Identifying Unsecured Packages in Autonomous Vehicles

Abstract

A method for identifying unsecured cargo in a vehicle, particularly an autonomous vehicle, by a control device is disclosed, the method comprising: receiving measurement data in the form of lateral and / or longitudinal acceleration of the vehicle determined by at least one acceleration sensor; initiating a time interval for identifying unsecured cargo when the measured lateral or longitudinal acceleration exceeds a limit value; receiving the measurement data determined by the at least one sensor during the initiated time interval; calculating a derivative of the received measurement data after a predetermined time; counting an event when the derivative of the received measurement data after the predetermined time exceeds a threshold value; and identifying unsecured cargo when a minimum number of events is counted during the initiated time interval. Further disclosed are a control device, a computer program, and a machine-readable storage medium.

Description

[Technical field]

[0001] The present invention relates to a method for identifying unsecured loads in a vehicle, in particular in an autonomously capable vehicle. Furthermore, the present invention relates to a control device, a computer program and a machine-readable storage medium. [Background technology]

[0002] Background technology During the transportation of luggage in a vehicle, proper protection of luggage is essential for road safety. In a manually operated vehicle or a vehicle operated by a driver, the luggage is protected by the driver. In this case, the driver is responsible for the task of luggage protection and the monitoring of the vehicle with respect to loose luggage. However, especially in a fully automated vehicle, there is no driver who can be responsible for luggage protection and monitoring.

[0003] Methods for identifying unprotected loads are already known, in which the center of gravity of the load is determined and tracked over time. In this way, it is possible to ascertain whether the load shifts in the load compartment, by virtue of the change in the load center over time. Such methods can be used in particular in truck trailers or containers. The position of the center of gravity can be determined by means of fastenings or by means of differential wheel loads. However, the identification of such unstable loads requires a significant movement of the load in the load compartment. Small shifts of the load cannot be sufficiently identified in this case. Summary of the Invention [Problem to be solved by the invention]

[0004] Disclosure of the Invention It should be understood that the problem underlying the present invention is to propose a method for accurately identifying the movement of an object transported by an autonomous vehicle. [Means for solving the problem]

[0005] This problem is solved by the respective subject matter of the respective independent claims. Advantageous configurations of the invention are the subject matter of the respective dependent claims.

[0006] According to one aspect of the invention, a method for identifying unsecured loads in a vehicle is proposed, the vehicle may preferably be configured as a fully autonomous vehicle, and a control device may be used to execute the method, the control device being located on the vehicle or outside the vehicle.

[0007] In one step, measurement data in the form of lateral and / or longitudinal acceleration determined by at least one acceleration sensor are received, the acceleration data being determined by the vehicle.

[0008] In the subsequent evaluation of the measurement data of the acceleration sensor, it is checked whether the measured lateral or longitudinal acceleration exceeds a limit value. If an exceedance of the limit value is detected, a time interval for identifying unprotected baggage is started. In this case, the time interval can be started directly or with a time offset.

[0009] Then, during the initiated time interval, measurement data determined by the at least one sensor is received and a derivative of the received measurement data after a predetermined time is calculated.

[0010] For example, an event is counted when the derivative of the received measurement data after a given time exceeds a threshold value. An unsecured baggage is counted if no events are counted during the initiated time interval. Lower limit is identified when

[0011] The method allows a reliable and sensitive identification of loose luggage in an autonomous vehicle, where individual false positives, which may occur for example due to individual dents, can be avoided. In this way, false positive results are prevented by the measurement of the kinematic impulse of the luggage during a defined period or time interval.

[0012] In this case, the measurement data of the acceleration sensor can be used as an initial trigger for the need to check the luggage protection.

[0013] The identification of events during a time interval is not limited to the measurement data of an acceleration sensor. In this case, different sensors, such as microphones, chassis displacement sensors, air suspension sensors, etc., can be used to determine events during a time interval. The derivative of the received measurement data after a certain time during the activated time interval is used to trigger and count events. In this case, the derivative of the measurement data after a certain time represents the difference between the measurement data at two successive points in time and corresponds to the slope of the tangent of the measurement data plotted on a graph with respect to time at each point in time.

[0014] An event is triggered by movement of the luggage and is recorded by at least one sensor based on measurement data.

[0015] According to a further aspect of the invention there is provided a control device configured to perform the method, which may for example be a vehicle-side control device, a control device external to the vehicle or a server unit external to the vehicle, for example a cloud system.

[0016] Further, according to one aspect of the present invention, the execution of a computer program by a computer or a control device is Time A computer program comprising instructions for causing a computer to carry out the method according to the invention is provided.

[0017] According to a further aspect of the invention there is provided a machine-readable storage medium having stored thereon a computer program according to the invention.

[0018] The vehicle may be assisted according to the BASt standard and may be partially automated, highly automated, and / or fully automated, or capable of operating without a driver.

[0019] The vehicle may be, for example, a car, a truck, a trailer, a putty car, a robotaxi, etc. The vehicle is not limited to being driven on a road. Rather, the vehicle may be a watercraft, an aircraft, e.g., a transport drone, etc.

