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DE10302545A1 - System for supporting motor vehicle coupling or docking using two-dimensional and three-dimensional image sensing has arrangement for detecting distance and angle between motor vehicle and coupling - Google Patents

System for supporting motor vehicle coupling or docking using two-dimensional and three-dimensional image sensing has arrangement for detecting distance and angle between motor vehicle and coupling Download PDF

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Publication number
DE10302545A1
DE10302545A1 DE10302545A DE10302545A DE10302545A1 DE 10302545 A1 DE10302545 A1 DE 10302545A1 DE 10302545 A DE10302545 A DE 10302545A DE 10302545 A DE10302545 A DE 10302545A DE 10302545 A1 DE10302545 A1 DE 10302545A1
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docking
coupling
motor vehicle
support system
angle
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Christian Dipl.-Ing. Lang (FH)
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Conti Temic Microelectronic GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits, or the like

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The system has an arrangement for detecting the distance and angle between the motor vehicle and a coupling required for the docking process. The detection function is performed by one or more cameras and one or more sensors. Information is provided to the driver re the relative position of the vehicle and coupling and is preferably represented visually and/or acoustically.

Description

1 Problemstellung1 problem

Viele Autos sind mit einer Anhängekupplung ausgestattet um Lastanhänger oder Wohnanhänger zu ziehen. Das Koppelmanöver ist meist nicht einfach und man benötigt einige Übung und Erfahrung um das Manöver erfolgreich abzuschließen. Oft ist sogar eine zweite Person notwendig, die dem Fahrer den Abstand und den Lenkwinkel zur Kupplung anzeigt. Besonders bei Lkws, die nach hinten oft unübersichtlich sind, gestaltet sich das Ankuppeln als sehr schwierig, insbesondere wenn das Manöver ohne Hilfsperson durchgeführt werden muss.Many cars are equipped with a trailer coupling to load trailers or caravan too pull. The coupling maneuver is usually not easy and you need some practice and Experience around the maneuver complete successfully. Often even a second person is needed to give the driver the distance and displays the steering angle to the clutch. Especially for trucks that often confusing to the rear coupling is very difficult, especially when the maneuver carried out without an assistant must become.

LKW's und vereinzelt auch PKW's werden derzeit mit Heckkameras ausgestattet, um das Einparken und Rückwertsfahren zu erleichtern. Dabei wird das Bild der Kamera auf einem Monitor in der Fahrerkabine dargestellt. Der Vorteil dieser Technik ist eine verbesserte Sicht nach hinten.Trucks and occasionally also cars are currently equipped with rear cameras for parking and reversing to facilitate. The image from the camera is displayed on a monitor shown in the driver's cabin. The advantage of this technique is an improved rear view.

3 Erfindungsgemäße Lösung3 Solution according to the invention

Die Rückfahrkamera verbessert zwar die Sicht, oft treten aber aufgrund der Kameraoptik Verzerrungen auf, die das Schätzen der Abstände für den Fahrer erschweren. Da die Kamera derzeit nur zur Sichtverbesserung nach hinten verwendet wird, ist der Blickwinkel für eine Beobachtung des Ankuppelmanövers oft nicht geeignet. Würde die Kamera so positioniert, dass der Blickwinkel auch für Ankuppelmanöver geeignet ist, so muss der Fahrer trotzdem die Geschwindigkeit, den Abstand und den Lenkwinkel für das Manöver selbst einschätzen. Eine Unterstützungsfunktion für Ankuppel- bzw. Andockmanöver gibt es derzeit nicht.The reversing camera improves the view, but distortions often occur due to the camera optics on that guessing of the distances for the Complicate drivers. Since the camera is currently only used to improve visibility used to the rear is the viewing angle for an observation of the docking maneuver often not suitable. Would the camera is positioned so that the viewing angle is also suitable for coupling maneuvers the driver still needs to know the speed, the distance and the steering angle for the maneuver assess yourself. A support function for coupling or docking maneuvers does not currently exist.

Mit Hilfe der Erfindung ist es möglich den Fahrer bei Ankuppel- bzw. Andockmanövern zu unterstützen, d.h. notwendige Angaben wie z.B. Lenkeinschlag, Geschwindigkeit und Abstand zur Anhängerkupplung werden dem Fahrer vorgegeben. In einer weiteren Ausbaustufe ist es auch denkbar Koppelmanöver autonom durchführen zu lassen.With the help of the invention it is possible for the driver during coupling or docking maneuvers to support, i.e. necessary information such as Steering lock, speed and distance to the towbar are given to the driver. In a further expansion stage it also conceivable coupling maneuvers perform autonomously allow.

