EP1665197A1 - Procede et dispositif pour determiner la position d'un vehicule sur la chaussee - Google Patents

Procede et dispositif pour determiner la position d'un vehicule sur la chaussee

Info

Publication number
EP1665197A1
EP1665197A1 EP04764222A EP04764222A EP1665197A1 EP 1665197 A1 EP1665197 A1 EP 1665197A1 EP 04764222 A EP04764222 A EP 04764222A EP 04764222 A EP04764222 A EP 04764222A EP 1665197 A1 EP1665197 A1 EP 1665197A1
Authority
EP
European Patent Office
Prior art keywords
data
road
vehicle
relative
motor vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04764222A
Other languages
German (de)
English (en)
Other versions
EP1665197B1 (fr
Inventor
Werner Bernhard
Carsten Knöppel
Uli Kolbe
Alexander Schanz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Publication of EP1665197A1 publication Critical patent/EP1665197A1/fr
Application granted granted Critical
Publication of EP1665197B1 publication Critical patent/EP1665197B1/fr
Anticipated expiration legal-status Critical
Not-in-force legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the invention relates to a method for determining a position of a motor vehicle on a; Road according to the preamble of claim 1 and also an associated device for performing the method according to the preamble of claim 7.
  • DE 199 21 437 AI discloses a method and a device for determining a position of a vehicle on a road. It is provided to determine road geometry data and route data of the vehicle and to determine the position of the vehicle on the road by comparing the road geometry data with the route data. Since both the road geometry data and the route data of the vehicle can thus be recorded when the vehicle is traveling, an immediate assignment of the vehicle to a lane and thus an exact determination of the current position of the vehicle is possible.
  • the route data is determined, for example, from a route / speed signal and / or a steering angle and / or wheel speed sensor and / or satellite-assisted using GPS.
  • a method for displaying pictorial environmental information of an observer from a bird's eye view is known.
  • an observer is shown the pictorial surrounding information in a bird's eye view.
  • moving objects are detected within the image data.
  • the method offers the possibility of making the parameters of the detected objects available to a system or a person for further processing.
  • the inaccessible driving space described by its location parameters consists of one area or is formed from several non-contiguous partial areas.
  • methods known from stereo image processing can be used. Image data processed in this way can then be displayed by means of a display unit, which is symbolically displayed within the image data at the point in the scene at which the observer is located.
  • information about a free driving space can be transmitted via a telecommunications system to other road users or a traffic control center for further processing. It is also conceivable that this free driving space or parts thereof are checked for suitability as parking space, so that a driving space suitable as parking space is reported to a traffic control center or a vehicle driver.
  • DE 44 21 805 Cl discloses a method for orienting, route planning and controlling an autonomous, mobile unit. For each subtask, such as: Drive from A to B, keep your positional uncertainty below a certain threshold or create a map of the area and add these landmarks, different bonus and penalty points are awarded. In connection with a need to perform these tasks, after analysis of the bonus and penalty values, implementation weights for the individual tasks result, which are evaluated in a control unit. Depending on these weights, a corresponding subtask is selected and a corresponding intermediate goal is defined. The positional uncertainty of the autonomous and mobile unit is constantly monitored and a suitable measure is taken when a certain value is exceeded carried out in order to measure the current position and thus to reduce the increased error. The method described is mainly used for industrial and household robots and transport vehicles.
  • DE 100 41 277 AI discloses a method and a system for the autonomous development or expansion of geographic databases by using coordinated measurement data. This provides an overview of geospatial information in a specific area in which a large number of uncoordinated measuring vehicles are moving.
  • the measuring vehicles are equipped with a positioning system and collect special geospatial information when moving in the area. This specific information from the measuring vehicles is combined into a data record over time.
  • a central processor analyzes the data set to determine higher quality geospatial information.
  • the development system and method described is primarily used to develop and / or refine digital maps based on position measurements (the geospatial information) generated by the measurement systems equipped with global positioning system receivers.
  • the present invention is therefore concerned with the problem of specifying an improved embodiment for a method of the type mentioned at the outset, which in particular makes it possible to reliably monitor a rear area of a motor vehicle by means of suitable data acquisition and processing and thereby to increase driving safety.
  • the invention is based on the general idea of carrying out a lane assignment of detected vehicles traveling on a road using a local map. With the determined lane information on the map, the position data of the detected vehicle can be determined relative to the road.
