Device for determining the overall height of a vehicle with a transport element mounted on the vehicle, and vehicle having a device for determining the overall height a vehicle

Abstract

The invention relates to a device for determining the overall height of a vehicle (10) with a transport element (12) arranged on the vehicle (10), having a sensing device (22) for sensing the transport element (12), and an evaluation unit (30) which is connected in terms of signalling to the sensing device (22), wherein the evaluation unit (30) is embodied such that the overall height (HG) of the vehicle (10) with the mounted transport element (12) is able to be determined from the signals of the sensing device (22), wherein the sensing device (22) has at least one UWB sensor (241, 242, 243) clearly arranged in a vehicle coordinate system, and a UWB tag (26) that is able to be coupled to the UWB sensor (241, 242, 243), wherein the UWB sensor (241, 242, 243) is arranged on the vehicle (10) and the UWB tag (26) is arranged on the transport element (12), wherein the evaluation unit (30) is embodied such that, as a result of the UWB tag (26) being coupled to the UWB sensor (241, 242, 243), the position of the UWB tag (26) in the vehicle coordinate system is determined, and the overall height (HG) of the vehicle (10) is determined on the basis thereof.

Description

[0001] Device for determining the overall height of a vehicle with a transport element mounted on the vehicle and vehicle with a device for determining the overall height of a vehicle

[0002] The invention relates to a device for determining the overall height of a vehicle with a transport element arranged, in particular mounted, on the vehicle, and to a vehicle with a device for determining the overall height of a vehicle.

[0003] Such devices for determining the overall height of a vehicle to which a transport element is mounted are generally known from the prior art. A transport element can be, for example, a bicycle rack mounted on a vehicle roof or in the rear area with bicycles possibly mounted thereon, a transport box or a roof tent. Alternatively, a transport element can also be a transport item arranged on a trailer, such as an excavator. In all of the cases listed, there is the possibility or is necessarily the case that the transport element increases the overall height of the vehicle, including the transport element, and thus there is a risk of collision when driving through an element that restricts the clearance height. Such elements can be, for example, bridges or tunnels. Otherwise, such an element can also be a garage or a garage entrance.Such a device is known, for example, from DE 10 2013 209 873 A1, wherein the device comprises a sensor and an evaluation unit. The sensor signals are transmitted to the evaluation unit and evaluated therein in such a way that the overall height of the vehicle, i.e., the vehicle height including the mounted transport element, is determined.

[0004] The object of the invention is to provide a device for determining the overall height of a vehicle with a transport element arranged on the vehicle, which is of simple design and by which the overall height of the vehicle can be determined with high reliability and accuracy. This object is achieved by the features of claim 1.

[0005] The device comprises a detection device which has at least one UWB sensor and one UWB tag. The UWB sensor is clearly arranged on the vehicle and in a generally accepted vehicle coordinate system. The vehicle coordinate system has an x-axis oriented in the vehicle's longitudinal direction, i.e. in the direction of travel, a y-axis oriented in the vehicle's transverse direction, and a z-axis oriented in the vehicle's vertical direction. The x- and y-axes are thus oriented horizontally and the z-axis is oriented vertically. The UWB tag is arranged, in particular mounted, on the transport element, preferably at the highest point, and can be coupled to the UWB sensor. The UWB sensor and the UWB tag thus form the basic components of a generally known UWB technology, i.e. ultra-wideband technology.

[0006] The device also includes an evaluation unit configured to determine the position of the UWB tag in the vehicle coordinate system by coupling the UWB tag to the UWB sensor, and based on this, the overall height of the vehicle is determined. For example, the UWB sensor receives a signal from the UWB tag, which is evaluated by the evaluation unit to determine the position of the UWB tag relative to the UWB sensor. The overall height or z-position of the UWB tag in the vehicle coordinate system can be determined by the unique arrangement of the UWB sensor in the vehicle coordinate system and the determined position of the UWB tag relative to the UWB sensor.

