How to move a vehicle towards a component of interest at a distance (prepositioning point)

Abstract

To provide an improved approaching method of a vehicle to a still object.SOLUTION: A vehicle 10 comprises a navigation module 11 having a camera 12 and an evaluation electronic device. An identification element is recognized by the camera in a far-distance region of a vehicle with respect to an object 20, the identification element is attached to a predetermined position of the object so as to calculate a retraction line of the vehicle 10 to the identification element from a view point position of the camera by the evaluation electronic device, a near-distance region demarcated by a near-distance region radius is defined in the direction of the object, and the retraction line is calculated to a virtual pre-positioning point located on the near-distance region radius.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a method for moving a vehicle towards a component of an object at a distance according to the features stated in the preamble of claim 1 . [Background technology]

[0002] Such methods are used to facilitate the approach of a vehicle to a stationary object, or even to be able to do so autonomously, i.e. without the involvement of the driver.

[0003] DE 10 2017119968 A1 discloses a pattern with at least one predefined point detectable at the front of the trailer. A two-dimensional coordinate system at the front of the trailer is created with the predefined point and possibly further points arranged at a defined distance from the predefined point and detected by a detection unit, in particular configured as a camera system. The main disadvantage of a towed vehicle configured in this way is the detectability of the coupling means, since the distance of the kingpin in the longitudinal direction of the vehicle to the front of the trailer is unknown during coupling, which can lead to incorrect coupling, in particular if the vehicle approaches obliquely.

[0004] DE 10 2014 217 746 A1 describes another prior art, showing a vehicle and a work implement to be accommodated by the vehicle. A foldable sign with a chessboard pattern is provided on the work implement and is recognized by at least one camera. From the distortion of the chessboard pattern, the approach angle is calculated, but the exact height of the coupling means provided on the work implement is unknown. Furthermore, the perception engine does not process the entire image of the camera(s) but only the region of interest, so that only a small part of the camera image is utilized. This presupposes a fairly strict prepositioning of the vehicle, which requires the corresponding involvement of the driver.

[0005] DE 202019104576 describes a device for positioning two vehicles for a coupling process. One of the vehicles is fitted with a sign provided with a QR code, which also contains position data for the associated coupling means relative to the sign. The sign is recognised and read by a camera arranged on the other vehicle. The other vehicle is finally moved from the initial position to the coupling position on the basis of the calculated path. However, it has been found that the known device is not suitable for equipping commercial vehicles, in particular for semi-trailers, since the sign would have to be attached to the front of the trailer and the camera would be passed by the sign during coupling, which would make the sign unavailable for navigation.

[0006] DE 10 2016209418 A1 describes a method and a system for operating a combination vehicle consisting of a towing vehicle and a towed vehicle, in which the relative position of the towed vehicle to the towing vehicle is improved both before and in the coupled state. For this purpose, the towed vehicle has at least one information carrier which can be read by a reading device on the towing vehicle side. By measuring the position of the information carrier, the relative position of the towed vehicle to the towing vehicle, which also corresponds to the relative position of the information carrier, is determined.

[0007] DE 10 2012003 992 A1 describes a destination guidance system for a motor vehicle, which comprises a camera arranged at the rear of the vehicle, position determination markings attached to stationary objects, and an electronic image processing device. Information about the geometry of the markings is stored in the image processing device and compared with the images provided by the camera. From this comparison, position information of the vehicle relative to the stationary object is determined.

[0008] DE 10 2004 029 130 A1 deals with a method for coupling a towed vehicle to a motor vehicle. During the approach of the motor vehicle to the towed vehicle, stored model data of the coupling region of the towed vehicle are used, which are segmented in the image data detected by the image sensor, i.e. in the image, structures corresponding to the model data are found. The stored model data of the coupling region are placed in the correct position in the image data, and from this superposition of the model data and the image data, a target zone for coupling the motor vehicle to the towed vehicle is determined. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] DE 102017119968 A1 [Patent Document 2] DE 102014217746 [Patent Document 3] German Utility Model No. 202019104576 [Patent Document 4] DE 102016209418 [Patent Document 5] DE 102012003992 [Patent Document 6] DE 102004029130 Summary of the Invention

[0010] Taking the drawbacks of the prior art as a starting point, the invention is based on the task of developing an improved method for the approach of a vehicle to a stationary object.

[0011] The object is achieved according to the invention by the features of claim 1. The vehicle can be a towing vehicle, the object can be a towed vehicle and the component can be a coupling means of the towed vehicle. Advantageously, the towed vehicle can be a trailer and the coupling means can be a kingpin. In that case, the camera and the evaluation electronics are in particular arranged in the towing vehicle. Advantageously, the identification element is fixedly mounted on the front side of the towed vehicle, in particular on the front side of the trailer.

