TECHNOLOGY FOR TRANSVERSELY AND LONGITUDINALLY GUIDING CONTROLLED REVERSING OF A COMMERCIAL VEHICLE AS A FOLLOWING VEHICLE IN ACCORDANCE WITH A LEADING VEHICLE

Abstract

The invention relates to a technology for transversely and longitudinally guiding reversing of a commercial vehicle (100)during controlled parking and/or manoeuvring of the commercial vehicle (100) as a following vehicle in accordance with a leading vehicle (200) in the surroundings of the commercial vehicle (100). The commercial vehicle (100) comprises at least one sensor (102)and/or at least one data interface (104) for sensing data of the surroundings of the commercial vehicle (100), the sensed surroundings containing the commercial vehicle (100) and/or the leading vehicle (200). Alternatively or in addition, the commercial vehicle(100)comprises at least one data interface (104)for sensing a control instruction for transverse and longitudinal guidance from the leading vehicle (200)in the surroundings of the commercial vehicle (100). The commercial vehicle (100) also comprises a control unit (108)which is designed to control the transverse and longitudinal guidance of the reversing of the commercial vehicle (100) during controlled parking and/or manoeuvring of the commercial vehicle (100) depending on the sensed data ofthe surroundings and/or the sensed control instruction.

Claims

1-15. (canceled)

16. A commercial vehicle for transversely and longitudinally guiding reversing of the commercial vehicle during controlled parking and/or maneuvering of the commercial vehicle as a following vehicle in accordance with a leading vehicle in an environment of the commercial vehicle, comprising: at least one sensor and/or at least one data interface for capturing data relating to the environment of the commercial vehicle, wherein the captured environment comprises the commercial vehicle and/or the leading vehicle, and/or at least one data interface for capturing a control instruction for the transverse and longitudinal guidance from the leading vehicle in the environment of the commercial vehicle; and a control unit which is designed to control the transverse and longitudinal guidance of the reversing of the commercial vehicle during controlled parking and/or maneuvering of the commercial vehicle on the basis of the captured data relating to the environment and/or the captured control instruction.

17. The commercial vehicle as claimed in claim 16, wherein the control unit comprises a determination unit which is designed to determine a target trajectory and/or a future target position of the commercial vehicle on the basis of the captured environment and/or control instruction, and wherein the control unit is also designed to control the transverse and longitudinal guidance of the reversing of the commercial vehicle on the basis of the determined target trajectory and/or future target position.

18. The commercial vehicle claimed in claim 17, wherein the determination unit also determines the target trajectory and/or the future target position on the basis of at least one predetermined distance between the commercial vehicle and the leading vehicle.

19. The commercial vehicle as claimed in claim 18, wherein the sensor and/or the data interface capture(s) at least two simultaneous distances between a front of the commercial vehicle and the leading vehicle and wherein the at least one predetermined distance comprises at least two simultaneous distances, and wherein the transverse and longitudinal guidance of the commercial vehicle determines a reversing curve of the commercial vehicle on the basis of a comparison of the at least two captured simultaneous distances and the at least two predetermined simultaneous distances.

20. The commercial vehicle as claimed in claim 18, wherein the sensor and/or the data interface capture(s) at least two simultaneous distances between a front of the commercial vehicle and a rear of the leading vehicle.

21. The commercial vehicle as claimed in claim 16, wherein the data relating to the environment which are received via the at least one data interface comprise data relating to the current position of the commercial vehicle and a future target position for parking the commercial vehicle.

22. The commercial vehicle as claimed in claim 16, wherein the control instruction received via the at least one data interface comprises a specification of at least one controlled variable of the transverse and longitudinal guidance by the leading vehicle, wherein the at least one controlled variable comprises a steering wheel angle and/or a steering angle and/or a speed and/or an acceleration.

23. The commercial vehicle as claimed in claim 16, wherein the commercial vehicle receives data relating to the environment; and/or a control instruction in response to a criterion being met from the leading vehicle via the data interface.

