EP2715699A1 - Fahrerassistenzsystem und verfahren zum betreiben eines fahrerassistenzsystems - Google Patents
Fahrerassistenzsystem und verfahren zum betreiben eines fahrerassistenzsystemsInfo
- Publication number
- EP2715699A1 EP2715699A1 EP12714996.1A EP12714996A EP2715699A1 EP 2715699 A1 EP2715699 A1 EP 2715699A1 EP 12714996 A EP12714996 A EP 12714996A EP 2715699 A1 EP2715699 A1 EP 2715699A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- data structure
- driver assistance
- assistance system
- vehicle environment
- 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
Links
Classifications
-
- 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
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
Definitions
- the invention relates to a driver assistance system for a vehicle and to a method for operating a driver assistance system of a vehicle.
- driver assistance systems for vehicles as such are known.
- known driver assistance systems include a distance sensor for measuring a distance between the vehicle and other vehicles in the vicinity or in the vicinity of the vehicle. Depending on the corresponding distance between the vehicle and the other vehicles, for example, a warning signal is output to the driver. It can also be provided that the vehicle is braked autonomously in order to prevent a possible collision.
- the known driver assistance systems are generally not applicable.
- One reason for this is, in particular, that the known driver assistance systems usually can detect only a few vehicles at the same time and have no knowledge of traffic rules, according to which a driver of the vehicle has to be guided in traffic. Such a crossing situation has here too much complexity.
- the object underlying the invention can therefore be seen to provide a driver assistance system which can support a driver even in complex traffic situations.
- the object underlying the invention can also be seen in providing a corresponding method for operating a driver assistance system of a vehicle.
- the object underlying the invention can also be seen in providing a corresponding memory device for a driver assistance system.
- a driver assistance system for a vehicle comprises a detection device for detecting a vehicle environment and a position determination device for determining a vehicle position relative to the vehicle surroundings. Furthermore, a database is provided which has an ontological data structure with implemented traffic rules.
- a link is provided, which links the detected vehicle environment and the vehicle position with the ontological data structure, so that a linked data structure is formed, in particular an ontological linked data structure.
- the linker applies the implemented axioms and / or rules to the linked data structure. This means, in particular, that the linker is designed for a logical conclusion from the linked data structure.
- the linker is further configured to store the linked data structure. By means of an evaluator, the linked data structure is evaluated in order, for example, to be able to make a statement about a possible collision.
- a method for operating a driver assistance system of a vehicle is provided.
- a vehicle environment and a vehicle position relative to the vehicle environment are detected.
- the recorded vehicle environment and the vehicle position are recorded with an ontolo- "
- linked in which traffic rules are implemented, so that a linked data structure is formed, in particular an ontological linked data structure.
- the linked data structure is then evaluated.
- a memory device in which a database with an ontological data structure is stored, wherein traffic rules are implemented in the ontological data structure.
- the invention thus encompasses the idea of linking an image of a real or current situation, that is to say the vehicle environment and the relative vehicle position, to an ontological data structure in which traffic rules are implemented.
- a linked data structure is formed in an advantageous manner, which maps the real situation within the framework of its ontological data structure.
- traffic rules are also implemented in the ontological data structure, it is advantageously possible to assess how to better assess, for example, the current situation with regard to permissible and non-permissible vehicle maneuvers.
- the driver assistance system recognizes that the vehicle must grant priority to another vehicle.
- the driver assistance system advantageously recognizes, in particular in complex traffic situations, for example intersection situations, with a plurality of vehicles, which vehicle must grant priority to which vehicle.
- a display device comprising, for example, a warning light.
- the driver can also be informed acoustically whether he has priority or not.
- a display device may in particular comprise a screen or a display in English.
- a haptic message to the driver for example, can be provided.
- traffic rules in particular refer to rules which the driver must follow in order to be able to participate in road traffic in accordance with the law.
- traffic regulations include in particular the Road Traffic Act (StVO).
