EP3102461A1 - Driver assistance system - Google Patents
Driver assistance systemInfo
- Publication number
- EP3102461A1 EP3102461A1 EP15714401.5A EP15714401A EP3102461A1 EP 3102461 A1 EP3102461 A1 EP 3102461A1 EP 15714401 A EP15714401 A EP 15714401A EP 3102461 A1 EP3102461 A1 EP 3102461A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor system
- high beam
- radar
- detected
- control signal
- 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.)
- Withdrawn
Links
Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
- H05B47/125—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/31—Atmospheric conditions
- B60Q2300/312—Adverse weather
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/33—Driving situation
- B60Q2300/336—Crossings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Definitions
- the invention relates to a driver assistance system for high beam control for a vehicle
- Motor vehicles are increasingly being equipped with driver assistance systems which detect the surroundings with the aid of sensor systems and derive automatic reactions of the vehicle from the traffic situation thus recognized and / or instruct the driver, in particular warn him. A distinction is made between comfort and safety functions.
- FSRA Fan Speed Range Adaptive Cruise Control
- the vehicle adjusts the airspeed to the desired speed specified by the driver, if the traffic situation allows it, otherwise the airspeed is automatically adapted to the traffic situation.
- autonomous light assistance in particular the autonomous control of the high beam, is establishing itself as another important comfort function.
- the safety functions focus on reducing the braking distance in emergency situations.
- the spectrum of the corresponding driver assistance functions ranges from a warning, an automatic prefilling of the brake to the reduction of the brake latency (Prefill), an improved brake assistant (BAS +) up to the autonomous emergency braking.
- the above-mentioned high beam control is realized today with camera sensors that detect the lights of preceding or oncoming vehicles. If there is a risk of dazzling other so identified road users, the high beam is either switched off or adaptively controlled so that no glare occurs.
- a driver assistance system for high beam control is specified with means for detecting the surroundings.
- the means comprise at least one radar or lidar sensor system and a camera sensor system for detecting the surroundings in front of a vehicle.
- a control signal is generated for a high-beam control or warning device when the high beam is active and at the same time a potentially blinded object is detected by at least one sensor system for detecting the surroundings.
- An object detected by a radar system is, in particular, moving objects which have a relative speed to the vehicle not equal to the vehicle's own speed. It may be e.g. to act in front of or oncoming vehicles or cyclists or pedestrians.
- the radar sensor Due to its Doppler evaluation, the radar sensor can very quickly and very accurately measure the relative speed of objects. From this and from the known speed of the vehicle, it is then easy to distinguish between moving and stationary objects (stationary objects are, for example, crash barriers, traffic signs, parked vehicles, bushes and trees along the roadside). Of course, a distinction between oncoming and preceding vehicles is possible, which for deactivation of the high beam but usually no fundamental difference plays.
- the camera system detects the lights of vehicles in front or oncoming traffic. For example, a color camera can be used to safely detect the red taillights and white headlights.
- the redundant environment detection by various sensor systems increases the probability of detecting a potentially blinded object and thus the probability that no other road user is dazzled.
- a control signal for high beam control or warning is generated when the high beam is active and at the same time a potentially blinded object is detected by the radar or Lidarsensorsystem and the camera sensor system. This embodiment of the invention prevents a faulty deactivation of the high beam, since the requirements for the detection of a potentially blinded object are very high. Both sensor systems must detect the object so that the control signal for high beam control is output.
- a further embodiment of the invention is characterized in that a control signal is generated when the high beam is active and a potentially blinded moving object is detected by the radar or lidar sensor system, but not by the camera sensor system.
- a control signal is generated when the high beam is active and a potentially blinded moving object is detected by the radar or lidar sensor system, but not by the camera sensor system.
- This case particularly occurs when the lights of an oncoming vehicle are obscured, e.g. in optically separated lanes such as a highway with shrubs in the median strip or by a guardrail which separates the carriageway of the vehicle and the lane of an oncoming vehicle.
- the potentially blinded object is located on a roundabout in front of the vehicle and has not yet entered the roadway of the vehicle.
- a camera sensor system can not detect the headlights of the potentially blinded object.
- a positive embodiment of the invention provides that only in the presence of a further predetermined environment information, a control signal is generated even if only a potentially blinded moving object is detected by the radar or Lidarsensorsystem. In a positive embodiment, the control signal is otherwise generated only if both sensor systems detect a potentially blinded object.