24. An apparatus for transversely and longitudinally guiding reversing of a commercial vehicle in an environment of a leading vehicle during controlled parking and/or maneuvering of the commercial vehicle as a following vehicle in accordance with the leading vehicle, wherein the apparatus is installed or can be installed in the leading vehicle, comprising: at least one sensor and/or at least one sensor interface for capturing the environment of the leading vehicle, wherein the captured environment comprises the commercial vehicle and/or the leading vehicle; and a data interface which is designed to transmit sensor data from the at least one sensor and/or from the at least one sensor interface and/or a control instruction determined on the basis of the sensor data to a data interface of the commercial vehicle.

25. The apparatus as claimed in claim 24, also comprising a determination unit which is designed to determine a target trajectory and/or a future target position of the commercial vehicle on the basis of the captured environment.

26. The apparatus as claimed in claim 25, wherein the determination unit also determines the target trajectory and/or the future target position of the commercial vehicle on the basis of at least one predetermined distance between the commercial vehicle and the leading vehicle.

27. The apparatus as claimed in claim 25, wherein the determination unit determines at least one controlled variable of the transverse and longitudinal guidance of the commercial vehicle, wherein the at least one controlled variable comprises a steering wheel angle and/or a steering angle and/or a speed and/or an acceleration.

28. The apparatus as claimed in claim 24, wherein the data relating to the captured environment which are transmitted via the data interface comprise data relating to the current position of the commercial vehicle and a future target position for parking the commercial vehicle.

29. A system for transversely and longitudinally guiding reversing of a commercial vehicle during controlled parking and/or maneuvering of the commercial vehicle, comprising: a commercial vehicle as claimed in claim 16.

30. The system as claimed in claim 29, further comprising a leading vehicle having an apparatus as claimed in claim 24.

31. The system as claimed in claim 30, also comprising a usable area, wherein the usable area comprises at least one parking option for the controlled parking of the commercial vehicle.

32. The system as claimed in claim 31, wherein the at least one parking option is at a future target position for parking the commercial vehicle.

33. The system as claimed in claim 31, wherein the usable area comprises a stationary environment capture system (320) having at least one sensor for capturing the usable area; and/or stored map data relating to the usable area; and a sensor interface which is designed to transmit data captured by the at least one sensor and/or the stored map data relating to the usable area to the sensor interface of the leading vehicle.

Description

[0048] Further features and advantages of the present disclosure are described below with reference to the accompanying drawings, in which:

[0049] FIG. 1 shows a commercial vehicle for transversely and longitudinally guiding reversing during controlled parking and/or maneuvering as a following vehicle in accordance with a leading vehicle;

[0050] FIG. 2 shows an apparatus for transversely and longitudinally guiding reversing of a commercial vehicle according to FIG. 1, which apparatus is installed or can be installed in a leading vehicle; and

[0051] FIG. 3 shows a system for transversely and longitudinally guiding reversing of a commercial vehicle during controlled parking and/or maneuvering of the commercial vehicle, comprising a commercial vehicle according to FIG. 1 and a leading vehicle having an installed apparatus according to FIG. 2.

[0052] FIG. 1 shows a commercial vehicle, generally denoted with reference sign 100, for transversely and longitudinally guiding reversing and/or a reversal of the direction of travel of the commercial vehicle 100 during controlled parking and/or during controlled maneuvering of the commercial vehicle 100 as a following vehicle in accordance with a leading vehicle in an environment of the commercial vehicle 100. The commercial vehicle 100 comprises at least one sensor 102 and/or at least one data interface 104 for capturing data relating to the environment of the commercial vehicle 100 and/or of the leading vehicle. Alternatively or additionally, the data interface 104 may comprise a control instruction for the transverse and longitudinal guidance of the commercial vehicle 100 from the leading vehicle in the environment. Optionally, the commercial vehicle 100 may transmit data relating to the commercial vehicle 100 to the leading vehicle via the data interface 104. For example, the commercial vehicle 100 may report a load state and/or a filling level of an energy store of a drive system of the commercial vehicle 100 to the leading vehicle.