- An ontological data structure in the sense of the present invention comprises in particular a data structure in which the data are classified or categorized and are linked by relations with each other in advance or by the use of rules and / or axioms. In this respect, it is preferably a heavyweight ontology, ie an ontology with extensive use of axioms and / or rules.
- the ontological data structure abstracts in particular elements of road traffic such as roads, lanes, lanes, traffic lights, traffic signs, intersection topologies and abstracts these preferably by relations by means of rules and / or axioms with each other.
- Axioms and / or rules can be for example right of way rules.
- Axioms are, in particular, statements that are always true, thus providing knowledge in an advantageous manner.
- Rules on the other hand, are not always true, but are only executed at a specific time.
- the individual elements or data are preferably hierarchically structured or classified, so that insofar a classification hierarchy is formed.
- traffic signs may be a generic term for a right of way traffic sign and / or for a priority road traffic sign.
- a moving object is detected by means of the detection device and, for example, classified as a vehicle if certain rules and / or axioms are met.
- a rule or axiom may be, for example, as follows: If the object is associated with a lane then it is a vehicle.
- rules and / or axioms are additionally stored as background knowledge in the database, which are applied in particular by the linker to the acquired data, in particular to form new relations and / or to further classify the data.
- This classification may be, for example, a new classification or according to its hierarchy.
- linking in the sense of the present invention is meant in particular a linking of data corresponding to the detected vehicle environment and / or the relative vehicle position with data of the ontological data structure.
- Detecting a vehicle environment in the sense of the present invention comprises, in particular, detecting a direction in which a detected further vehicle drives or intends to drive. For example, a flashing light the other vehicle to be monitored, with a flashing usually indicates the direction in which wants to drive the other vehicle.
- detection can also include detection of a single element or multiple elements or all elements of the vehicle environment, which are then classified as corresponding objects such as vehicle, lane, traffic sign and further preferably provided with attributes such as position and / or speed.
- the current traffic situation can be stored so that it can then be used for later evaluations or evaluations of current traffic situations. Also potential future traffic situations can be calculated and stored in particular.
- a traffic situation comprises in particular a road topology such as, for example, an intersection topology, preferably one or more vehicles, for example signaling systems, in particular traffic signs.
- the linker is set up to extract elements of the road traffic and, for example, further vehicles, traffic signs, traffic signals and / or roadways with, for example, one or more lanes from the detected vehicle environment and to link them to the ontological data structure, in particular to the elements of the data structure.
- a filter for filtering elements of the detected vehicle environment is formed between the detection device and the linker. This makes it possible in an advantageous manner that only certain elements of the current situation are linked to the ontological data structure, which consumes less computing power. For example, although the detection device detects all passable areas of the environment, the filter then filters out, for example, the passable areas which, in the current situation, can not be reached directly by, for example, detected vehicles. This means, in particular, that only the recorded passable areas are linked to the ontological data structure, which can be reached directly by detected vehicles in the current situation. "
- the implemented traffic rules and / or the underlying axioms and / or rules are formulated such that only those elements of the traffic situation that are attributed to detected vehicles are considered.
- right-of-way rules can for example only consider lane / lane pairs to which vehicles are assigned, so that priority relationships are observed only between vehicle pairs and not for all lane / lane pairs.
- the detection device comprises a
- GPS sensor and / or a radar sensor and / or a camera for example a video camera or a stereo video camera, and / or a lidar sensor and / or ultrasound sensors and / or a so-called photonic mixer device (PMD) sensor, ie in particular an infrared sensor for measuring a distance, or so-called Time of Flight (TOF) sensors.
- PMD photonic mixer device
- TOF Time of Flight
- the invention comprises sensory detection. It is also preferable to use navigation data of a navigation system for detecting the vehicle environment.
- sensory detection also means that additional sensor data are also acquired or used by external sources, such as other vehicles and / or signal systems, in order to define or determine the vehicle environment.
