METHOD FOR EVALUATING AN EFFECT OF AN OBJECT IN THE SURROUNDINGS OF A TRANSPORT DEVICE ON A DRIVING MANEUVER OF THE TRANSPORT DEVICE

Abstract

A method for evaluating an effect of an object in the surroundings of a transport device on a driving maneuver of the transport device. The method includes: ascertaining a first distance between the object and a first position of the transport device with the aid of a first ultrasonic sensor of the transport device; ascertaining a second distance between the object and a second position of the transport device different from the first position, using the first ultrasonic sensor of the transport device; calculating a change between the first distance and the second distance with regard to a path, which corresponds to a distance traveled between the first position and the second position of the transport device; and taking into account or not taking into account the object during the execution of the driving maneuver of the transport device as a function of a result of the calculation.

Claims

1-10. (canceled)

11. A method for evaluating an effect of an object in surroundings of a transport device on a driving maneuver of the transport device, comprising the following steps: ascertaining a first distance between the object and a first position of the transport device using a first ultrasonic sensor of the transport device; ascertaining a second distance between the object and a second position of the transport device different from the first position, using the first ultrasonic sensor of the transport device; calculating a change between the first distance and the second distance with regard to a path, which corresponds to a distance traveled between the first position and the second position of the transport device; and taking into account to object or not taking into account the object during execution of the driving maneuver of the transport device as a function of a result of the calculation.

12. The method as recited in claim 11, further comprising: ascertaining a horizontal position of the object relative to a trajectory of the transport device based on at least one second ultrasonic sensor and an object localization algorithm.

13. The method as recited in claim 11, wherein the first distance and the second distance are each ascertained between the object and a sensor surface of the first ultrasonic sensor on the transport device.

14. The method as recited in claim 11, wherein the object is taken into account or not taken into account based on a comparison of the result of the calculation to a predefined threshold value.

15. The method as recited in claim 11, wherein the first distance and the second distance are ascertained additionally based on at least a second ultrasonic sensor.

16. The method as recited in claim 11, wherein the change between the first distance and the second distance with regard to the distance traveled is calculated as a function of the first distance and/or the second distance falling below a predefined distance.

17. The method as recited in claim 11, wherein while covering the distance between the first position and the second position, the transport device moves towards the object while substantially maintaining a current direction of travel.

18. The method as recited in claim 11, wherein the result of the calculation includes an information item regarding an ability of the object to be driven under and/or passed on a side, in view of a position of the object relative to a trajectory and of dimensions of the transport device.

19. The method as recited in claim 18, wherein an information item regarding changed dimensions of the transport device is taken into account.

20. A device for evaluating an effect of an object in surroundings of a transport device on a driving maneuver of the transport device, comprising: an evaluation unit; a data input; and a data output; wherein the evaluation unit is configured to: in connection with the data input: ascertain a first distance between the object and a first position of the transport device using a first ultrasonic sensor of the transport device, and ascertain a second distance between the object and a second position of the transport device different from the first position, using the first ultrasonic sensor of the transport device; calculate a change between the first distance and the second distance with regard to a path, which corresponds to a distance traveled between the first position and the second position of the transport device; and in conjunction with the data output, take into account the object or not take into account the object during execution of the driving maneuver of the transport device as a function of a result of the calculation.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Below, exemplary embodiments of the present invention are described in detail with reference to the figures.

[0026] FIG. 1 shows a flow chart illustrating steps of an exemplary embodiment of a method according to the present invention.

[0027] FIG. 2 shows an example for ascertaining an ability of an object to be driven under by a transport device, in accordance with an example embodiment of the present invention.

[0028] FIG. 3 shows a block diagram of a device according to an example embodiment of the present invention, together with a transport device.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0029] FIG. 1 shows a flow chart illustrating steps of an exemplary embodiment of a method according to the present invention. In step 100, a horizontal position of an object 40 relative to a current trajectory of transport device 80 is ascertained with the aid of a first ultrasonic sensor 30 and a second ultrasonic sensor 35, in conjunction with an object localization algorithm. The ascertainment takes place on the basis of an evaluation unit 10 of the present invention, which, in this exemplary embodiment, is a microcontroller. In step 200, a first distance d1 between object 40 and a first position 50 of transport device 80 is ascertained on the basis of the measuring signals, which are generated by first ultrasonic sensor 30 and are for the determination of the horizontal position of object 40. In step 300, a second distance d2 between object 40 and a second position 55 of transport device 80 is ascertained in an analogous manner. In step 400, a change between first distance d1 and second distance d2 with regard to a path s is calculated, which corresponds to a distance traveled s between first position 50 and second position 55 of transport device 80. Distance traveled s is calculated on the basis of a signal of an odometric control unit of transport device 80 received by evaluation unit 10. In step 500, object 40 is taken into account or not taken into account during the execution of a current driving maneuver of transport device 80 as a function of a result of the calculation. For the case, in which object 40 is potentially relevant to a collision for transport device 80, a corresponding information item regarding object 40 is transmitted to a parking and maneuvering assistance system of transport device 80.

