Method for identifying the condition of a road

Abstract

The invention relates to a method for identifying the condition of a road, with at least one vehicle (1) comprising a chassis (3) having a plurality of vehicle wheels (10, 11, 12, 13) traveling on a road (37), - in a locating step, the location of the vehicle (1) is ascertained, - in an acquiring step, mechanical signals (Sh, Sn) introduced into the chassis (3) from at least one of the vehicle wheels (10, 11) of the vehicle (1) are acquired, - in a subdividing step, the road (37) at the location of the vehicle (1) is subdivided into a plurality of road strips (45) located one next to the other in the road transverse direction, - in an assigning step, the at least one vehicle wheel (10) of the vehicle is assigned one of the road strips (45) on which the at least one vehicle wheel rolls, and - in an evaluating step for the assigned road strip (45.2, 45.8), a road strip condition is determined on the basis of the acquired mechanical signals, and at least one road strip condition information (Sfz) characterizing this road strip condition is provided.

Description

[0001] Road condition detection procedure

[0002] The invention relates to a method for road condition detection, wherein at least one vehicle having a chassis with a plurality of vehicle wheels travels on a roadway, the location of the vehicle is detected in a locating step and, in a detection step, mechanical signals input into the chassis by at least one of the vehicle wheels of the vehicle are detected, in particular by measurement.

[0003] Typically, a road condition is assigned to the roadway based on the mechanical signals detected at the detected location. However, this fails to take into account that the vehicle wheels can only roll on a small area of ​​the roadway, so the road condition assigned in this way is of little significance for the entire roadway at that location.

[0004] Based on this, the invention is based in particular on the object of creating a method for road condition detection with a higher resolution across the road width.

[0005] This object is achieved according to the invention with a method according to claim 1. Preferred developments of the invention are given in the subclaims and in the following description.

[0006] A method for road condition detection, wherein at least one vehicle having a chassis with several vehicle wheels travels on a roadway,

[0007] - the location of the vehicle is recorded in a tracking step and

[0008] - in a detection step, mechanical signals introduced into the chassis by at least one of the vehicle wheels of the vehicle are detected, in particular by measurement, is further developed according to the invention in particular in that

[0009] - in a subdivision step at the location of the vehicle, the roadway is divided into several lane lanes lying next to one another in a transverse direction of the roadway, - in an assignment step, one of the lane lanes on which the at least one vehicle wheel rolls is assigned to the at least one vehicle wheel of the vehicle, and

[0010] - in an evaluation step, a lane state is determined for the assigned lane depending on the detected mechanical signals and at least one lane state information characterising this lane state is provided.

[0011] By dividing the roadway into multiple lanes, multiple lane states can be determined for the roadway at the location of the vehicle. This allows the resolution of the roadway state in the transverse direction to be increased. If the procedure is repeated at the same location with the same or with a different vehicle whose vehicle wheels are rolling on one or more different lanes than in the previous execution(s) of the procedure, at least one lane state information item for at least one additional lane can be determined with each repetition. This allows the resolution of the roadway state in the transverse direction to be further increased with each repetition of the procedure.

[0012] According to an advantageous embodiment, at least two of the vehicle wheels of the vehicle are arranged offset from one another in a transverse direction of the vehicle in different tracks, wherein

[0013] - in the detection step, mechanical signals input into the chassis from each of the at least two vehicle wheels of the vehicle are detected, in particular by measurement,

[0014] - in the assignment step, each of the at least two vehicle wheels of the vehicle is assigned one of the lanes on which the respective vehicle wheel rolls, and

[0015] - in the evaluation step, a lane state is determined for each assigned lane depending on the respectively detected mechanical signals, and at least one lane state information item characterizing this lane state is provided. The vehicle is preferably assigned a vehicle coordinate system which preferably comprises a vehicle longitudinal axis and / or a vehicle transverse axis and / or a vehicle vertical axis. The vehicle longitudinal axis runs in particular in a vehicle longitudinal direction. The vehicle transverse axis runs in particular in the vehicle transverse direction. The vehicle vertical axis runs in particular in a vehicle vertical direction, which is also referred to, for example, as a vertical direction. The vehicle longitudinal axis, the vehicle transverse axis, and the vehicle vertical axis, in this order, form in particular an orthogonal right-hand system. A direction of travel of the vehicle preferably runs in the vehicle longitudinal direction.The expression "at least one" also includes the meaning of "one" or "exactly one." The vehicle can also be referred to, for example, as the detecting vehicle.

[0016] The vehicle is preferably a single-track or a two-track vehicle. The vehicle preferably has two or at least two or four or at least four vehicle wheels. The vehicle advantageously has two or at least two vehicle axles, each of which comprises one or at least one or two or at least two of the vehicle wheels. One of the vehicle axles is, for example, a front axle and another of the vehicle axles is, for example, a rear axle. For example, the vehicle is a motorcycle or a passenger car. Alternatively, the vehicle is, for example, a truck.

[0017] The roadway is preferably assigned a longitudinal direction. In particular, the roadway runs in the longitudinal direction of the roadway. Preferably, the transverse direction of the roadway runs transversely to the longitudinal direction of the roadway. Advantageously, the transverse direction of the roadway coincides, in particular at least approximately, with the transverse direction of the vehicle. For example, in the case of a straight roadway, the longitudinal direction of the roadway coincides, in particular at least approximately, with the longitudinal direction of the vehicle.

[0018] Each lane is preferably assigned a lane longitudinal direction. The lane longitudinal direction preferably corresponds to the lane longitudinal direction. Advantageously, each lane extends in the lane longitudinal direction or in the respective lane longitudinal direction, for example, over a lane length. In particular, each lane has the lane length or a lane length in the lane longitudinal direction or in the respective lane longitudinal direction. The lane length of each lane is preferably predetermined. For example, the lane length is at least two meters, preferably ten meters or approximately ten meters.

