METHOD FOR DETECTING THE ENVIRONMENT OF A VEHICLE, SYSTEM, CONTROL UNIT AND VEHICLE

Description

[0001] The invention relates to a system for detecting the surroundings of a vehicle, according to the preamble of claim 1. In addition, the invention also relates to a control unit and a vehicle.

[0002] In cars and commercial vehicles, sensors for detecting the surroundings during maneuvering, especially when reversing, are state-of-the-art. Typically, groups of sensors—two, three, or more—are located at the front and rear of the vehicle to detect the vehicle's approach to obstacles. The sensor signals are evaluated in the vehicle or at least indicated acoustically or visually. In most cases, the obstacles are parts of buildings, vehicles, people, equipment, and / or cargo.

[0003] Typically, ultrasonic sensors are used to detect obstacles. These emit an ultrasonic signal, receive an echo, and determine the distance to the obstacle based on the travel time. If the signal falls below a certain threshold, a signal sounds for the driver, which can also vary depending on the distance.

[0004] Each sensor has its own detection zone and covers only a limited area. The detection zones of different / neighboring sensors may overlap.

[0005] The sensors are logically positioned on the vehicle so that vehicle components are not within the detection zones. However, there are vehicles whose components temporarily protrude into one or more of the sensors' detection zones, for example, vehicle loading devices, removable or adjustable trailer hitches, spatially adjustable signaling devices, etc. A component that protrudes into a detection zone is located entirely or only partially within the detection zone.

[0006] To avoid irritation caused by persistent signals triggered by components protruding into the detection zone, all sensors could be permanently disabled. However, the sensors would then be completely disabled and remain disabled even if the component in question no longer protrudes into the detection zone. The sensors would have to be manually reactivated after the changed situation is detected.

[0007] WO 2006 / 114206 A1 discloses a method for operating a distance detection system of a towing vehicle, in which signals from at least one distance-sensitive sensor arranged at the rear of the towing vehicle are evaluated. Activating the sensors depending on the articulation angle between the towing vehicle and an attached load carrier can increase safety when operating the towing vehicle with an attached semitrailer or trailer.

[0008] The object of the invention is to create a system for carrying out a method with which a high adapted recognition performance is possible in every situation.

[0009] To achieve this objective, the system according to the invention has the features of claim 1. Detection of the vehicle's surroundings can be carried out at least by the following steps: a) the sensors of the group are activated and detect their surroundings, b) if a vehicle component protrudes into the detection range of one or more of the sensors, these sensors are automatically switched off, c) the detection of the surroundings continues with the sensors that are not switched off.

[0010] Reference patterns of vehicle components are stored in a memory. These patterns are compared with the data acquired by the sensors. Sensors are only deactivated if a match is found with the stored patterns. This ensures that obstacles already close to the vehicle are not interpreted as vehicle components. The memory is preferably assigned to the control unit or even part of it.

[0011] Different detection ranges can be meant. On the one hand, there is a largest possible detection range, determined by the sensitivity of the sensor. On the other hand, this largest possible detection range can be restricted to a reduced detection range by arbitrarily specified limits. For example, sensor signals that indicate a distance of more than one meter from the sensor (or another minimum distance) can be disregarded. In this example, the reduced detection range is the space in front of the sensor with a maximum distance of one meter from the sensor. Finally, other detection ranges are conceivable that result from boundary conditions for the sensors. For the practical application of the invention, any detection range can be relevant. In particular, the invention is used in connection with a reduced detection range.

[0012] It is assumed that the sensors are only temporarily active and detecting the surroundings. At the beginning of detection, all sensors are generally activated. If vehicle components extend into the detection range of at least one sensor, that sensor is deactivated, and detection continues with only the remaining sensors. A complete shutdown is avoided. In extreme cases, only one sensor remains active.

[0013] The sensors that detect a vehicle component are automatically deactivated by an electronic control system. Appropriate software initiates the detection of the surroundings, evaluates the signals from all sensors, and deactivates individual sensors as needed. Operator intervention to deactivate or activate sensors is no longer required.

[0014] The detection of the environment is triggered by manual operation or defined events related to the vehicle, for example by engaging a reverse gear, starting to reverse, starting from a standstill, entering the vehicle into a speed corridor of 0 to 10 km / h, from a standstill and / or from a higher speed.

[0015] The trigger for the inventive detection of the environment can also be the control or actuation of a movable vehicle component, such as a loading device that is only temporarily within the detection range of sensors, or the swiveling out of a trailer hitch. At least in this context, parts that are temporarily connected to vehicle components can also be considered vehicle components. For example, a garbage truck picks up a garbage container with its loading device, so the latter can temporarily be considered a vehicle component.