[0007] By determining the total height using UWB technology, i.e. by using at least one UWB sensor and one UWB tag, the total height can be determined easily, reliably and with high accuracy.

[0008] Preferably, the detection device has only one UWB sensor, wherein the UWB sensor and the UWB tag are arranged aligned with one another in the z-direction. In this way, the device can be designed particularly simply, since the aligned arrangement of the UWB tag relative to the UWB sensor means that only a single UWB sensor is required. Aligned in the z-direction means that there is no displacement of the UWB tag relative to the UWB sensor in the x- and y-directions. The distance between the UWB sensor and the UWB tag corresponds to the height difference between the UWB sensor and the UWB tag. The distance between the UWB sensor and the UWB tag is determined in particular using a well-known ToF method, wherein the time required for the signals to be transmitted between the UWB tag and the UWB sensor is determined. Based on this, the distance between the UWB tag and the UWB sensor is determined.

[0009] Alternatively, the detection device has a plurality of UWB sensors that can be coupled to the UWB tag arranged on the transport element. The UWB sensors can be arranged at any location on the vehicle. The position of the UWB tag relative to the UWB sensors is determined, for example, using a so-called TDoA (Time Difference of Arrival) method, whereby the UWB sensors are synchronized with one another. When a transport element is mounted, the UWB tag sends signals at regular intervals, which are received by the UWB sensors within their detection range and assigned a timestamp by them. The data from the UWB sensors and the differences in arrival times are then analyzed, and the position of the UWB tag is determined using multilateration. Alternatively, the position of the UWB tag in the vehicle coordinate system can also be determined using other known methods.

[0010] The object of the invention is also achieved by a vehicle according to claim 6.

[0011] The vehicle comprises a device according to one of claims 1 to 5, as well as a clearance height determination device and a control unit. The clearance height determination device is designed such that an element arranged on a future travel section that restricts the clearance height is detected and the permissible clearance height is determined. The evaluation unit is designed such that the total height determined by the device and the clearance height determined by the clearance height determination device are compared with one another. If the determined total height is greater than the determined clearance height, the evaluation unit outputs an obstacle signal. The obstacle signal indicates an impending collision between the vehicle or the transport element and the element restricting the clearance height.If the determined clearance height is greater than the determined total height of the vehicle, no obstacle signal is issued.

[0012] This can reliably prevent a collision between the vehicle and an element that limits the clearance height.

[0013] Preferably, the control unit can be coupled to a mounting sensor arranged on the transport element and / or on the vehicle, such that the control unit is automatically activated when a mounted transport element is detected by the mounting sensor. Alternatively, the control unit can be manually activated by a person. As a result, the vehicle height monitoring function is only active when a transport element is mounted on the vehicle and, in particular, when the normal height of the vehicle is actually exceeded by a transport element.

[0014] In a preferred embodiment, the mounting sensor is formed by the UWB sensor and the UWB tag, such that as soon as the UWB tag is detected within a detection range of the UWB sensor, the control unit is automatically activated. This allows the transport element to be detected by an existing sensor, eliminating the need for an additional sensor.

[0015] The clearance height determination device preferably comprises an obstacle detection element, a locating element, and a clearance determination module, which are arranged on the vehicle and / or on the transport element. The obstacle detection element and the locating element are signal-connected to the clearance determination module, and the clearance determination module is designed such that an element limiting the clearance height and present on a travel section in front of the vehicle is recognized from the information of the obstacle detection element, the element is determined as a function of the information of the locating element, and the clearance height of the element is determined based on data assigned to the element. The data assigned to the element is stored, in particular, in a map to which the clearance determination module has access.

