WO2016078651A1 - Procédé d'évaluation d'une situation de circulation pour véhicule et système d'assistance à la conduite pour véhicule - Google Patents

Procédé d'évaluation d'une situation de circulation pour véhicule et système d'assistance à la conduite pour véhicule Download PDF

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Publication number
WO2016078651A1
WO2016078651A1 PCT/DE2015/200467 DE2015200467W WO2016078651A1 WO 2016078651 A1 WO2016078651 A1 WO 2016078651A1 DE 2015200467 W DE2015200467 W DE 2015200467W WO 2016078651 A1 WO2016078651 A1 WO 2016078651A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
traffic
sign
driver assistance
assistance system
Prior art date
Application number
PCT/DE2015/200467
Other languages
German (de)
English (en)
Inventor
Oliver Billstein
Christoph Hassenpflug
Svenja NEUGEBAUER
Axel Roth
Mark Sollweck
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 DE112015004087.0T priority Critical patent/DE112015004087A5/de
Publication of WO2016078651A1 publication Critical patent/WO2016078651A1/fr

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Classifications

    • 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
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • 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
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs

Definitions

  • the invention is based on a method for assessing a traffic situation for a vehicle and on a driver assistance system for a vehicle according to the preamble of the independent claims.
  • Traffic signs are road signs according to road traffic regulations or symbols marked on the road signs and lines. They serve to influence or regulate the traffic flow.
  • Road signs have been internationally standardized by the Vienna Convention on Road Signs so that they can be more easily grasped and interpreted.
  • the detection of traffic signs is camera-based.
  • the traffic signs are first detected within the image and interpre ⁇ based on their front page.
  • additional information is needed in order to be able to correctly interpret, for example, the rules of priority for turning right roads or other traffic situations occurring on a priority road.
  • the present invention provides a method for Beurtei ⁇ development of a traffic situation for a vehicle, comprising a system for detection of traffic signals, wherein the traffic sign of the own lane of traffic signs of other lanes or an opposite lane, which do not point in the direction of travel of the vehicle are distinguished, and the contour of the traffic signs of the other lanes and the recognizable from behind back contour of traffic signs of the oncoming lane to detect the content or regulatory content the traffic sign is evaluated.
  • ⁇ rin invention is that the system does not recognize the front of the Traffic Sign ⁇ Chen to detect this traffic sign or traffic sign and interpret, but the recognition of the back and the contour of the road sign is sufficient derive its regulatory content from it.
  • the contour of the traffic sign or traffic sign can be used to safely deduce their contour.
  • the detected traffic situation is forwarded or reported to a driver assistance system in the vehicle. This measure then advantageously informed the driver of the vehicle constantly about the current traffic situation, even if he was careless and has overlooked one or more traffic signs.
  • predetermined vehicle functions are triggered as a function of the detected traffic situation. This can advantageously increase the efficiency of driving ⁇ imaging guidance, as certain functions, such as stopping of the engine can be suppressed or triggered at standstill of the vehicle. For example, if a red traffic light or a train gate is detected, the waiting time is likely to be longer and the engine can be stopped.
  • the regulatory content of the traffic signs of other traffic lanes or the opposite traffic lane is detected together with the recognized traffic signs of the own traffic lane, the current priority situation is recognized and forwarded to a driver assistance system for supporting highly automated driving. By detecting the front and rear sides of the traffic signs and the interpretation of the current traffic control, the safety in automated driving can advantageously be increased.
  • a warning function in the vehicle especially if ei ⁇ ne intersection situation is detected.
  • the stored active control content is discarded with the priority related signs before ⁇ times detected for a detected leaving a priority road, or at a detected entering a priority road.
  • This can be detected by the advantageous recognition of traffic signs based on the shape or contour of the back of a special traffic situation in Abbie ⁇ conditions of a vehicle at an intersection, in particular due to a bending priority road, and this information is passed on accordingly.
