CN105980208B - 驾驶员辅助*** - Google Patents
驾驶员辅助*** Download PDFInfo
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- B60Q2300/40—Indexing codes relating to other road users or special conditions
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- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
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Abstract
本发明涉及一种用于利用环境探测设备进行远光灯控制的驾驶员辅助***。为探测车辆前方的环境,设置有至少一个雷达或激光传感器***和摄像传感器***。当远光灯开启,同时至少由一个用于环境探测的传感器***探测到潜在被眩目的目标时,产生用于远光灯控制***或警告装置的控制信号。
Description
技术领域
本发明涉及一种用于远光灯控制的驾驶员辅助***。
背景技术
越来越多的机动车辆配备了驾驶员辅助***。这类驾驶员辅助***借助传感器***探测环境,从由此识别的交通状况中得出车辆的自动反应和/ 或对驾驶员作出指示、尤其是警告。在此,人们将***功能分为舒适性功能和安全性功能。
目前,在舒适性功能范围中,FSRA(全速范围自适应巡航控制)起着最重要的作用。只要交通状况允许,车辆将自身速度调节到驾驶员预先设置的期望速度,否则将自动调整自身速度以适应实际交通状况。自主灯光辅助、特别是远光灯的自主控制是目前另一个重要的舒适性功能。
在安全性功能中,中心问题是在缩短紧急情况下的制动距离。相应驾驶员辅助功能的范围从警告功能、减少制动时间的制动器自动预填充 (Prefil)功能、改进型刹车辅助功能(BAS+)延伸至自主紧急制动功能。
如今,上述远光灯控制通过摄像传感器实现,摄像传感器识别前方同向行驶的或相向行驶车辆的灯光。如果存在有使这样所探测到的其他交通参与者眩目的危险,远光灯将被关闭或适应性控制,使其不会造成眩目。
发明内容
本发明的任务是,提供一种用于远光灯控制的经改进的驾驶员辅助***,该驾驶员辅助***可靠识别其他交通参与者并防止造成其炫目。
这一任务原则上借助一种用于利用环境探测设备进行远光灯控制的驾驶员辅助***的方法来解决,其中,设有用于探测车辆前方的环境的至少一个雷达或激光传感器***和摄像传感器***,当远光灯开启,只由雷达或激光传感器***、但未由摄像传感器***探测到潜在被眩目的目标时以及存在其他规定的环境信息时,产生用于远光灯控制***或警告装置的控制信号,所述其他规定的环境信息可推断出摄像传感器***视野或视线受到限制。
根据本发明所提供的是一种用于利用环境探测设备进行远光灯控制的驾驶员辅助***。所述设备包括至少一个雷达或激光传感器***和摄像传感器***,用于探测车辆前方的环境。当远光灯开启,同时至少由一个用于环境探测的传感器***探测到潜在被眩目的目标时,产生用于远光灯控制***或警告装置的控制信号。
由雷达***所探测到的目标尤其是指与车辆的相对速度不同于车辆自身速度的运动目标。它可以是例如前方同向移动或迎面而来的车辆、骑车者或行人。
雷达传感器可基于其多普勒测定法很快、很准确地测量出目标的相对速度。从中并且从已知的车辆自身速度中可非常方便地区分出移动目标和静止目标(静止目标是指例如防护栏,交通标志牌,停放的车辆,灌木以及路边树木)。当然,也可区分迎面驶来的车辆和前方同向行驶的车辆,但大多数情况下这对关断远光灯基本没有区别。
摄像***识别前方同向行驶或迎面而来的车辆所发出的灯光。例如,可使用一台彩色摄像机来可靠识别红色尾灯和白色前照灯。通过由各种传感器***完成的冗余的环境探测,可提高探测潜在被炫目目标的概率,并由此提高避免造成其他交通参与者炫目的概率。
在本发明的一个优选实施方式中,当远光灯开启,同时由雷达或激光传感器***和摄像传感器***探测到潜在被眩目的目标时,产生用于远光灯控制***或警告装置的控制信号。本发明所述实施方式防止了错误禁用远光灯,因为在此对识别潜在被炫目目标的要求非常高。两个传感器***都必须识别出目标,从而产生用于远光灯控制***的控制信号。
本发明另一个实用的实施方式,其特征是,当远光灯开启,由雷达或激光传感器***、但未由摄像传感器***探测到潜在被眩目的移动目标时,产生控制信号。这尤其会出现在当迎面驶来的车辆灯光被遮掩的情况。这种情况主要是指如在中间隔离上带有灌木丛的高速公路,或车辆行车道与对面车辆行车道之间被一护栏隔离等视觉上被分隔的行车道。另一种可能的情形是,潜在被眩目的目标正在本车前方弯道行驶并且尚未驶入本车所在车道。在此情况下,摄像传感器***也无法探测潜在被炫目目标的前照灯。
本发明的一个实用实施方式规定,如果只由雷达或激光传感器***探测到潜在被眩目的运动目标,仅当存在其他规定的环境信息时,也产生控制信号。否则,在一个实用的实施方式中,只有当两个传感器***都探测到潜在被眩目目标时,才产生控制信号。环境信息可以是例如雾、不良的能见度、矗立于路边的建筑物或可推断出摄像传感器***视野或视线受到限制的类似信息。
