DE102008017504A1 - Device for applying road marking, has regulation unit and application unit which is arranged on road vehicle, and positioning unit is connected to data memory for determining actual position and target position of road marking - Google Patents

Abstract

The device comprises an adjustment device (3), a regulation unit (6) and an application unit (4) which is arranged on a road vehicle (1). A positioning unit (7) is connected to a data memory for determining the actual position and the target position of a road marking. The regulation unit is provided for comparing the actual position with the target position of the road marking which is determined by the data memory. An independent claim is included for a road vehicle for applying a road marking by a device.

Description

The The invention relates to a device for applying road markings with a arranged on a vehicle application unit, the Applying a road marking is set up and means an adjusting device substantially transverse to the direction of travel is adjustable.

The The invention also relates to a road vehicle for application a lane marking set by means of such a device is.

State of the art

Road markings, in particular lane boundary lines or similar the lane applied markings, the driver in the navigation and support orientation, are on today to find almost every street. Usually these are Road markings after finishing a new road or after the rehabilitation of a road where the top one Ceiling removed and any markings destroyed were applied. But also on busy streets need the lane markings at regular intervals be followed, as they change with time due to heavy traffic depart.

From the DE 601 11 982 T2 a road marking machine is known, which is intended for the application of lane boundary lines. In this case, the machine is set up in such a way that it produces a lane boundary line which at regular intervals applies a thicker color layer than normal (so-called rumble strips). These thicker layers of paint cause that when a vehicle drives with its wheels over these rumble strips, in the interior of the vehicle, a vibrating noise is noticeable. This is to alert the driver to possible dangers. The rumble strips are applied by means of a Auftragungseinheit on the road, which is mounted on a carriage. The carriage is arranged on a rod axially movable to the road, wherein the carriage movement to compensate for the movement of the machine along the road such that the applicator dwells for a certain time at a certain point.

The DE 694 253 54 T2 describes a device for refreshing longitudinal road markings, which is arranged on a vehicle. The device has a gun unit for applying the paint, which is displaceable transversely to the direction of travel by means of a corresponding construction. Using multiple cameras, the old lane marker is detected and the gun unit is moved so that the new lane marker is exactly above the old one.

The EP 0 632 858 B1 also describes a control device for applying line marking material to a camera system, wherein the recorded image information is classified by means of a neural network and the application unit is controlled on the basis of this classification.

A similar system also describes the DE 103 21 932 B3 document disclosing a device for renewing a lane marking line by means of a camera and an applicator unit arranged transversely to the direction of travel and displaceably mounted. By means of a movement measuring system, rotations of the vehicle about a vehicle axis perpendicular to the direction of travel are determined, this movement measurement information being correlated with the image information in order to appropriately control the application unit displaceable transversely to the direction of travel, so that the lane marking is applied exactly on the old lane marking.

adversely in the aforementioned devices of the prior art is the Fact that the devices are only suitable for Exactly renew old but still existing road markings. However, if it is a newly built road, at which no previous lane markings are visible, fail these devices mentioned.

Just on rehabilitated roads where the top cover is removed and thus any lane markings were destroyed, the new road markings to be applied must be exactly the same Place as the old one will be attached. Because especially in the area of autonomous driving, but also in the field of digital maps It required the new lane markings from the old ones Road markings do not deviate too much, otherwise one Expensive measured road in a digital map invalid becomes. Besides, it is for the area of autonomous Driving worthwhile that roads continuously as possible provide consistent properties to be traceable for electronics To ensure conditions.

task

in the In view of this, it is an object of the invention to provide an improved device for the application of lane markings, the one possible has high accuracy when applying the markings.

solution

The task is with the device of a The aforementioned type is achieved according to the invention in that the device has a control unit which is connected to a locating unit for determining a highly accurate, current actual position and has a data memory for depositing at least one target position to be applied to the roadway marking to be applied, the control unit for comparing the current actual position with the determined from the data storage target position of the lane marking and for driving the adjusting device in dependence of the comparison is set up such that the lane marking is applied to the target position on the road.

The Device has an application unit arranged on a vehicle on, for applying the lane marking by means of a corresponding Marking agent is set up. This order unit is included arranged on the vehicle so that it by means of an adjustment is displaceable transversely to the direction of travel of the vehicle. That's the way it is conceivable that the application unit with the aid of the adjusting over the entire width of the vehicle is displaceable.

The Device further comprises a control unit, which with This adjustment is in communication and these also control can. The control unit is connected to a locating unit, the one highly accurate position z. B. the vehicle or the application unit determined and transmits to the control unit. Such a locating unit may, for. B. a GNSS location unit (Global Navigation Satellite System), where to increase accuracy advantageously additional systems, such. DGPS or EGNOS systems Find application that have an accuracy of a few centimeters.