[0012] Alternatively, the vehicle may include a towing vehicle and a towed vehicle coupled thereto, the object being a truck yard and the component being a central position at the upper edge of the truck yard. In this variant, the camera is in particular arranged on the side of the towed vehicle facing away from the towing vehicle. Advantageously, a second camera is mounted on the rear side of the towed vehicle aligned on the side of the towed vehicle that is located opposite to the front side.

[0013] The system also allows the vehicle to approach the object autonomously or semi-autonomously. By autonomous approach, it is meant the approach of the vehicle that is fully automated without the intervention of the driver or any other person, and the initiation of the method can also be performed automatically. In the case of semi-autonomous approach, the driver can at least initiate the method and possibly trigger or take over individual steps.

[0014] The identification element is in particular a sign attached to the object in the field of view of the camera and provided with three-dimensional position information. It is expedient for the sign to be arranged on the object within an installation radius of a maximum of 1.30 m around the component. This makes it possible to limit the field of view of the camera to a relatively small area at the front of the towed vehicle. The identification element contains information about the distance of the identification element to the component on the longitudinal, transverse and height axes of the vehicle.

[0015] In addition to this, the identification element can also store information regarding the position of the trailer leading edge relative to the identification element on the vehicle longitudinal axis, as long as it is not located directly above the trailer leading edge.

[0016] Based on the three-dimensional position information, the distance of the components, in particular the coupling means, such as the kingpin, can be known precisely during the approach of the vehicle to the object. The kingpin, for example, can be provided at different positions on the vehicle longitudinal axis from the trailer leading edge depending on the type of trailer. Thus, tank or silo cars often have a distance of 600 mm to 700 mm from the trailer leading edge to the kingpin, whereas in a typical trailer the kingpin is located at a distance of about 1700 mm from the trailer leading edge. Without knowing the kingpin position relative to the identification element on the vehicle longitudinal axis, the vehicle speed may become too high during coupling, which may cause significant damage to the kingpin and also to the towing vehicle coupling.

[0017] Furthermore, without knowing the spatial position of the kingpin, there is a risk that if the towing vehicle hitch moves too far under the towing vehicle during hitching and the lifting of the rear of the towing vehicle by the air suspension is delayed, the towing vehicle hitch will be pressed against the kingpin at the vehicle height axis and damaged. The reverse case, where the towing vehicle hitch is lifted too early, is likewise problematic, since during the lifting of the rear of the towing vehicle, the towing vehicle hitch only moves partially under the leading edge of the trailer, whereby the hitch plate in particular is subjected to bending stresses for which it was not designed. Furthermore, if the hitch only moves partially under the leading edge of the trailer, a particularly large lever arm acts on the towing vehicle hitch and also on the trailer, which is likewise subjected to high bending stresses when the towing vehicle hitch is lifted and in the loaded state.

[0018] The near field radius corresponds to a component of the object and has an origin at the target position, which may be formed, for example, from the central axis of the trailer kingpin. The opening angle of the near field radius is defined by the field of view of the camera. The oblique approach and the resulting oblique coupling of the towed vehicle can be configured within limits and should not exceed an angle of + / - 25°, preferably + / - 15° from the longitudinal vehicle axis of the towed vehicle.

[0019] The prepositioning point is the point at which the camera loses the identification element from its field of view if the towing vehicle continues to approach the object. In the case of an object in the form of a towed vehicle, in particular a trailer, the camera is advantageously mounted in the rear area or at the periphery or on a component of the towing vehicle coupler, so that if the towing vehicle continues to approach, the camera moves under the trailer and the identification element attached to the front side of the towed vehicle becomes unrecognizable. The close-range radius is approximately 3.00 m to 4.00 m, preferably 3.50 m, from the object component, in particular the kingpin.

[0020] In particular, a target path in the direction of the component of the object is calculated from the virtual prepositioning points. The target path is, for example, a trajectory curve that is to be traveled by the vehicle without changing the steering maneuver or steering angle set in the prepositioning points. An embodiment of the method in which the target path is formed from a linearly extending target line is very particularly preferred. The towing vehicle therefore reverses exactly in a straight line from the prepositioning points at the end of the reversing line. This achieves a transition from a complex regulation with monitoring and a comparison of the target position with the actual position to a comparatively simple steering, in which the vehicle is reversed in the direction of the component without performing a steering movement. The travel in the reverse direction can be advantageously monitored and adjusted by monitoring the steering angle by the steering system of the vehicle.

[0021] It is expedient if several reversal lines are always calculated using different mathematical functions, from which the selected reversal line is followed by the vehicle. In that case, the several reversal lines can be stored in the evaluation electronics as a family of trajectory curves after they have been calculated. The vehicle then selects the ideal reversal line and follows it. This results in the advantage that the required computing power in the evaluation electronics is reduced compared to the iterative model, in which case new reversal lines are always calculated one after the other as the vehicle continues to approach.

[0022] Expediently, on the short distance radius, one preposition point is calculated for each of the reversal lines, all of which are arranged next to each other on a common short distance radius and at different distances from the longitudinal axis of the towed vehicle.