- An environment information may be, for example, fog, poor visibility, suburban or other similar information that suggests that the camera sensor system has limited visibility or restricted field of view.
- a further embodiment of the invention provides that at least one
- Roadside buildings are especially sublime objects such as crash barriers, bushes, construction fence or similar. meant to separate the lanes, e.g. the median strip on a highway.
- a further embodiment of the invention provides that a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or Lidarsensorsystem, but not of the
- a preferred embodiment of the invention provides that means for detecting a forward circular traffic are provided. For example, a leading roundabout may be taken from an electronic map if the vehicle is equipped with a GPS system. Alternatively or additionally, a camera system for traffic sign recognition or a radio-based system (c2x) for transmitting this information or a special map for driver assistance systems (E-Horizon) can be provided.
- a camera system for traffic sign recognition or a radio-based system (c2x) for transmitting this information or a special map for driver assistance systems (E-Horizon) can be provided.
- a positive embodiment of the invention provides that a control signal is generated when the high beam is active and is detected by the radar or Lidarsensorsystem a potentially blinded object, but not of the Camera sensor system and also a leading roundabout in front of the vehicle is detected. Again, there is a risk of glare of the object, since the headlights for the camera sensor system are not yet detectable when the object is in the roundabout.
- Driver assistance system a radar or Lidarsensorsystem with controllable range.
- the data of the radar or lidar sensor system are also used for other driver assistance functions, e.g. Emergency brake assist or adaptive cruise control or similar used.
- a high sensor range is selected when there are no relevant objects in a range relevant for another driver assistance function. This ensures that the radar or Lidarsensorsystem recognizes oncoming vehicles even at a great distance.
- a particular embodiment of the invention provides that on the control signal out a warning to the driver with audible, visual or haptic means or a shutdown of the high beam or a reduction in the range of the high beam or shaping the light cone of the high beam such that the potentially blinded Moving object is recessed in the light cone, is performed.
- An autonomous deactivation of the high beam can also be omitted among cyclists and pedestrians, as they are better visible in the high beam for the driver than at low beam; a rough classification of cyclists and pedestrians against vehicles can be done via the reflection level and the absolute speed.
- range resolution is inversely proportional to the range
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Disclosed is a driver assistance system for controlling a high beam, comprising environment detecting means. At least one radar or lidar sensor system as well as a camera sensor system are provided for detecting the environment in front of the a vehicle. A control signal for a high beam controller or warning device is generated when the high beam is active and at least one sensor system for detecting the environment simultaneously detects a potentially dazzled object.
Description
Fahrerassistenzsvstem Fahrerassistenzsvstem
Die Erfindung bezieht sich auf ein Fahrerassistenzsystem zur Fernlichtsteuerung für ein Fahrzeug The invention relates to a driver assistance system for high beam control for a vehicle
Kraftfahrzeuge werden zunehmend mit Fahrerassistenzsystemen ausgerüstet, welche mit Hilfe von Sensorsystemen die Umgebung erfassen und aus der so erkannten Verkehrssituation automatische Reaktionen des Fahrzeugs ableiten und/oder den Fahrer instruieren, insbesondere warnen. Dabei unterscheidet man zwischen Komfort- und Sicherheitsfunktionen. Motor vehicles are increasingly being equipped with driver assistance systems which detect the surroundings with the aid of sensor systems and derive automatic reactions of the vehicle from the traffic situation thus recognized and / or instruct the driver, in particular warn him. A distinction is made between comfort and safety functions.
Im Bereich der Komfortfunktionen spielt momentan FSRA (Füll Speed Range Adaptive Cruise Control) die wichtigste Rolle. Das Fahrzeug regelt die Eigengeschwindigkeit auf die vom Fahrer vorgegebene Wunschgeschwindigkeit ein, sofern die Verkehrssituation dies zulässt, andernfalls wird die Eigengeschwindigkeit automatisch an die Verkehrssituation angepasst. Als weitere wichtige Komfortfunktion etabliert sich momentan die autonome Lichtassistenz, insbesondere die autonome Ansteuerung des Fernlichts. In terms of comfort functions, FSRA (Füll Speed Range Adaptive Cruise Control) is currently playing the most important role. The vehicle adjusts the airspeed to the desired speed specified by the driver, if the traffic situation allows it, otherwise the airspeed is automatically adapted to the traffic situation. At the moment autonomous light assistance, in particular the autonomous control of the high beam, is establishing itself as another important comfort function.