The Control unit also has a data memory or is associated with such. The data store is for Laying down the individual positions of the lane markings accordingly set up so that in the data memory, the desired position of the to be applied road marking is deposited. Such a position storage can z. B. by means of vectors or absolute. The control unit can now on the basis of this data store the corresponding desired position of the Determine the lane marking and that of the locating unit provided, compare current actual position, depending on this comparison, the control unit controls the adjustment. In other words, in other words, in dependence of the comparison, the adjusting device is controlled in such a way, that the application unit to the corresponding desired position of the Lane marker is moved. This will make it possible that a lane marking always exactly to the intended for them Position is applied, regardless of the Position of the marking vehicle or independent of the actual position of the road opposite Planning some inaccuracies regarding the planned position having.

advantageously, the data memory is provided for storing a digital map, where in the digital map the corresponding nominal positions the lane marking be deposited. The control unit is now able to make the corresponding from this digital map To take target positions for the lane markings.

The However, the application unit can also be arranged on a marking unit be the appropriate technique for applying the road marking contains. It is conceivable that the marking unit is arranged on the vehicle by means of the adjusting device, so that the entire marking unit along with the application unit across is displaceable to the direction of travel.

at This arrangement, it is particularly advantageous if the locating unit is placed directly on the marking unit, so that always the exact exact actual position of the marking unit and thus also the Order unit is determined.

Conceivable But it is also that the tracking unit at a different location the vehicle is arranged, the actual position of the order- or marking unit then corrected accordingly by the shift so that the actual position of the control unit is computational is compensated.

All It is particularly advantageous if the control unit with the Steering of the vehicle is coupled, so that the control unit also take over the transverse guidance of the vehicle can. So it is conceivable that the control unit, the transverse guide of the vehicle as a function of in the data memory deposited digital card. That means, that the marking vehicle completely autonomously takes over the lateral guidance and the driver only the longitudinal guide under control. In such a stored case are then much higher speeds possible, so that the marking process performed faster and more effectively can be.

Conceivable but is also that the transverse guidance in dependence the target position of the relevant lane marking carried out is, so that the vehicle exactly the road marking to be applied departs. The adjustment then takes only the fine adjustment when applying the lane marking.

Of Furthermore, it is also conceivable that the longitudinal guide is performed depending on the comparison. Was z. B. detected by the control unit that over a certain time course the distance between actual and desired position itself enlarged, so the control unit by a appropriate intervention in the transverse guidance of the vehicle counteract such a tendency. Also in this case takes over the control unit with the intervention in the transverse guide the vehicle a rough pre-adjustment, while with the adjustment a corresponding fine adjustment takes place.

advantageously, the control unit is connected to a displacement measuring device, the accuracy of the actual position provided by the tracking unit to increase. So it is conceivable that a corresponding Dead reckoning using appropriate sensors such. B. Odometers or inertial sensors and those performed by the locating unit supplied actual position is corrected accordingly.

The Object of the present invention is also with a road vehicle for applying road markings by means of the aforementioned device solved according to the invention.

there the device can on the one hand on an underside of the vehicle to be ordered. However, it is also conceivable that the device, in particular the application and marking unit, on the front the vehicle arranged displaceably by means of the adjusting device becomes.

embodiments

The The invention will be exemplified with reference to the accompanying drawings explained in more detail. Show it:

1 - Schematic representation of the marking device on a vehicle;

2 Schematic representation of the marking device, arranged for the transverse guidance of the vehicle;

3 - Schematic representation of a marking unit with movable applicator unit.

1 schematically shows a marking device of the type mentioned, in a vehicle 1 is installed. At the front of the vehicle 1 is the marking unit 2 arranged so that they with the help of the adjustment 3 is adjustable transversely to the direction of travel. At the marking unit 2 is also the order unit 4 arranged the road marking on the roadway 5 applying.

In the vehicle 1 is also a control unit 6 that with the adjusting device 3 is connected and this can control with the help of suitable control signals. In addition, there is the control unit 6 with a tracking unit 7 in communication, which transmits the current and highly accurate actual position of the vehicle to the control unit. But it is also conceivable that the control unit 6 with a bus, in particular with a CAN bus of the vehicle is in communication and picks up the current position of the vehicle from this bus. Because in many modern vehicles, a highly accurate tracking unit is already installed for the purpose of navigation, whose information is provided in the internal vehicle electronics. The accuracy of the location unit may be improved by appropriate measures, such as the correlation of different location methods.

In this embodiment, the control unit 6 with a displacement measuring device 8th connected, which includes corresponding sensors for measuring distance. So z. B. in case of failure of the GPS signal, which z. B. under bridges o. Ä. Can happen, the accuracy of this displacement measuring device 8th maintained by means of appropriate dead reckoning.

In the control unit 6 Furthermore, there is a data memory in which a digital map of the area to be traveled is stored. In this digital map, the target positions of the road marking to be applied are also stored with high precision. These nominal positions can z. For example, when planning a map arise or else in that the road was measured exactly before exactly.