[0019] Each lane is preferably assigned a lane transverse direction. The lane transverse direction preferably corresponds to the lane transverse direction or, in particular at least approximately, to the vehicle transverse direction. Advantageously, each lane extends in the lane transverse direction or in the respective lane transverse direction, across a lane width. In particular, each lane has the lane width or a lane width in the lane transverse direction and / or in the respective lane transverse direction. The lanes preferably form, in particular together, a lane arrangement that represents, for example, a lane section at the location of the vehicle.

[0020] For example, the number of lanes is predetermined. In this case, the lane width of each lane is determined, for example, from the quotient of the lane width and the number of lanes. The number of lanes is preferably at least two, at least three, or at least four.

[0021] The lane width of the lane strips or of each lane strip is preferably predetermined. In particular, the lane width corresponds to the width or average width of the vehicle wheels or tires of the vehicle wheels. For example, the lane width of each lane strip is 15 cm or approximately 15 cm or 30 cm or approximately 30 cm. The number of lane strips corresponds in particular to the quotient, preferably an integer, of the lane width and the lane width. Preferably, the vehicle wheels and / or the at least two vehicle wheels and / or the at least one vehicle wheel, in particular each, have a tire. Advantageously, the width of the lane strips is adapted to the width of the tire(s) and / or to the width of the vehicle wheels. In particular, the terms “width of the vehicle wheels” and “width of the tires of the vehicle wheels” can be used synonymously, both in the plural and in the singular.

[0022] Preferably, particularly in the evaluation step, the at least one lane lane condition information item(s) are stored in a preferably remote and / or external storage unit, for example, together with information about the location and / or the direction of travel. This allows not only the vehicle but also other vehicles to access the lane lane condition information. The storage unit is, in particular, a data storage device. Access to the storage unit is achieved, for example, wirelessly. Such an external storage unit is also referred to as a cloud.

[0023] Advantageously, at least one piece of vehicle information characterizing the vehicle is additionally stored in the memory unit. Additionally or alternatively, the lane lane status information, for example, comprises at least one piece of vehicle information characterizing the vehicle. The at least one piece of vehicle information characterizing the vehicle comprises, for example, at least one piece of information about the width of the at least one or at least two vehicle wheels and / or about the width of its or their tires and / or about the number of tracks of the vehicle and / or about the track width of the vehicle and / or about the damping behavior of the vehicle and / or about the suspension behavior of the vehicle.

[0024] Preferably, speed information characterizing the speed of the vehicle is also stored in the memory unit. Additionally or alternatively, the at least one lane lane status information item comprises, or the lane lane status information items comprise, the speed information item or items characterizing the speed of the vehicle.

[0025] Preferably, particularly in the locating step, location information characterizing the detected location is provided. Advantageously, particularly in the locating step, the location information characterizing the detected location is stored in the storage unit or a storage unit. Additionally or alternatively, for example, the at least one lane lane status information item comprises or the lane lane status information items comprise the location information characterizing the detected location.

[0026] Preferably, in particular in the subdivision step, lane subdivision information characterizing the subdivision of the roadway into the plurality of lane strips lying next to one another in the transverse direction of the roadway is provided. Preferably, in particular in the subdivision step, the lane subdivision information characterizing the subdivision of the roadway into the plurality of lane strips lying next to one another in the transverse direction of the roadway is stored in the or a storage unit. Additionally or alternatively, for example, the at least one lane lane status information item comprises or the lane lane status information items comprise the lane subdivision information characterizing the subdivision of the roadway into the plurality of lane strips lying next to one another in the transverse direction of the roadway.

[0027] The lane subdivision information preferably comprises at least one piece of information characterizing the or a number of lane lanes and / or the or a width of the or each lane lane and / or the or a length of the or each lane lane and / or the or a width of the roadway. The lane subdivision information preferably also comprises identifiability information which provides information about how each lane lane can be identified in the lane lane arrangement. For example, the lane lanes can be numbered from left to right, from right to left or in another way, for example starting from a lane center, in particular as seen in the direction of travel of the vehicle. In this case, each lane lane can be uniquely identified with a figure or number. The aforementioned widths are in particular each a width in the transverse direction of the roadway. The width of the roadway is e.g.B. also referred to as roadway width. The width of one or each lane is also referred to, for example, as or in each case as lane width. Advantageously, preferably in the assignment step, lane lane position information characterizing the position of this or the respective assigned lane, in particular in the lane lane arrangement, is provided for the or each assigned lane. Preferably, preferably in the assignment step, the lane lane position information characterizing the position of this or the respective assigned lane, in particular in the lane lane arrangement, is stored in the or a storage unit for the or each assigned lane. Additionally or alternatively, the at least one lane lane status information comprises or comprises, for exampleThe lane status information for the or each assigned lane comprises lane position information characterizing the position of this or each assigned lane, particularly in the lane arrangement. The or each lane position information comprises, for example, one or at least one value corresponding to the identifiability information, such as a number or digit.

[0028] The vehicle preferably has a vehicle body supported by the chassis. Advantageously, the vehicle body is resiliently supported, preferably by vehicle springs, on unsprung components of the chassis, which in particular include the vehicle wheels. Preferably, at least one of the vehicle springs is assigned to each vehicle wheel.

[0029] The vehicle wheels are preferably connected to the vehicle body by dampers. In particular, at least one of the dampers is assigned to each vehicle wheel.

