DE102019200544A1 - Method for increasing security in an environment of a commercial vehicle - Google Patents

Abstract

In a method (V) for increasing security in an environment (3) of a commercial vehicle (1), the commercial vehicle (1) has at least one imaging sensor system (2). The at least one imaging sensor system (2) detects an environment (3) of the commercial vehicle (1) and generates environmental data (4). The environmental data (4) are evaluated. The evaluated environmental data (4) determine whether there is at least one person (5) in the environment (3) of the commercial vehicle (1). From the evaluated environmental data (4), it is determined in which of at least two zones (I, II, III) in the environment (3) of the commercial vehicle (1), which are spanned around the commercial vehicle (1), the at least one Person (5) is located. Starting from the zone (I, II, III) in which the at least one person (5) is located, a warning (6) is issued to the driver (14) of the commercial vehicle (1). The intensity of the warning (6) depends on the zone (I, II, III) in which the at least one person (5) is located.

Description

The present invention relates to a method for increasing security in the vicinity of a commercial vehicle with the features according to claim 1, a control unit with the features according to claim 8, a computer program product with the features according to claim 9 and a computer-readable medium with the features according to claim 10.

A system is partly installed in industrial trucks that monitors the free space around the industrial truck. If there is a risk of a collision with an object, the driver is warned or there is a driver intervention to prevent the collision. Experienced drivers intentionally pass very close objects. This leads to a constant warning. This leads the driver to ignore warning signals, as too often warning is given at non-critical points. However, if a person appears in the danger area, this can lead to problems. In addition, productivity can be greatly reduced by constantly limiting the speed due to the frequent collision warnings.

Out DE 20 2006 020 026 U1 an industrial truck with an optical warning device for protecting persons in the vicinity is known. The optical warning device projects light effects pointing in the direction of travel onto the road.

On the basis of the prior art, the present invention is based on the object of proposing an alternative method for increasing safety in the area of a commercial vehicle, preferably in the area of an industrial truck.

Based on the aforementioned object, the present invention proposes a method for increasing security in the vicinity of a commercial vehicle according to claim 1, a control unit according to claim 8, a computer program product according to claim 9 and a computer-readable medium according to claim 10. Further advantageous refinements and developments emerge from the subclaims.

In a method for increasing security in an environment of a commercial vehicle, the commercial vehicle has at least one imaging sensor system. The at least one imaging sensor system detects the surroundings of the commercial vehicle and generates surroundings data. The environmental data are evaluated. From the evaluated environmental data it is determined whether at least one person is in the environment of the commercial vehicle. From the evaluated environmental data, it is determined in which of at least two zones in the surroundings of the commercial vehicle, which are spanned around the commercial vehicle, the at least one person is located. Starting from the zone in which the at least one person is located, a warning is issued to the driver of the commercial vehicle. The intensity of the warning depends on the zone in which the at least one person is located.

The commercial vehicle is preferably designed as an industrial truck, but can also be another commercial vehicle, for example a delivery vehicle, an agricultural machine, a construction machine, a mobile excavator or the like.

The commercial vehicle has the at least one imaging sensor system. The commercial vehicle can of course have more than one imaging sensor system. The imaging sensor system is used to record the surroundings of the commercial vehicle. The at least one imaging sensor system is preferably designed as a camera system. The camera system can, for example, be designed as a surround view system, which can capture the surroundings 360 ° around the commercial vehicle. The camera system can be designed as a fisheye camera system. Alternatively, the at least one imaging sensor system can be formed by means of a lidar system, by means of a radar system, by means of an infrared system or by means of another suitable imaging sensor system for detecting the surroundings or as a combination of the systems just mentioned.

The at least one imaging sensor system continuously records the surroundings of the commercial vehicle and thus generates surroundings data. The type of environmental data depends on the shape of the at least one imaging sensor system. If the imaging sensor system is designed as a camera system, the generated environmental data is camera data. This environmental data is evaluated. This can be done for example by means of a separate control unit. Alternatively, the at least one imaging sensor system can be designed in such a way that it can evaluate the environmental data itself. The intelligence can therefore either be in the at least one imaging sensor system or in the control unit. The evaluation can take place, for example, by means of an image recognition. If the imaging sensor system is designed as a camera system, evaluation using image recognition is preferable. Image recognition is accomplished using an artificial neural network that has been trained to recognize people. Such artificial neural networks for person recognition are known in the prior art.