  • the lane information is determined from the distance traveled by one's own vehicle, for which purpose road markings / landmarks (road geometry data) are recorded, which are detected in the vicinity of the vehicle and recorded on the map relative to one's own route.
  • the road geometry data described are recorded together with the route data, first position data of the motor vehicle relative to the road being calculated from the recorded road geometry data and the route data.
  • road course data are now calculated from the recorded road geometry data and the path data, which data are further processed and stored and reflect the road course in a specific area.
  • second position data of a following vehicle following the vehicle are recorded relative to the vehicle and third position data of the following vehicle relative to the street are calculated from the road course data, the first position data of the vehicle and the second position data of the following vehicle.
  • the determination of the route data which is the basis for the calculation of the position data of the vehicle, is described on the one hand by the movement of the vehicle by the distance d and on the other hand by the change in direction in the form of a rotation by a certain angle ⁇ .
  • the method enables the monitoring of a rear area of the vehicle and the assignment of the objects or vehicles detected in this rear area to a lane. As a result, a driver can be warned, for example when changing lanes to a target lane in order to overtake another vehicle, against a fast vehicle following him, which is traveling in the target lane, as a result of which collisions can be avoided and driving safety is generally increased.
  • the road geometry data can be determined using a stereo camera arranged on the rear of the vehicle.
  • the stereo camera detects landmarks which are formed by 3D points and which have a position, for example road marking, which is fixed relative to the road.
  • landmarks which are formed by 3D points and which have a position, for example road marking, which is fixed relative to the road.
  • the stereo camera it is also conceivable for the stereo camera to also acquire the following vehicles with regard to their vehicle speed and / or their position in addition to the acquisition of the road geometry data.
  • the road course data are calculated according to the Kalman filter principle.
  • position data of the vehicle from the individual wheel speeds of the own vehicle as well as landmark positions, which are recorded with the stereo camera are fed to the Cayman filter.
  • disturbances which, for example, affect the quality of the route data determined by different wheel circumferences or cross winds, can be suppressed with the aid of the landmarks determined by the stereo camera.
  • 1 is a schematic diagram for determining a street course
  • 5a is a diagram for the deviation of the maximum position errors depending on the number of landmarks
  • 5b shows a diagram as in FIG. 5a, but for the deviation of the mean position errors as a function of the number of landmarks.
  • a device 15 for determining a position of a motor vehicle 2 on a road 3 has one first device 11 for acquiring road geometry data
  • the first device 11 can be arranged on the rear of the motor vehicle 2 and can be designed as a stereo camera 9, which, in accordance with FIG. 1, captures a rearward passage of the motor vehicle 2.
  • the road geometry data 4 recorded by the stereo camera 9 result e.g. from stationary 3D points 10, for example from road markings near the motor vehicle or other landmarks.
  • a detection area 17 of the stereo camera 9 is designed such that with increasing distance from the motor vehicle 2, at least one detection width increases, and from a predetermined distance not only a first lane 18a on which the motor vehicle 2 moves in the direction of travel 16, but also adjacent lanes 18b and 18c or peripheral areas going beyond that are detected.
  • a second device 12 for example a vehicle sensor system, is provided for acquiring path data 5.
  • the route data 5 describe in particular the speed and direction of the vehicle movement.
  • Wheel speeds which cover a predefined distance per revolution depending on the size of the vehicle wheels of motor vehicle 2.
  • a control device 13 is provided, to which the road geometry data 4 determined by the first device 11 or the stereo camera 9 and the path data 5 determined by the second device 12 are fed for further processing.
  • the control device 13 is designed to calculate first position data 1 of the motor vehicle 2 relative to the road 3 and is also able to use the road geometry data 4 and the route data 5 to calculate road course data 6, which in the evaluated state covers a route 15 traveled by the motor vehicle 2 represent.
  • the control device 13 preferably contains a caiman filter Arrangement 20 and works according to the Kalman filter principle, which will be discussed in more detail below.
  • a third device 14 is provided, which is connected to the first device 11 in accordance with FIG. 1 and which is designed to acquire second position data 7 of a following vehicle 2 'following the vehicle 2 relative to the vehicle 2 is. It is conceivable here that, according to FIG. 1, the third device 14 is formed separately from the first device 11 or is partially or completely integrated into it.
  • the third device 11 has suitable means for detecting the vehicle rear area. It can expediently be provided that the stereo camera 9 captures the road geometry data 4 and / or the second position data 7 of the following vehicle 2 ′′.