[0053] The commercial vehicle 100 also comprises a control unit 108 which is designed to control the transverse and longitudinal guidance of the reversing and/or reversal of the direction of travel of the commercial vehicle 100 during controlled parking and/or during controlled maneuvering of the commercial vehicle 100 on the basis of the captured data and/or the captured control instruction. The control unit 108 of the commercial vehicle 100 optionally comprises a determination unit 106 which is designed to determine a target trajectory and/or a future target position of the commercial vehicle 100 and to accordingly control the transverse and longitudinal guidance of the commercial vehicle 100.

[0054] In the exemplary embodiment of a commercial vehicle 100 as shown in FIG. 1, reference sign 120 is used to denote the front of the commercial vehicle 100 and reference sign 122 is used to denote the rear of the commercial vehicle 100. In the case of a truck as a commercial vehicle 100, the rear 122 may comprise rear doors and/or a tail lift (also: platform lift). Reversing of the commercial vehicle 100 as a truck may comprise the rear 122 of the commercial vehicle 100 approaching a loading ramp of a usable area.

[0055] Alternatively or additionally, a commercial vehicle 100 may comprise a bus. Reversing of a commercial vehicle 100, for example a truck or a bus, may be used to adopt a predetermined parking or stopping position. For example, the predetermined parking or stopping position, for example in a depot, may comprise positioning for the purpose of filling an energy store of a drive system of the commercial vehicle 100.

[0056] FIG. 2 shows an apparatus, generally denoted with reference sign 210, for transversely and longitudinally guiding reversing and/or a reversal of the direction of travel of a commercial vehicle in an environment of a leading vehicle during controlled parking and/or during controlled maneuvering of the commercial vehicle as a following vehicle in accordance with the leading vehicle. The apparatus 210 may be installed or installable in the leading vehicle. The apparatus 210 comprises at least one sensor 212 and/or at least one sensor interface 213 for capturing the environment of the leading vehicle. The environment of the leading vehicle may comprise the commercial vehicle and/or the leading vehicle. The at least one sensor interface 213 may be designed to receive data relating to the commercial vehicle from an external sensor, for example a stationary sensor of a stationary environment capture system. Alternatively or additionally, the at least one sensor interface 213 may be designed to transmit data relating to the commercial vehicle to an external sensor interface, for example a sensor interface of a stationary environment capture system.

[0057] The apparatus 210 also comprises a data interface 214 which is designed to transmit sensor data from the at least one sensor 212 and/or from the at least one sensor interface 213 to a data interface of the commercial vehicle, for example the data interface 104 of the commercial vehicle 100 in FIG. 1. Alternatively or additionally, the data interface 214 may be designed to transmit a control instruction to the data interface of the commercial vehicle, for example the data interface 104 of the commercial vehicle 100. The control instruction may be determined on the basis of the sensor data from the at least one sensor 212 and/or from the at least one sensor interface 213. The apparatus 210 may optionally receive data relating to the commercial vehicle via the data interface 214. For example, the commercial vehicle may transmit data relating to the environment from at least one sensor in the commercial vehicle and/or data relating to a load state and/or a filling level of an energy store of a drive system of the commercial vehicle to the apparatus 210 of the leading vehicle.

[0058] FIG. 3 shows a system, generally denoted with reference sign 300, for transversely and longitudinally guiding reversing and/or a reversal of the direction of travel of a commercial vehicle 100 during controlled parking and/or during controlled maneuvering of the commercial vehicle 100. The system comprises the commercial vehicle 100 as a following vehicle and a leading vehicle 200 having an apparatus 210. Components provided with the same reference signs as in FIG. 1 for the commercial vehicle 100 and as in FIG. 2 for the apparatus 210 may correspond to the components described with reference to FIG. 1 and FIG. 2.

[0059] The commercial vehicle 100 and the leading vehicle 200 may be designed to carry out follow control (also: platooning) known per se for transversely and longitudinally guiding the commercial vehicle 100 as a following vehicle during forward travel. Like in the known platooning, the leading vehicle 200 and the commercial vehicle 100 can communicate via the respective data interfaces 214, 104.