Bei den Sicherheitsfunktionen steht die Reduzierung des Bremsweges in Notsituationen im Mittelpunkt. Das Spektrum der entsprechenden Fahrerassistenzfunktionen reicht von einer Warnung, einem automatischen Vorfüllen der Bremse zur Reduktion der Bremslatenz (Prefill), einem verbesserten Bremsassistenten (BAS+) bis hin zur autonomen Notbremsung. The safety functions focus on reducing the braking distance in emergency situations. The spectrum of the corresponding driver assistance functions ranges from a warning, an automatic prefilling of the brake to the reduction of the brake latency (Prefill), an improved brake assistant (BAS +) up to the autonomous emergency braking.
Die oben erwähnte Fernlichtsteuerung wird heute mit Kamerasensoren realisiert, die die Lichter von vorausfahrenden oder entgegenkommenden Fahrzeugen erkennen. Besteht die Gefahr eine Blendung anderer so erkannter Verkehrsteilnehmer, wird das Fernlicht entweder ausgeschaltet oder adaptiv so gesteuert, dass keine Blendung eintritt. The above-mentioned high beam control is realized today with camera sensors that detect the lights of preceding or oncoming vehicles. If there is a risk of dazzling other so identified road users, the high beam is either switched off or adaptively controlled so that no glare occurs.
Es ist Aufgabe dieser Erfindung, ein verbessertes Fahrerassistenzsystem zur Fernlichtsteuerung anzugeben, das andere Verkehrsteilnehmer zuverlässig erkennt und deren Blendung verhindert.
Diese Aufgabe wird grundsätzlich mit Hilfe der Merkmale der unabhängigen Ansprüche gelöst. It is an object of this invention to provide an improved driver assistance system for high beam control that reliably detects other road users and prevents their dazzling. This object is achieved in principle with the aid of the features of the independent claims.
Erfindungsgemäß wird ein Fahrerassistenzsystem zur Fernlichtsteuerung mit Mitteln zur Umfelderfassung angegeben. Die Mittel umfassen zumindest ein Radar- oder Lidarsensorsystem und ein Kamerasensorsystem zur Erfassung der Umgebung vor einem Fahrzeug. Es wird ein Steuersignal für eine Fernlichtsteuerung oder Warneinrichtung erzeugt, wenn das Fernlicht aktiv ist und gleichzeitig zumindest von einem Sensorsystem zur Umfelderfassung ein potentiell geblendetes Objekt detektiert wird. According to the invention, a driver assistance system for high beam control is specified with means for detecting the surroundings. The means comprise at least one radar or lidar sensor system and a camera sensor system for detecting the surroundings in front of a vehicle. A control signal is generated for a high-beam control or warning device when the high beam is active and at the same time a potentially blinded object is detected by at least one sensor system for detecting the surroundings.
Bei einem von einem Radarsystem detektierten Objekt handelt es sich insbesondere um bewegte Objekte, die eine Relativgeschwindigkeit zum Fahrzeug ungleich der Eigengeschwindigkeit des Fahrzeugs aufweisen. Es kann es sich Z.B. um vorausfahrende oder entgegenkommende Fahrzeuge oder Fahrradfahrer oder um Fußgänger handeln. An object detected by a radar system is, in particular, moving objects which have a relative speed to the vehicle not equal to the vehicle's own speed. It may be e.g. to act in front of or oncoming vehicles or cyclists or pedestrians.
Der Radarsensor kann auf Grund seiner Dopplerauswertung sehr schnell und sehr genau die Relativgeschwindigkeit von Objekten messen. Daraus und aus der bekannten Fahrzeugeigengeschwindigkeit kann dann leicht zwischen bewegten und stehenden Objekten unterschieden werden (stehende Objekte sind z. B. Leitplanken, Verkehrsschilder, parkende Fahrzeuge, Büsche und Bäume am Straßenrand). Natürlich ist auch eine Unterscheidung zwischen entgegenkommenden und vorausfahrenden Fahrzeugen möglich, was für eine Deaktivierung des Fernlichts aber meist keinen grundsätzlichen Unterschied spielt. Due to its Doppler evaluation, the radar sensor can very quickly and very accurately measure the relative speed of objects. From this and from the known speed of the vehicle, it is then easy to distinguish between moving and stationary objects (stationary objects are, for example, crash barriers, traffic signs, parked vehicles, bushes and trees along the roadside). Of course, a distinction between oncoming and preceding vehicles is possible, which for deactivation of the high beam but usually no fundamental difference plays.
