WO2012159617A2 - Procédé de déduction d'informations de l'environnement à partir de l'identification de feux arrière de véhicules qui précèdent - Google Patents

Procédé de déduction d'informations de l'environnement à partir de l'identification de feux arrière de véhicules qui précèdent Download PDF

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Publication number
WO2012159617A2
WO2012159617A2 PCT/DE2012/100130 DE2012100130W WO2012159617A2 WO 2012159617 A2 WO2012159617 A2 WO 2012159617A2 DE 2012100130 W DE2012100130 W DE 2012100130W WO 2012159617 A2 WO2012159617 A2 WO 2012159617A2
Authority
WO
WIPO (PCT)
Prior art keywords
rear lights
tracked
derived
lights
analysis
Prior art date
Application number
PCT/DE2012/100130
Other languages
German (de)
English (en)
Other versions
WO2012159617A3 (fr
Inventor
Marc Fischer
Dirk Ulbricht
Original Assignee
Conti Temic Microelectronic Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic Gmbh filed Critical Conti Temic Microelectronic Gmbh
Priority to EP12726342.4A priority Critical patent/EP2715609A2/fr
Priority to DE112012001640.8T priority patent/DE112012001640A5/de
Priority to JP2014511740A priority patent/JP2014517396A/ja
Publication of WO2012159617A2 publication Critical patent/WO2012159617A2/fr
Publication of WO2012159617A3 publication Critical patent/WO2012159617A3/fr

Links

Classifications

    • 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
    • B60Q1/12—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 steering position
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • 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
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/114—Vehicle acceleration or deceleration
    • 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
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/322—Road curvature
    • 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
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/324—Road inclination, e.g. uphill or downhill
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping

Definitions

  • a method for deriving contextual information from the detection rear lights of preceding vehicles The invention relates to a method for deriving contextual information from the detection rear lights of preceding vehicles according to the preamble of claim 1.
  • the environment information may driver assistance ⁇ assistance systems are provided in particular.
  • rear vehicle lights or lights are in the context of the invention u.a. understood the following installed on the vehicle lights: reversing light, taillight, brake light and rear fog light.
  • driver ⁇ assistant functions for automatic light control of low / high beams use the information on the rec- ognized rear vehicle lights to control the high beams to prevent blinding of drivers of vehicles traveling ahead.
  • Another example is the detection of the activation of brake lights.
  • EP 1851681 B1 shows a method for detecting the activation of brake lamps ahead Vehicles in which a preceding vehicle is detected with an image sensor and when the brake lights are lit, a signal is output that can be converted in a warning device and / or in a driver assistance system.
  • the object of the invention is to provide additional or better information about the vehicle environment for a wide variety of driver assistance functions from detected rear vehicle lights .
  • This object is achieved according to the invention by an analysis of the position and movement of rear lights of preceding vehicles, which are determined in an image sequence and tracked ie tracked. The image sequence is recorded with a camera that captures the front of the vehicle. From this analysis, the desired environmental information is derived.
  • the invention is based on the consideration that Informa ⁇ tions can these data imply from the behavior of preceding vehicles. Vehicles driving ahead are recognized by their rear-mounted lights. Light information, which can provide eg a high-beam assistance system, can thus be used to derive further surroundings information. Rear lights allow by their position and movement implicit conclusions on the behavior of the vehicle. In turn, vehicle behavior implicitly allows conclusions to be drawn about the environment. Assuming that the rear lights belong to a preceding vehicle, a number of assumptions can be made.
  • the vehicle in front is usually on the same lane
  • the vehicle in front can not behave arbitrarily, but only physically sensible
  • the height of the taillights above the carriageway is in a restricted range.
  • Another characteristic is that this information relates to sections of the route ahead, thus enabling a foresight.
  • the invention offers the following technical advantages: Information derived from the rear lights of vehicles in front is robust and can be relied upon in particular in the dark or in poor visibility conditions. sig be determined. For example, a schba ⁇ catalyzed lane detection may be prohibited or restricted work in such conditions, if lane markings are no longer good to see. In poor visibility or darkness, however, rear lights from vehicles in front are activated and can be detected, from which the position of the future traffic lane can be estimated.
  • Values for detected and tracked rear lights are e.g. by a built-in high-beam assistants already available.
  • the derived information relates to incidents or sections of track that are still in front of the vehicle.
  • the invention further relates to a device comprising a camera and means for deriving environmental information from the detection of rear lights of vehicles ahead.
  • a (sharp) curve of the road can be derived.
  • the following movement pattern is recognizable: The lights of vehicles ahead do not move very well on straight stretches. However, if the vehicle in front traverses a curve while the vehicle with the camera is still in the straight section of the line, the lights of the vehicle ahead accelerate to the side. Already with a vehicle in front you can close on a curve. If there are several vehicles in front, these support the hypothesis and increase the accuracy of estimating the distance to the curve.
  • Dense traffic or traffic jams can be derived from the density of taillights.
  • a brake phase can be derived from the increased occurrence of sudden increases in brightness.
  • ⁇ nit can be derived. Then, for example, a toschitz- te from the movement of the detected position of the rear fog lamps future lane to assist the lateral guidance of the vehicle used (especially in car ⁇ tracks).
  • the derived environment information can, for example, be used by the following driver assistance functions: a) Warning of sharp curves (from lateral movement) b) Bending light (from lateral movement)