[0060] The system 300 illustrated in FIG. 3 also comprises a usable area 310 having a stationary environment capture system 320. The stationary environment capture system 320 may capture an environment which comprises the commercial vehicle 100 and the leading vehicle 200. The stationary environment capture system 320 may comprise at least one stationary sensor 330, for example a radar sensor, a laser sensor (LIDAR), an ultrasonic sensor or an imaging sensor (also: camera).

[0061] Map data 340 (also referred to as: “a priori knowledge”) relating to the usable area 310 may be stored by the stationary environment capture system 320. The stored map data 340 may comprise a layout and/or a current and/or future occupancy plan of loading and/or unloading points for a plurality of commercial vehicles 100.

[0062] The same map data or other data 240 may be stored (for example in a storage unit of the apparatus 210) in the leading vehicle 200 or may be transmitted from the stationary environment capture system 320 to the leading vehicle 200 via the respective sensor interfaces 313, 213. Furthermore, data relating to the environment from the at least one stationary sensor 330 may be transmitted from the sensor interface 313 of the stationary environment capture system 320 to the sensor interface 213 in the leading vehicle 200.

[0063] In further exemplary embodiments, the collection of data from the at least one stationary sensor 330 of the stationary environment capture system 320 and/or from at least one sensor 212 in the leading vehicle 200 and/or from at least one sensor 102 in the commercial vehicle 100 can be used to determine 332, 232, 132 a current position of the commercial vehicle 100 in the usable area 310, wherein the current position is determined at reference sign 332 by the stationary environment capture system, at reference sign 232 by the leading vehicle 200 and at reference sign 132 by the commercial vehicle 100 itself.

[0064] The commercial vehicle 100 can interchange data with the at least one data interface 214 of the leading vehicle 200 via its at least one data interface 104. The leading vehicle 200 may also interchange data with the sensor interface 313 of the stationary environment capture system 320 via its at least one sensor interface 213. The leading vehicle 200 may also act as forwarding or an “adapter” of data interchange between the stationary environment capture system 320 and the commercial vehicle 100.

[0065] For example, the current position (also: location) of the commercial vehicle 100 in a usable area 310 may be determined by means of at least one stationary sensor 330 and may be transmitted to the leading vehicle 200 via the sensor interfaces 313, 213 and from the leading vehicle to the commercial vehicle 100 via the data interfaces 214, 104. During transmission to the commercial vehicle 100, data from the determination 332 of the current position of the commercial vehicle by the stationary environment capture system 320 and from the determination 232 by the leading vehicle 200 may be combined.

[0066] In a first exemplary embodiment, the commercial vehicle 100 can determine a target trajectory by means of the determination unit 106 on the basis of the transmitted determination 332, 232 of the current position, optionally in combination with its own determination 132 of the current position and/or its own map data 140, and can control 109 specifications for controlled variables in the control unit 108.

[0067] In a second exemplary embodiment, the leading vehicle 200 comprises a determination unit 216 which determines a target trajectory or a future target position of the commercial vehicle 100 and transmits it to the commercial vehicle 100 via the respective data interfaces 214, 104.

[0068] In a third exemplary embodiment, the stationary environment capture system 320 comprises a determination unit 316 which determines a target trajectory or a future target position of the commercial vehicle 100 and transmits it to the leading vehicle 200 via the respective sensor interfaces 313, 213. The leading vehicle optionally determines at least one controlled variable at reference sign 219 and transmits this controlled variable to the commercial vehicle 100 via the respective data interfaces 214, 104 or forwards the data relating to a target trajectory or a future target position, which are generated by the stationary environment capture system 320, to the commercial vehicle 100 without change.

[0069] In a fourth exemplary embodiment, the stationary environment capture system determines controlled variables, for example a steering angle and/or acceleration specification, for the commercial vehicle 100 at reference sign 319 and transmits the associated data to the leading vehicle via the sensor interfaces 313, 213 and from the leading vehicle to the commercial vehicle 100 via the data interfaces 214, 104.