3.1 Systembeschreibung3.1 System description

Figure 00020001
Figure 00020001

1: Prinzipieller Aufbau eines autonom arbeitenden Ankuppel- bzw. Andocksystems Die Schlüsselkomponente des Systems bildet der 3D-Bildaufnehmer, vorzugsweise ein PMD-Kamerasystem (Photonic Mixer Device). Darüber hinaus können aber auch andere Sensoren eingesetzt werden, die räumliche Bildinformationen bereitstellen können, wie z.B. eine Stereokamera oder auch Kameras nach dem Laufzeitverfahren (Time of Flight). Der 3D-Bildsensor ist in der Lage 2D-Bild und Entfernungsbild aufzunehmen. Aufgrund der aktiven IR-Beleuchtung (speziell beim PMD- und Time of Flight-Prinzip) kann auch in der Dunkelheit die Szenerie detektiert werden. Als Ausgangswert liefert der Sensor Bild- und Abstandsinformation. 1 : Basic structure of an autonomously operating coupling or docking system The key component of the system is the 3D image sensor, preferably a PMD camera system (Photonic Mixer Device). In addition, however, other sensors can be used that can provide spatial image information, such as a stereo camera or cameras using the time of flight method. The 3D image sensor is able to take a 2D image and a distance image. Due to the active IR lighting (especially with the PMD and Time of Flight principle), the scene can also be detected in the dark. The sensor provides image and distance information as an initial value.

Alternativ ist es auch denkbar anstatt des 3D-Bildaufnehmers eine konventionelle 2D-Kamera und zusätzliche Sensoren, wie zum Beispiel Ultraschalldetektoren, Triangulationssysteme, Mikrowellendetektoren, etc., für die Gewinnung der Tiefeninformationen einzusetzen.Alternatively, it is also conceivable instead a conventional 2D camera and additional ones Sensors, such as ultrasonic detectors, triangulation systems, Microwave detectors, etc., for use the extraction of depth information.

Anschließend wird über einen Objekterkennungsalgorithmus z.B. die Kupplung des Anhängers detektiert. Der Mittelpunkt der Kupplung kann nun als Bezugspunkt für die Annäherung des Kugelkopfes verwendet werden. Während der Annäherung des Kugelkopfes an die Anhängerkupplung findet ein kontinuierliches „Tracking" der Kupplung statt. Dadurch kann der notwendige Einschlagwinkel des Lenkrades für die Herstellung der Kupplungsverbindung, die Geschwindigkeit und die Entfernung zur Kupplung ständig berechnet werden.Then an object detection algorithm e.g. the trailer coupling is detected. The center of the coupling can now be used as a reference point for the approximation of the Ball head can be used. While of rapprochement of the ball head to the towbar there is a continuous "tracking" of the clutch. This allows the steering wheel's required steering angle for manufacture the coupling connection, the speed and the distance to the clutch constantly be calculated.

Eine Steuereinheit sammelt alle notwendigen Daten, wie z.B. Geschwindigkeit und Beschleunigung des Fahrzeuges, aktueller Lenkradwinkel, Abstand zur Kupplung, berechneter Lenkradwinkel, etc. und verarbeitet diese um eine Visualisierung zu erstellen. Die Visualisierung (könnte auch mit Akustik unterstützt sein) hilft dem Fahrer den richtigen Lenkeinschlag und die richtige Geschwindigkeit für das Manöver zu wählen. Diese sogenannte Unterstützungsfunktion wäre in folgenden Ausbaustufen denkbar:

  • 1. Visuelle und akustische Unterstützung beim Koppelmanöver.
  • Dabei wird dem Fahrer der richtige Lenkeinschlag und die richtige Geschwindigkeit visuell und gegebenenfalls auch akustisch vorgegeben.
  • 2. Visuelle und akustische Unterstützung für den Lenkradeinschlag, wobei das Einhalten der richtigen Geschwindigkeit und das Anhalten autonom erfolgt.
A control unit collects all the necessary data, such as speed and acceleration of the vehicle, current steering wheel angle, distance to the clutch, calculated steering wheel angle, etc. and processes this to create a visualization. The visualization (which could also be supported by acoustics) helps the driver to choose the right steering angle and the right speed for the maneuver. This so-called support function would be conceivable in the following stages:
  • 1. Visual and acoustic support during the coupling maneuver.
  • The correct steering angle and the correct speed are given to the driver visually and, if necessary, acoustically.
  • 2. Visual and acoustic support for steering wheel turning, maintaining the correct speed and stopping autonomously.