Das Kamerasystem erkennt die Lichter von vorausfahrenden oder entgegenkommenden Fahrzeugen. Z. B. kann eine Farbkamera benutzt werden um die roten Rücklichter und weißen Frontscheinwerfer sicher zu erkennen. Durch die redundante Umgebungserfassung durch verschiedenartige Sensorsysteme wird die Wahrscheinlichkeit der Detektion eines potentiell geblendeten Objekts erhöht und damit auch die Wahrscheinlichkeit, dass kein anderer Verkehrsteilnehmer geblendet wird.
In einer bevorzugten Ausgestaltung der Erfindung wird ein Steuersignal zur Fernlichtsteuerung oder Warnung dann erzeugt, wenn das Fernlicht aktiv ist und gleichzeitig von dem Radar- oder Lidarsensorsystem und dem Kamerasensorsystem ein potentiell geblendetes Objekt detektiert wird. Diese Ausgestaltung der Erfindung beugt einer fehlerhaften Deaktivierung des Fernlichts vor, da hier die Anforderungen an die Erkennung eines potentiell geblendetes Objektes sehr hoch sind. Beide Sensorsysteme müssen das Objekt erkennen, damit das Steuersignal zur Fernlichtsteuerung ausgegeben wird. The camera system detects the lights of vehicles in front or oncoming traffic. For example, a color camera can be used to safely detect the red taillights and white headlights. The redundant environment detection by various sensor systems increases the probability of detecting a potentially blinded object and thus the probability that no other road user is dazzled. In a preferred embodiment of the invention, a control signal for high beam control or warning is generated when the high beam is active and at the same time a potentially blinded object is detected by the radar or Lidarsensorsystem and the camera sensor system. This embodiment of the invention prevents a faulty deactivation of the high beam, since the requirements for the detection of a potentially blinded object are very high. Both sensor systems must detect the object so that the control signal for high beam control is output.
Eine weitere positiven Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes bewegtes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem. Dieser Fall tritt insbesondere dann ein, wenn die Lichter eines entgegenkommenden Fahrzeugs verdeckt sind, Z.B. bei optisch getrennten Fahrbahnen wie eine Autobahn mit Büschen im Mittelstreifen oder durch eine Leitplanke die die Fahrbahn des Fahrzeugs und die Fahrbahn eines entgegenkommenden Fahrzeugs trennt. Weiterhin ist es möglich, dass sich das potentiell geblendete Objekt auf einem Kreisel vor dem Fahrzeug befindet und noch nicht auf die Fahrbahn des Fahrzeugs einfahren ist. Auch in diesem Fall kann ein Kamerasensorsystem die Scheinwerfer des das potentiell geblendeten Objekts nicht erfassen. A further embodiment of the invention is characterized in that a control signal is generated when the high beam is active and a potentially blinded moving object is detected by the radar or lidar sensor system, but not by the camera sensor system. This case particularly occurs when the lights of an oncoming vehicle are obscured, e.g. in optically separated lanes such as a highway with shrubs in the median strip or by a guardrail which separates the carriageway of the vehicle and the lane of an oncoming vehicle. Furthermore, it is possible that the potentially blinded object is located on a roundabout in front of the vehicle and has not yet entered the roadway of the vehicle. Also in this case, a camera sensor system can not detect the headlights of the potentially blinded object.
Eine positive Ausgestaltung der Erfindung sieht vor, dass nur bei Vorliegen einer weiteren vorgegebenen Umfeldinformation ein Steuersignal auch dann erzeugt wird, wenn nur von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes bewegtes Objekt detektiert wird. In einer positiven Ausgestaltung wird das Steuersignal andernfalls nur dann erzeugt, wenn beide Sensorsysteme ein potentiell geblendetes Objekt detektieren. Eine Umfeldinformation kann z.B. Nebel, schlechte Sicht, erhaben Randbebauung oder eine ähnliche Information sein, die darauf schließen lässt, dass das Kamerasensorsystem eine eingeschränkte Sichtweite oder ein eingeschränktes Sichtfeld hat.