[0023] In a particularly advantageous embodiment, from each prepositioning point an associated target path of the direction of the component of the object can always be calculated, whereby the target paths of prepositioning points which are further away from the longitudinal axis of the vehicle on the near-field radius have a larger angle than the target paths of prepositioning points which are located at or next to the longitudinal axis of the vehicle on the near-field radius.

[0024] Advantageously, from the plurality of reversing lines, the one with the smallest possible angle between the target path and the longitudinal vehicle axis of the towed vehicle is determined as the selected reversing line, such that the towing vehicle is as close as possible to and coupled with the longitudinal axis of the towed vehicle as accurately as possible.

[0025] Each setback line can have a tolerance corridor within which the actual path of the vehicle is modified. If the vehicle leaves the tolerance corridor due to a special event, such as an uphill slope, icy roads or unstable ground, then the setback is stopped and a new situation assessment is performed from a new starting position.

[0026] When leaving the permitted corridor, a new retreat line is advantageously calculated from a new starting position.

[0027] It is advantageous to read and verify the identification element in the far-field area. The far-field area of ​​the vehicle is the area that is spatially the furthest from the object within the scope of the method to be implemented. First, the identification element needs to be found in the far-field area. For this purpose, a camera is prepared and adjusted with respect to its resolution and exposure time. The identification element is found based on an algorithm, after which the identification element of a certain type of trailer or truck yard is first looked for.

[0028] In particular, in this case, in the long-distance region, the object is identified using the information stored in the identification element. This can be done by reading the identification number from the identification element. From the identification number or the object type ID that supplements the identification number, the type of the object, for example the towed vehicle or the truck yard, is known. In particular, the geometric dimensions of the towed vehicle can also be linked to the type ID, including the case of special designs with interference contours that must be taken into account when the vehicle approaches.

[0029] In the long-distance area, a method for approaching the vehicle to an object is started, which can be performed semi-autonomously at the driver's request, for example on a display. In the case of an autonomous method, the start is initiated by a pre-given programming or by a signal transmitted from the outside, possibly from an operating stand.

[0030] It has proven to be particularly expedient if an approach area is provided between the far field and the near field, the approach area being delimited by an approach area radius for the far field and by a near field radius for the near field, and the reversal lines in the far field and / or in the approach field are calculated by means of a mathematical function. At least one ideal reversal line is generated in the far field and / or in the approach field. The mathematical function is understood in particular to be a circular function or an exponential function. The generation of the reversal lines is typically performed in the evaluation electronics of the navigation module. The navigation module determines the current three-dimensional position of the vehicle relative to the component of the object by reading the identification elements in the far field and / or in the approach field.

[0031] In another advantageous method step, the near-field region is followed by a target region in the direction of the object, separated from the target region radius, on which a lifting point is set, at which the air suspension of the vehicle is raised. The lifting point is arranged between the leading edge of the trailer and the coupling means of the towed vehicle. This firstly unloads the support jack arranged on the towed vehicle. Furthermore, from the lifting point, the trailer plate of the trailer rests on the upper surface of the coupling plate, whereby due to this contact the towing vehicle coupler and the kingpin of the trailer are forced to align with each other in their intended height position, reducing the risk of incorrect coupling due to misalignment in the vehicle height axis.

[0032] In the target area, the camera recognizes the coupling means of the towed vehicle, in particular the kingpin, and / or alternative features arranged on the object.

[0033] The target area is meaningfully terminated by closing the towing vehicle hitch, which slides past under the trailer from the lifting point until the target area is reached. After the towing vehicle hitch is closed, the kingpin is rotatably held in the towing vehicle hitch, thereby mechanically connecting the towing vehicle and the towed vehicle to one another.

[0034] For a better understanding of the present invention, the present invention will now be described in detail with reference to eight figures. [Brief description of the drawings]

[0035] [Figure 1] FIG. 1 is a perspective view of a towing vehicle and an object in the form of a trailer prior to coupling; [Diagram 2] FIG. 2 is a plan view of an identification element in the form of a label with a marker. [Diagram 3] FIG. 1 is a perspective view of an object in the form of a truck yard. [Figure 4] 1 shows a side view of a vehicle including a towing vehicle and a trailer coupled thereto as it approaches a truck yard. [Diagram 5]FIG. 1 is a perspective view of a tow vehicle with a navigation module mounted on the tow vehicle hitch. [Figure 6] FIG. 1 is a plan view of a tow vehicle including three backtracks to a trailer. [Figure 7] FIG. 1 is a plan view of a tow vehicle including a back-up line passing through various areas toward a trailer. [Figure 8] 2 is a flow chart of method steps according to the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] FIG. 1 shows a perspective view of a vehicle 10 in the form of a towing vehicle 15 approaching from the rear a component 21 of an object 20 in the form of a towed vehicle 22 at a distance relative to the towing vehicle 15 in order to accommodate the towed vehicle 22 and to mechanically couple them to each other.