[0030] Each vehicle wheel is preferably assigned a wheel rotation axis. Preferably, each vehicle wheel is rotatable about its own or a wheel rotation axis. Advantageously, each vehicle wheel is rotatably mounted on a wheel carrier, preferably by means of a wheel bearing, in particular about its own or a wheel rotation axis. Preferably, each vehicle wheel or each of the at least two vehicle wheels rotates about one or its own or the respective wheel rotation axis. The vehicle wheels and / or the wheel carriers and / or the at least one vehicle wheel and / or its wheel carrier and / or the at least two vehicle wheels and / or their wheel carriers are or are preferably, for example each, articulated to the vehicle body by at least one chassis link or by chassis links. In particular, each vehicle wheel and / or each wheel carrier is assigned at least one of the chassis links. For example, each vehicle wheel and / or each wheel carrier is assigned several of the chassis links.

[0031] The vehicle wheels are preferably each assigned a wheel travel that characterizes their respective distance from the vehicle body in a vehicle vertical direction. The wheel travel of each vehicle wheel is preferably detected by a ride height sensor. The ride height sensors are preferably provided on the chassis control arms.

[0032] The mechanical signals are or include, in particular, mechanical vibrations. For example, the term "mechanical signals" can be replaced by the term "mechanical vibrations."

[0033] Preferably, the mechanical signals are detected by sensors. For example, at least one sensor or at least one of the sensors is provided on the at least one vehicle wheel or on each of the at least two vehicle wheels and / or on the wheel carrier of the at least one vehicle wheel or on each wheel carrier of the at least two vehicle wheels and / or on the wheel bearing of the at least one vehicle wheel or on each wheel bearing of the at least two vehicle wheels and / or on the at least one chassis link of the at least one vehicle wheel or on the at least one chassis link of each of the at least two vehicle wheels. The sensors include, for example, acceleration sensors and / or yaw rate sensors and / or ride height sensors and / or speed sensors.

[0034] According to an advantageous development, the at least one vehicle wheel or the at least two vehicle wheels are assigned a wheel stroke characterizing its distance or in particular their respective distance from the vehicle body in a vehicle vertical direction. Preferably, the wheel stroke of the at least one vehicle wheel or each of the at least two vehicle wheels is detected, and at least one wheel stroke signal characterizing the wheel stroke of the at least one or the respective vehicle wheel is provided. Advantageously, the mechanical signals comprise the at least one wheel stroke signal or wheel stroke signals. Preferably, the wheel stroke of the at least one vehicle wheel of each of the at least two vehicle wheels is detected by a ride height sensor. Preferably, the ride height sensor or the ride height sensors are provided on the at least one chassis link of the at least one vehicle wheel or on the chassis link of the at least two vehicle wheels.Advantageously, one of the height sensors is provided on the at least one chassis link of the at least one vehicle wheel or of each of the at least two vehicle wheels, in particular in each case.

[0035] According to an advantageous embodiment, a rotational speed of each vehicle wheel or of the at least one vehicle wheel or of each of the at least two vehicle wheels is detected and, in particular in each case, one or at least one wheel speed signal characterizing this rotational speed is provided. Preferably, the mechanical signals comprise the at least one wheel speed signal or signals. Advantageously, the wheel speed of each vehicle wheel or of the at least one vehicle wheel or of each of the at least two vehicle wheels is measured, in particular in each case, by a rotational speed sensor. For example, the rotational speed sensor(s) is / are provided on the vehicle wheels or on the at least one vehicle wheel or the at least two vehicle wheels and / or on the wheel carrier(s) of the vehicle wheels or of the at least one vehicle wheel or the at least two vehicle wheels.In particular, the or one of the rotational speed sensors is provided on each vehicle wheel or on the at least one vehicle wheel or on each of the at least two vehicle wheels and / or on the wheel carrier of each vehicle wheel or on the wheel carrier of the at least one vehicle wheel or each of the at least two vehicle wheels, in particular in each case.

[0036] By evaluating the at least one wheel travel signal(s) and / or the at least one wheel speed signal(s), potholes and / or bumps can be detected, for example. Furthermore, the roughness of the road surface can be detected. Thus, by evaluating the mechanical signals, a statement can be made about the lane condition of the associated lane(s). Each lane condition can be characterized, for example, by one of several, for example, predefined, lane condition classes, with the different lane condition classes characterizing different road conditions.For example, in particular in the evaluation step, a lane condition class from several, for example, predetermined, lane condition classes is assigned to the or each assigned lane depending on the mechanical signals detected, in particular in each case, which class characterizes the respective lane condition. This classification is carried out, for example, using a classifier.

[0037] The vehicle preferably comprises one or more optical sensors. In particular, the vehicle has a camera, which is preferably a front camera.

[0038] According to an advantageous development, in particular in a roadway recognition step, preferably by means of the optical sensor(s) and / or by means of the camera(s) of the vehicle, an area of ​​a subsurface comprising the roadway lying in front of the vehicle in the direction of travel is detected, in particular optically, and the roadway is preferably recognized by image analysis, in particular on the subsurface.

[0039] Preferably, at least one or more, preferably two, road markings are provided on the ground that delimit the roadway, which are or are detected by the image analysis. Advantageously, a lane center of the roadway, in particular in the transverse direction, is detected by the image analysis.

[0040] Preferably, the ground comprises a road encompassing the carriageway and delimited by road edges and / or road edge markings, wherein at least one of the road edges or both road edges and / or at least one of the road edge markings or both road edge markings is or are detected by the image analysis. Advantageously, a road center of the road, particularly in the transverse direction of the carriageway, is detected by the image analysis.

