Method for detecting surroundings, and method for controlling a vehicle function of a vehicle combination

Abstract

The invention relates to a method for detecting (10) the surroundings (12) of a vehicle (14) with a trailer (16), having the steps of providing (18) vehicle surroundings sensor data (20) of at least one surroundings sensor (24) which is paired with the vehicle (14) and detects at least one vehicle (14) surroundings region (22) which at least partly includes the trailer (16), identifying (28) the vehicle surroundings sensor data (20) assigned to the trailer (16) as trailer sensor data (30) in the vehicle surroundings sensor data (20), and detecting (38) at least one trailer property on the basis of the trailer sensor data (30), wherein the trailer sensor data (30) is filtered out of the vehicle surroundings sensor data (20), and the vehicle surroundings sensor data (44) filtered in this manner is output. The invention additionally relates to a method (46) for controlling (50) a vehicle function (52).

Description

[0001] Description

[0002] Title:

[0003] METHOD FOR ENVIRONMENTAL DETECTION AND METHOD FOR CONTROLLING A VEHICLE FUNCTION OF A VEHICLE COMBINATION

[0004] The invention relates to a method for environmental detection according to the preamble of claim 1. Furthermore, the invention relates to a method for controlling a vehicle function.

[0005] State of the art

[0006] DE 10 2019 220 526 A1 describes a method for determining at least one articulation angle of a vehicle combination consisting of a vehicle and a trailer, in which a position and / or number of wheels of the trailer is determined on the basis of calculated position information by determining micro-Doppler information on the basis of determined radar data and an axle position of axles of the trailer of the vehicle combination is calculated.

[0007] Disclosure of the invention

[0008] According to the present invention, a method for detecting the surroundings is proposed, having the features of claim 1. This allows the surroundings to be detected more accurately and reliably. False detections during the detection of the surroundings can be reduced.

[0009] The vehicle may be a motor vehicle, in particular a truck or a bus. The vehicle may be a two-wheeled vehicle, in particular a motorcycle.

[0010] A trailer is understood to be a vehicle part that can be decoupled from the vehicle or permanently connected to it, is movable relative to the vehicle, and has at least one trailer axle with at least one trailer wheel rolling on a roadway, in particular trailing the vehicle. The trailer and the vehicle can form a vehicle combination. The trailer can be the rear part of an articulated bus, a truck trailer, a semi-trailer, or the like. The trailer can be a vehicle trailer that can be decoupled from the vehicle via a coupling head on a drawbar.

[0011] The environment sensor can be a radar sensor, a camera, a lidar sensor, and / or an ultrasonic sensor. The environment sensor can use the vehicle environment sensor data to provide position information and / or speed information of objects in the vehicle's surroundings.

[0012] The environment sensor can be assigned to a driver assistance system. The environment sensor can be located on the vehicle.

[0013] The vehicle surroundings sensor data can also be provided to a driver assistance system. The driver assistance system can process the vehicle surroundings sensor data. The driver assistance system can be a blind spot monitoring system or a turning assistance system. The turning assistance system can monitor the surrounding area to the right and / or left of the vehicle and detect at least one object moving within it. If a possible collision between the vehicle and the object is calculated, a warning signal can be issued to the driver and / or an automated braking function can be triggered. The driver assistance system can be assigned to the vehicle independently of the trailer, meaning the driver assistance system can operate even when no trailer is attached to the vehicle.

[0014] The vehicle environment sensor data can be processed or unprocessed measurement data from at least one environment sensor. The vehicle environment sensor data can be such measurement data from multiple environment sensors. The environment sensors can have the same sensor instance or a different sensor instance. For example, one environment sensor can be a radar sensor and another environment sensor can be a camera. The vehicle environment sensor data can include position and / or speed information of objects detected by radar reflections in the environment area detected by the radar sensor.

[0015] The method for detecting the surroundings can be executed depending on a condition. In particular, the method can be dependent on the trailer's attachment status to the vehicle. For example, the method is only executed when a trailer is attached to the vehicle.