[0037] In the coupled state, the towing vehicle 15 and the towed vehicle 22 form a trailer truck. For a detachable connection with the towed vehicle 22, the towing vehicle 15 has a towing vehicle coupler 16, into which the coupling means 23 of the towed vehicle 22 can be retracted and locked. The towing vehicle coupler 16 can be seen particularly well in Fig. 5 and comprises a coupling plate 17 which is attached to the towing vehicle 15 by means of two bearing blocks 18 acting on it from the sides. The bearing blocks 18 rest on an assembly plate 19 which also rests on and is permanently connected to two cross members of the vehicle frame, not shown in more detail.

[0038] The coupling means 23 of the towed vehicle 22 is usually a downwardly projecting kingpin, which constitutes a component 21 of the object 20 and is shown enlarged for better recognition in Figure 1. For a smooth and damage-free coupling, the towing vehicle 15 must approach the stationary towed vehicle 22 as accurately as possible from the rear.

[0039] For the autonomous or semi-autonomous approach of the towing vehicle 15 to the towed vehicle 22, the towing vehicle 15 has a navigation module 11 which comprises at least one camera 12 and evaluation electronics 13. The navigation module 11 is preferably mounted on a component of the towing vehicle coupler 16, in particular on the coupling plate 17, on one of the bearing blocks 18 and / or on the mounting plate 19. In each case, the detectable field of view of the camera 12 is directed backwards in the longitudinal vehicle axis x of the vehicle 10, in the direction of the object 20.

[0040] The object 20 is fitted with a fixed identification element in the form of a marking 30, which in FIG. 1 is provided on the front side 24 of the towed vehicle 22. The marking 30 may be, but does not have to be, centred on the longitudinal vehicle axis x of the towed vehicle 22. However, the marking 30 is arranged to be aligned with an installation radius R S In this case, 1 / 2 width T of the towed vehicle 22 B 7) so that it can be properly located and read by the camera 12.

[0041] The sign 30 has a number of markers 31, which can be seen, for example, in Fig. 2. Each marker 31 is formed as a square field filled with a contrasting dark color on the surface of the sign 30. The markers 31 are arranged in the tow vehicle 15 so as to define at least one setback line 40 based on a change in the relative viewpoint position between the camera 12 and the sign 30, as shown in Fig. 6. i , 40 ii , 40 iii is used to enable the evaluation electronics 13 to calculate the marker 31. The more the camera 12 moves to the side of the sign 30 during the approach of the vehicle 10, the more distortion there is of the marker 31. From the distortion of the marker 31 the position of the vehicle 10 relative to the sign 30 is calculated. The sign 30 is always looked for in the entire field of view of the camera 12.

[0042] Retreat Line 40 i , 40 ii , 40 iiiFor accurate calculation of the distance 20, in particular the corners of the outer marker 32 forming a closed enclosure are used. Since the rear side of some free-standing signs 30 does not have markers 31, in particular the inner marker 33, the additional inner marker 33 allows the navigation module 11 to recognize whether the vehicle 10 approaches the object 20 from the front or from the rear. The inner markers 33 are offset inwards with respect to the outer contour of the outer marker 32 by the order of their size. Each inner marker 33 is adjacent to a free space 34 having the same size as the inner marker 33. All markers 31 are essentially provided on a single sign 30.

[0043] In the marker 31, in particular the inner marker 33, furthermore three-dimensional position information of the component 21, in the example of Fig. 1 the kingpin 23, relative to the sign 30 is stored. By three-dimensional position information is understood the distance of the sign 30 to the component 21, e.g. the kingpin 23, in the vehicle longitudinal axis x, the vehicle lateral axis y and the vehicle height axis z.

[0044] The navigation module 11 reads the three-dimensional position information and computationally corrects the coordinate system of the mounting position of the sign 30 corresponding to the offset, so that the vehicle 10 hits the component 21 of the object 20 instead of the sign 30. In that case, it is essential that the sign 30 is always mounted in a fixed position on the object 20 with the three-dimensional position information for the component 21 stored in it and does not change its own position.

[0045] The markers 31, in particular the inner markers 33, further contain information regarding the identity of the object 20, which is likewise read by the navigation module 11. For example, the vehicle 10 thus receives information regarding what type of towed vehicle 22 the towed vehicle 22 to be coupled to is. The type of towed vehicle 22 is understood to mean, for example, whether it is a refrigerated trailer, a silo trailer or a tank trailer. Such towed vehicles 22 often have an interference contour that must be taken into account when the vehicle 10 approaches. The information contained in the markers 31 is, inter alia, information regarding the reversing line 40. i , 40 ii , 40 iii This corresponds to geometrical or technical data relating to the properties of the object 20 which are taken into account when calculating the parameters (see Figures 6 and 7) in order to enable accident-free access.

