EP3298600A1 - Detecting lane ends on roads - Google Patents
Detecting lane ends on roadsInfo
- Publication number
- EP3298600A1 EP3298600A1 EP16715531.6A EP16715531A EP3298600A1 EP 3298600 A1 EP3298600 A1 EP 3298600A1 EP 16715531 A EP16715531 A EP 16715531A EP 3298600 A1 EP3298600 A1 EP 3298600A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- lane
- location
- activation
- vehicle
- road
- 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
- 230000004913 activation Effects 0.000 claims abstract description 45
- 238000009826 distribution Methods 0.000 claims abstract description 39
- 238000000034 method Methods 0.000 claims abstract description 27
- 230000002123 temporal effect Effects 0.000 claims description 6
- 238000009825 accumulation Methods 0.000 claims description 5
- 238000001994 activation Methods 0.000 description 38
- 230000000694 effects Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010972 statistical evaluation Methods 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000012732 spatial analysis Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- 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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- 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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- 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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
-
- 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
Definitions
- the invention relates to a method for detecting the change of a Fah rspurkonfiguration, in particular the beginning or end of a lane, and a correspondingly directed electronic computing device.
- central offices such as the police or floating car data to determine the traffic flow on roads and in particular motorways.
- This information is stored in central databases in digital road maps and distributed to road transport vehicles (in particular cars and trucks) via wireless data links such as UMTS or LTE mobile communications.
- Temporary lane constrictions through which individual lanes are closed, are frequently encountered in road traffic, for example due to hikes on motorways, events or accidents today. These events are not stored in central databases today, or only a little. At the same time, this information also provides important information to the driver of a vehicle and may require special driver attention and maneuvering to enable safe participation in the traffic. In order to be particularly helpful for coping with the driving task, this information must be as up-to-date as possible. Future driver assistance functions of a vehicle (for example a car) need exact information about their environment that goes beyond the range detectable by sensors of the vehicle. These sensory non-detectable information can be obtained via digital road maps. For many driver assistance functions, however, this information must be continuously updated.
- a stored in Fah rzeug digital road map with a currently held n digital road maps in a server or backend be adjusted and updated.
- the information that needs to be kept up-to-date relates, for example, to construction sites, road changes or traffic flow. On the one hand, this information must be initialized and, on the other hand, continuously verified or corrected.
- DE 10 2013 220 430 A1 discloses a method according to which sensors of the vehicle record measured values and warn other vehicles by means of indications of danger.
- measurements are provided by participating vehicles on the road. These do not have to be special measuring vehicles, but may also be private cars.
- a difficulty with the use of typical cars is that only a few of these cars, for example, are equipped with sufficiently accurate and reliable cameras that are suitable for detecting lanes.
- the invention is thus based on the object of determining the end of lanes by means of statistical evaluations of measurements of vehicles participating in the road traffic.
- a method for detecting the change of the lane configuration comprises: receiving activation instructions of vehicles; the instructions including information on the location of the vehicle to which the direction indicator of the vehicle is activated; Calculating spatial distributions for the location information; Detecting the end or beginning of a lane based on the distributions.
- Activation can be understood as the initial activation of the direction indicator, or when the direction indicator is deactivated again. In the latter case, the duration of the activation can also be included in the note. Furthermore, it can be assumed as an activation only if the direction indicator is activated and a Len kradière or (2004)- movement indicates the changing of a lane.
- the place will be determined according to the fulfillment of these activation criteria.
- the location can be determined by means of satellite navigation (GPS, Glonass, Galileo).
- the methods are typically executed by a central processing unit (also called server or backend).
- the detected end or the recognized beginning can be noted in a digital road map.
- Direction indicators are sometimes called turn signals.
- a spatial distribution can be formed by the frequency of indications with the same or in the same area (of several areas) location information.
- the term "spatial” here means a subdivision in a spatial dimension ("street km"), two spatial dimensions or three spatial dimensions sections, so does not necessarily have to be three-dimensional.
- a lane configuration is understood here to be the number of lanes for a direction of travel, and in some implementations also to be understood as driving maneuvers (right / left lanes). It is therefore proposed herein to transmit the activation of the direction indicator of vehicles together with the location of the activation to a central location.
- This central location carries out a statistical evaluation of the indications, in which the distribution of activations of the direction indicators is evaluated with regard to the location of the activation (in some implementations also with regard to time). This distribution is examined to see if it indicates the end or beginning of a lane. On a road section with non-changing lanes, the activations of direction indicators are substantially equally distributed. At or before the end of a lane, however, the vehicles on the terminating lane will leave this lane.
- the necessary permanent monitoring of the road network with regard to newly occurring track ends and track starts and track number information can be implemented cost-effectively, since no special sensors (strictly speaking, no sensors) are necessary.