本发明的另一实施方式规定,至少一个传感器***探测路边设施。该传感器***既可是雷达传感器***也可是摄像传感器***。路边设施尤其是指矗立于路边的物体,如防护栏、灌木、建筑围墙或高速公路中间隔离带等将行车道相互隔离的物体。
本发明的另一个实施方式规定,当远光灯开启,由雷达或激光传感器***、但未由摄像传感器***探测到潜在被眩目的目标时,产生控制信号。对此还识别出将行车道相互隔离的、矗立的路边设施。
视线上被相互隔离的行车道(例如中间隔离带中栽有灌木的高速公路) 上,存在如上所述的危险,即摄像传感器***探测不到在路边设施那边的行车道上迎面驶来的车辆的前照灯,因为这被遮蔽了。但是,如果没有产生用于远光灯控制***的控制信号,那么迎面驶来的车辆可能被眩目。
本发明的一个优选实施方式规定,设有用于探测前方环形交通路段的设备。如果车辆配备了GPS***,则可以例如从电子地图上获知前方环形交通路段。替代或补充于此,可以设有用于识别交通标志的摄像***,或用于传输这类信息的、基于无线电的***(c2x),或专门用于驾驶员辅助***的自更新的电子地图(电子地平线“E-Horizon”)。
本发明的一个实用实施方式规定,当远光灯开启,由雷达或激光传感器***、但未由摄像传感器***探测到潜在被眩目的目标,而且还识别出车辆前方的环形交通路段时,产生控制信号。这里同样存在目标被眩目的危险,因为当目标停留在环形交通路段时,摄像传感器***尚无法探测其前照灯。
在本发明的一个优选实施方式中,驾驶员辅助***包括探测范围可控的雷达或激光传感器***。该雷达或激光传感器***的数据也被用于其他驾驶员辅助功能,例如紧急制动辅助或自适应巡航控制或类似的其他功能。当在与另一驾驶员辅助功能相关的区域内不存在相关目标时,则选择大的传感器探测范围。由此可使雷达或激光传感器***在远距离内即可识别迎面驶来的车辆。
本发明的一项特殊实施方式规定,根据控制信号,通过声音的、视觉的或触觉的设备实施向驾驶员发出警告,或关闭远光灯,或减小远光灯射程,或改变远光灯光束/光锥/光柱的形状使得在光束中露出潜在被眩目的移动目标。对于骑车者和行人,也可放弃自主禁用远光灯,因为相比于开近光灯时,在开远光灯情况下驾驶员可更好地识别骑车者和行人;通过反射级别(Reflexionspegel)和绝对速度可以相对于车辆粗略划分出骑车者和行人。
可与自己推断的行驶轨迹准确制约,另一方面,在这种经限制的探测范围情况下,可达到相对于更大探测范围(距离分辨率与探测范围成反比) 情况下更高的距离分辨率,由此获得更好的探测质量。相反,对一光功能不需要分配自己的行驶轨迹以及高探测质量,由此可提高这类光功能的探测范围。因此,可采取本发明 的策略。
Claims (9)
1.一种用于利用环境探测设备进行远光灯控制的驾驶员辅助***的方法,其中,设有用于探测车辆前方的环境的至少一个雷达或激光传感器***和摄像传感器***,
其特征在于,
当远光灯开启,只由雷达或激光传感器***、但未由摄像传感器***探测到潜在被眩目的目标时以及存在其他规定的环境信息时,产生用于远光灯控制***或警告装置的控制信号,所述其他规定的环境信息可推断出摄像传感器***视野或视线受到限制。
2.根据权利要求1的方法,
其特征在于,
当远光灯开启,同时由雷达或激光传感器***和摄像传感器***探测到潜在被眩目的目标时,产生控制信号。
3.根据权利要求1所述的方法,
其特征在于,
至少一个用于环境探测的传感器***探测路边设施。
4.根据权利要求3的方法,
其特征在于,
当远光灯开启,由雷达或激光传感器***、但未由摄像传感器***探测到潜在被眩目的目标,并且识别出矗立的路边设施时,产生控制信号。
5.根据权利要求1所述的方法,
其特征在于,
设有用于探测前方环形交通路段的设备。
6.根据权利要求5的方法,
其特征在于,
当远光灯开启,由雷达或激光传感器***、但未由摄像传感器***探测到潜在被眩目的目标,并且识别出车辆前方的环形交通路段时,产生控制信号。
7.根据权利要求1或2所述的方法,具有探测范围可控的雷达或激光传感器***,其中,雷达或激光传感器***也被用于其他驾驶员辅助功能,
其特征在于,
当在与另一驾驶员辅助功能相关的区域内不存在相关的目标时,则选择大的传感器探测范围。
8.根据权利要求1或2所述的方法,其中,根据控制信号,通过声音的、视觉的或触觉的设备实施向驾驶员发出警告,或关闭远光灯,或减小远光灯射程,或改变远光灯光束的形状使得在光束中露出潜在被眩目的移动目标。
9.一种用于车辆灯光控制的驾驶员辅助***,包括:
-控制单元,该控制单元具有用于存储根据上述权利要求中任一权利要求所述方法的存储器,
-至少一个用于探测车辆前方环境的雷达或激光传感器***和摄像传感器***,
-向驾驶员或远光灯控制***发出警告的设备,
在此,所述控制单元、所述雷达或激光传感器***和摄像传感器***以及所述发出警告的设备能够相互连接。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014202133.2 | 2014-02-06 | ||
