CARGO DETECTION SYSTEM AND METHOD FOR DETECTING OVERHANGING CARGO ON A MOTOR VEHICLE

Abstract

A cargo detection system for detecting overhanging cargo on a motor vehicle comprises a sensor system configured to provide cargo measurement data for cargo loaded onto the motor vehicle by measuring at least one of exterior dimensions of cargo protruding over an outer edge of the motor vehicle and an opening condition of a tailgate of the motor vehicle. The system further comprises a control device configured to assess, based on the cargo measurement data of the sensor system, whether cargo is overhanging from the motor vehicle and to calculate an updated vehicle length and/or vehicle width for the motor vehicle accounting for the overhanging cargo.

Claims

1. A cargo detection system for detecting overhanging cargo on a motor vehicle, the cargo detection system comprising: a sensor system configured to provide cargo measurement data for cargo loaded onto the motor vehicle by measuring at least one of exterior dimensions of cargo protruding over an outer edge of the motor vehicle and an opening condition of a tailgate of the motor vehicle; and a control device configured to assess, based on the cargo measurement data of the sensor system, whether cargo is overhanging from the motor vehicle and to calculate an updated vehicle length and/or vehicle width for the motor vehicle accounting for the overhanging cargo.

2. The cargo detection system according to claim 1, wherein the sensor system is configured to measure the exterior dimensions of cargo protruding over at least one of a cargo area, a trunk, a tailgate, and/or a bumper of the motor vehicle.

3. The cargo detection system according to claim 1, wherein the opening condition comprises an opening angle (α) of the tailgate.

4. The cargo detection system according to claim 1, wherein the control device is configured to estimate a blind spot region at a distal end of the overhanging cargo, based on a field of view of the sensor system, and to add a corresponding blind spot extension to the updated vehicle length and/or vehicle width.

5. The cargo detection system according to claim 1, wherein the sensor system comprises at least one of a camera, a radar, an ultrasonic sensor, and/or a lidar.

6. The cargo detection system according to claim 1, wherein the sensor system is mounted at at least of one of the cargo area, the trunk, the tailgate, and/or the bumper of the motor vehicle.

7. The cargo detection system according to claim 1, wherein the sensor system is configured to measure a protrusion length (L.sub.OV) of the overhanging cargo of at least up to 3 m and/or a protrusion width of the overhanging cargo of at least up to 1.5 m.

8. The cargo detection system according to claim 1, further comprising: a communication device configured to receive cargo measurement data recorded by an external measuring entity for the cargo loaded onto the motor vehicle via vehicle-to-everything (V2X) communication.

9. The cargo detection system according to claim 1, further comprising: a driver interface configured to provide a cargo advice signal based on the updated vehicle length and/or vehicle width.

10. A motor vehicle comprising a cargo detection system according to claim 1.

11. The motor vehicle according to claim 10, further comprising: a parking assistant configured to use the updated vehicle length and/or vehicle width as input.

12. A method for detecting overhanging cargo on a motor vehicle, the method comprising: measuring, by at least one of a sensor system of the motor vehicle and/or an external measuring entity, at least one of exterior dimensions of cargo protruding over an outer edge of the motor vehicle, and an opening condition of a tailgate of the motor vehicle; assessing, by a control device of the motor vehicle, based on the cargo measurement data whether cargo is overhanging from the motor vehicle; and calculating, by the control device of the motor vehicle, at least one of an updated vehicle length and/or an updated vehicle width for the motor vehicle accounting for the overhanging cargo.

13. The method according to claim 12, wherein the sensor system measures the exterior dimensions of cargo protruding over at least one of a cargo area, a trunk, a tailgate, and/or a bumper of the motor vehicle.

14. The method according to claim 12, wherein the opening condition comprises an opening angle of the tailgate.

15. The method according to claim 12, wherein the control device estimates a blind spot region at a distal end of the overhanging cargo, based on a field of view of the sensor system, and adds a corresponding blind spot extension to at least one of the updated vehicle length and/or the updated vehicle width.

16. The method according to claim 12, wherein the sensor system measures a protrusion length (L.sub.OV) of at least one of the overhanging cargo of at least up to 3 m and/or a protrusion width of the overhanging cargo of at least up to 1.5 m.