[0041] The image analysis preferably detects the transverse direction of the road. The image analysis also preferably detects the longitudinal direction of the road. In particular, the image analysis determines the width of the road in the transverse direction. For example, the image analysis also determines at least one piece of weather information. The at least one piece of weather information includes, for example, information about whether it is raining or snowing. The image analysis is based, for example, on artificial intelligence.

[0042] According to an advantageous embodiment, the locating step and / or the lane recognition step and / or the detection step and / or the subdivision step and / or the assignment step and / or the evaluation step are preferably repeated, for example with the vehicle or with another vehicle, in particular at the same location, advantageously with one or more different assigned lanes. During the repetition, the at least one vehicle wheel or the at least two vehicle wheels roll, in particular, on one or at least one other lane or lanes.

[0043] Thus, for example, lane condition information for other or different lanes can be determined at the same location.

[0044] According to an advantageous development, the locating step and / or the roadway detection step and / or the detection step and / or the subdivision step and / or the assignment step and / or the evaluation step are preferably repeated, for example, with the vehicle or with another vehicle, preferably at different locations along the roadway. Thus, for example, lane condition information can be determined at other or different locations on the roadway.

[0045] According to an advantageous embodiment,

[0046] - at least one vehicle to be controlled on the roadway, wherein - in one, in particular another, locating step the location of the vehicle to be controlled is detected,

[0047] - in a query step, at least one or more matching lane lane status information items or at least one or more matching lane lane status information items are retrieved by accessing the storage unit for the detected location of the vehicle to be controlled, and

[0048] - in a control step, the vehicle to be controlled or at least one component thereof is controlled, in particular as a function of the at least one or more queried lane lane status information.

[0049] In this context, the method according to the invention for road condition detection can also be referred to as a method for road condition detection and vehicle control.

[0050] Preferably, the at least one or more queried lane lane status information items are evaluated, particularly in the control step or in an evaluation step located between the query step and the control step, which is also referred to, for example, as another evaluation step. Preferably, in the control step, the vehicle to be controlled or the at least one component thereof is controlled depending on the evaluation of the at least one or more queried lane lane status information items and / or depending on the result of the evaluation of the at least one or more queried lane lane status information items.

[0051] In addition to the at least one piece of lane lane status information, other information is also taken into account and / or evaluated in the control step and / or in the other evaluation step, such as speed information characterizing the speed of the vehicle to be controlled and / or lateral acceleration information characterizing a maximum permissible lateral acceleration of the vehicle to be controlled and / or at least one piece of information about the width of vehicle wheels of the vehicle to be controlled and / or about the width of their tires and / or about the number of lanes of the vehicle to be controlled and / or about a track width of the vehicle to be controlled. For example, in the control step, the vehicle to be controlled or the at least one component thereof is controlled depending on the at least one piece of lane lane status information retrieved and the other information.

[0052] According to a first alternative, the vehicle to be controlled is, for example, the previously described vehicle or the detecting vehicle. According to a second alternative, the vehicle to be controlled is, for example, another vehicle. Preferably, the vehicle to be controlled has a chassis with multiple vehicle wheels. For example, at least two of the vehicle wheels of the vehicle to be controlled are arranged offset from one another in a transverse direction of the vehicle.

[0053] Preferably, the vehicle to be controlled has a steering system, which can also be referred to simply as a steering system. The steering system is preferably controlled depending on the at least one lane condition information item or items of information requested. This allows, for example, potholes or bumps to be avoided.

[0054] According to an advantageous embodiment, a route is determined by evaluating the at least one lane state information item or the queried lane state information items, and the vehicle to be controlled is triggered to follow the determined route. This is achieved, for example, by controlling the steering of the vehicle to be controlled.

[0055] The steering of the controlled vehicle is controlled in such a way, for example, that the controlled vehicle automatically follows the specified path. This is feasible, for example, in the context of autonomous driving. The controlled vehicle is, for example, an autonomously driving vehicle.

[0056] Alternatively, the steering of the vehicle to be controlled can be controlled, for example, by applying a torque to the steering wheel of the vehicle to be controlled, particularly using haptic technology. If the driver of the vehicle to be controlled follows the torque, the vehicle to be controlled will follow the specified path. However, it is possible for the driver to ignore the torque and actuate the steering wheel differently.

[0057] The route is preferably determined in such a way that the vehicle is subjected to as little stress as possible, for example, by avoiding potholes and, where possible, bumps in the road. Additionally or alternatively, the route can also be determined in such a way that as little fuel and / or electrical energy as possible is consumed by the drive motor of the vehicle being controlled. Additionally or alternatively, the route can also be determined in such a way that pollutant emissions are minimized and / or increased safety is ensured.

[0058] However, if many vehicles are controlled in this way and follow the same route, a frequently used route may experience significant wear and tear. For this reason, a route may be determined, especially occasionally, that does not have optimal characteristics.

[0059] According to an advantageous development, the vehicle to be controlled has an active chassis, which is controlled as a function of the at least one or more queried lane lane condition information items. For example, by evaluating the at least one or more queried lane lane condition information items, a damping characteristic of the chassis is determined, and the active chassis is controlled to adjust the damping characteristic.

[0060] The vehicle to be controlled preferably has an engine control unit and / or a cruise control system. According to an advantageous embodiment, a vehicle speed is determined, in particular by evaluating the at least one or more queried lane state information items and / or as a function of the at least one or more queried lane state information items, and the vehicle to be controlled and / or the or one engine control unit and / or the or one cruise control system of the vehicle to be controlled are controlled to set the determined speed.

[0061] According to an advantageous embodiment, access to the storage unit is via radio, in particular via mobile radio.