  • the device 15 From the course of the road data 6, the first position data 1 of the vehicle 2 and the second position data 7 of the following vehicle 2 ', the device 15 according to the invention with the control unit 13 can calculate third position data 8 of the following vehicle 2 ⁇ relative to the road 3.
  • the device 15 thus enables the rear area of the motor vehicle 2 to be monitored and the objects or subsequent vehicles 2 ′′ detected in this rear area to be assigned to one's own lane 18a or an adjacent lane, for example 18b or 18c.
  • the idea of the invention is to carry out a lane assignment of detected vehicles 2 'using a local map (cf. FIG. 2).
  • the position of the detected vehicles 2 ′ relative to the route 19 of the own vehicle 2 can be determined using lane information from this local map. the.
  • the lane information is determined from the distance traveled 19 of one's own vehicle 2, for which purpose road geometry data 4, in particular road markings, are detected in the vicinity of vehicle 2 and recorded on the map relative to one's own route 19.
  • the track information can be determined continuously or, as shown in FIG. 2, at specific acquisition times t n _ x to t n (xe ⁇ l, 2,3 ... n ⁇ ).
  • the first position data 1 are entered in a coordinate system lying relative to the road 3 (see FIG. 3).
  • the changes in position of vehicle 2 can be described by two variables:
  • the vehicle 2 moves in the initial coordinate system during the time period t n _ 2 to t n . by a certain distance d, which according to the Pythagorean Theorem consists of the during the time period t n - 2 to t n . can be used to calculate distances parallel to the axis in the x and y directions.
  • the vehicle 2 moves by the distance di, which can also be calculated according to the Pythagorean theorem from the axially parallel path portions during the specified time period.
  • motor vehicle 2 changes at time t n . ⁇ its direction around the angle ⁇ .
  • the current position 1 of the motor vehicle 2 can be calculated in the initial coordinate system at the time t n from the distance thus traveled during a certain period of time and also from the change in angle undertaken in the process.
  • the road geometry data 4 determined by the stereo camera 9 and the route data 5 are now supplied to the control device 13. This creates a relationship between the coordinate system relative to vehicle 2 and the initial coordinate system relative to road 3 by establishing the following system of equations:
  • the coordinates (x f / z i ) of a fixed 3D point 10, for example a landmark, relate to the coordinate system relative to the vehicle 2 and the coordinates ⁇ x i , z i ) relate to the initial coordinate system relative to the street
  • the vehicle position 1 is described with (x, y) and its position with the angle ⁇ in the initial coordinate system (cf. FIG. 4).
  • Equations (1) and (2) represent non-linear measurement equations for the Cayman filter 20.
  • the measurement equations of all road geometry data 4 are combined in the measurement matrix h (x). For n road geometry data 4, this is therefore as follows:
  • the linearized measurement matrix H (x) can be calculated using the Jacobi matrix of h (x) at the current working point.
  • the linearized measurement matrix H (x) is:
  • the linearized measurement matrix H (x) is now used to calculate a gain matrix K k of the Cayman filter 20. It is calculated as:
  • the filter of the extended Kaiman filter 20 is implemented with the nonlinear measurement matrix h (x), since linearization errors would unnecessarily flow in using the linearized measurement matrix H (x).
  • the measurement vector y contains the individual road geometry coordinates 4 relative to the vehicle 2.
  • a maximum and an average deviation from position errors decreases with increasing number of evaluated road geometry data 4.
  • an average deviation of the position error for two road geometry data 4 (landmarks) is approximately 0.8 m, whereas for nine evaluated landmarks it is only approximately 0.2 m. The same can be observed for the maximum deviation of the position error. When the same number of landmarks is evaluated, this drops from 1.95m to 0.8m.
  • the invention provides for a lane assignment of detected vehicles 2 ′′ traveling behind one's own vehicle 2, on a road 3, with the aid of a local map be determined.
  • the lane information is determined from the distance traveled 19 of the driver's own vehicle 2, for which purpose road geometry data 4 are recorded, which are detected in the vicinity of the vehicle 2 and are recorded on the map relative to the driver's own route.
  • the road geometry data 4 and route data 5 described are recorded, first position data 1 of the motor vehicle 2 relative to the road 3 being calculated from these data.
  • Road route data 6 are now calculated from the recorded road geometry data 4 and the route data 5, which are further processed and stored and reflect the road route (route route 19) in a specific area.
  • second position data 7 of a following vehicle 2 ⁇ following the vehicle 2 are recorded relative to the vehicle 2 and third position data 8 of the following vehicle 2 'relative to the road course data 6, the first position data 1 of the vehicle 2 and the second position data 7 of the following vehicle 2' Street 3 calculated.
  • the method enables the monitoring of a rear area of the vehicle 2 and the assignment of the objects or vehicles 2 ′ detected in this rear area to a lane.
  • the road geometry data 4 can be determined with a stereo camera 9 arranged on the rear of the vehicle 2, whereas the second position data 7 of the following vehicle 2 'can be recorded with the third device 14.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Instructional Devices (AREA)