17. The method according to claim 12, further comprising: receiving, by a communication device of the motor vehicle, cargo measurement data recorded by the external measuring entity for the cargo loaded onto the motor vehicle via vehicle-to-everything (V2X) communication.

18. The method according to claim 12, further comprising: providing, by a driver interface of the motor vehicle, a cargo advice signal based on at least one of the updated vehicle length and/or the updated vehicle width.

19. The method according to claim 12, wherein at least one of the updated vehicle length and/or the updated vehicle width is used as input for a parking assistant of the motor vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the present disclosure and together with the description serve to explain the principles of the disclosure. Other embodiments of the present disclosure and many of the intended advantages of the present disclosure should be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. In the figures, like reference numerals denote like or functionally like components, unless indicated otherwise.

[0043] FIG. 1 schematically depicts a cargo detection system for detecting overhanging cargo on a motor vehicle according to an embodiment of the present disclosure.

[0044] FIG. 2 schematically shows a motor vehicle comprising the cargo detection system of FIG. 1.

[0045] FIG. 3 shows a flow diagram of a method for detecting overhanging cargo on the motor vehicle of FIG. 2 using the cargo detection system of FIG. 1.

[0046] FIG. 4 shows the vehicle of FIG. 2 in a side view with a fully opened tailgate and overhanging cargo.

[0047] FIG. 5 shows the vehicle of FIG. 2 driving with overhanging cargo in front of another vehicle.

[0048] FIG. 6 shows a detailed view of the vehicle of FIG. 2 with a partially closed tailgate and overhanging cargo, including relevant parameters for calculating a vehicle length accounting for the overhanging cargo.

[0049] FIGS. 7 and 8 show a detailed view of the vehicle of FIG. 2 with a partially closed tailgate and various overhanging loads and relevant parameters for estimating a blind spot region of the overhanging load.

[0050] FIG. 9 shows a graph for the blind spot estimation of FIGS. 7 and 8.

[0051] FIG. 10 shows an example for an improved blind spot estimation for the vehicle of FIG. 7.

[0052] Although specific embodiments are illustrated and described herein, it should be appreciated by those of ordinary skill in the art that a variety of alternate and/or equivalent implementations may be substituted for the specific embodiments shown and described without departing from the scope of the present disclosure. Generally, this application is intended to cover any adaptations or variations of the specific embodiments discussed herein.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] FIG. 1 schematically depicts a cargo detection system 7 for detecting overhanging cargo on a motor vehicle 10 according to an embodiment of the disclosure. FIG. 2 depicts a motor vehicle 10 having the system 7 of FIG. 1, e.g. an automobile. FIG. 3 shows a flow diagram of a method M for detecting overhanging cargo on the motor vehicle 10 of FIG. 2 using the cargo detection system of FIG. 1.

[0054] The system 7 is provided to support the operator of the vehicle 10 when transporting bulky cargo 2 that is too large or too long to fit into a trunk 12 (e.g. in the case of a limousine, sedan, or the like) or onto a cargo area (e.g. in the case of a pick-up truck, sport utility vehicle, or the like) of the vehicle 10 (see FIG. 4 for example). The cargo 2 may then only be transported by leaving the vehicle's tailgate 3 partially or completely open and/or by letting the cargo 2 protrude over an outer edge of the vehicle 10, e.g. over a cargo area, over a bumper 15, etc. FIG. 4 shows an example, in which the tailgate 3 of the vehicle 10 is completely open. FIG. 6, on the other hand, shows the vehicle 10 with a partially opened tailgate 3, the tailgate 3 resting on the cargo 2 thereby securing the cargo 2 between the tailgate 3 and the trunk bottom.

[0055] An underlying purpose of the present system 7 is to determine the presence of such overhanging cargo 2 and to provide an estimation for the actual vehicle length and/or width accounting for the additional length and/or width due to the protruding cargo 2. This information can then be used, for example, to provide updated vehicle dimensions to another system of the vehicle 10, i.e., to a parking assistant 13, which may then provide more precise driving/parking recommendations and/or steering commands.