- data corresponding to the vehicle environment is detected, which may change over time.
- sensors of the vehicle sensor system such as, for example, a rain sensor and / or a temperature sensor for detecting the vehicle surroundings can also be used.
- an angle between two lanes is detected.
- an action is performed depending on the evaluated linked data structure.
- the vehicle is autonomously braked or accelerated and / or steered.
- an optical and / or acoustic and / or haptic warning signal is output.
- a belt tightening system can be activated.
- an airbag system can also be activated.
- further driver assistance systems are activated, so that they can then execute collision-reducing measures, for example in the event of a collision.
- a driver assistance system in the sense of the present invention can be, for example, an active or to be a passive system. In particular, it is a comfort system or a security system.
- the detected vehicle environment and / or the relative vehicle position are checked for consistency or validity with respect to the ontological data structure.
- a testing device is provided for this purpose, which can be integrated, for example, in the linker. This makes it possible in an advantageous manner to detect an error in the detection or position determination.
- a vehicle is to be located in a traffic lane that can only be driven in the opposite direction.
- this linkage of the vehicle with the traffic lane in the opposite direction is defined as not possible or as faulty.
- a detection or position determination can thus be repeated, for example, or, for example, an error message of the sensors is generated or, for example, a corresponding action of the driver assistance systems can be executed.
- the evaluator is integrated in the linker.
- a processor can be provided, in which the evaluator and / or the linker and / or the filter are integrated.
- a processor can be used, in which the evaluator and / or the linker and / or the filter are integrated in software. The processor is therefore set up to calculate and perform the corresponding links, evaluations and filter actions.
- FIG. 2 is a flowchart of a method for operating a driver assistance system.
- Fig. 4 is a crossing situation and Fig. 5 shows another crossing situation.
- FIG. 1 shows a driver assistance system 101 for a vehicle (not shown).
- the driver assistance system 101 comprises a detection device 103 for detecting a vehicle environment and a position determination device 105 for determining a vehicle position relative to the vehicle surroundings.
- the vehicle speed is also determined.
- a database 107 is formed, which has an ontological data structure with implemented traffic rules.
- the driver assistance system 101 further includes a linker 109, which is configured to associate data corresponding to the detected vehicle environment and the relative vehicle position with the ontological data structure to obtain a linked data structure.
- This linked data structure is evaluated by means of an evaluator 11 1.
- the driver assistance system 101 is therefore advantageously able to detect a current or real vehicle situation, in particular to detect it by sensors, and to map the data corresponding to this vehicle situation to an ontological data structure. Since the ontological data structure has implemented traffic rules, it is furthermore advantageously made possible for the driver assistance system 101 to provide a driver with instructions or suggestions for a driving maneuver even in complex intersection situations with a plurality of traffic signs and / or traffic light systems.
- the position-determining device 105 and the detection device 103 are integrally formed as a sensor. This means, in particular, that such a sensor has both functionalities.
- user inputs are detected by means of an input device, not shown, wherein the user inputs may include, for example, requests to the driver assistance system 101, which vehicle has against which priority.
- the evaluator also makes inquiries about, for example, the linker to the database.
- Linker 109 is formed, which filters certain elements from the data according to the detected vehicle environment. Only the filtered data is then linked to the ontological data structure.
- the filtering has the advantage that data relevant for a particular vehicle situation are thus used for the linkage. For example, in the traffic rules, elements of a vehicle environment, such as lanes and / or lanes, which have no further connection to vehicles, are not relevant to judgment about a possible collision. In other words, less data has to be processed, which considerably reduces computational effort and virtually enables real-time processing.
- FIG. 2 shows a flowchart of a method for operating a driver assistance system of a vehicle.
- a vehicle environment is detected, in particular detected by sensors.
- a vehicle position relative to the detected vehicle environment is detected or determined.