[0016] In a preferred embodiment of the invention, it is advantageous if the trailer sensor data is identified by applying a trailer model that characterizes vehicle environment sensor data attributable to the trailer. The trailer model is a simulation model, in particular a computer model. The trailer model can provide an estimated influence of the trailer on the vehicle environment sensor data. The influence of the trailer can include a trailer position, at least one trailer dimension, and / or a trailer movement of the trailer.

[0017] In a preferred embodiment of the invention, the trailer model identifies the vehicle environment sensor data attributable to at least one trailer wheel of a trailer axle. This allows the trailer sensor data to contain information about the trailer axle, allowing trailer behavior to be better estimated, particularly when cornering with the trailer.

[0018] In a specific embodiment of the invention, it is advantageous if the trailer model calculates the trailer's movement relative to the vehicle. This allows the trailer sensor data to be reliably identified in virtually all driving situations involving the vehicle and the trailer. The trailer model can incorporate the vehicle's movement when calculating the trailer's movement.

[0019] A preferred embodiment of the invention is advantageous in which the trailer sensor data includes position information and / or micro-Dopping information of at least the trailer wheel. The micro-Dopping information includes the speed information of the movement of the trailer wheel relative to the vehicle during the rotational movement.

[0020] A preferred embodiment of the invention is advantageous in which the trailer property is an axle position of the trailer axle. The axle position can be related to a coordinate system of the trailer and / or the vehicle. The trailer's coordinate system can be referenced by a coupling point of the trailer on the vehicle.

[0021] In a preferred embodiment of the invention, the trailer has multiple trailer axles and the trailer property includes the respective axle position of the trailer axles, wherein a wheelbase of the trailer is calculated based on the axle positions. The wheelbase of the trailer can be an effective axle position, in which the multiple trailer axles are assumed to be reduced to one trailer axle with regard to the behavior of the trailer. A preferred embodiment of the invention is advantageous in which the environment sensor is a radar sensor and the vehicle environment sensor data is radar measurement data from radar reflections from objects in the environment. The radar sensor can be arranged in a lateral region of the vehicle. The environment region detected thereby can comprise a lateral region, including at least a partial rear region, of the vehicle.

[0022] According to the present invention, a method for controlling a vehicle function is further proposed, having the features of claim 9. This allows the vehicle function to be controlled more reliably and precisely. The trailer can be masked out of the vehicle's surroundings sensor data.

[0023] In a specific embodiment of the invention, it is advantageous if the vehicle function is a driver assistance function and the driver assistance function is controlled using the filtered vehicle environment sensor data as input data. This prevents the driver assistance function from being deactivated when a trailer is attached. The driver assistance function is less affected by the influences caused by the trailer, in particular, it is not disturbed or impaired. The driver assistance function can be operated as if no trailer were attached to the vehicle.

[0024] Further advantages and advantageous embodiments of the invention emerge from the description of the figures and the illustrations.

[0025] Character description

[0026] The invention is described in detail below with reference to the figures. They show in detail:

[0027] Figure 1: A method for environmental detection in a special embodiment of the invention.

[0028] Figure 2: A method for controlling a vehicle function in a specific embodiment of the invention. Figure 1 shows a method for environmental detection in a specific embodiment of the invention. The method for environmental detection 10 of a vehicle environment 12 of a vehicle 14 with a trailer 16 initially comprises providing 18 vehicle environment sensor data 20 from an environment sensor 24 assigned to the vehicle 14 and detecting at least one environmental region 22 of the vehicle 14 that at least partially encloses the trailer 16. The environment sensor 24 can be a radar sensor 26 that detects objects in the environmental region 22 of the vehicle 14 by means of their radar reflections.

[0029] Subsequent identification 28 of the vehicle environment sensor data 20 assigned to the trailer 16 as trailer sensor data 30 in the vehicle environment sensor data 20 is preferably carried out by applying a trailer model 32, which identifies the trailer 16 and, here, preferably the vehicle environment sensor data 20 attributable to at least one trailer wheel 34 of a trailer axle 36 of the trailer 16. For example, the trailer sensor data 30 includes position information and micro-Doppier information of the trailer wheel 34, based on which the trailer wheel 34 can be identified.

[0030] By detecting 38 at least one trailer property depending on the trailer sensor data 30, for example, an axle position 39 of the trailer axle 36 is detected as a trailer property.