From the environmental data thus evaluated, it is determined whether at least one person is in the environment of the commercial vehicle. In other words, the image recognition system specifically checks whether a person is in the area and not only determines that an object is in the area. The commercial vehicle can thus selectively perceive people.

If the at least one person is in the vicinity of the commercial vehicle, it is determined where exactly this person is located. This is done by means of a further evaluation. Not only is the distance of at least one person to the commercial vehicle determined, but also the zone in which this person is located. A zone is an area that is spanned around the commercial vehicle in the center. At least two zones extend around the commercial vehicle. For example, three or four zones can also extend around the commercial vehicle. A zone is preferably circular or ring-shaped, but can also be oval. The zones are arranged concentrically to the commercial vehicle. For example, a first zone can directly adjoin the commercial vehicle and connect a second zone to this first zone. The first zone z. B. have a diameter of up to 1.5m. The second zone, which is annular, z. B. have an inner diameter of> 1.5m and an outer diameter of 2.5m. If there is still a third zone, which in turn is annular, this z. B. have an inner diameter of> 2.5m and an outer diameter of 4m. The size of these zones can either be fixed, e.g. B. be preset at the factory, or can change depending on the driving situation of the commercial vehicle. For example, when maneuvering the commercial vehicle, the respective diameters of the zones can be smaller than during a delivery or transfer journey. This means that the respective diameter of the zones z. B. can also target a current driving speed of the commercial vehicle. If this is the case, the sizes of the zones are preferably determined and determined by the control unit using an algorithm.

After it has been determined in which zone the person is located, a warning is issued to the driver of the commercial vehicle. A warning is therefore only given if a person is in the area surrounding the commercial vehicle. In the case of inanimate objects, no warning is given using the method presented. The warning can be given acoustically, optically, haptically or as a combination of these options. For example, a warning device in the driver's compartment of the commercial vehicle can emit an optical and acoustic signal in order to warn the driver of the person in the vicinity of the commercial vehicle. Additionally or alternatively, a warning device on a steering wheel or a joystick or another suitable steering unit can output a haptic signal.

The intensity of the warning depends on the zone in which the at least one person is located. For example, if the person is in the first zone, the warning is more intense than if the person is in the second or third zone. The intensity of the warning is therefore highest in the zone directly adjacent to the commercial vehicle. For example, the acoustic warning can be louder or at shorter intervals. For example, the visual warning can occur at shorter intervals or have a different color depending on the zone, e.g. B. red for a person in the first zone, yellow for a person in the second zone and blue for a person in the third zone. For example, the haptic warning can occur at shorter intervals or become stronger.

The advantage of the method is that the driver is only warned when there is actually a person in the vicinity of the commercial vehicle. The driver is only warned when it is important to avoid personal injury. In conventional driving, in which no one is in the vicinity of the commercial vehicle, unnecessary warnings are avoided, so that the driver does not get used to it. It is also advantageous that the driver receives a staggered warning. A very intensive warning is only issued when the person is very close to the commercial vehicle. If the person is still far away from the commercial vehicle and a collision is therefore very unlikely, the driver is not interrupted in his work. This increases productivity.

According to a further embodiment, a driving intervention takes place in addition to the warning, the intensity of which depends on the zone in which the at least one person is located. This driving intervention is initiated by a control unit that can control individual components of the drive train, e.g. B. a drive unit, a transmission, at least one brake, at least one steering or other suitable components of the drive train. This control unit can preferably be the same control unit that carries out the evaluation. Alternatively, this can be a separate control unit.

As with the warning, the intensity of the driver intervention is based on the respective zones spanned around the commercial vehicle. The driving intervention becomes stronger the closer a zone is to the commercial vehicle. The intensity of the Driving intervention is preferably highest in the zone directly adjacent to the commercial vehicle.

