Method for operating a vehicle assistance system, device for executing the method, and vehicle

{
  "publication_number": "US11993257B2",
  "country": "US",
  "kind": "B2",
  "title": "Method for operating a vehicle assistance system, device for executing the method, and vehicle",
  "abstract": "A method for operating a vehicle assistance system is described. In one embodiment, when the vehicle is in the autonomous driving mode, encountering an obstacle is prevented independent of the passage height, due to a control unit if is determined that the obstacle is a load supported by a working machine, where the load projects into a driving corridor of the vehicle or moves in the driving corridor. Also described is a device for carrying out the method and to a vehicle having such a device.",
  "claims": [
    "1. A method for operating the assistance system of a vehicle, wherein in an autonomous driving mode of the vehicle, passage under an obstacle having a passage height that has been determined to be sufficiently high is prevented by a control unit, wherein the control unit determines if the obstacle is a working machine carrying a movable load unit, the control unit also determines whether the movable load unit protrudes into the driving route or is moving into the driving route of the vehicle, and wherein the control unit is configured to predict a hazard potential to the vehicle resulting from the movable load unit protruding into or moving into the driving route of the vehicle and to prevent passage under the obstacle only if the predicted hazard potential is at or above a predetermined level.",
    "2. The method of claim 1, wherein prevention of the passage under the obstacle takes place by braking the vehicle to a standstill, and a driving mode of the vehicle is resumed once the load is no longer in the driving route.",
    "3. The method of claim 1, wherein prevention of the passage under the obstacle takes place by re-planning a trajectory for the vehicle, so that an operating area of the working machine is circumvented.",
    "4. The method of claim 1, wherein prevention of the passage under the obstacle takes place by braking the vehicle to a standstill, and a decision regarding how to proceed with respect to further operation of the vehicle is requested from a remote operator.",
    "5. The method of claim 1, wherein the working machine is detected based on its contour.",
    "6. The method of claim 5, wherein the contour of the working machine is determined based on detected signals from a sensor system detecting the surroundings of the vehicle.",
    "7. The method of claim 1, wherein a movement path of the movable load unit being carried by the working machine is determined by a movement model.",
    "8. The method of claim 1, wherein, if a distance from the vehicle to the movable load unit falls below a given distance, emergency braking is automatically initiated.",
    "9. A device for executing the method of claim 1, wherein, in the autonomous driving mode of the vehicle, the control unit of the assistance system prevents passage under the movable load unit having the passage height that has been determined to be sufficiently high, if it is determined that the movable load unit is the movable load unit being carried by the working machine that protrudes into the driving route or is moving into the driving route of the vehicle.",
    "10. A method for operating the assistance system of a vehicle, wherein in an autonomous driving mode of the vehicle, passage under an obstacle is prevented by a control unit in the vehicle if the control unit determines: the obstacle is a working machine carrying a movable load unit having a variable height with respect to the working machine and the movable load unit protrudes into the driving route or is moving into the driving route of the vehicle, a hazard potential prediction to the vehicle resulting from the movable load unit protruding into or moving into the driving route of the vehicle, and wherein the control unit prevents passage under the obstacle only if the predicted hazard potential is at or above a predetermined level.",
    "11. The method of claim 10, wherein passage under the obstacle is prevented even when the passage height has been determined to be sufficiently high if it has also been determined that the movable load unit protrudes into the driving route or is moving into the driving route."
  ],
  "description_excerpt": "The invention concerns a method for operating a vehicle assistance system. The invention also concerns a device for executing the method and a vehicle with such a device.\n\nDE 10 2013 209 873 A1 discloses a device and a method for determining a vehicle's ability to pass under an obstacle. It provides for a first sensor unit to measure a passage height under the obstacle and an interpretation unit. The interpretation unit compares the measured passage height to an actual vehicle height in such a way that a warning is issued in the event that the measured passage height does not permit the vehicle to pass under the obstacle. The actual vehicle height is determined by a second sensor unit mounted on the roof of the vehicle.\n\nIn addition, EP 2 753 479 discloses a vehicle and a device for determining whether a vehicle can pass under an object using a 3D camera. The 3D camera takes at least one picture of the surroundings in front of the vehicle. At least one probable trajectory for the vehicle's movement is also calculated. It is then determined, based on the 3D camera's image data, whether an object is located in the trajectory and whether it has one or more connections to the ground. From this it is determined whether it is possible to pass under the object, wherein the dimensions and shape of the entry space between object and road are calculated based on the image data.\n\nThe invention is based on the object to provide an improved method, compared to the prior art, for operating a vehicle assistance system, an improved device, and a vehicle having such a device.",
  "cpc": [
    "B60W 30/09",
    "B60W 10/18",
    "B60W 10/20",
    "B60W 2554/402",
    "B60W 2554/4023",
    "B60W 2554/4041",
    "B60W 2554/4044",
    "B60W 30/08",
    "B60W 30/0956",
    "B60W 60/001",
    "B60W 60/0011",
    "B60W 60/0015",
    "G06V 20/58",
    "G08G 1/161",
    "G08G 1/164",
    "G08G 1/166"
  ],
  "ipc": [
    "G06K 9/00",
    "G06K 9/46",
    "B60W 10/18",
    "B60W 30/095",
    "B60W 60/00",
    "B60W 30/09",
    "G06V 20/58"
  ],
  "assignees": [
    "Robert Bosch GmbH",
    "Daimler AG"
  ],
  "inventors": [
    "Christoph Gustav Keller",
    "Holger Mielenz"
  ],
  "filing_date": "2019-10-15",
  "publication_date": "2024-05-28",
  "grant_date": "2024-05-28",
  "priority_date": "2018-10-30",
  "application_number": "US-201917290324-A",
  "family_id": "68281436",
  "cited_by_count": 2,
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}