[0062] The invention is described below using a preferred embodiment with reference to the drawing. In the drawing:

[0063] Fig. 1 is a schematic plan view of a vehicle,

[0064] Fig. 2 is a schematic view of a wheel suspension of the vehicle,

[0065] Fig. 3 is a schematic view of an apparatus for carrying out the method according to the invention,

[0066] Fig. 4 is a schematic diagram illustrating the method according to the invention according to an embodiment,

[0067] Fig. 5 is a schematic representation of variants of the method with regard to the determination of a roadway and marking of lanes,

[0068] Fig. 6 is a schematic diagram illustrating an additional aspect of the method according to the invention according to the embodiment and

[0069] Fig. 7 is a schematic view of an apparatus for carrying out the additional method aspect.

[0070] Fig. 1 shows a schematic plan view of a vehicle 1 which has a vehicle body 2 and a chassis 3 with a plurality of wheel suspensions 4, 5, 6 and 7, of which the wheel suspensions 4 and 5 are assigned to a front axle 8 and the wheel suspensions 6 and 7 are assigned to a rear axle 9. Each wheel suspension comprises a vehicle wheel, wherein the wheel suspension 4 has the vehicle wheel 10, the wheel suspension 5 has the vehicle wheel 11, the wheel suspension 6 has the vehicle wheel 12 and the wheel suspension 7 has the vehicle wheel 13. Furthermore, a vehicle longitudinal direction x, a vehicle transverse direction y and a vehicle vertical direction z are shown. The direction of travel F of the vehicle 1 runs in particular in the vehicle longitudinal direction.

[0071] Fig. 2 shows a schematic view of the wheel suspension 4, which has a wheel carrier 14 which is connected by a joint 15 to a chassis link 16, preferably designed as a wishbone, the end of which facing away from the wheel carrier 14 is articulated to the vehicle body 2 by at least one joint 17. Furthermore, the wheel carrier 14 is connected, in particular fixedly, to a spring strut 18, the end of which facing away from the wheel carrier 14 is connected to the vehicle body 2 by a spring strut support bearing 19. The spring strut 18 comprises a vehicle spring 20 and a damper 21, which is surrounded in particular by the vehicle spring 20, which is preferably designed as a helical spring. A wheel bearing 22 is fastened to the wheel carrier 14, by means of which wheel bearing the vehicle wheel 10 is mounted on the wheel carrier 14 so as to be rotatable about a wheel rotation axis 23. Furthermore, a tie rod 24 is connected to the wheel carrier 14 by means of a joint 25.The vehicle wheel 10 is in contact with a ground 26, which in particular comprises a road 38 with a roadway 37 (see Fig. 4).

[0072] A ride height sensor 27 is provided on the joint 17, by means of which a wheel lift h of the vehicle wheel 10 can be detected with respect to a reference position 28 by measuring an angle α enclosed between the vehicle body 2 and the chassis link 16, and a wheel lift signal Sh characterizing this wheel lift h can be provided. The reference position 28 is, in particular, fixed to the vehicle body 2. Alternatively, the ride height sensor can also be provided on the joint 15 or implemented in another way. Preferably, a corresponding ride height sensor is provided on the other wheel suspensions 5, 6, and 7, by means of which a wheel lift of the respective vehicle wheel can be detected and a wheel lift signal characterizing this wheel lift can be provided. In order to be able to distinguish the ride height sensors from one another, the wheel lift sensor provided in the wheel suspension 4 is also designated by the reference numeral 27.4, and the wheel lift sensor provided in the wheel suspension 5 is designated by the reference numeral 27.5, the wheel lift sensor provided in the wheel suspension 6 is designated by reference numeral 27.6, and the wheel lift sensor provided in the wheel suspension 7 is designated by reference numeral 27.7. The same applies to the wheel lift signals, which are subsequently designated Sh.4, Sh.5, Sh.6, and Sh.7, with the number after the dot identifying the wheel suspension (see Fig. 3).

[0073] Furthermore, a wheel speed sensor 29 is provided on the wheel carrier 14 or on the wheel bearing 22, by means of which a speed of the vehicle wheel 10 can be detected and a wheel speed signal Sn characterizing this speed can be provided. Preferably, a corresponding wheel speed sensor is provided on the other wheel suspensions 5, 6 and 7, by means of which a wheel speed of the respective vehicle wheel can be detected and a wheel speed signal characterizing this wheel speed can be provided. In order to be able to distinguish the wheel speed sensors from one another, the wheel speed sensor provided in the wheel suspension 4 is also designated by the reference numeral 29.4, the wheel speed sensor provided in the wheel suspension 5 by the reference numeral 29.5, the wheel speed sensor provided in the wheel suspension 6 by the reference numeral 29.6, and the wheel speed sensor provided in the wheel suspension 7 by the reference numeral 29.7. The same applies to the wheel speed signals, which are consequently labeled Sn.4, Sn.5, Sn.6 and Sn.7, where the number after the dot characterizes the wheel suspension (see Fig. 3).

[0074] The vehicle wheels 10 and 11 of the front axle 8 are arranged offset from one another in the vehicle transverse direction y in different tracks 30 and 31. Furthermore, the vehicle wheels 12 and 13 of the rear axle 9 are arranged offset from one another in the vehicle transverse direction y, with the vehicle wheel 12 being arranged in track 30 and the vehicle wheel 13 being arranged in track 31.

[0075] The wheel suspension 5 is preferably constructed laterally inverted to the wheel suspension 4. Furthermore, the wheel suspension 7 is preferably constructed laterally inverted to the wheel suspension 6. In particular, the front axle 8 is designed to be steerable. The rear axle 9, for example, is designed to be steerable or non-steerable. Apart from this, the wheel suspensions 4, 5, 6, and 7 are, in particular, constructed similarly.