Eine weitere Ausbaustufe ist ebenfalls denkbar, wobei das Kfz autonom das Ankuppelmanöver durchführt. Dazu muss ein Regelalgorithmus, der die Lenkung, das Gas, die Bremsen, etc. sprich alle relevanten Größen berücksichtigt, implementiert werden. Wird das Fahrzeug in den zulässigen Bereich des Systems gefahren (innerhalb der Reichweite und des Blickfeldes der Sensorik), so reicht ein Knopfdruck und das Kfz führt selbständig das Ankuppelmanöver durch.Another expansion stage is also conceivable, with the motor vehicle performing the coupling maneuver autonomously. To do this, a control algorithm that takes into account the steering, the throttle, the brakes, etc., i.e. all relevant variables, must be implemented. If the vehicle is driven within the permissible range of the system (within the range and the Field of view of the sensors), a push of a button is enough and the vehicle performs the coupling maneuver independently.

Andocksystemdocking

Die obige Beschreibung ist ebenfalls für Andocksysteme, wie z.B. automatische Betankung von Kfz's, Andocken von Elektrofahrzeugen an einer Ladestation, etc. gültig. Der Anbringort der bildgebenden Sensorik kann hier, wie auch beim Ankupplungssystem, sowohl am Fahrzeug wie auch am Anhänger bzw. an der Andockstation oder auch am Roboterarm sein.The description above is also for docking systems, such as. automatic refueling of motor vehicles, docking of electric vehicles a charging station, etc. The location of the imaging sensors can be here, as with Coupling system, both on the vehicle and on the trailer or be at the docking station or on the robot arm.

Mit Hilfe der Erfindung ist es möglich dem Fahrer beim Ankuppeln von z.B. Wohnanhängern Hilfestellung zu geben bzw. in einer weiteren Ausbaustufe das Kfz autonom ankuppeln zu lassen. Eine zweite Person für das Ankuppelmanöver ist nicht mehr erforderlich. Das System ist ebenso bei LKW's einsetzbar und würde die Kraftfahrer wesentlich entlasten.With the help of the invention it is possible for the driver when coupling e.g. Helping caravans to give or connect the vehicle autonomously in a further expansion stage allow. A second person for the docking maneuver is no longer required. The system can also be used on trucks and would Relieve motorists considerably.

Denkbar wäre es das System dahingehend auszubauen, dass ein Rückwärtsfahren ebenfalls unterstützt bzw. autonom durchgeführt wird, wie z.B. das Heranfahren an Laderampen, enge Hofeinfahrten, etc.It would be conceivable to expand the system so that that reversing also supported or carried out autonomously such as approaching loading ramps, narrow courtyard entrances, Etc.

Durch die aktive Beleuchtung ist das System auch nachts verwendbar.Because of the active lighting the system can also be used at night.

Neben den 2D-Informationen liefert die bildgebende Sensorik auch 3D-Informationen.In addition to the 2D information provides the imaging sensors also include 3D information.

Das System könnte auch noch andere Funktionalitäten, wie z.B. Einparkunterstützung, Rear-Pre-Crash, Rear-CV (Closing Velocity), Rear Obstacle Detection und Warnung vor sehr schnell herannahenden Kfz's übernehmen.The system could also have other functionalities, such as e.g. parking assistance, Rear-Pre-Crash, Rear-CV (Closing Velocity), Rear Obstacle Detection and warn of very fast approaching vehicles.

Ausweitung auch auf Industrie und Luft- und Raumfahrt möglich.Expansion to industry and Aviation and space travel possible.

z.B. Andocken der Gateway an das Flugzeug, Andocken von Servicerobotern an Ladestationen, etc.e.g. Dock the gateway to the Aircraft, docking of service robots at charging stations, etc.

System mit 2D- und 3D-Sensorik, wobei die räumliche Information auch durch „punktuell" wirkende Sensoren gewonnen werden kann. (z.B. Radarsensorik, Ultraschall-Sensoren, Triangulation, etc. ) Andock- bzw. Ankuppelsystem mittels Bildsensorik, insbesondere 3D-Bildsensorik Andock- bzw. Ankuppelsystem mittels 2D-Bildsensorik und zusätzlichen Sensoren zur Generierung der Tiefeninformation.System with 2D and 3D sensors, whereby the spatial Information is also provided by "selective" sensors can be won. (e.g. radar sensors, ultrasonic sensors, Triangulation, etc.) Docking or coupling system using image sensors, in particular 3D image sensor system Docking or coupling system using 2D image sensor system and additional sensors to generate depth information.

System zur Unterstützung des Kraftfahrers bei Andock- bzw. Ankuppelmanövern.System to support the Driver during docking or coupling maneuvers.

System für ein autonomes Andocken bzw. Ankuppeln von Kraftfahrzeugen.System for autonomous docking or coupling of motor vehicles.

System zur Unterstützung des Kraftfahrers bei Rückwärtsfahrten.System to support the Driver when reversing.

System für ein autonomes Rückwärtsfahren von Kraftfahrzeugen.System for autonomous reversing from Motor vehicles.

Unterstützendes Ankuppeln oder Andocken unabhängig von der Kupplungs- bzw. Andockvorrichtung an sich.Supporting coupling or docking independent of the coupling or docking device itself.

