functions can be formed by the following vehicle functions: limiting the maximum speed of vehicle 1, safety unlocking of the vehicle doors of vehicle 1, opening the vehicle windows of vehicle 1, switching on all vehicle lights of vehicle 1, autonomous operation of vehicle 1, optical and / or visual and / or haptic signal output to the driver of vehicle 1, and / or automatic making of an emergency call and opening all vehicle doors of vehicle 1 and / or all vehicle windows of vehicle 1.

[0033] When the emergency call is automatically placed, the control unit 3 also determines the current position of the vehicle 1 and transmits the position information together with the emergency call to an emergency call receiving center. REFERENCE MARK LIST: 1 vehicle 3 Control unit 5 Buoyancy data sensor FB Roadway G Waters N1 level value N2 level value T Water depth 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] GB 2 486 452 A

[0002] DE 10 2004 028 157 B3

[0005] DE 10 2012 015 764 A1

[0005] DE 10 2014 210 103 A1

[0005] DE 10 2018 212 785 A1

[0005]

Claims

Vehicle with: a detection device designed and / or suitable to detect whether the vehicle (1) is passing through a body of water (G), characterized in that the detection device is designed and / or suitable to indirectly determine the water depth (T) of the body of water (G) when passing through the body of water. Vehicle according to claim 1, characterized in that the detection device comprises a vehicle sensor system of the vehicle (1) and a control unit (3) that is in signal transmission connection with the vehicle sensor system, wherein it is provided that the control unit (3) is designed and / or suitable to receive electrical and / or electronic input signals from the vehicle sensor system and to determine the water depth (T) of the body of water (G), preferably indirectly, on the basis of the input signals. Vehicle according to claim 2, characterized in that the vehicle sensor system has at least one driving data sensor which is designed and / or suitable for recording driving data of the vehicle (1) and, depending on the driving data, generating a driving data input signal as one of the input signals and transmitting it to the control unit (3), wherein it is preferably provided that the driving data includes the vehicle speed, the vehicle inclination of the vehicle (1), the actual torque of a drive motor of the vehicle (1), the actual power of a drive motor of the vehicle (1) and / or an accelerator pedal position of the vehicle (1). Vehicle according to claim 2 or 3, characterized in that the vehicle sensor system comprises at least one lift data sensor (5), wherein the lift data sensor (5) is designed and / or suitable for detecting the value of the vehicle level and, depending on the value of the vehicle level, generating a lift data input signal as one of the input signals and transmitting it to the control unit (3), and / or wherein the vehicle (1) has an air suspension system, and the lift data sensor (5) is designed and / or suitable for detecting the value of the operating pressure of the air suspension system and, depending on the value of the operating pressure, generating a lift data input signal as one of the input signals and transmitting it to the control unit (3). Vehicle according to claim 4, characterized in that the lift data sensor (5) or the drive data sensors (5) is or are arranged on the chassis of the vehicle (1), preferably on an air chassis of the vehicle (1) or on a steel chassis of the vehicle (1). Vehicle according to one of claims 2 to 5, characterized in that the vehicle sensor system comprises at least one temperature data sensor which is designed and / or suitable for acquiring temperature data of the vehicle (1) and, depending on the temperature data, generating a temperature data input signal as one of the input signals and transmitting it to the control unit (3), wherein it is preferably provided that the temperature data comprise a temperature change rate and / or an absolute value of an outside temperature, a temperature change rate and / or an absolute value of a temperature of a control unit of the vehicle (1), a temperature change rate and / or an absolute value of a temperature of a high-voltage battery of the vehicle (1) and / or a temperature change rate and / or an absolute value of a temperature of a transmission oil of the vehicle (1). Vehicle according to one of claims 2 to 6, characterized in that the vehicle sensor system has at least one image sensor which is designed and / or suitable for optically detecting the environment of the vehicle (1) and, depending on the optically detected environment of the vehicle (1), generating an image input signal as one of the input signals and transmitting it to the control unit (3), wherein it is preferably provided that the image sensor is formed by one or more on-board cameras of the vehicle (1). Vehicle according to one of claims 2 to 7, characterized in that the vehicle sensor system has at least one trailer load sensor which is designed and / or suitable for detecting an actual trailer load of the vehicle (1) exerted on the vehicle (1) by a trailer connected to the vehicle (1), and generating a trailer load input signal as one of the input signals depending on the actual trailer load and transmitting it to the control unit (3). Vehicle according to one of claims 2 to 8, characterized in that the control unit (3) is designed and / or suitable to generate at least one output signal depending on the value of the indirectly determined water depth of the body of water and to transmit it to function modules of the vehicle (1), which activate a vehicle function of the vehicle (1) on the basis of the output signal. Method for indirectly determining a water depth comprising a provisioning step in which a vehicle according to one of the preceding claims is deployed, and an evaluation step in which the control unit determines the water depth (T) of the body of water (G), preferably indirectly, on the basis of the electrical and / or electronic input signals of the vehicle sensors.

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