[0056] The protrusion length L.sub.OV and/or width of the cargo 2 may be measured in two alternative ways, which also may be combined with each other. One way is by using a sensor system 1 of the vehicle 10 and/or the other ways is by acquiring data from an external measuring entity 9 (e.g. another vehicle or sensors distributed over the surrounding infrastructure like buildings, signaling devices, etc.).

[0057] Referring now to FIGS. 1 and 2, the cargo detection system 7 comprises a sensor system 1 configured to provide cargo measurement data for cargo 2 loaded onto the motor vehicle 10. The sensor system 1 comprises in this embodiment a variety of different sensor technologies as they are utilized in modern vehicles, i.e., in assisted and/or autonomous driving systems, e.g. sensors to sense other vehicles, pedestrians, bicycles and other traffics participants, and/or objects.

[0058] The sensor system 1 shown in FIGS. 1 and 2 comprises two cameras 1a (e.g. a front and a rear view camera), several radars 1b, e.g. short-range and/or long-range radars, ultrasonic sensors 1c as well as lidars 1d, and an angle sensor 1f. However, a person of ordinary skill in the art may provide the vehicle 10 with other sensors depending on the particular application at hand. Furthermore, different sensor technologies and arrangements may be employed. The sensors may be custom designed for the present use or case but may also be used at the same time for various other purposes and systems within the vehicle 10.

[0059] As can be seen in FIG. 1, the sensors are controlled together by a sensor control unit 1e, which in turn is communicatively coupled to a determination unit 14 of the cargo detection system 7, e.g. a microprocessor and/or computer system, which is configured to assess and analyze the cargo measurement data acquired with the sensor system 1. The determination unit 14 then transfers the results to a control device 4 of the cargo detection system 7. The control device 4 is configured to assess, based on the cargo measurement data of the sensor system 1, whether cargo 2 is overhanging from the motor vehicle 10 and to calculate an updated vehicle length and/or vehicle width for the motor vehicle 10 accounting for the overhanging cargo 2. The following embodiments focus on calculating an updated vehicle length as an example. It should be clear to a person of ordinary skill in the art, however, that also a change in the width of the vehicle due to overhanging cargo could be determined in a similar vein.

[0060] The control device 4 is communicatively coupled to various subsystems of the vehicle 10. The subsystems may include, amongst others, a communication device 5 (e.g. for wireless V2X communication, i.e., vehicle-to-vehicle V2V or vehicle-to-infrastructure V2I communication), a driver interface 6 (e.g. a display inside a passenger cabin of the vehicle 10), and a parking assistant 13. The parking assistant 13 may be part of and/or coupled to an assisted/autonomous driving system of the vehicle 10.

[0061] The driver interface 6 may be configured to provide a cargo advice signal based on the updated vehicle length and/or width. Thus, the driver may be informed by the driver interface 6 that the actual protrusion length L.sub.OV or width of the load may require the driver to attach warning equipment like warning panels or the like at a distal end of the load in order to warn other traffic participants of the extended dimensions of the vehicle 10.

[0062] The parking assistant 13 on the other hand may use the updated vehicle length and/or width provided by the control device 4 as input in order to provide more accurate and correct parking assistance to a driver of the vehicle 10. This is particularly relevant in the case of parking maneuvers, which can get extremely demanding due to overhanging cargo 2. Thus, in order to avoid collisions with any obstacles 11, a precise knowledge of the exact dimensions of the overhanging cargo 2 may be crucial. The present system 7 thus helps to increase driving safety by adjusting parking assistants with automatically measured cargo overhang and support the driver in difficult parking situations.

[0063] To ensure this, the sensor system 1 is configured to measure exterior dimensions of cargo 2 protruding over an outer edge of the motor vehicle 10, e.g. the bumper 15, the trunk 12, and/or the tailgate 3 of the vehicle 10. The sensor system 1 is moreover configured to measure an opening angle α of the tailgate 3 with the angle sensor 1f. The latter may be integrated, for example, in the tailgate 3 of the vehicle 10 as part of an electrically operated tailgate system.