The driving intervention can preferably be designed as a braking of the commercial vehicle. This means that the speed of the commercial vehicle is reduced depending on the zone in which the person is located. For example, the commercial vehicle can be brought to a standstill when the person is in the first zone. For example, the commercial vehicle can be braked by 50% to 90% of the speed selected by the driver or at walking speed when the person is in the second zone. For example, the commercial vehicle can be braked by up to 10% of the speed selected by the driver when the person is in the third zone. These numerical values are chosen only as examples. Of course, the speed reduction can depend on the type of commercial vehicle. How much the speed of the commercial vehicle is reduced per zone can, for. B. set at the factory.

The danger to the person is reduced since the vehicle moves more slowly the closer the person is to the vehicle. Due to the division into zones, the driving intervention is less complicated to implement than with a continuous adjustment of the speed of the commercial vehicle depending on the distance to a person. This reduces the calculation effort and the standard effort. This leads to higher energy efficiency.

Alternatively, the driving intervention can be designed as an evasive maneuver. This means that there is intervention in the steering and acceleration of the commercial vehicle, so that the commercial vehicle dodges the person and moves away from the person. For example, if a person is in the first zone, the commercial vehicle can be accelerated in the opposite direction to that person. The commercial vehicle is thus moved against the direction of travel chosen by the driver. If the person is in the second zone, the steering intervention can take place less strongly. For example, the commercial vehicle can adapt its trajectory so that the person does not get into the first zone.

The advantage of this is that personal injury can be prevented by the driver intervention, even if the driver does not respond to the warning.

According to a further embodiment, in addition to the zones, a band is determined by means of trajectory planning of the commercial vehicle, in which the commercial vehicle will move in the future, the intensity of the warning and / or the driver intervention additionally depending on the band.

The belt is the path on which the commercial vehicle will move in the future according to its trajectory planning. The trajectory planning takes effect e.g. B. on speed and acceleration data as well as on data of the steering, for. B. on the steering angle. Based on this, the control unit can be used to determine where the commercial vehicle will be heading. The trajectory planning thus defines the movement of the commercial vehicle that will take place in the future. The shape of the zones can also be adjusted using the tape. For example, the zones can be oval, the longer sides of the zones being oriented in the direction of the band.

The intensity of the warning and / or driver intervention also depends on the belt. For example, the warning may be more intense if the person is in the band. For example, the warning may be stronger for a person in the first zone and in the band than for a person who is only in the first zone. The acoustic warning can e.g. B. louder or in shorter intervals if a person is in the band and in the first zone. The visual warning can e.g. B. in shorter intervals if the person is in the band and in the first zone. The haptic warning can e.g. B. in shorter time intervals and stronger if the person is in the band and in the first zone. In addition, e.g. B. a further optical, acoustic or haptic warning signal is issued, which indicates that a person is in the band.

If there is also a driver intervention, this is more intensive if the person is in the band. For example, the speed of the commercial vehicle can be reduced more if the person is in the belt and in the second zone than if the person is only in the second zone. If the speed of the commercial vehicle with a person in the second zone z. B. is reduced by 50%, the speed of the commercial vehicle with one person in the band and in the second zone z. B. can be reduced by 80%.

The advantage of this is that the driver of the commercial vehicle becomes aware that he is moving the commercial vehicle to a dangerous situation if he maintains the trajectory. The driver can then adjust the trajectory. Personal injuries are thereby avoided in a targeted manner.

A control unit for a commercial vehicle can be connected to the at least one imaging sensor system and to a drive train of the Commercial vehicle. Connectable means that the control unit can be connected to the at least one imaging sensor system and to the drive train. These connections are designed in such a way that data and signal exchange is possible in both directions. The connections can be wireless or wired. By means of the connection, the control unit can control the individual components of the drive train that have already been described in the previous description.

The control unit comprises means which are suitable for carrying out the steps of the method which has already been described in the previous description. The control unit preferably comprises computer program code for carrying out the method.