[0070] In each exemplary embodiment, the commercial vehicle 100 can use the data provided by the stationary environment capture system 320 and/or the leading vehicle 200 and transmitted via the leading vehicle 200 to carry out maneuvers.

[0071] The system is useful, for example, when driving a goods delivery vehicle capable of platooning, as a commercial vehicle 100, into a warehouse which is equipped with at least one stationary sensor 330 and has a usable area 310. In the usable area 310, a leading vehicle 200 operated by the warehouse can temporarily enter a platoon with the goods delivery vehicle (as a commercial vehicle) which therefore becomes the following vehicle 100. The following vehicle 100 can now follow the leading vehicle 200 into the vicinity of the parking position (also: destination stop). Upon arrival there, the platoon mode is terminated and the leading vehicle 200 supplies the following vehicle 100 at least with data from the at least one stationary sensor 330 of the warehouse, or the leading vehicle 200 even completely takes control of the following vehicle 100 in order to maneuver the latter to the destination stop.

[0072] The commercial vehicle 100 can be controlled from the leading vehicle 200 in various ways with the aid of the environmental sensors 102, 212, 330. In a first exemplary embodiment, the leading vehicle 200 transmits control instructions (also: control specifications) for the transverse and longitudinal guidance to the commercial vehicle 100 (for example steering wheel angle, steering angle, speed, acceleration). The control instructions can also be generated by a driver actuating the steering wheel and pedals in the leading vehicle 200. The leading vehicle 200 does not itself implement the control instructions, but rather remains at a standstill.

[0073] In a second exemplary embodiment, the leading vehicle 200 forwards sensor data relating to the environment to the commercial vehicle and allows the commercial vehicle 100 to process the sensor data. The leading vehicle 200 can intervene in critical situations using stop or abort signals.

[0074] In a third exemplary embodiment, the leading vehicle 200 drives forward and backward, wherein the commercial vehicle 100 keeps the distance to the leading vehicle 200 constant, like in the case of a trailer (“virtual towbar”). The leading vehicle 200 can ensure safe operation, in particular during reversing, and/or can accurately maneuver the commercial vehicle 100 by means of environmental sensors 212, 330 in the environment.

[0075] Although the present disclosure has been described with respect to exemplary embodiments, it is clear to a person skilled in the art that various changes can be made and equivalents can be used as a substitute. Furthermore, many modifications can be made in order to adapt a particular situation or a particular material to the teaching of the present disclosure. Consequently, the present disclosure is not restricted to the exemplary embodiments disclosed, but rather comprises all exemplary embodiments which fall within the scope of the accompanying patent claims.

List of Reference Signs

[0076] 100 Commercial vehicle [0077] 102 Sensor in the commercial vehicle [0078] 104 Data interface in the commercial vehicle [0079] 106 Determination unit in the commercial vehicle [0080] 108 Control unit in the commercial vehicle [0081] 109 Regulating unit of the control unit in the commercial vehicle [0082] 120 Front of the commercial vehicle [0083] 122 Rear of the commercial vehicle [0084] 132 Position of the commercial vehicle determined by the commercial vehicle [0085] 140 Stored data in the commercial vehicle [0086] 200 Leading vehicle [0087] 210 Apparatus [0088] 212 Sensor in the leading vehicle [0089] 213 Sensor interface in the leading vehicle [0090] 214 Data interface in the leading vehicle [0091] 216 Determination unit in the leading vehicle [0092] 219 Regulating unit of the control unit in the leading vehicle [0093] 232 Position of the commercial vehicle determined by the leading vehicle [0094] 240 Stored data in the leading vehicle [0095] 300 System [0096] 310 Usable area [0097] 313 Sensor interface of the stationary environment capture system [0098] 316 Determination unit of the stationary environment capture system [0099] 319 Regulating unit of the control unit of the stationary environment capture system [0100] 320 Stationary environment capture system [0101] 330 Stationary sensor [0102] 332 Position of the commercial vehicle determined by the stationary environment capture system [0103] 340 Stored data of the stationary environment capture system