[0016] Alternatively, the clearance height determination device comprises an imaging obstacle detection element and a clearance determination module, wherein the obstacle detection element is signal-connected to the clearance determination module. The clearance determination module is designed such that an element limiting the clearance height and present on a travel section in front of the vehicle is recognized from the image, and the clearance height of the element is determined. In this case, the obstacle detection element additionally detects other elements, such as a vehicle traveling ahead, with predefined and known dimensions, and a scaling is determined therefrom, wherein the scaling is used to determine the clearance height.

[0017] In this way, the clearance height can be determined easily and reliably.

[0018] Preferably, the control unit is signal-connected to an output device for issuing a warning to a vehicle occupant. If the comparison between the determined total height and the determined clearance height shows that the total height exceeds the clearance height, a warning signal is transmitted to the output device, thereby providing the driver with early warning of an impending collision if they continue driving.

[0019] Additionally or alternatively, the control unit is signal-connected to a braking system and / or a steering system, such that braking and / or steering intervention occurs automatically when an obstacle signal is detected. In this way, an impending collision can be automatically and reliably prevented. The invention is explained in more detail below with reference to the accompanying drawing. Herein:

[0020] Fig. A vehicle with a transport element arranged thereon and a device for determining the total height of a vehicle and a passage height determination device

[0021] The figure schematically shows a side view of a vehicle 10, which in the present example is a passenger car, moving in the direction of travel F, i.e., in the x-direction of a vehicle coordinate system, and approaching an element 100 that limits the clearance height HD, for example, a garage entrance, a tunnel, or a bridge. The vehicle coordinate system further includes a y-direction, which extends in the transverse direction of the vehicle, and a z-direction, which extends in the vertical direction of the vehicle.

[0022] A roof-mounted bicycle rack 14 with a bicycle 16 attached thereto is mounted on the vehicle 10. The roof-mounted bicycle rack 14 and the bicycle 16 attached thereto form a transport element 12. The transport element 12 could also be a roof box or a transport box or bicycle carrier device arranged on a tailgate or on the trailer hitch.

[0023] In order to avoid a collision between the vehicle 10 or the transport element 12 and the element 100 during ferry operation, a device 20 for determining the total height HG of the vehicle 10 with the transport element 12 mounted on the vehicle 10, a passage height determination device 40 and a control unit 60 are provided.

[0024] The clearance height determination device 40 has an obstacle detection element 42, a locating element 44, and a clearance determination module 46. The obstacle detection element 42 is arranged in the front area, above a windshield of the vehicle 10, and serves to detect a section of travel located in front of the vehicle 10. The detection device 42 can be a camera or a radar, for example. The locating device 44 is arranged in a rear area of ​​a vehicle roof and serves to determine the temporary position of the vehicle 10. The clearance determination module 46 is signal-connected to the obstacle detection element 42 and the locating element 44. The clearance determination module 46 is designed such that, during ferry operation, an element 100 limiting the clearance height HD and present on a section of travel in front of the vehicle 10 is detected or determined from the information of the obstacle detection element 42.is detected, the element 100 is determined depending on the information from the locating element 44, and the clearance height HD of the element 100 is determined based on data assigned to the element 100. For example, an element 100 is detected by the obstacle detection element 42, for example from an image from a camera, and based on this, the current position of the vehicle 10 is determined using the locating device 44. By locating the vehicle 10, the element 100 can be determined on a map which contains the dimensions of the element 100, in particular the clearance height HD, and to which the clearance determination module 46 has access. Finally, the clearance height HD of the element 100 can be determined based on the determined element 100. Alternatively, the clearance height HD could be determined in such a way that the clearance height HD of the element 100 is determined from an image of an imaging obstacle detection element.In this case, the obstacle detection element 42 additionally detects other elements, such as a vehicle traveling ahead, with predefined and known dimensions, and uses this to determine a scale. This scale is used to determine the clearance height HD. In this case, locating the vehicle 10 is not required.