[0020] According to one embodiment, the time interval is the time period during which the lateral acceleration exceeds a limit value. time To,

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[0021] Alternatively, the time interval may be the time period during which the longitudinal acceleration exceeds the limit value. time To,

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[0022] In this case, the start time offset depends on the respective acceleration in the lateral or longitudinal direction and on the vehicle's luggage compartment dimensions in the corresponding direction, so that if the longitudinal acceleration is determined, the luggage compartment length is important, and if the luggage's lateral acceleration is determined, the luggage compartment width is important.

[0023] The luggage compartment may be located within the vehicle itself, for example in the luggage compartment or rear seat bench, in the vehicle structure, on a roof luggage carrier or roof box, on a trailer, in a saddlebag, etc.

[0024] According to yet another embodiment, the derivative of the measurement data after a certain time is calculated by at least one differentiation circuit. In this case, the differentiation circuit can be formed in the form of hardware or software. In this case, the measurement data is fed to the input of the differentiation circuit or the differential amplifier. The time change or the derivative of the measurement data after a certain time is then formed at the output of the differentiation circuit. Such measures make it technically easy to record the events during the initiated time interval.

[0025] According to another embodiment, during the initiated time interval, measurement data is received from at least one acceleration sensor, a sound wave sensor, a sensor of an air suspension of the vehicle, a microphone and / or a distance sensor, for example a distance sensor of a wheel suspension of the vehicle, whereby a check of the load protection is performed based on the measurement data from the different sensors. In this way, the method can be implemented using different sensors.

[0026] According to a further embodiment, the events counted during the initiated time interval are Lower limit If the above measures are taken to record unprotected or loose luggage in at least one vehicle, a control command is generated to output a warning message. If the above measures are taken to record unprotected or loose luggage in at least one vehicle, a communication operator of the vehicle or vehicle fleet can be informed by the vehicle's control device.

[0027] The warning message can be transmitted by a communication connection, which can be based, for example, on radio transmission technologies, in particular the warning message can be transmitted using transmission standards such as WLAN, UMTS, GSM, 5G, etc.

[0028] According to a further embodiment, the events counted during the initiated time interval are Lower limit If the vehicle is moved into a safe state and / or the vehicle dynamics are reduced. Depending on the vehicle and load configuration, the reduction of the vehicle dynamics alone may be sufficient to ensure safe transportation.

[0029] If the load is particularly sensitive or has a large mass relative to the vehicle, in case of a lack of load safety, it may be advantageous to transition the vehicle to a safe state in order to eliminate the risk in road traffic. For this purpose, the vehicle may be parked on the roadside or steered to the next available parking space or service area.

[0030] Subsequently, an inspection may be performed on the vehicle that has been moved to a safe state due to having unsecured load, in which case manual protection can be provided for the loose load on the vehicle, and further travel of the vehicle with the load can be ensured.

[0031] In the following, preferred embodiments of the invention are explained in detail with reference to highly simplified schematic drawings. [Brief description of the drawings]

[0032] [Figure 1] 1 is a plan view of a vehicle having a luggage compartment for explaining a method according to an embodiment. [Diagram 2] 1 is a schematic flow chart illustrating a method according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] 1 shows a plan view of a vehicle 1 having a luggage compartment 2 for explaining a method 4 according to an embodiment. Method 4 is explained in more detail in FIG.

[0034] The vehicle 1 has a control device 6 which can receive and evaluate measurement data from different sensors 8, 10, 12. For example, the vehicle 1 can have an acceleration sensor 8, the measurement data of which can be used for an initial check of the load protection. The acceleration sensor 8 can be arranged, for example, on the chassis of the vehicle 1.

[0035] In the luggage compartment of the vehicle 1, for example, goods or luggage 14 are present. In the illustrated embodiment, the luggage compartment 2 is configured in the form of a rear seat bench or a luggage compartment of the vehicle 1. According to the BASt standard, the vehicle 1 may be configured as a fully automated vehicle and therefore can be driven without a driver.

[0036] The further sensor 10 can be configured, for example, as a microphone or an interior space microphone. Furthermore, measurement data can also be received by the control device 6 from a sensor 12 configured as a distance sensor.

[0037] The control device 6 is further capable of forming a communications connection 16 to a communications operator 18 .

[0038] In the embodiment shown, the communication connection 16 can be in the form of an LTE connection or a WLAN connection. In particular, the communication connection 16 can be used to receive indications or to transmit warning messages.

[0039] 2 shows a schematic flow chart illustrating a method 4 according to an embodiment, which is used to identify unsecured loads 14 in a vehicle 1 and is preferably executable by a controller 6.

[0040] In effect, method 4 can be divided into sections, where the first section involves opening a time interval for counting events.

[0041] Based on the event counts collected during the second section, unsecured or loose packages 14 can be detected.

[0042] A third section of the method 4 is configured to generate a response to the requested unsecured load 14. The response can be realized, for example, in the form of a warning message and / or by transitioning the vehicle 1 to a safe state.

