DE102005044500A1 - Surrounding detecting device for towing vehicle, has control device designed such that obstacle sensors are selectively activatable in trailer mode depending on bend angle between towing vehicle and trailer - Google Patents

Abstract

The device has a control device (5), and a set of obstacle sensors. The control device is designed in programming technical and/or circuitry technical manner such that the obstacle sensors are selectively activatable in a trailer mode depending on a bend angle between a towing vehicle (1) and a trailer (2). The obstacle sensors are designed as ultrasonic sensors, radar sensors and/or laser sensors. Each obstacle sensor has a transmitting module for setting up a spatial transmission range, and a receiving module for setting up a spatial reception range. An independent claim is also included for a method for controlling a surrounding detecting device.

Description

The The invention relates to an environment detection device for a towing vehicle with a control device and one or more obstacle sensors and a method for controlling the surroundings detection device.

For the driver a towing vehicle with a trailer It is a difficult task, backwards to a loading dock or to approach an obstacle. The rear viewable for the driver is due to an interaction of the length and width of the towing vehicle and the trailer in combination with the for the all-round view responsible mirror determines. In general the larger the environment behind the towing vehicle the more confusing Bending angle between towing vehicle and trailer is.

It is common for support To arrange the driver in the rear of a vehicle obstacle sensors. This technology is now on in passenger vehicles widely used by the market. However, one points to a towing vehicle with rearward facing Obstacle sensors of coupled trailers in the range of the sensor range many sturgeon contours such as. Support legs, shelves etc., which are recognized by the obstacle sensors as an obstacle and lead to the issuing of a warning signal. To avoid a constantly the warning signal transmitted to the driver usually becomes the obstacle sensors shut off as soon as the trailer is coupled.

The publication DE 19805515 A1 discloses an obstacle detection system in a motor vehicle having an electronic control unit with sensors for detecting the distance of an obstacle in a predetermined area. It was recognized as a problem that the usual obstacle detection systems trigger on vehicle mounted attachments a false alarm. In order to suppress such a false alarm, the distance to a possible obstacle is detected in a first step and checked in a second step, whether this distance changes. However, it is to be feared that this system does not lead to a satisfactory result in a towing vehicle with coupled trailer, since the distance between towing vehicle and trailer constantly changes in maneuvering due to the varying kink angle.

Of the The invention is therefore based on the object, an environment detection device to suggest which the rear room a towing vehicle with coupled trailer especially when reversing effectively monitored. additional is a method for controlling the environment detection device be formed.

These Task is by an environment detection device with the features of claim 1 and a method with the features of Claim 12 solved. Advantageous embodiments of the invention will become apparent from the Dependent claims.

The Environment recognition device is suitable for a towing vehicle and / or formed, wherein as a towing vehicle preferably any kind is understood by the vehicle to which a trailer or semi-trailer coupled is, in particular, a tractor unit understood.

The Inventive detection device according to the invention has a controller and one or more obstacle sensors on. The obstacle sensors are for detecting the distance of a Obstacle formed in a given area. in principle can the obstacle sensors as any sensors, e.g. as ultrasonic, Radar and / or laser sensors, etc. may be formed.

Prefers However, the obstacle sensors are working as a sonar principle Sensors, in particular as ultrasonic sensors and / or radar sensors realized.

In the echosounding principle, the obstacle sensors are preferably offset in time and, in particular, cyclically addressed by the control unit, wherein the respectively addressed obstacle sensor emits an echo signal, in particular an ultrasound packet. The distance to the obstacle and / or the position of the obstacle can be determined with knowledge of the measured transit time of the echo signal and the speed of sound by means of a triangulation method in a known manner, wherein a direct measurement and a Cross measurement is needed. Direct measurement means that an obstacle sensor sends a signal and receives its own echo. Cross measurement means that the echo of the signal transmitted by the obstacle sensor is received by another obstacle sensor. For a complete determination of the distance and / or the position of an obstacle according to the sonar principle, at least two obstacle sensors are thus required.

The Control device is connected to the obstacle sensors and preferably with in particular optical, acoustic or haptic Warning devices coupled and / or coupled.

According to the invention, it is provided that in trailer operation the obstacle or sensors depending on the bending angle between the towing vehicle and a trailer are selectively activated and / or activated.