DE102014202133 | 2014-02-06 | ||
DE102014204770.6A DE102014204770A1 (de) | 2014-02-06 | 2014-03-14 | Fahrerassistenzsystem |
DE102014204770.6 | 2014-03-14 | ||
PCT/DE2015/200007 WO2015117604A1 (de) | 2014-02-06 | 2015-01-20 | Fahrerassistenzsystem |
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DE102014219323A1 (de) * | 2014-09-24 | 2016-03-24 | Continental Teves Ag & Co. Ohg | Verfahren zur Steuerung der Lichtverteilung von Fahrzeugscheinwerfern und Fahrzeug |
JP6520687B2 (ja) * | 2015-12-14 | 2019-05-29 | 株式会社デンソー | 運転支援装置 |
US20180186278A1 (en) * | 2016-08-30 | 2018-07-05 | Faraday&Future Inc. | Smart beam lights for driving and environment assistance |
CN108016346A (zh) * | 2016-10-31 | 2018-05-11 | 法乐第(北京)网络科技有限公司 | 安全会车方法和装置、行车记录仪 |
US10528055B2 (en) * | 2016-11-03 | 2020-01-07 | Ford Global Technologies, Llc | Road sign recognition |
DE102016013292A1 (de) * | 2016-11-09 | 2018-05-09 | Daimler Ag | Fernlichtassistenzsystem |
DE102017202466B4 (de) | 2017-02-15 | 2019-08-08 | Audi Ag | Steuern eines Scheinwerfers eines Kraftfahrzeuges |
EP3684646A4 (en) * | 2018-10-31 | 2020-10-21 | SZ DJI Technology Co., Ltd. | METHOD AND DEVICE FOR CONTROLLING A LIGHTING SYSTEM OF A VEHICLE |
FR3095276B1 (fr) | 2019-04-18 | 2021-05-21 | Aptiv Tech Ltd | Système de détection d’objet pour véhicule automobile |
JP2023528188A (ja) | 2020-05-29 | 2023-07-04 | ダウ グローバル テクノロジーズ エルエルシー | エチレン系コポリマーを製造するためのゲルマニウム架橋ビス-ビフェニル-フェノキシ有機金属化合物を含有する噴霧乾燥触媒 |
CN116829607A (zh) | 2021-02-15 | 2023-09-29 | 陶氏环球技术有限责任公司 | 制备具有反向共聚单体分布的聚(乙烯-共-1-烯烃)共聚物的方法 |
CN113246846B (zh) * | 2021-06-07 | 2022-06-03 | 奇瑞新能源汽车股份有限公司 | 车辆灯光控制方法、装置及车辆 |
DE102021205993A1 (de) | 2021-06-14 | 2022-12-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Betreiben eines Scheinwerfersystems eines Kraftfahrzeugs |
AT524762A1 (de) * | 2021-06-25 | 2022-09-15 | Avl List Gmbh | Verfahren zur steuerung eines lichtkegels |
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US20170008444A1 (en) | 2017-01-12 |
EP3102461A1 (de) | 2016-12-14 |
US9975471B2 (en) | 2018-05-22 |
DE102014204770A1 (de) | 2015-08-06 |
CN105980208A (zh) | 2016-09-28 |
WO2015117604A1 (de) | 2015-08-13 |
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