[0064] To provide sufficiently precise measurement data, the sensors of the sensor system 1 may be based on adequate technologies. For example, the cameras 1a may be high-definition stereo cameras or similar. The sensors can be placed in any adequate area of the outer or inner tailgate 3 of vehicle 10 in particular, e.g. at a similar position as conventional rear view cameras. In the present example, the sensor position should allow to face the lower rear part of the vehicle 10 (bumper area). However, the position and orientation of the sensors may be configured otherwise by a person of ordinary skill in the art depending on the vehicle. Suitable operating/measuring ranges would be approximately up to 3000 mm in length and approximately up to 1500 mm in width or less, e.g. below 1000 mm in length and below 750 mm may be sufficient for many applications.

[0065] For an exact calculation of the protruding dimensions, the actual opening angle α of the (not fully closed) tailgate 3 may be measured. That value can be delivered, for example, by power-tailgate software (if applied) or may be generated by an adequate separate device (in particular any ready-to-use solution, which may span magnetic sensors, current sensors, pressure sensors, acoustic sensors, 3D image sensors, radar sensors, angle sensors and so on). The sensors can be placed near a hinge of the tailgate 3 for example. Practical ranges for operation/measurements may be between α=0° (fully closed) and fully opened tailgate position (e.g. α=90°).

[0066] To complement such measurements of the sensor system 1, external measuring entities 9 can be employed. In the example of FIG. 5, another vehicle follows the present motor vehicle 10 loaded with the overhanging cargo 2. The other vehicle may serve as the external measuring entity 9 in this case, as its sensors (e.g. front camera, radar, lidar etc.) may provide an independent measurement of the protruding cargo 2. Depending on the relative position and orientation, the external measuring entity 9 may be able to provide a more precise estimation of the protrusion length L.sub.OV and/or width or general shape of the cargo 2 because it may be able to clearly see the cargo. The vehicle-installed sensor system 1 on the other hand may have certain limitations, because depending on the specific sensor arrangement and cargo, some portions of the cargo may not be visible for some or all sensors, thus leaving a blind spot in the field of view of its sensors. This means that the sensor system 1 of the vehicle may not be able to resolve the complete overhanging cargo 2 in all cases (e.g. because part of the cargo 2 is blocked from view of a rear view camera).

[0067] In other embodiments, different types of sensors mounted within the vicinity of the motor vehicle 10 may be used for the above purpose. For example, the sensors in a smart infrastructure environment can potentially be used to provide information about the dimensions of overhanging cargo. In all cases, the data may be exchanged with the motor vehicle 10 via wireless networks.

[0068] A corresponding method M as shown in FIG. 3 comprises under M1 measuring the exterior dimensions of cargo 2 protruding over an outer edge of the motor vehicle 10 and/or an opening condition of a tailgate 3 of the motor vehicle 10. The method M further comprises under M2 assessing based on the cargo measurement data whether cargo 2 is overhanging from the motor vehicle 10. For example, it may be established that the tailgate 3 is open, which may already be used as an indicator that cargo 2 is overhanging from the vehicle 10. The method M further comprises under M3 calculating an updated vehicle length and/or vehicle width for the motor vehicle 10 accounting for the overhanging cargo 2. The method M may further comprise under M4 receiving cargo measurement data recorded by the external measuring entity 9 for the cargo 2 loaded onto the motor vehicle 10 via V2X communication. The method M may further comprise under M5 providing a cargo advice signal based on the updated vehicle length and/or vehicle width.

[0069] Coming now to FIGS. 6-10, a few examples are provided on how the sensor system 1 may be used to measure and/or estimate the dimensions of overhanging cargo 2.

[0070] The calculation of total vehicle length L.sub.2 as shown in FIG. 6 including cargo overhang (protrusion length L.sub.OV) is essential for providing full functionality of the parking assistant 13. FIG. 6 shows a camera 1a, which is mounted on the tailgate 3 of the vehicle 10 at a certain height H.sub.S. The tailgate 3 is in an open position with a certain opening angle α. The camera 1a thus is able to measure only part of the length of the cargo 2 (see L.sub.M in FIG. 6). However, as the opening angle α of the tailgate 3 is also measured, the distance between the open tailgate 3 and the trunk 12 may be calculated from the known dimensions of the tailgate 3 (see L.sub.C in FIG. 6). Taking further into account the known position and extension of the bumper 15, the protrusion length L.sub.OV of the cargo 2 may be calculated. In addition, the cargo height H.sub.C may also be calculated as follows:

L.sub.C=H.sub.T*sin(α)

L.sub.T=L.sub.C−L.sub.B

L.sub.OV=L.sub.M+L.sub.T

L.sub.2=L.sub.1+L.sub.OV=total vehicle length with protruding cargo

H.sub.C=H.sub.T−H.sub.T*cos(α)

[0071] In the case of loads with varying lengths (e.g. stacked packages), the uppermost part of the load may block the viewing angle of the camera 1a on the tailgate 3 (cf. FIG. 7). Hence, a blind spot or blind region 8 may occur, which makes a lower part of the cargo 2 practically invisible for the sensor system 1 (if no additional sensors are installed on the vehicle 10 that compensate for this and/or an external measurement is done to resolve the blind spot).

[0072] FIGS. 7-9 provide examples on how to estimate this blind spot region 8 by calculating a blind spot length L.sub.BS, which is the maximum protruding length of the part of the overhanging cargo 2 that is not visible for the sensor system 1.

[0073] The blind spot region 8 is basically defined by the angle γ of the distal cargo end with respect to the camera 1a (see FIG. 7 for example). This angle can be calculated as:

tan(γ)=(L.sub.M+L.sub.S)/H.sub.sy=(L.sub.M+H.sub.S*sin(α)/H.sub.S*cos(α)

[0074] The blind spot length L.sub.BS can then be determined as:

L.sub.BS=tan(γ)*H.sub.CH.sub.S*sin(α))/H.sub.S*cos(α)

[0075] An upper limit on the total vehicle length can then be estimated as:

L.sub.2=L.sub.1+L.sub.OV+L.sub.BS

[0076] This may then be used for the parking assistant 13 or other applications of the vehicle 10 for an improved consideration of the overhanging cargo 2.

[0077] FIG. 9 shows a graph for the maximum blind spot size L.sub.BS versus the measured cargo length L.sub.M for different cargo heights H.sub.C. The height of the tailgate H.sub.T is assumed 1m, the camera 1a distance to the tailgate's lower end H.sub.S 0.4 m. The measured cargo length and height influence the blind spot size/length. By measuring the cargo length and the tailgate opening angle α, the system 7 can estimate the blind spot length. In a similar vein, a blind spot width may also be calculated. As an example, a limit of 0.5 for L.sub.BS is shown in FIG. 9, which may be used as an upper limit until which the system stays active and adds the expected maximum blind spot length L.sub.BS to the calculated total vehicle length L.sub.2 to ensure safe parking operation. Blind spot lengths L.sub.BS above that limit may make it necessary to acquire further measurement data, e.g. from external systems, as the unknown length of the cargo 2 may be considered too large.

[0078] It is to be understood that the calculated examples may highly depend on the sensor position H.sub.S and the tailgate height H.sub.T. Thus, by adjusting these parameters, a larger spread of suitable cargo dimensions may be measured while keeping the same L.sub.BS threshold.

[0079] Besides supplementary external measurements, the blind spot area may also be significantly lowered by using additional sensors on the vehicle, as the embodiment of FIG. 10 shows. The measurement area and usability are thereby increased.

[0080] FIG. 10 shows an example for an improved blind spot estimation for the vehicle 10 of FIG. 7.

[0081] In this example, an additional sensor, namely a radar 1b, is integrated at or close by the bumper 15 of the vehicle 10 to measure a lower side of the cargo 2 and thereby reduce or eliminate the blind spot region 8 as far as possible. For example, an ultra-short-range radar or similar may be employed to measure the length of the lower part of the cargo L.sub.M2=L.sub.Mreal. The blind spot length L.sub.BS can be calculated in analogue to the calculation described with reference to FIGS. 6 and 7.