[0025] The device 20 serves to determine the total height HG of the vehicle 10, i.e., the height including the transport element 12 mounted on the vehicle 10, in this case the roof-mounted bicycle rack 14 with the bicycle 16 attached thereto, and comprises a detection device 22 and an evaluation unit 30. The detection device 22 has a plurality of UWB sensors 241, 242, 243 and a UWB tag 26. The UWB sensors 241, 242, 243 are arranged on the vehicle 10. The UWB tag 26 is arranged on the bicycle 16 and at the highest point of the transport element 12.

[0026] The evaluation unit 30 is signal-connected to the detection device 22, i.e., to the UWB sensors 241, 242, 243. Each of the UWB sensors 241, 242, 243 is assigned a unique position in the vehicle coordinate system, i.e., in the x, y, and z directions. In particular, the height H1 of the UWB sensors 241, 242, 243 is thereby determined. The evaluation unit 30 is designed such that the position of the UWB tag 26 relative to the UWB sensors 241, 242, 243 is determined, for example, using the so-called TDoA method. Due to the unique position of the UWB sensors 241, 242, 243 in the vehicle coordinate system, the position of the UWB tag 26 in the vehicle coordinate system is also determined by determining the relative position of the UWB tag 26 to the UWB sensors 241, 242, 243. The determined z-coordinate of the UWB tag 26 in the vehicle coordinate system corresponds to the total height HG of the vehicle 10, since the UWB tag 26 is attached to the highest point of the transport element 12.The location of the UWB tag 26 can also be determined by other generally known methods.

[0027] Alternatively, the detection device 22 could also comprise only a single UWB sensor, wherein the UWB tag and the UWB sensor must be arranged in alignment with each other in the z-direction.

[0028] During ferry operation of the vehicle 10, the control unit 60 receives the information from the device 20 and the clearance height determination device 40 and compares the total height HG with the clearance height HD. If the clearance height HD is greater than the total height HG of the vehicle 10, no output is output from the control unit 60 because no collision is expected. If the clearance height HD is less than the total height HG of the vehicle 10, the control unit 60 transmits an obstacle signal to a braking system 70 of the vehicle 10, i.e., to a controller of the braking system 70, and a warning signal to an output device 72. The obstacle signal activates the braking system 70 and triggers an automatic braking process.The output device 72 is, for example, a display or a loudspeaker arranged in the interior of the vehicle 10, wherein, based on the warning signal, a warning of an impending collision is output to the driver in the form of a visual representation on the display or an acoustic sound from the loudspeaker.

[0029] The collision warning function is only active when a transport element 12 is actually mounted on the vehicle 10. The UWB sensors 241, 242, 243 and the UWB tag 26 serve as the mounting sensor for this purpose. Thus, the collision warning function is only active when the UWB tag 26 is located within the detection range of the UWB sensors 241, 242, 243 and a signal exchange is taking place between the UWB sensors 241, 242, 243 and the UWB tag 26.