Abstract

L'invention concerne un procédé pour déterminer une position (1) d'un véhicule (2) sur une chaussée (3), selon lequel des données de géométrie de la chaussée (4) et des données de trajectoire (5) sont saisies. A partir de la saisie des données de géométrie de la chaussée (4) et des données de trajectoire (5) sont calculées des premières données de position (1) du véhicule (2) relativement à la chaussée (3). L'invention est caractérisée en ce qu'à partir des données de géométrie de la chaussée (4) et des données de trajectoire (5) sont calculées des données de configuration de la chaussée (6), et des deuxièmes données de position (7) d'un véhicule suivant (2') le premier véhicule (2) et relativement à celui-ci sont saisies, lesdites données de configuration de la chaussée (6), les premières données de position (1) du véhicule (2) et les deuxièmes données de position (7) du véhicule suivant (2') permettant de calculer des troisièmes données de position (8) du véhicule suivant (2') relativement la chaussée (3).
EP04764222A 2003-09-11 2004-08-18 Procede pour determiner la position d'un vehicule sur la chaussee Not-in-force EP1665197B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10341905A DE10341905A1 (de) 2003-09-11 2003-09-11 Verfahren und Vorrichtung zur Ermittlung einer Position eines Kraftfahrzeugs auf einer Strasse
PCT/EP2004/009234 WO2005029439A1 (fr) 2003-09-11 2004-08-18 Procede et dispositif pour determiner la position d'un vehicule sur la chaussee

Publications (2)

Publication Number Publication Date
EP1665197A1 true EP1665197A1 (fr) 2006-06-07
EP1665197B1 EP1665197B1 (fr) 2007-05-30

Family

ID=34352793

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04764222A Not-in-force EP1665197B1 (fr) 2003-09-11 2004-08-18 Procede pour determiner la position d'un vehicule sur la chaussee

Country Status (5)

Country Link
US (1) US20070268067A1 (fr)
EP (1) EP1665197B1 (fr)
JP (1) JP2007505377A (fr)
DE (2) DE10341905A1 (fr)
WO (1) WO2005029439A1 (fr)

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Also Published As

Publication number Publication date
DE10341905A1 (de) 2005-05-12
US20070268067A1 (en) 2007-11-22
WO2005029439A1 (fr) 2005-03-31
DE502004003983D1 (de) 2007-07-12
JP2007505377A (ja) 2007-03-08
EP1665197B1 (fr) 2007-05-30

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