[0082] It should be noted here that L.sub.M2 is not necessarily equal to L.sub.Mreal in other embodiments, contrary to the above example. In one such example, three pieces of cargo may be stacked on top of each other, wherein the one in the middle may be the longest piece and thus may have the largest protrusion length with respect to the tailgate. The field of view of a sensor above the cargo, e.g. a camera on the tailgate as in FIG. 10, may then be blocked by the uppermost piece of cargo. The field of view of a sensor below the cargo, e.g. a radar at the bumper as in FIG. 10, may be blocked by the lowest piece of cargo. Hence, a blind spot region may remain in this particular example for the piece in the middle such that the protrusion length of the piece of cargo in the middle may not be fully determined by a combination of data from both sensors. However, this remaining blind spot length typically should be significantly smaller and could be estimated in a similar vein as detailed above for FIG. 8 (and/or may be determined by additional integrated or external sensors).

[0083] Thus, for a final verification of the measured cargo overhang, car to car or infrastructure information may be required in certain cases, e.g. in case the longest piece of cargo is neither on the top nor bottom of the cargo stack but in the middle.

[0084] The system 7 may proceed in roughly three steps. First, a tailgate sensor (e.g. the camera 1a in FIGS. 6-8) may be used to calculate the tailgate protrusion length L.sub.T (in case that the tailgate is determined to be open). If the cargo 2 is not protruding over this distance, then L.sub.T may be added to the vehicle length L.sub.1 and the parking assistant 13 may be adjusted accordingly. Second, the sensor on the tailgate 3 and/or an optional sensor at the bumper 15 (e.g. the radar 1b in FIG. 10) may be used to measure the cargo overhang and estimate the blind spot region 8 in case that the cargo 2 is protruding over the tailgate 3 (i.e. L.sub.M>0). The vehicle length L.sub.1 may then be increased by L.sub.T, the measured protrusion length L.sub.M and the estimated blind spot length L.sub.BS. This result may be used as long as L.sub.BS stays below a certain threshold, e.g. 0.5 m as in FIG. 9. In the case where L.sub.BS>0.5 m, which means that the part of the overhanging cargo 2 concealed from the sensor system 1 of the vehicle 10 is rather large/long, then an external measurement by other vehicles or the infrastructure may be requested (which may also be done irrespective of the value for L.sub.BS).

[0085] In the foregoing detailed description, various features are grouped together in one or more examples with the purpose of streamlining the disclosure. It is to be understood that the above description is intended to be illustrative, and not restrictive. It is intended to cover all alternatives, modifications, and equivalents of the different features and embodiments. Many other examples should be apparent to one having ordinary skill in the art upon reviewing the above specification. The embodiments were chosen and described in order to explain the principles of the disclosure and its practical applications, to thereby enable others having ordinary skill in the art to utilize the disclosure and various embodiments with various modifications as are suited to the particular use contemplated.

REFERENCE LIST

[0086] 1 sensor system [0087] 1a camera [0088] 1b radar [0089] 1c ultrasonic sensor [0090] 1d lidar [0091] 1e sensor control unit [0092] 1f angle sensor [0093] 2 overhanging cargo [0094] 3 tailgate [0095] 4 control device [0096] 5 communication device [0097] 6 driver interface [0098] 7 cargo detection system [0099] 8 blind spot region [0100] 9 external measuring entity [0101] 10 motor vehicle [0102] 11 obstacle [0103] 12 trunk [0104] 13 parking assistant [0105] 14 determination unit [0106] 15 bumper [0107] H.sub.T tailgate height [0108] H.sub.S height of sensor on tailgate [0109] H.sub.C cargo height [0110] H.sub.sy height of sensor above cargo [0111] L.sub.M protrusion length measured by sensor above cargo [0112] L.sub.M2 protrusion length measured by sensor below cargo [0113] L.sub.BS blind spot length [0114] L.sub.B bumper length [0115] L.sub.1 vehicle length without cargo [0116] L.sub.2 total vehicle length with cargo [0117] L.sub.OV protrusion length of cargo [0118] L.sub.T tailgate protrusion length [0119] L.sub.C distance open tailgate to trunk [0120] L.sub.Mreal real protrusion length of cargo with respect to tailgate [0121] L.sub.S length of sensor above cargo [0122] α opening angle of tailgate [0123] γ angle of distal cargo end [0124] M method [0125] M1-M5 method steps