  • the present invention further provides a driver assistance system for a vehicle, comprising a system for detecting traffic signs, with at least one camera, wherein the traffic signal recognition system detects the traffic signs the own lane of traffic signs of other lanes or an opposite lane, and the traffic signal recognition system uses the contour (or backward recognizable rear contour) of traffic signs of the other lanes or the opposite lane for recognizing the content of the traffic signs. Since according to the invention Augustas ⁇ sistenzsystem that executes the method described above, it has the same, already above-described advantages in the detection of a traffic situation.
  • the inventive recognition of the signs according to their shape and faces away from the vehicle signs can be interpreted in terms of their Rege ⁇ lung content, said information being used for evaluating the current traffic situation.
  • One advantage is that the security of detecting the correct traffic situation is considerably increased.
  • the system for detecting traffic signs has a further input device for determining traffic situation-related data. This can advantageously increase the degree of recognition of traffic signs.
  • the input device for determining traffic-related data is a lidar sensor.
  • Lidar sensors are extremely robust in terms of light and weather conditions and provide a large amount of evaluable data, which can be used advantageously to assess the traffic situation.
  • the driver assistance system suppresses predetermined vehicle functions as a function of the detected traffic situation or triggers predetermined vehicle functions as a function of the detected traffic situation. This can, as already described above in the method, advantageously positively influence the efficiency of the vehicle guidance.
  • the driver assistance system recognizes the regulatory content of the traffic signs of other traffic lanes, in particular an oncoming lane, together with the recognized traffic signs of their own traffic lane and interprets the current priority situation and uses this to support highly automated driving of the vehicle. By recognizing the contour of the traffic ⁇ sign at another lane from behind a contribution to increasing the safety of highly automated ⁇ sierem driving the vehicle can be made favorable.
  • the driver assistance system of the vehicle is detected when leaving a priority road, or at a detected entering a priority discard the stored road ⁇ active control content he formerly known per ⁇ with the priority of contiguous plates. This measure ensures a correct assessment of the change in the traffic situation when the vehicle turns off and a turning right-of-way road. Due to the advantageous recognition of the regulatory content of traffic signs based on their shape or contour by detecting the rear side can advantageously the current traffic situation in which the vehicle is located, are detected more precisely.
  • the driver assistance system of the vehicle is detected at to stop at a stop ⁇ shield, or a priority-grant shield triggers a warning function in the vehicle, particularly when it detects a Kreu ⁇ wetting situation.
  • This measure can advantageously increase the safety of the vehicle, since the occurrence of Vor ⁇ driving errors of the driver is unlikely.
  • FIG. 1 is a schematic representation of a first example of a traffic situation with a vehicle with the driver assistance system according to the invention
  • FIG. 2 shows a second example of a traffic situation in which the back of a traffic sign can provide important information.
  • FIG. 4 shows the traffic sign "Stop” as an example of a further sign whose control content can also be recognized from the rear;
  • FIG. 5 shows the traffic sign "granting priority" as an example of another sign whose control content can also be recognized from the rear ;
  • FIG. 6 shows a third example of a traffic situation in which the rear side of a traffic sign can provide important information.
  • Fig. 1 shows a schematic illustration of a first game ⁇ In a traffic situation with a vehicle 1 having an inventive driver assistance system 12.
  • the vehicle 1 has a camera 11, which transmits its data under ⁇ on to a system 14 for traffic sign recognition.
  • the camera 11 is preferably closed to an internal vehicle bus , so that other systems in the vehicle 1 can also use the data of the camera 11. However, the camera 11 may also be connected directly to the traffic sign recognition system 14.
  • the road sign recognition 14 forms part of a sesas ⁇ sistenzsystems 12 which analy ⁇ Siert the current traffic situation and this analysis indicates the driver of the vehicle 1 from ⁇ .
  • the driver assistance system 12 has the task of the driver of the vehicle 1 always display the current traffic situation in a viewing device.