[0046] In addition to the marker 31, the sign 30 further comprises a coding field 35, which is in particular provided with a QR code. It may furthermore be provided that in the sign 30, expediently in the coding field 35, or alternatively in the marker 31, in particular in the inner marker 33, an identification number of the towed vehicle 22 is implemented, which is readable by the camera 12. The identification number links logical information relating to the object 20 or towed vehicle 22 with the sign 30, so that the object 20 or towed vehicle 22 is identified as being looked for when the towing vehicle 15 approaches. Essentially, the coding field 35 mainly contains information which is important for logical evaluation and less important for navigational evaluation.

[0047] Using the identification number of the towed vehicle 22 implemented in the markers 31, in particular the inner markers 33, or in the coding field 35, the air suspension 14 (see FIG. 5) of the towing vehicle 15 is lifted at least until the coupling plate 17 comes into contact with the trailer 22, at a lifting point S of the towing vehicle 15. A It is also possible to define

[0048] Fig. 3 shows an alternative embodiment of the invention, in which the object 20 is a truck yard 25, the upper edge 26 of which is the component 21 to be controlled. A sign 30 is fixedly attached at a predetermined position of the truck yard 25, in which the three-dimensional position information of the upper edge 26 of the center position of the truck yard 25 relative to the sign 30 is stored. A vehicle 10, for example consisting of a towing vehicle 15 and a trailer 22 coupled thereto, according to Fig. 4 moves in the direction of the sign 30, corrects by the three-dimensional position information of the upper edge 26 of the center position of the truck yard 25, and hits backwards on the center of this component 21 to be controlled.

[0049] In this embodiment, to ensure an unrestricted view of the sign 30, the camera 12 of the navigation module 11 or an additional camera 12a connected to the navigation module 11 should be placed on the rear side 27 of the towed vehicle 22.

[0050] In Fig. 6 the approach of a vehicle 10 in the form of a towing vehicle 15 to a parked towed vehicle 22 is shown in a plan view. The towing vehicle 15 is in a starting position. The sign 30 of the towed vehicle 22 has already been detected and read by the camera 12 of the navigation module 11 arranged on the towing vehicle 15 and a total of three reversal lines 40 are plotted based on different mathematical functions. i , 40 ii , 40 iii was calculated.

[0051] For reasons of clarity, the three reversal lines 40a have already been identified by the navigation module 11 as selected reversal lines 40a. i , 40 ii , 40 iii The central retreat line 40 ii Only the pedestrian crossing has a tolerance corridor 41. A tolerance corridor 41 is defined as one or more setback lines 40. i , 40 ii , 40 iii, within which, in the event of a deviation from the selected reversal line 40a, the towing vehicle 15 can still be controlled in the reverse direction to return to the originally selected reversal line 40a. If the navigation module 11 determines that the current position of the towing vehicle 15 is outside the permitted corridor 41, then reverse control is no longer possible. Rather, the current position is interpreted as a new start position S, from which the navigation module 11 determines whether or not the towing vehicle 15 is to deviate from the permitted corridor 41 and whether or not the towing vehicle 15 is to deviate from the permitted corridor 41. i , 40 ii , 40 iii The new curve family is calculated again. The newly calculated recession curve 40 i , 40 ii , 40 iii in particular are likewise each provided with a tolerance gallery 41.

[0052] In all embodiments, the setback line 40 calculated by the navigation module 11 i , 40 ii , 40 iii The (single or multiple) always point to the relevant preposition point S in front of the towed vehicle 22. Vi , S Vii , S Viii End with the prepositioning point S Vi , S Vii , S Viii When the towing vehicle 15 reaches one of the reverse lines 40, it can only go back in a straight line. i , 40 ii , 40 iii The continuous calculation of the prepositioning point S Vi , S Vii , S Viii It is no longer performed after passing the preposition point S. Vi , S Vii , S Viii Each of the near-field radius R min The camera 12, located at the periphery of the towing vehicle hitch 16, moves as the towing vehicle 15 approaches under the front side 24 of the towed vehicle 22, to which the sign 30 is attached, so that the sign 30 is positioned at a pre-positioned point SVi , S Vii , S Viii The prepositioning point S is no longer within the field of view of the camera 12. Vi , S Vii , S Viii Therefore, the approach of the towing vehicle 15 is no longer restricted along the selected retreat line 40a, but along the target line 43. i , 43 ii , 43 iii , i.e., a straight line run steered in a straight line direction of the component 21 of the object 20 along one of the associated target paths formed by

[0053] A setback line 40 extending to the left on the plane of the drawing in FIG. i is the radius of the near field R min The relevant prepositioned point S on Vi The target straight line 43 extends from this point in the direction of the connecting means 23. i is the angle φ with the longitudinal axis x of the towed vehicle 22 i The setback line 40 extends to the right on the plane of the drawing. iii Similarly, the radius of the near field R min Prepositioning point S on Viii End with the prepositioning point S Viii A target straight line 43 extending from the connecting means 23 in the direction iii is the angle φ with the longitudinal axis x of the towed vehicle 22 iii To do so.