A computer program product includes instructions that cause the control unit, which was already described in the previous description, to carry out the method steps of the method, which was also described in the previous description.

A computer readable medium comprises a computer program product that has already been described in the previous description. The term “computer-readable medium” includes B. hard drives and / or servers and / or memory sticks and / or flash memory and / or DVDs and / or Bluerays and / or CDs and / or a downloadable data stream.

• 1 eine schematische Darstellung einer Umgebung eines Nutzfahrzeugs mit drei Zonen nach einem Ausführungsbeispiel,
• 2 eine schematische Darstellung einer Umgebung eines Nutzfahrzeugs mit drei Zonen nach einem weiteren Ausführungsbeispiel,
• 3 eine schematische Darstellung eines Nutzfahrzeugs nach den Ausführungsbeispielen aus 1 und 2,
• 4 eine schematische Darstellung eines Verfahrens zur Erhöhung einer Sicherheit in der Umgebung des Nutzfahrzeugs nach dem Ausführungsbeispiel aus 3.

Various exemplary embodiments and details of the invention are described in more detail with reference to the figures explained below. Show it:

• 1 1 shows a schematic representation of an environment of a commercial vehicle with three zones according to one exemplary embodiment,
• 2nd 1 shows a schematic representation of an environment of a commercial vehicle with three zones according to a further exemplary embodiment,
• 3rd a schematic representation of a commercial vehicle according to the embodiments 1 and 2nd ,
• 4th is a schematic representation of a method for increasing security in the environment of the commercial vehicle according to the embodiment 3rd .

1 shows a schematic representation of an environment of a commercial vehicle 1 with three zones I. , II , III an embodiment. A very simplified top view is shown. For better understanding, a Cartesian coordinate system with an x-axis and a y-axis is drawn, in the origin of which the commercial vehicle is located 1 located. The coordinate system moves with the commercial vehicle 1 With. The commercial vehicle 1 here is an industrial truck, which in 3rd is shown in more detail.

To the commercial vehicle 1 there are three zones around I. , II , III spanned. The first zone I. is circular and borders directly on the commercial vehicle 1 on. The second zone II is ring-shaped and borders on the first zone I. on. The third zone III is shaped like a ring and borders on the second zone II on.

In an environment 3rd of the commercial vehicle 1 , in the second zone II holds one person 5 on. This person 5 has a distance 13 to the commercial vehicle 1 on. The person 5 is from an imaging sensor system, which in 3rd is shown. Using image recognition, an evaluation determines that it is a person 5 acts and not an object. It is also evaluated in which zone I. , II , III yourself the person 5 located. The procedure is detailed in 4th shown.

Because the person 5 in the second zone II a warning to the driver of the commercial vehicle is stopped 1 output that is less intense than for a person in the first zone I. , but more intense than with a person in the third zone III . The intensity of the warning is strongest when the person is 5 in the first zone I. stops. The intensity of the warning is therefore weakest when the person is 5 in the third zone III stops. A warning is only given to the driver if there is a person 5 within one of the zones I. , II , III stops. Otherwise there is no warning.

In addition to the warning, driving intervention can take place. This is shaped as a brake. The intensity of the driver intervention is analogous to the intensity of the warning. The vehicle does this when there is a person 5 in the first zone I. stops, brought to a standstill. Because the person 5 here in the second zone II stops, the speed of the commercial vehicle 1 reduced by 50% to 90%. If a person is in the third zone III the speed of the commercial vehicle 1 e.g. B. can be reduced by about 10%.

2nd shows a schematic representation of an environment of a commercial vehicle 1 with three zones I. , II , III according to a further embodiment. A very simplified top view is shown. The representation in 2nd differs from the representation in 1 only in that in addition to the three zones I. , II , III a tape 8th is set. This tape 8th is by means of a trajectory planning of the commercial vehicle 1 , starting from a Speed and a steering angle of the commercial vehicle 1 , certainly. The ribbon 8th shows where the commercial vehicle is going 1 will move in the future.