When Buckling angle is the angle between the longitudinal direction of the Towing vehicle and the longitudinal direction of the trailer Understood. For example, are towing vehicle and trailer in Straight ahead, arranged one behind the other, the angle of articulation is 0 °.

The Obstacle sensors are controlled by the control device, in particular individually and / or successively switched on or off, wherein the selection of the obstacle sensors is done in dependence of the bending angle. In particular, the selective activation can be physical, ie by Switching on and / or off obstacle sensors and / or parts of Obstacle sensors and / or measuring range sections during the measurement recording, or information technology, ie by switching on and / or off Obstacle sensors and / or parts of obstacle sensors and / or of measuring range sections during measured value evaluation be.

Preferably In particular, the obstacle sensors are physically so or switched off, so that obstacle sensor pairs are formed, the one cross locating in the desired Allow room areas.

The Invention is based on the consideration out that the obstacle sensors each for free space areas behind the towing vehicle are switched, which are not covered by the trailer are, with the free space above the bending angle between Towing vehicle and trailer be determined.

at a further preferred embodiment According to the invention, the obstacle sensors each have a transmission module to build a spatial Transmit area and a receiving module to build a spatial Reception area. Preferably, the transmission range and the reception range are lobar educated.

at a preferred embodiment In accordance with the invention, the transmit modules and receive modules are selectively through the control device can be activated and / or activated, in particular such that an obstacle sensor in operation an activated transmission module and may have a deactivated receiving module or vice versa.

The selective connection of obstacle sensors and / or transmission modules and / or receiving modules by the control device preferably takes place in the following situations:
An obstacle sensor is switched on completely, ie with the transmission module and the reception module, as soon as the articulation angle is such that the trailer is arranged outside the transmission range and at the same time outside the reception range of the obstacle sensor. In this case, the connected obstacle sensor can make a direct measurement as well as a cross measurement with a particular adjacent obstacle sensor.

The Transmitter module of an obstacle sensor is switched on as soon as the Bent angle is designed such that the trailer outside the transmission range of the Obstruction sensor is arranged.

The Reception module of an obstacle sensor is activated as soon as the Bent angle is designed such that at least one transmission module another obstacle sensor is activated and the reception area the switched obstacle sensor at least partially with the The transmission range of the activated transmission module of the other obstacle sensor overlaps. At the same time, the reception area of the connected obstacle sensor also overlap with the trailer.

So far is spoken in this case of receiving and transmitting areas are with it for an obstacle measurement technically relevant, spatial and not theoretical denotes infinitely extended areas.

at a preferred embodiment According to the invention, the obstacle sensors are essentially one horizontally aligned arrangement formed at the rear of the towing vehicle. Preferably, at least four obstacle sensors are used in each case two obstacle sensors in the edge region of the arrangement are concentrated, so that in the border area a space area for the obstacle measurement training, in which both a cross and a direct measurement feasible is.

at a preferred embodiment the peripheral obstacle sensors are substantially perpendicular to one another, especially one above the other, arranged and / or arranged offset to one another, preferably the main measuring directions of the obstacle sensors converge are formed.

at the method according to the invention It is envisaged that the obstacle sensors will be selectively either completely, ie with the function "Send and receiving ", or alternatively dependent from the bending angle completely or only in receive mode, ie with the function "receive only".

Further Details, features, feature combinations, benefits and effects on the basis of the invention will become apparent from the following description the preferred embodiments the invention and from the drawings. These show each in more schematic Presentation:

1 a team in plan view to illustrate the visibility in the backward Rangieren;

2a a first embodiment of an environment detection device according to the invention integrated in a traction vehicle shown schematically in plan view;

2 B The towing vehicle with environment recognition device in 2a in side view;

2c the towing vehicle with environment recognition device in 2a in back view;

3 to 10 the towing vehicle with environment recognition device in 2a at different bending angles;

11a , b, c a second embodiment of an environment detection device according to the invention;

12 to 19 the towing vehicle with environment recognition device in 11a at different bending angles.

each other corresponding parts or sizes are each provided with the same reference numerals in the figures.

1 shows a team consisting of a towing vehicle 1 and a trailer attached 2 in plan view.

towing vehicle 1 and followers 2 are arranged at an angle to each other and include between them a kink angle alpha, where towing vehicle 1 and followers 2 are arranged at an angle of 90 ° at right angles to each other and are lined up at an angle of 0 ° linearly one behind the other.