[0076] The vehicle 1 has a camera 32, by means of which an area of ​​the ground 26 lying in front of the vehicle 1 in the direction of travel F can be captured. The capture area 33 of the camera 32 is schematically indicated by dashed lines in Fig. 1. In particular, the camera 32 provides image information Si characterizing the captured area 33.

[0077] Furthermore, the vehicle has a location receiver 34, by means of which the location or position of the vehicle 1 on Earth can be determined. The location receiver 34 communicates in particular with a global navigation system, such as GPS, Galileo, Beidou, or GLOSNASS. Without limitation to the GPS navigation system, the location receiver is also referred to, for example, as a GPS receiver. The location receiver 34 provides, in particular, location information Sp characterizing the detected location of the vehicle 1.

[0078] As can be seen from Fig. 3, the ride height sensors 27.4, 27.5, 27.6, and 27.7 and the wheel speed sensors 29.4, 29.5, 29.6, and 29.7 are connected to an evaluation device 35, which is further connected to the camera 32 and the location receiver 34. The evaluation device 35 preferably comprises a local memory 47 and advantageously a digital computer 48, which is connected to or includes the local memory 47, for example. In particular, the evaluation device 35 is in communication with an external storage unit 36, for example via radio.

[0079] With reference to Fig. 4, the method according to the invention will now be described according to an embodiment, wherein the vehicle 1 travels on a roadway 37. The roadway 37 is part of a road 38 on the ground 26 and is delimited by road markings 39 and 40. Furthermore, the road 38 is delimited by road edges 41 and 42, wherein the road edge 41 is also marked by the roadway marking 40. Furthermore, the road edge 42 is marked by another roadway marking 43. The roadway marking 40 thus forms, in particular, a roadside marking. Furthermore, the roadway marking 43 thus forms, in particular, a roadside marking. Preferably, the roadway marking 39 forms a median strip of the road 38.

[0080] In a roadway recognition step, an area 33 of the ground 26 comprising the roadway 37, which area lies in front of the vehicle 1 in the direction of travel F, is recorded by means of the camera 32 of the vehicle 1, the roadway 37 being recognized by image analysis. In this case, the roadway 37 is clearly marked by the road markings 39 and 40, so that it can be recognized on the basis of these road markings, which can be seen not only in Fig. 4, but also in Fig. 5 and is designated there by the reference symbol (a). Alternatively, for example if there is no central reservation 39, the road 38 can first be recognized by image analysis on the basis of its road edges 41 and 42 and / or its road edge markings 40 and 43, after which the center 44 of the road is determined and the roadway 37 is defined as the area between the road center 44 and the, in particular right, road edge 41 or the, in particular right, road marking 40, which can be seen from Fig.5 and is marked there with the reference symbol (b).

[0081] If the roadway 37 is detected, its roadway width Bf is preferably determined in a roadway transverse direction, which here corresponds in particular to the vehicle transverse direction y.

[0082] In a subdivision step, the roadway 37 at the location of vehicle 1 is divided into several lane lanes 45 lying adjacent to one another in the transverse direction y of the roadway, which lane lanes are numbered in Fig. 4, for example, with underlined numbers 1 to 9. The numbering begins at the lane marking 39 and ends at the lane marking 40. For the alternatively determined roadway 37 according to reference symbol (b) in Fig. 5, the numbering begins in the road center 44 and ends at the lane marking 40 or at the roadside 41. A third type of numbering is identified in Fig. 5 with reference symbol (c), according to which the center 46 of the roadway 37 is determined by image analysis, and numbering begins from there; first from the roadway center 46 to the lane marking 40 and then from the roadway center 46 in the opposite direction to the lane marking 39.

[0083] According to the embodiment, the lane strips 45 have the same width Bfs in the transverse lane direction. In particular, lane subdivision information Sfu characterizing the subdivision of the lane 37 into the plurality of lane strips 45 lying adjacent to one another in the transverse lane direction y is provided and stored in the storage unit 36. The lane subdivision information Sfu comprises, for example, at least one piece of information characterizing the number of lane strips 45 and / or the width Bfs of the lane strips 45 and / or the width of the lane Bf.

[0084] In a positioning step, the current location of vehicle 1 is detected, and location information Sp characterizing this location is provided. To increase the accuracy of the location determination, the image information Si from camera 32 can also be used. For example, the accuracy of the location determination can be increased by trees or other permanent location features detected by the camera.

[0085] Furthermore, in an assignment step, each lane 30, 31 is assigned one of the lane lanes on which the respective vehicle wheels roll. In particular, a first of the lane lanes 45 is assigned to lane 30 and / or the vehicle wheels 10 and 12. Furthermore, in particular, a second of the lane lanes 45 is assigned to lane 31 and / or the vehicle wheels 11 and 13. As can be seen from Fig. 4, the first lane lane is identified by the underlined number 8 and the second lane lane by the underlined number 2, so that the assigned lane lanes in Fig. 4 are also designated by the reference symbol 45.8 for the first lane lane and by the reference symbol 45.2 for the second lane lane. The number after the dot characterizes, in particular, the number of the assigned lane lane.

[0086] In a recording step, the wheel strokes and wheel speeds of the vehicle wheels 10, 11, 12, and 13 are recorded and fed in the form of the wheel stroke signals Sh.4, Sh.5, Sh.6, and Sh.7 and the wheel speed signals Sn.4, Sn.5, Sn.6, and Sn.7 to the evaluation device 35, which evaluates these signals and determines a lane condition for each lane and / or each assigned lane 45.2 and 45.8 based on the respectively recorded signals. By evaluating the signals, information about existing bumps, potholes, and surface roughness can be obtained for each assigned lane and taken into account when determining the lane condition.