Eine weitere Ausgestaltung der Erfindung sieht vor, dass zumindest ein A positive embodiment of the invention provides that only in the presence of a further predetermined environment information, a control signal is generated even if only a potentially blinded moving object is detected by the radar or Lidarsensorsystem. In a positive embodiment, the control signal is otherwise generated only if both sensor systems detect a potentially blinded object. An environment information may be, for example, fog, poor visibility, suburban or other similar information that suggests that the camera sensor system has limited visibility or restricted field of view. A further embodiment of the invention provides that at least one
Sensorsystem eine Straßenrandbebauung erfasst. Dies kann sowohl das Sensor system detects a roadside development. This can both the
Radarsensorsystem als auch das Kamerasensorsystem sein. Mit Radar sensor system as well as the camera sensor system. With
Straßenrandbebauung sind insbesondere erhabene Objekte wie Leitplanken, Büsche, Bauzaun o.ä. gemeint, die Fahrbahnen voneinander trennen, z.B. der Mittelstreifen auf einer Autobahn. Roadside buildings are especially sublime objects such as crash barriers, bushes, construction fence or similar. meant to separate the lanes, e.g. the median strip on a highway.
Eine weitere Ausgestaltung der Erfindung sieht vor, dass ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem A further embodiment of the invention provides that a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or Lidarsensorsystem, but not of the
Kamerasensorsystem. Zudem wird eine erhöhte Straßenrandbebauung erkannt, die Fahrbahnen voneinander trennt. Camera sensor system. In addition, an elevated roadside development is recognized that separates lanes from each other.
Bei optisch getrennten Fahrbahnen (z. B. Autobahn mit Büschen in Mittelstreifen) besteht wie zuvor beschrieben die Gefahr, dass ein Kamerasensorsystem die Scheinwerfer eines entgegenkommenden Fahrzeugs auf einer Fahrbahn jenseits der Randbebauung nicht erkennt, da diese verdeckt sind. Dennoch kann das entgegenkommende Fahrzeug geblendet werden, wenn kein Steuersignal für eine Fernlichtsteuerung ausgegeben wird. In the case of optically separated roadways (eg motorway with bushes in median strips), as described above there is the danger that a camera sensor system will not recognize the headlights of an oncoming vehicle on a roadway beyond the edge development since they are hidden. Nevertheless, the oncoming vehicle can be blinded when no control signal for a high beam control is output.
Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass Mittel zur Erfassung eines vorausliegenden Kreisverkehrs vorgesehen sind. Ein vorausliegender Kreisverkehr kann beispielsweise einer elektronischen Karte entnommen werden, wenn das Fahrzeug mit einem GPS-System ausgestattet ist. Alternativ oder zusätzlich kann eine Kamerasystem zur Verkehrszeichenerkennung oder ein funkbasiertes System (c2x) zur Übertragung dieser Information oder eine spezielle sich aktualisierende Karte für Fahrerassistenzsysteme (E-Horizon) vorgesehen sein. A preferred embodiment of the invention provides that means for detecting a forward circular traffic are provided. For example, a leading roundabout may be taken from an electronic map if the vehicle is equipped with a GPS system. Alternatively or additionally, a camera system for traffic sign recognition or a radio-based system (c2x) for transmitting this information or a special map for driver assistance systems (E-Horizon) can be provided.
Eine positive Ausgestaltung der Erfindung sieht vor, dass ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem
Kamerasensorsystem und zudem ein vorausliegender Kreisverkehr vor dem Fahrzeug erkannt wird. Auch hier besteht die Gefahr der Blendung des Objekts, da die Scheinwerfer für das Kamerasensorsystem noch nicht detektierbar sind, wenn das Objekt sich im Verkehrskreisel aufhält. A positive embodiment of the invention provides that a control signal is generated when the high beam is active and is detected by the radar or Lidarsensorsystem a potentially blinded object, but not of the Camera sensor system and also a leading roundabout in front of the vehicle is detected. Again, there is a risk of glare of the object, since the headlights for the camera sensor system are not yet detectable when the object is in the roundabout.