- the direction indicator instead uses a signal that is available anyway.
- a method for detecting the end or beginning of a lane comprises: receiving indications from vehicles; wherein the indications include information about the location of the vehicle and the activation direction, namely the direction in which the direction indicator of the vehicle is activated at the location; Calculating spatial distributions for the location information and the activation direction; Detecting the end or beginning of a lane based on the distributions.
- the recognition thus takes into account whether the references with location information in the same spatial area have essentially the same activation. have sufficient direction. On edge tracks (far left or far right, for example), vehicles at the end of a lane must always change lanes in one direction. Such an anomaly of distribution thus indicates a blockage of the right or left edge track. An accumulation of directional activations in both directions indicates the end of a middle lane. The same applies to incipient lanes on the road edges, the activation directions are of course reversed.
- the hints are associated with timestamps, wherein the calculating comprises: calculating the spatial and temporal distribution for the location indications and the activation direction.
- the timestamps can be assigned by the vehicles or when receiving the timestamps at the backend.
- the method is particularly suitable to detect temporary and sudden changes (ends of lanes), for example by accidents or hikes.
- spatial distributions are created for (regular) time segments (for example 1 s, 5 s, 30 s, 1 min, 5 min, 10 min or more) based on the indications received in these time segments.
- spatial distributions can each be created after receiving a certain number of hints. The successively created distributions are examined for changes.
- anomalies are identified by the timing of distributions, that is, based on a change in the accumulation of activations of the direction indicators.
- a basic distribution (or if, for example, the activation directions are to be taken into account, several basic distributions) is calculated, for example, for instructions received over a longer period of time. Areas or locations of the distribution calculated for a period of time are compared with the corresponding area or location of the basic distribution. If the deviation determined in the comparison meets a criterion (for example, if it is greater than a predetermined threshold value), a track end or track start is assumed for the location or area.
- a criterion for example, if it is greater than a predetermined threshold value
- a temporal -spatial analysis of blinker signals it is disclosed not to use a "sensor” for detecting the number of lanes, but a temporal -spatial analysis of blinker signals.
- the algorithm in the backend calculates a temporal and spatial distribution of blinker signals. Trace detection may be due to several effects: (1) general left / right blinking in overtaking or shuffling operations, (2) bursting with accumulation unidirectional change in the distribution of the flashing signals due to a sudden change in the road network, eg. a track end caused by a construction site.
- the method further comprises: determining a location at which the end or beginning of a lane is suspected; Sending a request in the area of this place to specify details of the place in the clues and / or to send clues in this area (more frequently).
- the central office may assume that a traffic lane ends or begins in one area. In this case, the central office may send vehicles near the suspected end, or vehicles that will pass through this area, to provide more accurate location information.
- not all vehicles with each activation of the direction indicator send a message (to reduce the data volume to be transmitted mens). In such a case, the central office may instruct that more or all vehicles in the area or area will pass by, sending clues to each activation.
- the methods of the invention can also be used to update the number of lanes recorded in digital road maps.
- the methods further include: providing a digital road map indicating at least some roads also the number of Fahrspu ren; Associating the known end of a lane with a position on a road; Using the recognized end of a lane for particular temporary re-determination of the number of lanes at the position of the road. In this way, the determination of the end of a driving lane can be used to determine the total number of driving lanes.
- Another aspect of the invention relates to the arithmetic unit, which is set up to carry out the method.
- the following inventive method is performed: determining the location of an activation of the direction indicator by a vehicle; Sending an activation notice comprising the location of a central Place (via a wireless data connection). When a turn signal is considered activated is described above. The determination of the activation is also carried out by the vehicle. Another aspect relates to the vehicle that is set up to carry out the method. BRIEF DESCRIPTION OF THE DRAWING
- Fig. 1 shows schematically a traffic situation and electronic computing means according to one embodiment.
- a road 2 includes two lanes for one direction of travel.
- a vehicle 5 is injured in the right lane and blocks this lane, so that this lane ends just before the vehicle 5. This disorder is of a temporal nature and has occurred suddenly.
- the server 1 maintains a digital road map, in addition to the traffic flow and the number of lanes of each street is displayed.
- the data of the digital road map are in turn distributed to moving vehicles, on the one hand to alert drivers early to unexpected events, on the other hand to improve the function of driver assistance systems.
- the server 1 receives activation instructions from the vehicles participating in the traffic. It should be assumed here that the vehicle 5 has not sent a message to the server 1 that it has crashed and the right Fah rspur blocked.
- the other vehicles 3a, 3b, 3c and 4 are set up to activate this activity with an indication including also the location of the activation and the activation direction to the server 1 when the direction indicator is activated.