[0087] In principle, to implement the method, it is sufficient to consider only the signals from the wheel suspensions of a single vehicle axle. For example, it is possible to consider only the signals Sh.4, Sh.5, Sn.4, and Sn.5 of the front axle 8, or only the signals Sh.6, Sh.7, Sn.6, and Sn.7 of the rear axle 9. However, considering all signals offers the advantage of greater accuracy in lane condition detection.

[0088] By means of the evaluation device 35, lane lane condition information Sfz characterizing each lane lane condition determined is provided, transmitted to the storage unit 36, and stored therein. Based on the designation of the associated lane lanes 45.2 and 45.8, the lane lane condition information characterizing the lane lane condition of lane 45.2 can also be designated Sfz.2, and the lane lane condition information characterizing the lane lane condition of lane 45.8 can also be designated Sfz.8, although this is only shown in Fig. 4.

[0089] The lane lane condition information Sfz is preferably transmitted to the storage unit 36 ​​via radio, such as a mobile radio connection. Alternatively, the lane lane condition information Sfz is first stored, for example, in the local memory 47 provided in the vehicle 1 and then, preferably when the vehicle is stationary, transmitted to the storage unit 36, for example via a cable connection or a local radio connection, such as WLAN or Bluetooth, in combination with a cable connection or a mobile radio connection. By repeating the process at the same location, but with different assigned lane lanes, lane lane condition information Sfz is gradually stored in the storage unit 36 ​​for all lane lanes 45.

[0090] Together with the lane lane status information Sfz, the location information Sp and preferably additional information, such as the lane subdivision information Sfu, are also transmitted to the storage unit 36 ​​and stored therein.

[0091] With reference to FIGS. 6 and 7, an additional aspect of the method according to the invention will now be described according to the embodiment, wherein a vehicle 49 to be controlled travels on the roadway 37. As can be seen from FIG. 7, the vehicle 49 to be controlled has a control device 50 that is in communication with the external storage unit 36, for example via radio. Furthermore, the vehicle 49 to be controlled has a location receiver 51, by means of which the location or position of the vehicle 49 to be controlled on the earth can be determined and location information Spc characterizing this location can be provided. The location receiver 51 is connected to the control device 50 and, for example, is constructed in the same way as the location receiver 34.

[0092] In addition, the control device 50 is connected to a speedometer 52 of the vehicle 49 to be controlled, by means of which the speed of the vehicle 49 can be detected and speed information Svc characterizing this speed can be provided.

[0093] Preferably, the vehicle 49 also has a camera 53 connected to the control device 50, by means of which a region of the ground 26 lying in front of the vehicle 49 in the direction of travel F can be detected and image information Sic characterizing this region can be provided. The image information can be used, for example, to increase the accuracy of the location determination, for example by detecting trees or other permanent location features. The control device 50 is preferably also connected to an active chassis 54 of the vehicle 49 to be controlled. In particular, the active chassis 54 of the vehicle 49 can be controlled by means of the control device 50.

[0094] Advantageously, the control device 50 is further connected to a steering system 55 of the vehicle 49 to be controlled. In particular, the steering system of the vehicle 49 can be controlled by means of the control device 50.

[0095] Preferably, the control device 50 is further connected to an engine control unit 56 of the vehicle 49 to be controlled. In particular, the driving speed of the vehicle 49 can be controlled by means of the engine control unit 56. Instead of or in addition to the engine control unit, a cruise control system can also be provided.

[0096] According to the additional aspect of the method according to the invention, in a locating step, which is also referred to as another locating step, the location of the vehicle 49 traveling on the roadway 37 is detected, and location information Spc characterizing this location is provided. This location information can be supplemented, for example, by the image information Bic. Subsequently, in a query step, lane lane condition information Sfz matching the detected location of the vehicle 49 is retrieved by accessing the memory unit 36. Subsequently, in a control step, the vehicle 49 or at least one component thereof is controlled depending on the retrieved lane lane condition information Sfz and preferably also depending on at least one other piece of information. The at least one other piece of information includes, for example,the speed information Svc and / or at least one piece of information about the track width of the vehicle 49 to be controlled and / or at least one piece of information about the width of the vehicle wheels of the vehicle 49 to be controlled and / or at least one piece of information about a maximum permissible lateral acceleration of the vehicle 49 to be controlled.

[0097] For example, particularly in the control step, a route 57 is determined by evaluating the retrieved lane lane status information Sfz, preferably taking into account at least one other piece of information, and the vehicle 49 to be controlled is controlled to follow the determined route 57. This is done, for example, by controlling the steering system 55 of the vehicle to be controlled.

[0098] Additionally or alternatively, in particular in the control step, by evaluating the queried lane lane condition information Sfz, preferably taking into account the at least one other piece of information, a damping characteristic of the chassis is determined and the active chassis 54 is controlled to adjust the damping characteristic.

[0099] Additionally or alternatively, in particular in the control step, by evaluating the queried lane lane status information Sfz, preferably taking into account the at least one other piece of information, a speed of the vehicle 49 is determined and the engine control unit 56 is controlled to adjust the speed.

[0100] The vehicle 49 to be controlled may be identical to the vehicle 1 or may be formed by another vehicle.