The person 5 is still in the second zone II , but now additionally within the band 8th . That is, if the commercial vehicle 1 If it were to travel unchanged along its planned trajectory, there would be a collision between the commercial vehicle 1 and the person 5 come.

Because the person 5 , as already in 1 , represented, recorded and recognized as a person, and it is determined that they are in the second zone II and in the band 8th is a warning to the driver of the commercial vehicle 1 spent. This warning is more intense than that of a person 5 that are in the second zone II but not in the band 8th stops. This is the warning to the driver of the commercial vehicle 1 most intense when a person 5 in the band 8th and in the first zone I. stops. The intensity of the warning is graded as follows (from strong to weak): Person 5 in the first zone I. and in the band 8th / Person 5 in the first zone I. / Person 5 in the second zone II and in the band 8th / Person 5 in the second zone II / Person 5 in the third zone III and in the band 8th / Person 5 in the third zone III .

The grading of the intensity of the driving intervention is largely analogous to the warning as follows (from strong to weak): person 5 in the first zone I. and in the band 8th and person 5 in the first zone I. / Person 5 in the second zone II and in the band 8th / Person 5 in the second zone II / Person 5 in the third zone III and in the band 8th / Person 5 in the third zone III . This is the commercial vehicle 1 always brought to a standstill when one person 5 in the first zone I. resides regardless of whether the person is 5 in the band 8th stops or not.

3rd a schematic representation of a commercial vehicle 1 according to the embodiments 1 and 2nd . A very simplified sectional illustration is shown. The commercial vehicle 1 is designed as an industrial truck. The commercial vehicle 1 has a powertrain 10th , Bikes 12th , a central control unit 9 , an imaging sensor system 2nd and a warning device 11 on. The central control unit 9 is connected to the drive train 10th , with the warning device 11 and with the imaging sensor system 2nd connected. This connection is such that data and signal exchange can take place.

The drivetrain 10th has several components that are not shown for reasons of clarity, for. B. a drive unit, brakes, a transmission or the like. The drive train is used for the utility vehicle 1 to drive so that it can move and can transport goods. The imaging sensor system 2nd is formed here as a camera system, e.g. B. as a surround view system. The imaging sensor system 2nd captures the environment 3rd of the commercial vehicle 1 and generates environmental data 4th .

The warning device 11 serves as a warning 6 to the driver14. This can be done acoustically, optically or haptically or as a combination of these options.

The control unit 9 has means to implement the process described in 4th is shown to perform. For example, the control unit 9 operate a computer program product. The control unit 9 evaluates the environmental data 4th out. To do this, it uses image recognition. This image recognition can recognize people using a trained artificial neural network. This determines that the person is 5 at a distance 13 to the commercial vehicle 1 in the second zone II stops.

The control unit 9 therefore controls the warning device 11 so that's a warning 6 to the driver 14 of the commercial vehicle 1 is issued. Because the person 5 in the second zone II is the warning 6 less intense than a warning 6 in one person 5 in the first zone I. . In the control unit 9 are with the individual zones I. , II , III Warning intensities linked. These are graduated so that the intensity of the warning is clearly different for each zone. Thus, there can be no misinterpretation by the driver 14 come. For example, a display of the warning device 11 depending on the zone I. , II , III display a different colored symbol. For example, a warning sound may vary depending on the zone I. , II , III output differently or at different intervals.

The control unit also controls 9 the drivetrain 10th of the commercial vehicle 1 on. This intervenes and the commercial vehicle is braked. Because the person 5 in the second zone II stops, the commercial vehicle 1 greatly slowed down, but has not yet come to a standstill. Only when the person 5 in zone I. stops, the commercial vehicle 1 brought to a standstill. The driver 14 can still work productively, but endangers the person 5 Not.

4th shows a schematic representation of a method V to increase security in the environment of the commercial vehicle according to the embodiment 3rd .

In a first step 101 captures the imaging sensor system 2nd the environment of the commercial vehicle and generates environmental data 4th . This environmental data 4th are in a second step 102 evaluated. This evaluation is carried out using image recognition. In a third step 103 is evaluated using the evaluated environmental data 4th determined whether a person is in the vicinity of the commercial vehicle. If this is not the case, nothing further happens and the procedure V returns to the first step 101 back because the process is ongoing.