If a road is now being driven on which a corresponding lane marking is to be applied, the control unit compares 6 continuously from the locating unit 7 Delivered actual position with the derived from the digital map target position of the lane marking each other. Depending on the deviation of these two positions from each other then the adjusting device 3 controlled accordingly, so that the marking unit 2 transversely to the direction of travel shifts so that the application unit 4 the road marking on the roadway 5 exactly at the appropriate target position applies. With the help of appropriate damping mechanisms, short-term jumps in the deviations can be compensated, so that the lane marking afterwards does not resemble a zigzag line.

2 schematically shows the marker device off 1 , In this embodiment, the control unit 6 with the steering 9 of the vehicle 1 connected is. So can the control unit 6 now the transverse guide of the vehicle 1 take over and so the vehicle 1 at least halfway autonomously on the road. The driver then only operates the accelerator and brake pedals.

So it is conceivable that the control unit 6 using the digital map, the vehicle on a corresponding ideal line across the road leads. Here is the control unit 6 Furthermore, set up so that with an ever-increasing deviation between actual and desired position, this can be counteracted by the vehicle 1 is directed in the appropriate direction. Thus, early negative tendencies can be counteracted, which is advantageous because the order unit 2 by means of the adjusting device 3 is displaceable only to a limited extent.

3 schematically shows a marking unit 2 to which an adjusting device 3 is arranged. At the adjusting device 3 is the order unit 4 installed so that the order unit 4 is displaceable transversely to the direction of travel of the vehicle, not shown. At the top of the marking unit 2 there is a corresponding sensor 7 for the locating unit, giving exactly the position of the marking unit 2 can be determined as an actual position.

The marking unit 2 is intended for mounting on a front side of a corresponding vehicle.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 60111982 T2 [0004]
• - DE 69425354 T2 [0005]
• - EP 0632858 B1 [0006]
• - DE 10321932 B3 [0007]

Claims (14)

Device for applying road marking to a vehicle ( 1 ) arranged application unit ( 4 ) arranged to apply a pavement marking and by means of an adjusting device ( 3 ) is adjustable substantially transversely to the direction of travel, characterized in that the device is a control unit ( 6 ), which has a locating unit ( 7 ) is connected to determine a highly accurate current actual position and has a data memory for depositing at least one target position to be applied to the road marking to be applied, wherein the control unit ( 6 ) for comparing the current actual position with the determined from the data storage target position of the lane marking and for driving the adjusting device ( 3 ) is set up in dependence on the comparison in such a way that the lane marking at the desired position on a roadway ( 5 ) is applied. Device according to claim 1, characterized in that that the data memory is set up to store a digital map is, wherein in the digital map, the road marking to be applied relevant target positions are stored. Apparatus according to claim 1 or 2, characterized in that the application unit ( 4 ) at a marking unit ( 2 ) and the marking unit ( 2 ) with the adjusting device ( 3 ) is coupled in such a way that the marking unit ( 2 ) is adjustable substantially transversely to the direction of travel. Apparatus according to claim 3, characterized in that the locating unit ( 7 ) on the marking unit ( 2 ) is arranged. Device according to one of the preceding claims, characterized in that the roadway marking to be applied is a lane boundary line. Device according to one of the preceding claims, characterized in that the control unit ( 6 ) with the steering ( 9 ) of the vehicle ( 1 ) and for the transverse guidance of the vehicle ( 1 ) is set up as a function of the target position to be applied to the road marking to be applied. Device according to one of the preceding claims, characterized in that the control unit ( 6 ) with the steering ( 9 ) of the vehicle ( 1 ) and for the transverse guidance of the vehicle ( 1 ) is established as a function of the comparison. Device according to one of the preceding claims, characterized in that the control unit ( 6 ) with the steering ( 9 ) of the vehicle ( 1 ) and for the transverse guidance of the vehicle ( 1 ) is set up as a function of the digital map stored in the data memory. Device according to one of the preceding claims, characterized in that the locating unit ( 7 ) is a GNSS location unit, in particular a DGPS or EGNOS location unit. Device according to one of the preceding claims, characterized in that the control unit ( 6 ) with a path measuring device ( 8th ) and for determining the current actual position as a function of the path measuring device ( 8th ) is set up measured path information. Device according to one of the preceding claims, characterized in that the control unit ( 6 ) for determining the actual position of the marking unit ( 2 ) and / or the order unit ( 4 ) is set up. Road vehicle ( 1 ) for applying road markings by means of a device according to one of the preceding claims. Road vehicle ( 1 ) according to claim 12, characterized in that the device on an underside of the vehicle ( 1 ) is arranged. Road vehicle ( 1 ) according to claim 12, characterized in that the device on a front side of the vehicle ( 1 ) is arranged.