[0101] Reference symbol

[0102] Vehicle / recording vehicle

[0103] Vehicle body

[0104] chassis

[0105] Wheel suspension

[0106] Wheel suspension

[0107] Wheel suspension

[0108] Wheel suspension

[0109] front axle

[0110] rear axle

[0111] vehicle wheel

[0112] vehicle wheel

[0113] vehicle wheel

[0114] vehicle wheel

[0115] wheel carrier

[0116] joint

[0117] chassis control arm

[0118] joint

[0119] shock absorber

[0120] strut support bearing

[0121] Vehicle spring

[0122] mute

[0123] Wheel bearing

[0124] Wheel rotation axis

[0125] Tie rod

[0126] joint

[0127] Underground

[0128] Height sensor

[0129] Reference position

[0130] Wheel speed sensor

[0131] track

[0132] Lane 2 Camera 3 Camera detection range 4 Tracking receiver 5 Evaluation device 6 Storage unit 7 Roadway 8 Road 9 Road marking / central reservation 0 Road marking / roadside marking 1 Roadside 2 Roadside 3 Road marking / roadside marking 4 Road center 5 Road strip

[0133] 46 Center of the road

[0134] 47 local storage

[0135] 48 digital computers

[0136] 49 Vehicle / vehicle to be controlled

[0137] 50 Control device

[0138] 51 tracking receivers

[0139] 52 speedometers

[0140] 53 Camera

[0141] 54 active chassis

[0142] 55 Steering

[0143] 56 Engine control unit

[0144] 57 Track a Angle

[0145] Bf road width

[0146] Bfs lane width h wheel stroke

[0147] Sh wheel lift signal

[0148] Si image information Si image information

[0149] Sfz lane condition information

[0150] Sn wheel speed signal

[0151] Sp location information

[0152] Spc location information

[0153] Svc speed information x vehicle longitudinal direction y vehicle transverse direction z vehicle vertical direction

Claims

Patent claims 1 . Method for road condition detection, wherein - at least one vehicle (1) having a chassis (3) with several vehicle wheels (10, 11, 12, 13) travels on a roadway (37), - in a locating step, the location of the vehicle (1) is recorded and - in a detection step, mechanical signals (Sh, Sn) input into the chassis (3) from at least one of the vehicle wheels (10) of the vehicle (1) are detected, characterized in that - in a subdivision step at the location of the vehicle (1), the carriageway (37) is divided into several lane lanes (45) lying next to one another in a transverse direction of the carriageway, - in an assignment step, the at least one vehicle wheel (10) of the vehicle is assigned one of the lane lanes (45) on which the at least one vehicle wheel rolls, and - in an evaluation step, a lane state is determined for the associated lane (45.2, 45.8) as a function of the detected mechanical signals, and at least one lane state information item (Sfz) characterizing this lane state is provided.

2. Method according to claim 1, characterized in that the vehicle (1) has a vehicle body (2) carried by the chassis (3) and the at least one vehicle wheel (10) is assigned a wheel stroke (h) characterizing its distance from the vehicle body in a vehicle vertical direction (z), wherein - the wheel stroke of the at least one vehicle wheel (10) is detected and at least one wheel stroke signal (Sh.4, Sh.5) characterizing this wheel stroke is provided and - the mechanical signals comprise at least one wheel stroke signal (Sh.4, Sh.5).

3. Method according to claim 1 or 2, characterized in that - a rotational speed of the at least one vehicle wheel (10, 11) is detected and at least one wheel speed signal (Sn.4, Sn.5) characterizing this rotational speed is provided and - the mechanical signals comprise at least one wheel speed signal (Sn.4, Sn.5).

4. Method according to one of the preceding claims, characterized in that - in a roadway recognition step, a region (33) of a subsurface (26) comprising the roadway (37) located in front of the vehicle (1) in the direction of travel (F) is detected by means of a camera (32) of the vehicle (1), and the roadway (37) is recognized by image analysis.

5. Method according to claim 4, characterized in that a width (Bf) of the roadway (37) in the transverse direction of the roadway is determined by the image evaluation.

6. Method according to one of the preceding claims, characterized in that at least the locating step, the detecting step, the assignment step and the evaluation step are repeated at the same location, wherein the at least one vehicle wheel (10, 11) rolls on a different lane (45).

7. Method according to one of the preceding claims, characterized in that the locating step, the detecting step, the subdivision step, the assignment step and the evaluation step are repeated at different locations along the roadway (37).

8. Method according to one of the preceding claims, characterized in that the at least one lane status information item (Sfz) is stored in an external storage unit (36).

9. Method according to claim 8, characterized in that roadway subdivision information characterizing the subdivision of the roadway (37) into the plurality of lane strips (45) lying next to one another in the transverse direction of the roadway is provided and stored in the storage unit (36).

10. The method according to claim 9, characterized in that the roadway subdivision information comprises at least one item of information characterizing the number of roadway lanes (45) and / or the width (Bfs) of the roadway lanes (45) and / or the width (Bf) of the roadway (37). 11 . Method according to one of claims 8 to 10, characterized in that - at least one vehicle (49) to be controlled is traveling on the roadway (37), - in another locating step, the location of the vehicle (49) to be controlled is detected, - in a query step, at least one suitable lane lane status information item (Sfz) is retrieved by accessing the memory unit (36) for the detected location of the vehicle (49) to be controlled, and - in a control step, the vehicle (49) to be controlled or at least one component thereof is controlled as a function of the at least one queried lane lane status information item (Sfz).

12. The method according to claim 11, characterized in that the vehicle to be controlled (49) has a vehicle steering system which is controlled as a function of the at least one queried lane lane status information item (Sfz).

13. Method according to claim 11 or 12, characterized in that by evaluating the at least one queried lane lane status information item (Sfz) a route is determined and the vehicle to be controlled is controlled to follow the determined route.

14. Method according to one of claims 11 to 13, characterized in that the vehicle to be controlled has an active chassis which is controlled as a function of the at least one queried lane state information.

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