In einer bevorzugten Ausgestaltung der Erfindung umfasstIn a preferred embodiment of the invention comprises
Fahrerassistenzsystem ein Radar- oder Lidarsensorsystem mit steuerbarer Reichweite. Die Daten des Radar- oder Lidarsensorsystem werden auch für andere Fahrerassistenzfunktionen wie z.B. Notbremsassistent oder adaptiver Tempomat oder ähnliche benutzt. Es wird eine hohe Sensorreichweite dann gewählt, wenn sich in einem für eine andere Fahrerassistenzfunktion relevanten Bereich keine relevanten Objekte befinden. So wird erreicht, dass das Radaroder Lidarsensorsystem entgegenkommende Fahrzeuge schon in einer großen Entfernung erkennt. Driver assistance system a radar or Lidarsensorsystem with controllable range. The data of the radar or lidar sensor system are also used for other driver assistance functions, e.g. Emergency brake assist or adaptive cruise control or similar used. A high sensor range is selected when there are no relevant objects in a range relevant for another driver assistance function. This ensures that the radar or Lidarsensorsystem recognizes oncoming vehicles even at a great distance.
Eines besondere Ausgestaltung der Erfindung sieht vor, dass auf das Steuersignal hin eine Warnung an den Fahrer mit akustischen, visuellen oder haptischen Mitteln oder eine Abschaltung des Fernlichts oder eine Reduzierung der Reichweite des Fernlichts oder eine Formung des Lichtkegels des Fernlichts derart, dass das potentiell geblendetes bewegtes Objekt im Lichtkegel ausgespart ist, durchgeführt wird. Ein autonomes Deaktivieren des Fernlichts kann bei Fahrradfahrern und Fußgängern auch unterlassen werden, da diese bei Fernlicht für den Fahrer besser erkennbar sind als bei Abblendlicht; eine grobe Klassifizierung von Fahrradfahrern und Fußgängern gegenüber Fahrzeugen kann über den Reflexionspegel und die Absolutgeschwindigkeit geschehen. zuverlässig mit der eigenen prädizierten Fahrtrajektorie korreliert werden können und andererseits bei dieser beschränkten Reichweite eine höhere Entfernungsauflösung und damit Messqualität erreicht wird als bei höherer Reichweite (Entfernungsauflösung ist umgekehrt proportional zur Reichweite). Dagegen sind für eine Lichtfunktion eine Zuordnung zur eigenen Fahrtrajektorie und eine hohe Messqualität nicht erforderlich, so dass für diese Funktion die Reichweite erhöht werden kann. Deshalb kann folgende Strategie verfolgt werden:
A particular embodiment of the invention provides that on the control signal out a warning to the driver with audible, visual or haptic means or a shutdown of the high beam or a reduction in the range of the high beam or shaping the light cone of the high beam such that the potentially blinded Moving object is recessed in the light cone, is performed. An autonomous deactivation of the high beam can also be omitted among cyclists and pedestrians, as they are better visible in the high beam for the driver than at low beam; a rough classification of cyclists and pedestrians against vehicles can be done via the reflection level and the absolute speed. can be correlated reliably with the own predicted driving trajectory and on the other hand with this limited range, a higher range resolution and thus measurement quality is achieved than at higher range (range resolution is inversely proportional to the range). In contrast, for a light function, an assignment to the own driving trajectory and a high measurement quality are not required, so that the range can be increased for this function. Therefore, the following strategy can be followed:
Claims
1 . Verfahren für ein Fahrerassistenzsystem zur Fernlichtsteuerung mit Mitteln zur Umfelderfassung, wobei zumindest ein Radar- oder Lidarsensorsystem und ein Kamerasensorsystem zur Erfassung der Umgebung vor einem Fahrzeug vorgesehen sind, 1 . Method for a driver assistance system for high beam control with means for environment detection, wherein at least one radar or Lidarsensorsystem and a camera sensor system are provided for detecting the environment in front of a vehicle,
dadurch gekennzeichnet, dass characterized in that
ein Steuersignal für eine Fernlichtsteuerung oder Warneinrichtung erzeugt wird, wenn das Fernlicht aktiv ist und gleichzeitig zumindest von einem Sensorsystem zur Umfelderfassung ein potentiell geblendetes Objekt detektiert wird. a control signal for a high-beam control or warning device is generated when the high beam is active and at the same time a potentially blinded object is detected by at least one sensor system for detecting the surroundings.
2. Verfahren nach Anspruch 1 , 2. The method according to claim 1,
dadurch gekennzeichnet, dass characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und gleichzeitig von dem Radar- oder Lidarsensorsystem und dem Kamerasensorsystem ein potentiell geblendetes Objekt detektiert wird. a control signal is generated when the high beam is active and at the same time a potentially blinded object is detected by the radar or Lidarsensorsystem and the camera sensor system.