- the corresponding data of the detected vehicle environment and the relative vehicle position are then linked in a step 205 with an ontological data structure, comprising implemented traffic rules, so that a linked data structure is formed.
- this linked data structure is evaluated in order, for example, to provide the driver with hints or suggestions for a specific driving maneuver, in particular in a crossing situation.
- FIG. 3 shows a memory device 301 in which a database 303 is stored.
- the database 303 comprises an ontological data structure with implemented axioms and / or rules, in particular traffic rules. These axioms and / or rules (in particular traffic rules) stored or implemented in the database are moreover executed in particular by the linker 109, the results being stored in particular.
- FIG. 4 shows an intersection 401 with 5 intersecting roadways 403, 405, 407, 409 and 411.
- traffic lanes assigned to the roadways 403, 405, 407, 409 and 411 are shown symbolically.
- reference numeral 413 denotes a priority road traffic sign. This means in particular that the traffic sign 413 identifies the corresponding roadway as a priority road.
- Reference numeral 415 denotes a priority sign traffic sign. This means, in particular, that the traffic sign 415 indicates to a driver that he must give priority to vehicles coming from other lanes with the right of way or vehicles coming from the right on equal lanes.
- a traffic sign 417 is still located, which indicates a speed limit.
- Vehicles on the lanes 403, 405, 407, 409 and 41 1 are marked with a circle with the reference numeral 419, wherein in the circle 419 in each case a number 1 to 6 for better distinctness of the individual vehicles is located.
- the arrows with the reference numeral 421 indicate an exemplary course of the route of the corresponding vehicles 419.
- the arrows with the reference numeral 423 indicate the lanes on the lanes 403, 405, 407, 409 and 411 and their permitted route course, which the vehicles should drive ,
- intersection 401 may additionally or instead of the traffic signs 413, 415 and 417 have traffic lights.
- the intersection topology and traffic situation shown here, in particular the number and arrangement of the vehicles, should also be understood as exemplary only. For example, intersection topologies with more or less than 5 lanes can also be provided.
- the driver assistance system 101 includes the intersection situation shown in FIG. 4 and, due to the link with the ontological data structure with the implemented traffic rules, is able to make statements, for example, about which vehicle has to give priority to which vehicle. Depending on this, then, for example, a warning or accident-avoiding action can be carried out, for example the vehicle can be braked autonomously if the driver does not observe a corresponding warning signal.
- FIG. 5 shows a further intersection 501 with four intersecting roadways 503, 505, 507 and 509.
- On the roadway 505 is a vehicle 511, which is located at the intersection 501.
- On the roadway 507 is another vehicle 513 which approaches the intersection 501.
- On the roadway 509 is another vehicle 515, which also approaches the intersection 501.
- the link by a relation with the reference numeral 517 links the two lanes 503 and 505 and includes the information that the lane 503 is located to the right of the lane 505 in the direction of the intersection 501.
- the link 519 links the two lanes 503 and 505 and includes the information that the lane 505 is located to the left of the lane 503 in the direction of the intersection 501.
- the relations with the reference numerals 517 and 519 exist in the form in pairs between all adjacent lanes 503, 505, 507 and 509.
- the traffic sign 415 is linked to the roadway 509 or intersection 501, which is indicated by an arrow with the reference numeral 525.
- the link 525 thus includes, in particular, the information that the traffic sign 415 belongs to the lane 509 and is relevant for the intersection 501.
- a link 527 is provided between the vehicle 513 and the roadway 507, which in particular includes the information that the vehicle 513 is located on the roadway 507.
- Another link 529 between the vehicle 513 and the intersection 501 includes the information that the vehicle 513 is approaching the intersection 501.
- the link to reference numeral 533 indicates that the corresponding vehicle 51 1 is away from the intersection 501.
- Yet another link 531 between the lane 503 and the intersection 501 comprises, in particular, the information that the lane 503 is connected to the intersection 503.