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Image Analysis (AREA)

Abstract

L'invention concerne un procédé de déduction d'informations de l'environnement à partir de l'identification de feux arrière de véhicules qui précèdent, consistant à enregistrer une séquence d'images au moyen d'une caméra détectant l'environnement avant du véhicule; à déterminer et à suivre les feux arrière de véhicules qui précèdent dans la séquence d'images; à analyser la position et le mouvement des feux arrière suivis et à déduire les informations de l'environnement à partir de cette analyse.
PCT/DE2012/100130 2011-05-26 2012-05-08 Procédé de déduction d'informations de l'environnement à partir de l'identification de feux arrière de véhicules qui précèdent WO2012159617A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP12726342.4A EP2715609A2 (fr) 2011-05-26 2012-05-08 Procédé de déduction d'informations de l'environnement à partir de l'identification de feux arrière de véhicules qui précèdent
DE112012001640.8T DE112012001640A5 (de) 2011-05-26 2012-05-08 Verfahren zur Ableitung von Umfeldinformationen aus der Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge
JP2014511740A JP2014517396A (ja) 2011-05-26 2012-05-08 前方を走行中の車両の後方ランプ類を認識することによる周辺情報の演繹方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011102512.3 2011-05-26
DE102011102512A DE102011102512A1 (de) 2011-05-26 2011-05-26 Verfahren zur Ableitung von Umfeldinformationen aus der Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge

Publications (2)

Publication Number Publication Date
WO2012159617A2 true WO2012159617A2 (fr) 2012-11-29
WO2012159617A3 WO2012159617A3 (fr) 2013-03-14

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2012/100130 WO2012159617A2 (fr) 2011-05-26 2012-05-08 Procédé de déduction d'informations de l'environnement à partir de l'identification de feux arrière de véhicules qui précèdent

Country Status (4)

Country Link
EP (1) EP2715609A2 (fr)
JP (1) JP2014517396A (fr)
DE (2) DE102011102512A1 (fr)
WO (1) WO2012159617A2 (fr)

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CN111918461A (zh) * 2020-08-12 2020-11-10 上海仙塔智能科技有限公司 路况共享的方法、***、服务器及存储介质

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DE102014216159B4 (de) 2014-08-14 2016-03-10 Conti Temic Microelectronic Gmbh Fahrerassistenzsystem
DE102018211598A1 (de) * 2018-07-12 2020-01-16 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines automatisierten Fahrzeugs

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Publication number Priority date Publication date Assignee Title
CN111918461A (zh) * 2020-08-12 2020-11-10 上海仙塔智能科技有限公司 路况共享的方法、***、服务器及存储介质
CN111918461B (zh) * 2020-08-12 2023-08-08 上海仙塔智能科技有限公司 路况共享的方法、***、服务器及存储介质

Also Published As

Publication number Publication date
EP2715609A2 (fr) 2014-04-09
WO2012159617A3 (fr) 2013-03-14
DE102011102512A1 (de) 2012-11-29
JP2014517396A (ja) 2014-07-17
DE112012001640A5 (de) 2014-02-06

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