[0054] Center retreat line 40 ii is the radius R of the short distance area in the center in front of the towed vehicle 22 min Prepositioning point S on Vii Ends at 43. ii is the prepositioning point S Vii to the coupling means 23 and is ideally aligned with the longitudinal axis x of the towed vehicle 22. In this case, the angle φ ii is 0°.

[0055] The navigation module 11 determines the calculated retreat line 40 i , 40 ii , 40 iii From the angle φ i , φii , φ iii has a minimum value as the selected receding line 40a.

[0056] Typically, the vehicle 10 travels toward the object 20 on a path 42, shown graphically in FIG. 7 and illustrated in flow chart form in FIG. 8, that extends through four different regions. For ease of illustration, FIG. 7 shows multiple possible setback lines 40. i , 40 ii , 40 iii Only one of the lines, i.e. the recession line 40 already advantageously identified in FIG. ii is shown.

[0057] long distance area D max At t, a vehicle 10, for example a towing vehicle 15, approaches a trailer 22 to be coupled in advance. The trailer 22 is moved forward by a predetermined length T L and width T B and

[0058] long distance area D max is the radius of the far-field region R max radially outward relative to the object 20 and an approach region radius R med The vehicle 10 is defined in the direction of the object 20 by a far-field radius R max Outside of the far field radius R, the vehicle 10 moves in a normal driving environment without any relation to the method and system for approaching a stationary object 20. max is the lifting point S A , has a length of 12.00 m to 17.00 m, preferably 13.00 m to 16.00 m, particularly preferably 14.00 m to 15.00 m, and forms an angle of 100° to 120° with respect to the forward direction of the object 20.

[0059] long distance area D max Within, approach point system start A SReaching this position triggers a method or system for moving the vehicle 10 towards the object 20. Triggering the start of the system can be done manually by the driver, by remote control from an operation stand, or by pre-programmed programming.

[0060] While the vehicle 10 is still moving forward, the vehicle 10 performs an access point connection establishment A V From there, the camera 12 is switched on to look for the marking 30 on the object 20. V If the connection is successfully established at the O The identification number of the object 20, in particular the towed vehicle 22, is read at . As a result, the navigation module 11 identifies the type of the towed vehicle 22 and sometimes also its geometric dimensions. The forward movement of the vehicle 10 on the path 42 ends at the start position S. The speed of the vehicle 10 increases in the long-distance region D. max The speed limit is less than 50km / h.

[0061] long distance area D max From the start position S identified in FIG. 7, at least one selected retreat line 40, called retreat line 40a, is drawn. i , 40 ii , 40 iii is generated by the navigation module 11. ii is calculated based on the orientation of the camera 12 with respect to the marker 31 on the sign 30 and corrected by the three-dimensional position information of the component 21 of the object 20, which is also stored in the marker 31 of the sign 30. In some cases, the navigation module 11 may define one or more setback lines 40. i , 40 ii , 40 iii 1 additional relevant permissible corridor for ii Detect.

[0062] Approach area radius R med After passing through the approach area D med The radius of the approach area is changed to Rmed is the lifting point S A From the above, the approach area D has a length of 6.00 m to 10.00 m, preferably 7.00 m to 9.00 m, and draws an angle of 130° to 140° in the forward direction of the target 20. med During the run, 40 retreat lines have already been generated. ii , 40a, in which case, three-dimensional position information is read from the sign 30, and the relative position of the sign 30 with respect to the camera 12 is tracked. med Now, the speed of vehicle 10 is in the long-distance region D max may be reduced to less than 20 km / h, for example.

[0063] Approach area D med is the radius of the near field R min When it reaches the close range area D min Move to. Close range radius R min is the target position S that coincides with component 21 Z From the above, the short distance area D has a length of 3.00 m to 4.00 m, preferably 3.30 m to 3.70 m, and draws an angle of up to 140° in the forward direction of the object 20. min Now, the speed of vehicle 10 is in approach region D med may be further reduced than 5 km / h, for example up to 5 km / h.

[0064] Near field radius R min , the vehicle 10 reaches a pre-positioning point S , which is located immediately before the component 21 of the object 20. Vii The marker 30 attached to the front side 24 of the object 20 is located at the prepositioning point S since the rear of the towing vehicle 15 has already moved under the trailer 22 and is therefore no longer needed for detection of the relative position of the vehicle 10 with respect to the object 20. Vii 2, so that it is not detected by the field of view of the camera 12. However, the towing vehicle 15 and the towed vehicle 22 need only be aligned with each other on the longitudinal vehicle axis x, so that the towing vehicle 15 only needs to back up in order to hit the coupling means 23 of the towed vehicle 22.