- the traffic signs 413 and 415 are structured ontologically in such a way that a generic term traffic signs is formed in the data structure, wherein then a hierarchization into a sub-term Vortexgefurren workss Lake and a further sub-term Vorfahrts Non wishess Lake is provided into which the traffic signs 413 and 415 are classified accordingly become.
- the link 521 between the vehicles 513 and 515 includes the information that the vehicle 513 has the right of way in front of the vehicle 515.
- the link 523 between the vehicles 515 and 513 includes the information that the vehicle 515 must give the vehicle 513 priority.
- This information is generated in particular by the linker and the ontological data structure and preferably stored or stored in the ontological data structure.
- the above explained examples and traffic situations as well as intersection topologies should be understood as exemplary only. For example, more or fewer lanes than those shown there may occur. In particular, a number of vehicles can be quite another.
- the invention is insofar usable in all variants with arbitrary complexity.
- the invention therefore in particular includes the idea of providing information to a driver assistance system by means of a link, in particular also traffic rules, so that a real traffic situation can be assessed, for example at an intersection, inter alia with regard to the traffic rules, but in particular also with regard to Who is driving where, what is the signaling system phase, ie in particular current, situational information, for example, to give hints or suggestions for legally compliant maneuvers or to steer and / or brake the vehicle autonomously in case of danger.
- traffic rules in particular are implemented in an ontological data structure, a
- cytology is in particular a formalization or a description of a knowledge base.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011076763A DE102011076763A1 (de) | 2011-05-31 | 2011-05-31 | Fahrerassistenzsystem und Verfahren zum Betreiben eines Fahrerassistenzsystems |
PCT/EP2012/055963 WO2012163573A1 (de) | 2011-05-31 | 2012-04-02 | Fahrerassistenzsystem und verfahren zum betreiben eines fahrerassistenzsystems |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2715699A1 true EP2715699A1 (de) | 2014-04-09 |
EP2715699B1 EP2715699B1 (de) | 2015-01-28 |
Family
ID=45976301
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12714996.1A Revoked EP2715699B1 (de) | 2011-05-31 | 2012-04-02 | Fahrerassistenzsystem und verfahren zum betreiben eines fahrerassistenzsystems |
Country Status (6)
Country | Link |
---|---|
US (1) | US9378643B2 (de) |
EP (1) | EP2715699B1 (de) |
JP (1) | JP5932984B2 (de) |
CN (1) | CN103843044B (de) |
DE (1) | DE102011076763A1 (de) |
WO (1) | WO2012163573A1 (de) |
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US20150316387A1 (en) * | 2014-04-30 | 2015-11-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Detailed map format for autonomous driving |
US20150316386A1 (en) | 2014-04-30 | 2015-11-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Detailed map format for autonomous driving |
FR3024699B1 (fr) | 2014-08-06 | 2016-07-22 | Renault Sa | Systeme d’aide a la conduite et procede mis en oeuvre dans un tel systeme |
DE102015202326A1 (de) * | 2015-02-10 | 2016-08-11 | Robert Bosch Gmbh | Verfahren zum Betreiben einer Datenverarbeitungseinheit eines Fahrerassistenzsystems und Datenverarbeitungseinheit |
JP2017019421A (ja) * | 2015-07-13 | 2017-01-26 | 日立オートモティブシステムズ株式会社 | 周辺環境認識装置、及び周辺環境認識プログラム |