- the vehicles 3a, 3b and 3c send an activity notice to the server because their turn signal is activated.
- Vehicle 4 sends no indication in the situation shown in FIG.
- the server 1 calculates a basic spatial distribution of activations in one direction (for example on the right) and a spatial basic distribution of the activation instructions received for a longer period (1 h, 3 h, 5 h, 1 day, 2 days, 1 week or longer) Activations in the other direction.
- the space division takes place in 10m sections of the road, ie all location indications that are within a 10m section are considered as belonging to this section. If, for example, 5 activation messages each with a location specification that is within a predetermined 10 m section are received, then the basic distribution for this section has the frequency 5.
- the entire distribution maps only 50m, 00m, 200m, 500m or more of the road to reduce storage requirements and complexity.
- the server 1 calculates a spatial distribution for each activation direction from the indications received in the last 10 min. For each section and activity direction (ie, each distribution), the difference between the frequency of the current distribution and the frequency of the corresponding section and the activity direction of the basic distribution are determined. If the difference exceeds a threshold value (for example, 3 or 4), a new lane end is detected. Due to the activation direction of the distribution that exceeds the threshold value, it is detected whether it is the right or left lane that ends. The new lane end is noted in the digital road map.
- a threshold value for example, 3 or 4
- the basic distribution and the current distribution can only be calculated for the activation as a whole (ie without distinction to the left and right). In this case, only the information is generated that one lane is less available.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015209360.3A DE102015209360A1 (en) | 2015-05-21 | 2015-05-21 | Detecting lane ends on roads |
PCT/EP2016/057868 WO2016184611A1 (en) | 2015-05-21 | 2016-04-11 | Detecting lane ends on roads |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3298600A1 true EP3298600A1 (en) | 2018-03-28 |
EP3298600B1 EP3298600B1 (en) | 2019-04-10 |
Family
ID=55701976
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16715531.6A Active EP3298600B1 (en) | 2015-05-21 | 2016-04-11 | Detecting lane ends on roads |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3298600B1 (en) |
DE (1) | DE102015209360A1 (en) |
WO (1) | WO2016184611A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10760918B2 (en) | 2018-06-13 | 2020-09-01 | Here Global B.V. | Spatiotemporal lane maneuver delay for road navigation |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10029816A1 (en) * | 2000-06-16 | 2002-01-03 | Daimler Chrysler Ag | Driver assistance system |
DE10064934A1 (en) * | 2000-12-23 | 2002-06-27 | Bayerische Motoren Werke Ag | Standard interface for vehicles |
JP2004272839A (en) * | 2003-03-12 | 2004-09-30 | Toyota Motor Corp | System providing information traffic congestion |
DE102006040537A1 (en) * | 2006-08-30 | 2008-03-13 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Motor vehicle e.g. passenger car, assistance system, has sensor for detecting relevant road user e.g. pedestrian, located in surrounding of vehicle, where system determines and reproduces traffic conditions based on detected road user |
DE102008012661A1 (en) * | 2007-08-25 | 2009-02-26 | Continental Teves Ag & Co. Ohg | Update unit and method for updating a digital map |
DE102007046688A1 (en) * | 2007-09-28 | 2009-04-16 | Audi Ag | Method for operating at least one related to a lateral guidance of a motor vehicle driver assistance system and associated motor vehicle |
US9531783B2 (en) * | 2010-06-29 | 2016-12-27 | Fujitsu Ten Limited | Information distribution device |
DE102011122297A1 (en) * | 2011-12-23 | 2013-06-27 | Daimler Ag | Method for generating and using traffic-relevant information by vehicles of a vehicle pool |
KR101957943B1 (en) * | 2012-08-31 | 2019-07-04 | 삼성전자주식회사 | Method and vehicle for providing information |
DE102012223890A1 (en) | 2012-12-20 | 2014-06-26 | Robert Bosch Gmbh | Device for providing status information about state of vehicle e.g. motor vehicle, has control device to create message comprising status information, and interface for sending message to receiving unit |
DE102013220430A1 (en) | 2013-10-10 | 2015-04-16 | Continental Teves Ag & Co. Ohg | Method and system for identifying a dangerous situation and use of the system |
-
2015
- 2015-05-21 DE DE102015209360.3A patent/DE102015209360A1/en not_active Withdrawn
-
2016
- 2016-04-11 EP EP16715531.6A patent/EP3298600B1/en active Active
- 2016-04-11 WO PCT/EP2016/057868 patent/WO2016184611A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
EP3298600B1 (en) | 2019-04-10 |
WO2016184611A1 (en) | 2016-11-24 |
DE102015209360A1 (en) | 2016-11-24 |
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