3. Verfahren nach Anspruch 1 , 3. The method according to claim 1,
dadurch gekennzeichnet, dass characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem. a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or lidar sensor system, but not by the camera sensor system.
4. Verfahren nach Anspruch 1 oder 2, 4. The method according to claim 1 or 2,
dadurch gekennzeichnet, dass characterized in that
bei Vorliegen einer weiteren vorgegebenen Umfeldinformation ein in the presence of another predetermined environment information
Steuersignal auch dann erzeugt wird, wenn nur von dem Radar- oder Control signal is generated even if only from the radar or
Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird.
Lidarsensorsystem a potentially blinded object is detected.
5. Verfahren nach einem der vorherigen Ansprüche, 5. Method according to one of the preceding claims,
dadurch gekennzeichnet, dass characterized in that
zumindest ein Sensorsystem zur Umfelderfassung eine Straßenrandbebauung erfasst. at least one sensor system detects the surroundings of a roadside development.
6. Verfahren nach Anspruch 3 und 5, 6. The method according to claim 3 and 5,
dadurch gekennzeichnet, dass characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem und a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or lidar sensor system, but not by the camera sensor system and
eine erhöhte Straßenrandbebauung erkannt wird. an elevated roadside development is detected.
7. Verfahren nach einem der vorherigen Ansprüche, 7. The method according to any one of the preceding claims,
dadurch gekennzeichnet, dass characterized in that
Mittel zur Erfassung eines vorausliegenden Kreisverkehrs vorgesehen sind. Means are provided for detecting a forward roundabout.
8. Verfahren nach Anspruch 3 und 7, 8. The method according to claim 3 and 7,
dadurch gekennzeichnet, dass characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem und a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or lidar sensor system, but not by the camera sensor system and
ein vorausliegender Kreisverkehr vor dem Fahrzeug erkannt wird. a preceding roundabout in front of the vehicle is detected.
9. Verfahren nach einem der vorherigen Ansprüche, welches ein Radar- oder Lidarsensorsystem mit steuerbarer Reichweite aufweist, wobei das Radaroder Lidarsensorsystem auch für andere Fahrerassistenzfunktionen benutzt wird 9. The method according to any one of the preceding claims, which has a radar or Lidarsensorsystem with controllable range, wherein the radar or Lidarsensorsystem is also used for other driver assistance functions
dadurch gekennzeichnet, dass characterized in that
eine hohe Sensorreichweite dann gewählt wird, wenn sich in einem für eine andere Fahrerassistenzfunktion relevanten Bereich keine relevanten Objekte befinden.
a high sensor range is selected when there are no relevant objects in a relevant area for another driver assistance function.
10. Verfahren nach einem der vorherigen Ansprüche, bei welchem auf das Signal hin eine Warnung an den Fahrer mit akustischen, visuellen oder haptischen Mitteln oder eine Abschaltung des Fernlichts oder eine Reduzierung der Reichweite des Fernlichts oder eine Formung des Lichtkegels des Fernlichts derart, dass das potentiell geblendetes bewegtes Objekt im Lichtkegel ausgespart ist, durchgeführt wird. 10. The method according to any one of the preceding claims, wherein the signal to a warning to the driver with acoustic, visual or haptic means or a shutdown of the high beam or a reduction in the range of the high beam or shaping the light cone of the high beam such that potentially blinded moving object recessed in the cone of light is performed.
1 1 . Fahrerassistenzsystem für die Lichtsteuerung eines Fahrzeugs umfassend1 1. Driver assistance system for the light control of a vehicle comprising
- Steuereinheit mit einem Speicher auf den ein Verfahren nach einem der vorherigen Ansprüche hinterlegt ist - Control unit with a memory on which a method according to one of the preceding claims is deposited
- zumindest ein Radar- oder Lidarsensorsystem und ein - At least one radar or Lidarsensorsystem and a
Kamerasensorsystem zur Erfassung der Umgebung vor einem Fahrzeug Camera sensor system for detecting the environment in front of a vehicle
- Mittel zur Ausgabe einer Warnung an einen Fahrer oder Steuerung des Fernlicht, Means for issuing a warning to a driver or control of the high beam,
wobei die drei genannten Einheiten verbindbar sind.
wherein the three units mentioned are connectable.
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CN105980208B (en) | 2019-06-14 |
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