CA2993136A1 (en) * | 2015-07-21 | 2017-01-26 | Nissan Motor Co., Ltd. | Scene determination device, travel assistance apparatus, and scene determination method |
CN105489036A (zh) * | 2015-12-28 | 2016-04-13 | 南宁学院 | 一种fsc赛车刹车提示*** |
EP3264391A1 (de) * | 2016-06-30 | 2018-01-03 | Honda Research Institute Europe GmbH | Verfahren und system zur unterstützung eines fahrers beim fahren eines fahrzeugs sowie fahrzeug, auf dem solch ein system montiert ist |
CN108510771A (zh) * | 2017-02-27 | 2018-09-07 | 奥迪股份公司 | 驾驶辅助***及包括该驾驶辅助***的车辆 |
DE102017206344A1 (de) | 2017-04-12 | 2018-10-18 | Robert Bosch Gmbh | Fahrerassistenzsystem für ein Fahrzeug |
US20200342758A1 (en) * | 2017-12-27 | 2020-10-29 | Nec Communication Systems, Ltd. | Drive assistance device, drive assistance method, and recording medium in which drive assistance program is stored |
CN109215368B (zh) * | 2018-08-23 | 2020-04-28 | 百度在线网络技术(北京)有限公司 | 一种辅助驾驶的方法、装置、设备和计算机存储介质 |
US11080267B2 (en) * | 2018-08-31 | 2021-08-03 | Waymo Llc | Validating road intersections |
DE102018222601A1 (de) * | 2018-12-20 | 2020-06-25 | Volkswagen Aktiengesellschaft | Verfahren und Fahrerassistenzsystem zum Unterstützen eines Fahrers eines Fahrzeugs beim Führen des Fahrzeugs |
DE102018133457B4 (de) | 2018-12-21 | 2020-07-09 | Volkswagen Aktiengesellschaft | Verfahren und System zum Bereitstellen von Umgebungsdaten |
DE102019102924A1 (de) * | 2019-02-06 | 2020-08-06 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren, Vorrichtung, Computerprogramm und Computerprogrammprodukt zum Betreiben einer Fahrerassistenzfunktion eines Fahrzeuges |
DE102020205725A1 (de) | 2020-05-06 | 2021-11-11 | Volkswagen Aktiengesellschaft | Modellierung eines Verkehrsszenarios |
DE102021117424A1 (de) * | 2021-07-06 | 2023-01-12 | HELLA GmbH & Co. KGaA | Verfahren zur Steuerung eines Fahrzeugs, Steuervorrichtung, Computerprogrammprodukt und Fahrzeug |
DE102022207851A1 (de) | 2022-07-29 | 2024-02-01 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Erkennen einer Straßenkreuzung |
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US5983161A (en) * | 1993-08-11 | 1999-11-09 | Lemelson; Jerome H. | GPS vehicle collision avoidance warning and control system and method |
EP0913751B1 (de) | 1997-11-03 | 2003-09-03 | Volkswagen Aktiengesellschaft | Autonomes Fahrzeug und Verfahren zur Steuerung eines autonomen Fahrzeuges |
JPH11339197A (ja) * | 1998-05-26 | 1999-12-10 | Yazaki Corp | 車両安全装置 |
DE19938691A1 (de) | 1999-08-14 | 2001-02-15 | Volkswagen Ag | Verfahren zur verkehrsgeführten Beeinflussung und/oder Unterstützung von Kraftfahrzeugen |
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2011
- 2011-05-31 DE DE102011076763A patent/DE102011076763A1/de active Pending
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- 2012-04-02 WO PCT/EP2012/055963 patent/WO2012163573A1/de active Application Filing
- 2012-04-02 CN CN201280025803.1A patent/CN103843044B/zh active Active
- 2012-04-02 EP EP12714996.1A patent/EP2715699B1/de not_active Revoked
- 2012-04-02 JP JP2014513088A patent/JP5932984B2/ja active Active
- 2012-04-02 US US14/119,766 patent/US9378643B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
EP2715699B1 (de) | 2015-01-28 |
JP2014517399A (ja) | 2014-07-17 |
JP5932984B2 (ja) | 2016-06-08 |
US9378643B2 (en) | 2016-06-28 |
WO2012163573A1 (de) | 2012-12-06 |
US20140200798A1 (en) | 2014-07-17 |
CN103843044A (zh) | 2014-06-04 |
DE102011076763A1 (de) | 2012-12-06 |
CN103843044B (zh) | 2017-01-18 |
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