[0031] The trailer 16 preferably has a plurality of trailer axles 36. The respective axle positions 39 of the trailer axles 36 form the trailer characteristics, wherein a wheelbase 40 of the trailer 16 is calculated based on the axle positions 39. The trailer model 32 can calculate a trailer movement 42 of the trailer 16 relative to the vehicle 14 and take this into account when identifying 28 the trailer sensor data 30.

[0032] The trailer sensor data 30 are filtered out from the vehicle environment sensor data 20, and the thus filtered vehicle environment sensor data 44 is output. The vehicle environment sensor data 20 are thus cleaned of the trailer sensor data 30.

[0033] Figure 2 shows a method for controlling a vehicle function in a specific embodiment of the invention. The method 46 for controlling 50 a vehicle function 52 of a vehicle with a trailer comprises providing 18 the vehicle environment sensor data 20. With subsequent processing 48 of the filtered vehicle environment sensor data 44 output from the vehicle environment sensor data 20 by the method for environment detection 10 according to one of the preceding claims, the vehicle function 52 is controlled 50 depending on the filtered vehicle environment sensor data 44. For example, the vehicle function 52 is a driver assistance function 54 that is controlled using the filtered vehicle environment sensor data 44 as input data 56.

Claims

Patent claims 1. A method for detecting the surroundings (10) of a vehicle environment (12) of a vehicle (14) with a trailer (16), comprising Providing (18) vehicle environment sensor data (20) from at least one environment sensor (24) which is assigned to the vehicle (14) and detects at least one environment region (22) of the vehicle (14) which at least partially encloses the trailer (16), identifying (28) the vehicle environment sensor data (20) assigned to the trailer (16) as trailer sensor data (30) in the vehicle environment sensor data (20), detecting (38) at least one trailer property depending on the trailer sensor data (30), characterized in that the trailer sensor data (30) are filtered out from the vehicle environment sensor data (20) and the vehicle environment sensor data (44) filtered in this way are output.

2. Method for environment detection (10) according to claim 1, characterized in that the identification (28) of the trailer sensor data (30) is carried out by applying a trailer model (32) which identifies vehicle environment sensor data (20) attributable to the trailer (16).

3. Method for environment detection (10) according to claim 2, characterized in that the trailer model (32) identifies the vehicle environment sensor data (20) attributable to at least one trailer wheel (34) of a trailer axle (36) of the trailer (16).

4. Method for environment detection (10) according to claim 2 or 3, characterized in that the trailer model (32) calculates a trailer movement (42) of the trailer (16) relative to the vehicle (14).

5. Method for environmental detection (10) according to one of the preceding claims, characterized in that the trailer sensor data (30) comprise position information and / or micro-Doppier information of at least the trailer wheel (34).

6. Method for environment detection (10) according to one of the preceding claims, characterized in that the trailer property is an axle position of the trailer axle (36).

7. Method for environment detection (10) according to one of the preceding claims, characterized in that the trailer (16) has a plurality of trailer axles (36) and the trailer property includes the respective axle position of the trailer axles (36), wherein a wheelbase (40) of the trailer (16) is calculated based on the axle positions.

8. Method for environment detection (10) according to one of the preceding claims, characterized in that the environment sensor (24) is a radar sensor (26) and the vehicle environment sensor data (20) are radar measurement data by radar reflections of objects in the environment area (22).

9. Method (46) for controlling (50) a vehicle function (52) of a vehicle (14) with a trailer (16), comprising Providing (18) vehicle environment sensor data (20) of at least one environment sensor (24) which is assigned to the vehicle (14) and detects at least one environment region (22) of the vehicle (14) which at least partially encloses the trailer (16), processing (48) the filtered vehicle environment sensor data (44) output by the environment detection method (10) according to one of the preceding claims from the vehicle environment sensor data (20), Control (50) of the vehicle function (52) depending on the filtered vehicle environment sensor data (44).

10. Method (46) for controlling (50) a vehicle function (52) according to claim 9, characterized in that the vehicle function (52) is a driver assistance function (54) and the control (50) of the driver assistance function (54) is carried out with the filtered vehicle environment sensor data (44) as input data (56).

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