The bright viewing areas 3a , b, c, and d are for the driver of the cab of the towing vehicle 1 visible directly or via mirror. The gray shaded areas 4 . 5 and 6 in front of the towing vehicle 1 behind the trailer 2 or behind the towing vehicle 1 and in front of the trailer 2 are arranged represent measuring ranges of environment detection devices. From this representation it can be seen that the measuring range 6 from one in the rear of the towing vehicle 1 arranged Umfassungsfassungseinrichtung emanates, without further action with the trailer 2 overlaps and thus constantly registers this as an obstacle.

In the 2a is a team with a towing vehicle 1 and a trailer 2 shown in plan view. towing vehicle 1 and followers 2 are via a coupling device 4 hinged together.

The towing vehicle 1 has a total of eight sensors S1 ... S8, which are designed as ultrasonic sensors and the rear of the towing vehicle 1 are arranged. As if from a synopsis of 2a to 2c it can be seen, in each case two sensors S1 / S2 and S7 / S8 in the edge region of the rear of the towing vehicle 1 arranged vertically above one another. The remaining four sensors S3 ... S6 are arranged at approximately the same height as the respective upper peripheral sensors S1 and S7 and together with these form a convex contour in plan view.

The eight sensors S1 ... S8 are equipped with a control device 5 connected to a warning device 6 , eg a loudspeaker or a warning lamp.

outgoing Each of the eight sensors S1... S8 extends in each case clubbed Transmit and receive range B1 ... B8, which overlap each other are arranged. The main measuring directions of the sensors S1 to S3 or S4 and S5 or S6 to S8 are respectively parallel or substantially aligned parallel to each other.

vehicle 1 and followers 2 take each other a kink angle alpha of about 5 °. As best of the top view in 2a can be seen, the trailer pans 2 at this bend angle out of the transmission and reception range B1 and B2 of the sensors S1 and S2 out.

The mode of operation of the environment detection device is as follows: The bending angle alpha = 5 ° is detected, for example, by a sensor and the control device 5 to hand over. The control device 5 If necessary, evaluate the bending angle together with further information with the result that the trailer 2 is arranged outside the transmission and reception ranges B1 and B2. In a next step, the sensors S1 and S2 are activated, so that both preferably transmit and receive cyclically and in particular perform direct and cross measurements. The remaining sensors S3 to S8 are deactivated in this situation, since these only the trailer 2 would detect as an obstacle.

The 3 and 4 show the team in the 2a each with a bending angle of alpha = 10 ° or 15 °. In these situations, the sensors S1 and S2 are still activated.

In the 5 the bending angle is alpha = 20 ° and the trailer 2 is from the transmission and reception area B3 of

Sensor S3 fully swung out. The control device activates the sensor S3 in this situation, specifically for the transmitting and receiving operation. Optionally, the sensor S2 can be switched off, so that the cross measurement is performed by the sensors S1 and S3. The sensors S1 and S3 are cyclically successively from the controller 5 driven.

At a bending angle of alpha ≥ 50 ° ( 9 ), the sensor S4 is activated in the area B4 for the transmit and receive mode, for a bend angle of alpha ≥ 60 ° ( 10 ), the sensors S1, S3, S4 and S5 are activated for the transmission and reception operation.

In an alternative embodiment of the control, the sensors S 1... S 8 are not only activated in each case completely, ie in each case simultaneously for the transmission and reception operation, but depending on the bending angle only the reception module of a sensor is activated, wherein the transmission module is deactivated. The sensors are thus controlled according to the functions "send and receive" and "receive only". Such an alternative control of the sensors S1... S8 is shown in the following table:

optional can also with this control, the sensor S2 at a bend angle alpha> 20 ° deactivated become.

The 11a to c show a second embodiment of an environment detection device according to the invention in the same representation as in the 2a to c.