[0030] List of reference symbols

[0031] 10 vehicles

[0032] 12 Transport element

[0033] 14 roof bike racks

[0034] 16 bicycles

[0035] 20 Device

[0036] 22 Detection device

[0037] 241 UWB sensor

[0038] 242 UWB sensor

[0039] 243 UWB sensor

[0040] 26 UWB day

[0041] 30 evaluation unit

[0042] 40 Clearance height determination device

[0043] 42 Obstacle detection element

[0044] 44 Locating element

[0045] 46 Transit determination module

[0046] 60 control unit

[0047] 70 Brake system

[0048] 72 Dispensing device

[0049] 100 Passage height limiting element

[0050] HD clearance height

[0051] HG Total height of the vehicle

Claims

Device for determining the overall height of a vehicle with a transport element mounted on the vehicle and vehicle with a device for determining the overall height of a vehicle Patent claims 1 . Device for determining the overall height of a vehicle (10) with a transport element (12) arranged on the vehicle (10), with a detection device (22) for detecting the transport element (12), and with an evaluation unit (30) which is signal-connected to the detection device (22), wherein the evaluation unit (30) is designed such that the overall height (HG) of the vehicle (10) with the mounted transport element (12) can be determined from the signals of the detection device (22), characterized in that the detection device (22) has at least one UWB sensor (241, 242, 243) which is uniquely arranged in a vehicle coordinate system and a UWB tag (26) which can be coupled to the UWB sensor (241, 242, 243), wherein the UWB sensor (241, 242, 243) is arranged on the vehicle (10) and the UWB tag (26) is arranged on the transport element (12), wherein the evaluation unit (30) is designed such thatthat by coupling the UWB tag (26) with the UWB sensor (241, 242, 243), the position of the UWB tag (26) in the vehicle coordinate system is determined and based on this, the total height (HG) of the vehicle (10) is determined., 2. Device according to claim 1, characterized in that the detection device (22) exclusively has a UWB sensor (241, 242, 243), wherein the UWB sensor (241, 242, 243) and the UWB tag (26) are arranged in alignment with one another in the z-direction.

3. Device according to claim 1, characterized in that the detection device (22) has a plurality of UWB sensors (241, 242, 243) which can be coupled to the UWB tag (26).

4. Device according to one of the preceding claims, characterized in that the evaluation unit (30) is designed such that at least the position of the UWB tag (26) in the z-direction relative to the at least one UWB sensor (241, 242, 243), which is clearly arranged at least in the z-direction in the vehicle coordinate system, is determined and based thereon the z-coordinate of the position of the UWB tag (26) is determined.

5. Device according to one of the preceding claims, characterized in that the UWB tag (26) is arranged at the highest point of the transport element (12).

6. Vehicle with a device (20) according to one of claims 1 to 5, a clearance height determination device (40), and a control unit (60) which is designed such that the total height (HG) determined by the device (20) and the clearance height (HD) determined by the clearance height determination device (40) are compared with one another and, based thereon, an obstacle signal is output if the total height (HG) exceeds the clearance height (HD).

7. Vehicle according to claim 6, characterized in that the control unit (60) is provided with a control unit on the transport element (12) and / or on can be coupled to a mounting sensor arranged on the vehicle (10) in such a way that the control unit (60) is automatically activated when a mounted transport element (12) is detected by the mounting sensor.

8. Vehicle according to claim 7, characterized in that the mounting sensor is formed by the UWB sensor (241, 242, 243) and the UWB tag (26), such that as soon as the UWB tag (26) is detected in a detection range of the UWB sensor (241, 242, 243), the control unit (60) is automatically activated.

9. Vehicle according to one of claims 6 to 8, characterized in that the clearance height determination device (40) has an obstacle detection element (42), a locating element (44) and a clearance determination module (46), wherein the obstacle detection element (42) and the locating element (44) are signal-connected to the clearance determination module (46) and the clearance determination module (46) is designed such that an element (100) limiting the clearance height (HD) and present on a travel section in front of the vehicle is recognized from the information of the obstacle detection element (42), the element (100) is determined as a function of the information of the locating element (44) and the clearance height (HD) of the limiting, preceding element (100) is determined based on data associated with the element (100).

10. Vehicle according to one of claims 6 to 9, characterized in that the passage height determination device (40) has an imaging obstacle detection element (42) and a passage determination module (46), wherein the imaging obstacle detection element (42) is signal-connected to the passage determination module (46), wherein the The passage determination module (46) is designed in such a way that an element (100) limiting the passage height (HD) and present in a driving section in front of the vehicle is recognized from the image and the passage height (HD) of the element (100) is determined from the image.

11. Vehicle according to one of claims 6 to 10, characterized in that the control unit (60) is signal-connected to an output device (72) for outputting a warning to a vehicle occupant.

12. Vehicle according to one of claims 6 to 11, characterized in that the control unit (60) is connected in terms of signals to a braking system (70) and / or to a steering system, such that when an obstacle signal is detected, a braking and / or steering intervention takes place automatically.

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