[0065] Close range area D minis the target region radius R mic When it reaches the target area D mic Move to the target area radius R mic is the target position S that coincides with component 21 Z 1 / 2 the width of the object 20, in this example, 1 / 2 the width T of the towed vehicle 22 B 2.55 m and describes an angle of up to 180° in the forward direction of the object 20. At the vehicle longitudinal axis x, a lifting point S is formed at which the rear of the towing vehicle 15 is lifted together with the towing vehicle coupler 16 by the air suspension 14. A is the target region radius R mic Located on top. Lifting point S A From this, the towing vehicle coupler 16 is brought to the target position S where the kingpin 23 is retracted into the towing vehicle coupler 16. Z The towed vehicle 22 makes sliding contact with the towed vehicle 22 until the target area D mic Now, the speed of vehicle 10 is in the short distance area D min may be further reduced to, for example, up to 2.5 km / h. The invention as originally claimed in the present application is set forth below. [1] A method for moving a vehicle (10) towards a component (21) of a distant object (20), the method comprising the steps of: (a) detecting a distance from the vehicle (10) to a component (21) of a distant object (20); (b) detecting a distance from the component (21) of the object (20); (c) detecting a distance from the component (21) of the object (20); max ) by the camera (12) at the vehicle (10) side, an identification element (30) is recognized, and the evaluation electronics (13) detects the reversing line (40) of the vehicle (10) from the viewpoint position of the camera (12) to the identification element (30). i 、40 ii 、40 iii , 40a) are calculated, A short distance region radius (R min ) is the near-field region (D min ) is defined, and the retreat line (40 i 、40 ii 、40 iii , 40a) is the short distance region radius (R min ) on the virtual prepositioning point (S Vi 、S Vii 、S Viii ) is calculated. [2] The prepositioning point (S Vi 、S Vii 、S Viii ) to a target path (43) in the direction of the component (21) of the object (20). i 、43 ii 、43 iii ) is calculated. [3] Always have multiple retreat lines (40 i 、40 ii 、40 iii ) are calculated using different mathematical functions, and a selected reversal line (40a) is followed by the vehicle (10). [4] The radius of the short range area (R min ) on a plurality of said retreat lines (40 i 、40 ii 、40 iii ) for each preposition point (S Vi 、S Vii 、S Viii ) is calculated. [5] For each preposition point (S Vi 、S Vii 、S Viii ) to obtain an associated target path (43) of the direction of the component (21) of the object (20). i 、43 ii 、43 iii ) is always calculated. [6] Multiple setback lines (40 i 、40 ii 、40 iii ) from the target route (43 i 、43 ii 、43 iii ) and the longitudinal axis (x) of the towed vehicle (22) i , φ ii , φ iii ) is determined as the selected recession line (40a) as small as possible. [7] One or more of the setback lines (40 i 、40 ii 、40 iii , 40a) has a tolerance corridor (41), and an actual driving path (42) of the vehicle (10) is corrected within the tolerance corridor (41). [8] If you leave the allowable corridor (41), you will move from the start position (S) to the new retreat line (40 i 、40ii 、40 iii ) is calculated. [9] The identification element (30) is max The method according to any one of [1] to [8], wherein the sequence is read and verified at a step S100.

[10] The object (20) is in the far distance region (D max The method according to any one of [1] to [9], characterized in that the identification is performed using information stored in the identification element (30).

[11] The far-field region (D max ) and the short distance region (D min ) and the approach region (D med ) is provided, and the approach area (D med ) is the far-distance region (D max ) with respect to the approach radius (R med ) and the short distance region (D min ) to the near-field radius (R min ) and the far-distance region (D max ) and / or the access area (D med ) at the setback line (40 i 、40 ii 、40 iii , 40a) is calculated by a mathematical function.

[12] The short distance region (D min ) includes the target area radius (R mic ) and directed toward the target area (D mic ), followed by the target region radius (R mic ) above which the air suspension (14) of the vehicle (10) is raised, a lifting point (S A The method according to any one of [1] to

[11] , wherein:

[13] The target area (D mic ) The method according to

[12] , characterized in that the camera (12) recognizes the coupling means (23) of the towed vehicle (22), in particular the kingpin. [Explanation of symbols]

[0066] 10 Vehicles 11 Navigation Module 12 Camera 12a Additional Camera Towed Vehicle 13 Evaluation electronic equipment 14 Air suspension 15 Towing vehicle 16 Towing vehicle coupler 17 Connecting plate 18 Bearing block 19 Mounting plate 20 Object 21 Components 22 Towed vehicles, trailers 23 Connection means, kingpin 24 Front side Towed vehicle 25 Truck Yard 26 Center Position Upper Edge Truck Yard 27 Rear towed vehicle 30 Identification elements / signs 31 Marker 32 Outer Marker 33 Inner Marker 34 Free Space 35 Coding Fields 40 i-iii Retreat Line 40a Selected retreat line 41 Tolerance Corridor 42 Road Vehicles 43 i-iii Target route / one or more target lines A O Approach point Object information A S Approach point System start A V Approach point connection establishment D max far range area D med approach area D min close range area D mic target area R max far range radius R med approach area radius R min Near field radius R mic target area radius R S Installation radius sign S Starting position S Vi-Viii Prepositioning points SA Lifting point S Z Target position T B Width Towed vehicle / trailer T L Length Towing vehicle / trailer x Vehicle longitudinal axis y Vehicle horizontal axis z Vehicle height axis φ i-iii Angle Target route or target straight line / vehicle longitudinal axis