[0043] In a first step 20, the measurement data determined by the at least one acceleration sensor 8 is y and / or longitudinal acceleration a x The information is received in the form of

[0044] The determined measurement data are compared with predefined limit values ​​by a limit value identifier 22. The limit values ​​can be predefined in a calibration.

[0045] Measured lateral acceleration a y and / or longitudinal acceleration a x exceeded the upper limit Sometimes During the event counting period, a time interval 24 for identifying unsecured packages 14 is initiated.

[0046] The limit value can be exceeded, for example, by the impact of an unprotected load 14 on the luggage compartment 2 of the vehicle 1. The time interval 24 can have a direct start time t0 or a start time with a time delay. Correspondingly, the time interval 24 can have an adjusted end time t end may have:

[0047] Here, the start time t0 and the end time t end is the lateral acceleration ay exceeded the upper limit time To 、 formula

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[0048] For example, in the middle of the event counting window or time interval 24, the lateral acceleration a y When the load is applied, a point may occur where a loose object or piece of luggage 14 slides from the left interior of the luggage compartment 2 to the right interior, where it strikes a wall.

[0049] During the initiated time interval 24, measurement data determined by at least one sensor 8, 10, 12 are received and the time variation or the time derivative 26, 28, 30 of the received measurement data is calculated. This can be achieved, for example, by means of a number of differential amplifiers 26, 28, 30 integrated in the control device 6.

[0050] Each sensor 8, 10, 12 may here have a separate differential amplifier 26, 28, 30 that converts the corresponding measurement data into its derivative after a given time.

[0051] The measurement data are evaluated by a number of distance sensors 12 of the wheel suspensions. For example, all four wheel suspensions may have their own distance sensor 12. Each distance sensor 12 is able to determine measurement data in the form of a distance or section d1, d2, d3, d4.

[0052] At least one of the in-room microphones 10 calculates a sound pressure level L by a sound pressure level calculation unit 32. p Measurement data can be obtained in the form of a sound wave signal that is converted into

[0053] Subsequently, each time measurement data is derived 26, 28, 30 in time during the active time interval 24. y and / or longitudinal acceleration a x The derivative 26 of after a given time of y and / or longitudinal spasmodic movements x is obtained.

[0054] The derivative of the measurement data after a predetermined time is then subjected to threshold discrimination 34, 36, 38. Time Events are counted.

[0055] The counting of events may be performed by an event counter 40 that is active during the time interval 24 .

[0056] Events counted during the started time interval 24 Lower limit When it reaches 42, the unsecured baggage is identified.

[0057] If an unsecured load is identified, a response 44 can be triggered by the control device 6. For this purpose, the control device 6 can generate control commands that enable a warning message to be issued or that enable the vehicle 1 to be put into a safe state.

Claims

1. A method for identifying unsecured loads (14) in a vehicle (1) by a control device (6), comprising: The lateral acceleration (a ｙ ) and / or longitudinal acceleration (a ｘ a lateral acceleration (a ) of the vehicle (1) determined by at least one first sensor (8) for measuring ｙ ) data and / or longitudinal acceleration (a ｘ ) data, The lateral acceleration (a ｙ ) data or the longitudinal acceleration (a ｘ ) initiating a time interval (24) for identifying unsecured packages (14) when the data exceeds a threshold value; receiving measurement data for checking the load protection determined by at least one second sensor (8, 10, 12) during the initiated time interval (24) and calculating a derivative of the received measurement data after a predetermined time; counting an event triggered by luggage movement when a derivative of the received measurement data after the predetermined time exceeds a threshold value; identifying an unsecured load (14) when the number of events counted during the initiated time interval (24) reaches a lower limit; method.

2. The method of claim 1 , further comprising calculating a derivative of the measurement data after the predetermined time by at least one differentiating circuit.

3. 3. The method according to claim 1 or 2, further comprising receiving, during the initiated time interval (24), the measurement data for checking the luggage protection from the at least one second sensor (8, 10, 12) comprising any one or more of at least one acceleration sensor (8), an acoustic sensor, a microphone (10) and a distance sensor (12).

4. 4. The method according to claim 3, wherein the distance sensor (12) is a distance sensor of a wheel suspension of the vehicle (1).

5. 5. The method according to claim 1, further comprising forming a control instruction for outputting a warning message if the events counted during the initiated time interval (24) reach the lower limit value.

6. 6. The method according to claim 1, further comprising: transitioning the vehicle (1) to a safe state and / or reducing vehicle dynamics if the number of events counted during the started time interval (24) reaches the lower limit value.

7. The method according to any one of claims 1 to 6, wherein the vehicle (1) is an autonomously capable vehicle (1).

8. A control device (6) configured to implement the method (4) according to any one of the preceding claims.

9. A computer program comprising instructions for carrying out the method (4) according to any one of claims 1 to 7, when executed by a computer or control device (6).

10. A machine-readable storage medium storing the computer program according to claim 9.

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