In contrast to the first embodiment, the second embodiment, only six sensors U1 ... U6, which are also arranged differently and / or aligned than the sensors S1 ... S8. Essentially, the sensors U1... U6 correspond to the sensors S1, S3... S7, the additional sensors S2 and S8 being omitted in the second exemplary embodiment. To a sufficiently overlapping transmission and reception area in the edge region of the rear of the vehicle 1 ensure sensors U2 and U5 corresponding to the sensors S3 and S6 to the edge region of the rear of the vehicle 1 offset arranged on retaining plates. The sensor pairs U1 / U2 or U5 / U6 form in the edge region overlapping transmitting and receiving regions R1 / R2 or R5 / R6, the overlap being at least 50%, preferably at least 60%, in particular at least 70%.

The control of the second embodiment is carried out according to the following table. 12 to 19 show the team with the towing vehicle 1 and the trailer 2 at different bending angles.

This second exemplary embodiment is more favorable in terms of implementation since, on the one hand, fewer sensors are required and, on the other hand, the control device can be made simpler. In a simplified embodiment of the environment recognition device can be provided to save the sensors S5 and S4 or U3 and U4 in the respective embodiments, and thus essentially only the edge regions of the rear of the vehicle 1 to monitor.

1

towing vehicle

2

pendant

3a, b, c, d

viewing areas

4

coupling device

5

control device

6

warning device

S1 ... S8

sensors

U1 ... U6

sensors

B1 ... B8

Send- and reception areas

R1 ... R6

Send- and reception areas

Claims (12)

Environment identification device for a towing vehicle ( 1 ) with a control device ( 5 ) and one or more obstacle sensors (S1 ... S8, U1 ... U6), characterized in that the control direction ( 5 ) is designed in terms of programming technology and / or circuitry such that, in trailer operation, the obstacle sensor (s) (S1 ... S8, U1 ... U6) depends on the bending angle (alpha) between the towing vehicle ( 1 ) and a trailer ( 2 ) are selectively activated and / or activated. Environment recognition device according to claim 1, characterized characterized in that the obstacle sensors (S1 ... S8, U1 ... U6) are formed as ultrasonic sensors and / or radar sensors. Environment detection device according to claim 1 or 2, characterized in that the obstacle sensors (S1 ... S8, U1 ... U6) each have a transmission module for establishing a spatial transmission range and a Receiving module to build a spatial reception area. Environment recognition device according to claim 3, characterized characterized in that depending the bending angle, the transmission modules and / or receiving modules selectively can be activated and / or activated. Environmental detection device according to claim 3 or 4, characterized in that one of the obstacle sensor (S1 ... S8, U1 ... U6) is activated and / or activated when the bending angle is formed such that the trailer ( 2 ) outside the transmission range and at the same time outside the reception range of the obstacle sensor (S1 ... S8, U1 ... U6) is arranged. Environment detection device according to one of claims 3 to 5, characterized in that the transmission module of one of the obstacle sensors (S1 ... S8, U1 ... U6) can be activated and / or activated when the bending angle (alpha) is formed such that the trailer ( 2 ) is arranged outside the transmission range of the obstacle sensor (S1 ... S8, U1 ... U6). Environment detection device according to claim 3 to 6, characterized in that the receiving module one of the obstacle sensors (S1 ... S8, U1 ... U6) can be activated and / or activated when the bending angle (alpha) is formed such that the receiving range of the Obstacle sensor (S1 ... S8, U1 ... U6) with an activated transmission range of another obstacle sensor and / or partially with the trailer ( 2 ) overlaps. Environment recognition device according to one of the preceding claims, characterized in that the obstacle sensors (S1 ... S8, U1 ... U6) in a substantially horizontally oriented arrangement with at least 4, preferably 6, in particular 8 obstacle sensors at the rear of the towing vehicle ( 1 ) are formed. Environment detection device according to claim 8, characterized characterized in that in the edge region of the arrangement, two obstacle sensors (S1 ... S8, U1 ... U6) has a substantially overlapping transmission and / or reception range exhibit. Environment recognition device according to claim 8 or 9, characterized in that the peripheral obstacle sensors (S1, S2, S7, S8) on the towing vehicle ( 1 ) are arranged vertically or substantially vertically one above the other. Environment recognition device according to one of claims 8 to 10, characterized in that the edge obstacle sensors offset (U1, U2, U5, U6) are arranged to each other and the main measuring directions the obstacle sensors are arranged converging to each other. Method for controlling a surroundings detection device according to one of the claims 1 to 11, characterized in that the obstacle sensors in the function "Send and receiving "and / or in the functions "Send and Receive "and" Send Only "selectively enabled become.