Claims

1. A method for moving a vehicle (10) towards a component (21) of a distant object (20), the vehicle (10) having a navigation module (11) including a camera (12) and evaluation electronics (13), the method comprising: determining a far-field (D) region (D) of the vehicle (10) relative to the object (20); ｍａｘ ) at the vehicle's rearview mirror 11. The identification element (30) is recognized by the camera (12) at the vehicle's rearview mirror 11. The identification element (30) is recognized by the camera (12) at the vehicle's rearview mirror 11. ｉ , 40 ｉｉ , 40 ｉｉｉ , 40a) are calculated, The radius of the near-field area (R ｍｉｎ ) is defined by the near-distance region (D ｍｉｎ ) is defined, and the setback line (40 ｉ , 40 ｉｉ , 40 ｉｉｉ , 40a) is the short distance region radius (R ｍｉｎ ) on the virtual prepositioning point (S Ｖｉ , S Ｖｉｉ , S Ｖｉｉｉ ) is calculated, A method characterized in that it transitions from a complex regulation using a comparison of a target position and an actual position to a relatively simple steering from the virtual pre-positioning points (S Vi , S Vii , S Viii ) that reverses the vehicle (10) towards the component (21) without performing any steering movements.

2. The prepositioning point (S Ｖｉ , S Ｖｉｉ , S Ｖｉｉｉ ) from the target path (43) of the component (21) of the object (20). ｉ , 43 ｉｉ , 43 ｉｉｉ 2. The method of claim 1, wherein:

3. Always multiple retreat lines (40 ｉ , 40 ｉｉ , 40 ｉｉｉ 3. A method according to claim 1 or 2, characterized in that: each of the first and second reversal lines (40a) is calculated using a different mathematical function, and a selected reversal line (40a) is followed by the vehicle (10).

4. The short range area radius (R ｍｉｎ ) on a plurality of said setback lines (40 ｉ , 40 ｉｉ , 40 ｉｉｉ ), respectively, the prepositioning point (S Ｖｉ , S Ｖｉｉ , S Ｖｉｉｉ 4. The method of claim 3, wherein:

5. Each preposition point (S Ｖｉ , S Ｖｉｉ , S Ｖｉｉｉ ) to obtain an associated target path (43) of the direction of said component (21) of said object (20). ｉ , 43 ｉｉ , 43 ｉｉｉ 5. The method of claim 4, wherein:

6. The target route (43 ｉ , 43 ｉｉ , 43 ｉｉｉ ) and the longitudinal axis (x) of said object (20) in the form of a towed vehicle (22). ｉ , φ ｉｉ , φ ｉｉｉ 6. The method according to claim 5, characterized in that the one in which θ is as small as possible is determined as the selected recession line (40a).

7. One or more of said setback lines (40 ｉ , 40 ｉｉ , 40 ｉｉｉ 2. The method according to claim 1, characterized in that the vehicle (10) is adapted to travel along a tolerance corridor (41) within which the actual travel path (42) of the vehicle (10) is modified.

8. When the vehicle leaves the allowable corridor (41), the vehicle moves from the start position (S) located at a point away from the allowable corridor (41) to the new retreat line (40 ｉ , 40 ｉｉ , 40 ｉｉｉ 8. The method of claim 7, wherein:

9. The identification element (30) is ｍａｘ 2. The method of claim 1, wherein the first and second inputs are read and verified at the same time.

10. The object (20) is in the far distance region (D ｍａｘ 2. The method of claim 1, wherein the identification element (30) is used to identify the device (10).

11. The far-distance region (D ｍａｘ ) and the short distance region (D ｍｉｎ ) and the approach region (D ｍｅｄ ) is provided, and the approach area (D ｍｅｄ ) is the long distance region (D ｍａｘ ) with respect to the approach region radius (R ｍｅｄ ) and the short distance region (D ｍｉｎ ) to the short distance region radius (R ｍｉｎ ) and the far-distance region (D ｍａｘ ) and / or the access region (D ｍｅｄ ) at the setback line (40 ｉ , 40 ｉｉ , 40 ｉｉｉ 2. The method according to claim 1, characterized in that 40a) is calculated by a mathematical function.

12. The short distance area (D ｍｉｎ ) includes the target region radius (R ｍｉｃ ) and covering an angle in the forward direction of the object (20). ｍｉｃ ), followed by the target region radius (R ｍｉｃ ) above which the air suspension (14) of the vehicle (10) is raised, a lifting point (S Ａ 2. The method of claim 1, wherein:

13. The target area (D ｍｉｃ 13. The method according to claim 12, characterized in that, in said step (12), the coupling means (23) of said object (20) in the form of a towed vehicle (22) are recognized by said camera (12).

Images