Method of detecting the docking of vehicles
View Patent ↗In a module for detecting the docking of a vehicle, changes of vehicle engine torque and rotational wheel speed of the vehicle are determined as a function of time. It is checked whether the change of the engine torque is >>0 and the change of the rotational wheel speed is <<0. If both of these conditions are met, docking is detected and the vehicle can be braked. The module may be implemented in the form of software.
1. A method of detecting docking of a vehicle to a docking system, said method comprising:
a) monitoring changes of a first quantity that is indicative of longitudinal velocity of the vehicle;
b) monitoring changes a second quantity that is indicative of engine torque;
c) determining whether a change of the first quantity is less than a defined first value;
d) determining whether a change of the second quantity is greater than a defined second value; and
e) determining that a docking has taken place when both c) and d) have been met at the same time.
2. The method according to claim 1 , further comprising automatically braking the vehicle when a docking has been detected.
3. The method according to claim 2 , wherein the first quantity comprises rotational wheel speed of at least one vehicle wheel.
4. The method according to claim 3 , wherein said vehicle wheel is a rear wheel.
5. The method according to claim 1 , wherein the first quantity comprises longitudinal velocity of the vehicle.
6. The method according to claim 5 , wherein it is monitored whether the longitudinal velocity is below a defined velocity value.
7. The method according to claim 1 , wherein:
additional vehicle parameters are detected and analyzed for detecting docking; and
said additional vehicle parameters include at least a status of the drive train.
8. A module comprising:
first input means for receiving a first input quantity indicative of the engine torque;
second input means for receiving a second input quantity indicative of longitudinal velocity of the vehicle;
first determining means for determining a change of the first input quantity;
second determining means for determining a change of the second input quantity; and
third determining means connected to receive outputs from said first and second determining means for determining, based on said outputs, whether a docking of the vehicle to a docking system is occurring.
9. The module according to claim 8 , wherein the module comprises a software module.
10. The module according to claim 9 , further comprising third input means for receiving additional input quantities which are indicative of additional vehicle parameters.
11. The module according to claim 10 , further comprising a data line for connecting an output of the module with at least one of a braking system and a drive train control of the vehicle.
12. The module according to claim 11 , wherein the data line comprises a CAN bus.
13. The method according to claim 8 , wherein said third determining means determines that said vehicle has docked whenever a rapid increase of said first input torque occurs at the same time as a rapid decrease of said second input quantity.
14. The method according to claim 13 , wherein:
said rapid increase of said first input quantity comprises said increase >>0; and
said rapid decrease of said second input quantity comprises said increase <<0.
15. A method for detecting docking of a vehicle to a docking system, said method comprising:
a monitoring longitudinal acceleration of the vehicle;
monitoring engine torque of the vehicle; and
determining that the vehicle has docked when a rapid longitudinal deceleration of the vehicle occurs at the same time that said engine torque undergoes a rapid increase.