ARRANGEMENT AND METHOD FOR DETERMINING A GRADIENT SIGNAL IN A VEHICLE

• US 20200132844A1
• Filed: 02/07/2018
• Published: 04/30/2020
• Est. Priority Date: 03/15/2017
• Status: Active Grant

• Current Assignee: ZF Friedrichshafen AG (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: ZF Friedrichshafen AG (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Wolf, Daniel, Birk, Markus, Zanella, Mauro Cesar
• Granted Patent: US 11,472,415 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

An arrangement determines a gradient signal in a vehicle. The arrangement has: a position capture device that determines a vehicle position at a first and second time and ascertains therefrom a distance traveled as a motion vector, and a laser distance sensor on the vehicle front at an angle to a vehicle longitudinal axis and configured to emit a laser beam in a direction of a first measuring point in front of the vehicle at the first and second time, and a length sensor to ascertain the length of the laser beam and its associated vector at the first and second time, and at least one detection device to ascertain a differential vector from the motion vector and the ascertained vectors and to form a gradient signal therefrom.

Claims

1. An arrangement for determining a gradient signal in a vehicle, the arrangement comprising:

at least one position capture device which is configured to determine a position of the vehicle in an absolute system at least at a first point in time and at a second point in time and to ascertain therefrom a distance traveled of the vehicle as a motion vector, and

at least one first laser distance sensor arranged on a front side of the vehicle at a predetermined angle to a vehicle longitudinal axis and configured to emit at least one first laser beam in a direction of a first measuring point in front of the vehicle at least at the first point in time and the second point in time, and

at least one laser beam length sensor that is configured to ascertain the length of the at least one laser beam and at least one associated vector of the laser beam at each of the at least first point in time and second point in time, and at least one detection device that is set up to ascertain a differential vector from the motion vector and each of the ascertained vectors of the laser beam and to form a gradient signal therefrom.

2. The arrangement according to claim 1, wherein the first laser distance sensor is configured to emit two laser beams spread in the vehicle longitudinal axis and the vehicle transverse direction at least at the first point in time and the second point in time in such a way that one of the spread laser beams is the first laser beam and is emitted in the direction of the first measuring point, and the second of the spread laser beams is emitted in the direction of a further measuring point remote from the first measuring point.

3. The arrangement according to claim 2, wherein the emission of the two laser beams is configured to be performed by sequential switching comprising rotating the laser distance sensor or switching the optical unit of the laser distance sensor.

4. The arrangement according to claim 1, with one second laser distance sensor arranged on a front side of the vehicle inclined at a predetermined angle to the vehicle longitudinal axis, which is configured to direct at least one second laser beam onto a second measuring point in front of the vehicle at least at the first point in time and the second point in time, wherein the at least one means laser beam length sensor is further Get configured to ascertain the length of the laser beam of both laser distance sensors and at least one associated vector of the laser beams, respectively, and

wherein the at least one determination device is further configured to ascertain a differential vector, from the motion vector and the ascertained vectors of the laser beams and to form the gradient signal therefrom.

5. The arrangement according to claim 4, wherein the first laser beam distance sensor and the second laser distance sensor are arranged next to one another in the transverse vehicle direction.

6. The arrangement according to claim 1, wherein the arrangement further has a further processing device configured to further process the gradient signal, wherein the further processing is carried out by sending the gradient signal to a control device provided in the vehicle, which is configured to further process the gradient signal and to carry out an adaptation of the dynamic parameters based on the received and processed gradient signal, or wherein the further processing takes place by sending the gradient signal to an external processing device which is configured to further process the gradient signal into control signals and to transmit back to the further processing device in the vehicle for performing the adaptation of the dynamic parameters of the vehicle.

7. A method for determining a gradient signal in a vehicle comprising:

in a first step, determining a position of the vehicle in an absolute system at least at a first point in time and at a second point in time and ascertaining a traveled distance as a motion vector therefrom; and

in a second step, determining a differential vector from the motion vector and vectors of the laser beam ascertained at the first point in time and the second point in time of at least one first laser distance sensor arranged on a front side of the vehicle at a predetermined angle to a vehicle longitudinal axis, the at least one first laser distance sensor emitting at least one first laser beam in the a direction of a first measuring point in front of the vehicle at least at the first point in time and the second point in time, and ascertaining a gradient signal therefrom.

8. The method according to claim 7, comprising a third step, comprising further processing the ascertained gradient signal.

9. The method according to claim 8, wherein the further processing is performed by:

an internal calculation of a control signal for adapting dynamic parameters of the vehicle and performing the adaptation, or

sending the gradient signal for external processing and receiving at least one control signal ascertained from the gradient signal for adapting the dynamic parameters of the vehicle, and performing the adaptation.

10. The method according to claim 9, wherein the further processed gradient signal and/or the control signal are used to digitize a terrain and/or are provided to other vehicles.