[0030] FIG. 2 shows an example for ascertaining an ability of an object 40 to be driven under by a transport device 80; the object 40 being situated at an elevation h relative to a first ultrasonic sensor 30 of transport device 80, which allows object 40 to be driven under by transport device 80. First ultrasonic sensor 30, which is positioned on a bumper of transport device 80 in the direction of travel of transport device 80, takes the form of a highly sensitive ultrasonic sensor having a detection range of 10 cm to 7 m and a detection angle of up to 85°. In addition, transport device 80 includes an evaluation unit 10, which is connected to first ultrasonic sensor 30 via a data input 12 so as to be able to exchange information. Due to the relatively high sensitivity, and due to the relatively large detection angle of first ultrasonic sensor 30, objects 40, which are not critical and/or not relevant with regard to an ability to be driven under and/or passed by transport device 80, are also detected by first ultrasonic sensor 30 in the surroundings of transport device 80. For this reason, with the aid of evaluation unit 10, an algorithm of the present invention, which is able to ascertain these uncritical and/or irrelevant objects 40, is executed by evaluation unit 10 in the form of a computer program, in order not to consider them in subsequent processing by a driver assistance system 90 coupled to evaluation unit 10. In this manner, driver assistance system 90 is prevented from outputting unnecessary warnings and/or instructions to a driver of transport device 80 and/or from unnecessarily adjusting the operation (e.g., braking or changing the direction of travel) of transport device 80 automatically, on the basis of these irrelevant objects 40.

[0031] For this purpose, a first value, which represents a measured, first distance d1 between object 40 and a sensor surface of first ultrasonic sensor 30, is received from first ultrasonic sensor 30 by evaluation unit 10 of the present invention, at a first position 50 of the moving transport device 80. With the aid of evaluation unit 10, the first value is stored in an external storage unit 20 connected to the evaluation unit. After transport device 80 has traveled a predefined distance s (e.g., 50 cm), then, in a manner analogous to the measurement of the distance of object 40, a measurement of the distance between object 40 and transport device 80 is carried out once more at a second position 55 of transport device 80, using first ultrasonic sensor 30. A second value of a second distance d2 between object 40 and transport device 80, which is ascertained in this manner and received by evaluation unit 10, is stored in storage unit 20, as well. In addition, evaluation unit 10 is connected by a vehicle electrical system of transport device 80 to an odometric control unit, which provides evaluation unit 10 information regarding a distance traveled s by transport device 80. In this manner, evaluation unit 10 is able to ascertain a value regarding the distance traveled s between first position 50 and second position 55, in order to store it in storage unit 20, as well. A change of first distance d1 and second distance d2 in the form of a value d is subsequently calculated by evaluation unit 10: d=d1−d2. A ratio of this value to distance traveled s is formed to calculate a quotient of the present invention D2d (“Distance to Drive Distance Coefficient”): D2d=d/s. Quotient D2d is compared by evaluation unit 10 to a predefined threshold value, which represents a vehicle-specific value of an ability to be driven under by transport device 80; the value being stored in storage unit 20. For the case in which the D2d value is less than or equal to the predefined threshold value, an ability of object 40 to be driven under may be assumed accordingly. Due to the ability of object 40 to be driven under, it is not transmitted to driver assistance system 90 for further processing and, consequently, not used for current vehicle operation and/or a current driving maneuver of transport device 80.

[0032] FIG. 3 shows a block diagram of a device of the present invention, together with a transport device 80. The device includes an evaluation unit 10, which is, in this example, a microcontroller. A computer program, which is able to carry out the method steps of the present invention, is executed by the microcontroller. Evaluation unit 10 has a data input 12, via which evaluation unit 10 is connected to a first ultrasonic sensor 30 and a second ultrasonic sensor 35 so as to be able to exchange information. In this manner, evaluation unit 10 is configured to receive and to process signals representing the surroundings of a transport device 80. The received signals and/or calculation results and, possibly, other data, are stored in an external storage unit 20, which is connected to evaluation unit 10 so as to be able to exchange information. In addition, evaluation unit 10 has a data output 14, via which evaluation unit 10 is connected to a driver assistance system 90 of transport device 80 so as to be able to exchange information. Evaluation unit 10 is configured to evaluate abilities of objects 40 in the surroundings of transport device 80 to be driven under, and to transmit only data about objects 40 relevant to a collision to driver assistance system 90.