If it is determined that a person is in the vicinity of the commercial vehicle, the fourth step is 104 evaluates which of the three possible zones the person is in. Based on the zone in which the person is located, a warning is issued 6 output in an intensity linked to the respective zone. In addition, driving intervention can also be carried out 7 in an intensity linked to the respective zone. If there is a warning and, if necessary, a driver intervention, the first step 101 of the procedure V returned.

Advantage of the presented method V is that a warning and, if necessary, a driver intervention is only carried out if there is a person in the vicinity of the commercial vehicle. This prevents false warnings and the driver can work more productively. It also prevents the driver from getting used to the warnings.

The examples shown here are selected only as examples. The numerical values given serve only for a better explanation and do not represent any restriction to these values. The diameters of the zones can be determined depending on the commercial vehicle and operating mode, for example the zones can have a smaller diameter in maneuvering mode than in driving mode. For example, the zones of an industrial truck can have a smaller diameter than the zones of an agricultural machine. Of course, two or more than three zones can be defined.

Reference list

1

Commercial vehicle

2nd

imaging sensor system

3rd

Surroundings

4th

Environmental data

5

person

6

warning

7

Driver intervention

8th

tape

9

Control unit

10th

Powertrain

11

Warning device

12th

wheel

13

distance

14

driver

101

first step

102

second step

103

Third step

104

fourth step

V

Procedure

x

X axis

y

y axis

I.

first zone

II

second zone

III

third zone

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 202006020026 U1 [0003]

Claims (10)

Method (V) for increasing security in an environment (3) of a commercial vehicle (1), the commercial vehicle (1) having at least one imaging sensor system (2), wherein - the at least one imaging sensor system (2) detects the environment (3) of the commercial vehicle (1) and generates environmental data (4), - the environmental data (4) are evaluated, - From the evaluated environmental data (4) it is determined whether at least one person (5) is in the environment (3) of the commercial vehicle (1), - From the evaluated environmental data (4) it is determined in which of at least two zones (I, II, III) spanned around the commercial vehicle (1) the at least one person (5) is in the environment (3) of the commercial vehicle (1), - starting from the zone (I, II, III) in which the at least one person (5) is located, a warning (6) is issued to the driver (14) of the commercial vehicle (1), - The intensity of the warning (6) depends on the zone (I, II, III) in which the at least one person (5) is located. Method (V) according to Claim 1 , wherein the at least one imaging sensor system (2) is a camera system, and the environmental data (4) are evaluated by means of image recognition. Method (V) according to one of the preceding claims, wherein the intensity of the warning (6) is highest in the zone (I, II, III) which is directly adjacent to the commercial vehicle (1). Method (V) according to one of the preceding claims, wherein in addition to the warning (6) a driving intervention (7) takes place, the intensity of which depends on the zone (I, II, III) in which the at least one person (5) is located, judges. Method (V) according to Claim 4 , the intensity of the driver intervention (7) being highest in the zone (I, II, III) which is directly adjacent to the commercial vehicle (1). Method (V) according to Claim 4 or 5 , wherein the driving intervention is designed as (7) braking the commercial vehicle (1). Method (V) according to one of the preceding claims, wherein in addition to the zones (I, II, III), by means of trajectory planning of the commercial vehicle (1), a band (8) is defined in which the commercial vehicle (1) will move in the future is, the intensity of the warning (6) and / or the driving intervention (7) also depends on the band (8). Control unit (9) for a commercial vehicle (1), the control unit (9) being connectable to the at least one imaging sensor system (2) and to a drive train (10) of the commercial vehicle (1), the control unit (9) comprising means, which are suitable, the steps of the method (V) according to one of the Claims 1 to 7 to execute Computer program product, comprising instructions that cause the control unit (9) to Claim 8 the process steps of the process (V) according to one of the Claims 1 to 7 executes. Computer-readable medium, characterized in that the computer-readable medium after the computer program product Claim 9 includes.

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