Autonomes Ankuppeln oder Andocken unabhängig von der Kupplungs- bzw. Andockvorrichtung an sich.Autonomous coupling or docking independently from the coupling or docking device itself.

Claims (10)

Unterstützungssystem für Andockvorgänge von Kraftfahrzeugen, dadurch gekennzeichnet, dass Mittel zur Erkennung des Abstands und des Winkels zwischen dem Kraftfahrzeug und einer für den Andockvorgang notwendigen Kupplung vorgesehen sind.Support system for docking processes of motor vehicles, characterized in that means for detecting the distance and the angle between the motor vehicle and a coupling necessary for the docking process are provided. Unterstützungssystem für Andockvorgänge von Kraftfahrzeugen nach Anspruch 1, dadurch gekennzeichnet, dass die Erkennung mittels einer oder mehrerer Kameras und/oder einem oder mehreren Sensoren erfolgt.support system for docking processes from Motor vehicles according to claim 1, characterized in that the Detection using one or more cameras and / or one or several sensors. Unterstützungssystem für Andockvorgänge von Kraftfahrzeugen nach Anspruch 1, dadurch gekennzeichnet, dass dem Fahrzeugführer Informationen bezüglich der relativen Position des Kraftfahrzeugs zur für den Andockvorgang notwendigen Kupplung gegeben werden und vorzugsweise optisch und/oder akustisch dargestellt werden.support system for docking processes from Motor vehicles according to claim 1, characterized in that the driver Information regarding the relative position of the motor vehicle to the coupling required for the docking process be given and preferably displayed optically and / or acoustically become. Unterstützungssystem für Andockvorgänge von Kraftfahrzeugen nach Anspruch 1, dadurch gekennzeichnet, dass der Andockvorgang unabhängig vom Fahrzeugführer durchgeführt wird.support system for docking processes from Motor vehicles according to claim 1, characterized in that the Docking process regardless of driver carried out becomes. Unterstützungssystem für Kraftfahrzeuge, dadurch gekennzeichnet, dass Mittel zur Erkennung des Abstands und des Winkels zwischen dem Kraftfahrzeug und einem oder mehrerer Hindernisse bei rückwärtigem Fahren vorgesehen sind.support system for motor vehicles, characterized in that means for detecting the distance and the angle between the motor vehicle and one or more obstacles when driving backwards are provided. Unterstützungssystem für Kraftfahrzeuge nach Anspruch 5, dadurch gekennzeichnet, dass die Erkennung mittels einer oder mehrerer Kameras und/oder einem oder mehreren Sensoren erfolgt.support system for motor vehicles according to claim 5, characterized in that the detection means one or more cameras and / or one or more sensors he follows. Unterstützungssystem für Andockvorgänge von Raumfahrzeugen, dadurch gekennzeichnet, dass Mittel zur Erkennung des Abstands und der Winkel zwischen dem Raumfahrzeug und einer für den Andockvorgang notwendigen Kupplung vorgesehen sind.support system for docking processes from Spacecraft, characterized in that means for detection of the distance and the angle between the spacecraft and one for the Docking process necessary coupling are provided. Unterstützungssystem für Andockvorgänge von Raumfahrzeugen nach Anspruch 7, dadurch gekennzeichnet, dass die Erkennung mittels einer oder mehrerer Kameras und/oder einem oder mehreren Sensoren erfolgt.support system for docking processes from Spacecraft according to claim 7, characterized in that the Detection using one or more cameras and / or one or several sensors. Unterstützungssystem für Andockvorgänge von Raumfahrzeugen nach Anspruch 7, dadurch gekennzeichnet, dass dem Fahrzeugführer Informationen bezüglich der relativen Position des Raumfahrzeugs zur für den Andockvorgang notwendigen Kupplung gegeben werden und vorzugsweise optisch und/oder akustisch dargestellt werden.Support system for docking processes of spacecraft according to claim 7, characterized in that the vehicle driver is given information regarding the relative position of the spacecraft to the coupling required for the docking process and is preferably displayed optically and / or acoustically. Unterstützungssystem für Andockvorgänge von Raumfahrzeugen nach Anspruch 7, dadurch gekennzeichnet, dass der Andockvorgang unabhängig vom Fahrzeugführer durchgeführt wird.support system for docking processes from Spacecraft according to claim 7, characterized in that the Docking process regardless of driver carried out becomes.
DE10302545A 2003-01-23 2003-01-23 System for supporting motor vehicle coupling or docking using two-dimensional and three-dimensional image sensing has arrangement for detecting distance and angle between motor vehicle and coupling Withdrawn DE10302545A1 (en)

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DE102004047214B4 (en) * 2004-09-27 2016-02-25 Still Gmbh Method for navigation for transport vehicles
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