[0016] According to a further aspect of the invention, a reduced detection range is used in step b), which is limited to a defined area within the maximum possible detection range. Preferably, obstacles located outside the reduced detection range are not taken into account for deactivating the sensor.

[0017] According to a further idea of ​​the invention, it is provided that sensors are used which detect acoustic and / or electromagnetic signals, in particular a) ultrasonic signals or b) radar signals or c) lidar signals or d) combinations of the above signals.

[0018] Sensors in the narrower sense are merely signal receivers. Suitable signal transmitters are then also present. Combined transmitter-receivers can also be provided as sensors.

[0019] Detection ends when a defined event occurs, e.g., the vehicle stops, a gear is shifted, or the system is manually shut down. After that, a new environment detection cycle can start, again depending on the occurrence of a defined event.

[0020] The system includes at least one group of at least two sensors and an electronic control unit. Preferably, at least three sensors are provided, one of which can be deactivated as needed.

[0021] The invention also relates to an electronic control unit for a system according to the invention. The control unit is equipped with software for implementing the method and has interfaces for connecting to sensors or transmitters and / or receivers. Preferably, the control unit is also part of an electronic braking system for a vehicle.

[0022] The control unit is preferably also connected to an output unit. The output unit is, in particular, a unit for emitting acoustic signals, a unit for displaying optical signals, a unit for emitting other perceptible signals (e.g., vibrations), and / or a screen for displaying the contours of the detected obstacle or other information.

[0023] The invention also relates to a vehicle with a system according to the invention. Sensors are advantageously provided on the rear of the vehicle, in particular in the center, on the far right, and on the far left. Sensors can also be positioned on the side, on the front of the vehicle, and / or at other locations.

[0024] The invention is preferably intended for vehicles with electronic braking systems and automatic braking intervention. The control unit can also be a brake control unit, be integrated into the braking system as an additional control unit, or be connected to the braking system.

[0025] Further features of the invention will become apparent from the description and the claims. Advantageous embodiments of the invention are described below with reference to the single figure.

[0026] Shown is a rear portion of a vehicle 10, in particular a commercial vehicle. A group of three ultrasonic sensors 12, 13, 14 is arranged in the area of ​​a vehicle rear side 11, near a lower edge 15 of the rear side 11.

[0027] Sensor 12 is located on the outer right side of the rear panel 11, sensor 14 on the outer left side, while sensor 13 is located approximately centrally. Sensors 12 to 14 are designed as transmitter-receivers.

[0028] The vehicle 10 has a removable or extendable trailer hitch 16 on its rear 11. The extended or mounted trailer hitch 16 is within the detection range of the central sensor 13.

[0029] The vehicle 10 has an electronic control unit 17, which is connected to the sensors 12 to 14 via lines 18, 19, 20 and controls them or receives their signals. The control unit 17 can be part of an electronic braking system of the vehicle 10 and / or connected to other control units of the vehicle.

[0030] Sensors 12 to 14 detect the surroundings in the area of ​​the rear 11 depending on defined situations or conditions of the vehicle 10. In this case, the vehicle has an engine with a transmission. When reverse gear is engaged, detection of the surroundings begins using sensors 12 to 14. Initially, all sensors are activated and detect their surroundings. The center sensor 13 detects the trailer hitch 16 within its detection range. The center sensor 13 is then deactivated, and detection of the surroundings continues with the sensors 12 and 14 that are not deactivated (see signals 21, 22).

[0031] The detection of the environment is carried out until a defined event ends the detection, e.g. the disengagement of reverse gear and / or exceeding or falling below a defined speed and / or other events.

Claims

1. System for installation in a vehicle (10) and for detecting the surroundings of the vehicle (10), the system comprising at least one group of at least two sensors (12, 13, 14) and a control unit (17), wherein the surroundings can be detected at least by means of the following steps: a) the sensors (12, 13, 14) are activated and detect their surroundings, b) if a vehicle component protrudes into a detection range of one or more of the sensors (12-14), these sensors are switched off, c) detection of the surroundings is continued by means of the sensors (12, 14) which are not switched off, characterized in that reference patterns of vehicle components are stored in a memory, in that these patterns are compared with the data determined by the sensors (12-14), and in that sensors (13) are only switched off if a match is identified.

2. Control unit for a system according to claim 1.

3. Vehicle comprising a system according to claim 1.

4. Vehicle according to claim 3, characterized in that the sensors (12-14) are provided on a rear side (11) of the vehicle, in particular in the middle, on the outside right and on the outside left.