  • the display device may be an image ⁇ screen in the cockpit of the vehicle. 1
  • the viewing device may be a so-called head-up display, which mirrors the relevant information in the windshield of the vehicle 1.
  • first example traffic signs to be recognized is a priority ⁇ shield 43 in the same lane, and a traffic sign 41 on the opposite lane.
  • the driver assistance system 12 of the driving tool 1 evaluates the camera data of the camera 11, and he ⁇ knows an oncoming vehicle 3. Since in the traffic situation shown in Fig. 1, no intersection between the vehicle 1 and the vehicle 3, the data refer to the traffic sign 41 on an intersection that has already passed the vehicle 1. Therefore, the traffic sign 41 is not used in the illustrated example for assessing the traffic situation.
  • the vehicle 1 which performs the erfindungsge ⁇ Permitted method, is located on a yield ⁇ road and travels at an intersection. The driver of the driving tool 1 ⁇ would turn left at the intersection and sets the turn signal of the vehicle first
  • the driver assistance system 12 has the camera 11 built into the vehicle 1 with a traffic sign recognition system 14.
  • the traffic sign recognition system 14 recognizes, on the basis of the traffic sign 51, that the vehicle 1 is on a priority road.
  • the driver ⁇ assistance system 12 evaluates the received camera data with regard to other objects in the camera image, and thus detects the oncoming vehicle 3, which is also located on the priority road. Further, the driver assistance ⁇ assistance system 12 of the vehicle 1 detects that an intersection between the oncoming vehicle 3 and the own vehicle 1 is located.
  • the system 14 for detecting traffic signs within the vehicle 1 now checks the image content of the camera 11 built therein on further traffic signs, which are located in the Ge ⁇ genfahrspur. Since these traffic signs do not point in the direction of travel of the vehicle 1, only their gray back on the camera images can be seen. However, some important traffic signs are already recognizable from behind by their shape or contour.
  • Fig. 3 shows a sign 55, which indicates a priority road.
  • a shield 55 is also in front of the crossing shown in Fig. 2 on the opposite lane as
  • Fig. 6 shows a third example of a traffic situation in which the back side of a road sign can provide important infor mation ⁇ . The situation is similar to the traffic situation of FIG. 2. In contrast to FIG. 2, this traffic situation is a bending right of way. This is usually good to see from the Fahrbahnmarkie ⁇ requirements.
  • the driver assistance system 12 may "give way" on the basis of the captured by the camera 11 back of -Schildes 63 on the opposite lane he ⁇ know that a right has priority must be present here, and the vehicle 1 itself has priority. The other vehicle 3 has to wait even though the vehicle 1 wants to turn left.
  • This traffic situation can be seen even in snowy roads and snowy signs based on the detected shield back side or contour of the road sign 63 on the roadway counter ⁇ .
  • the inventive method increases because ⁇ with significantly the recognition accuracy of traffic situations and thus the traffic safety of road users.
  • the logic of the traffic recognition ⁇ and thus the display of the driver assistance system 12 thus depends on whether a turn on a main street ⁇ or a side street is detected.
  • He ⁇ recognition of traffic signs based on the contour or outline of the traffic situation can be detected much more quickly and thus makes an important contribution to the safety of their own vehicle 1 and a meet ⁇ the vehicle. 3

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système d'assistance à la conduite par caméra d'un véhicule qui reconnaît en particulier le panneau Arrêt, le panneau Route prioritaire et le panneau Cédez le passage par leur contour ou leur profil. L'idée de base est que le système utilise le contour distinctif de ces panneaux pour interpréter leur signification. Un avantage est que le système n'a pas besoin de reconnaître l'avant de ce panneau de circulation pour détecter la signification de ces panneaux. Cette invention aide le système d'assistance à la conduite du véhicule de prendre compte tout le contexte pour évaluer la situation de circulation.
PCT/DE2015/200467 2014-11-21 2015-10-06 Procédé d'évaluation d'une situation de circulation pour véhicule et système d'assistance à la conduite pour véhicule WO2016078651A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112015004087.0T DE112015004087A5 (de) 2014-11-21 2015-10-06 Verfahren zur beurteilung einer verkehrssituation für ein fahrzeug sowie fahrerassistenzsystem für ein fahrzeug

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014223812.9 2014-11-21
DE102014223812.9A DE102014223812A1 (de) 2014-11-21 2014-11-21 Verfahren zur beurteilung einer verkehrssituation für ein fahrzeug sowie fahrerassistenzsystem für ein fahrzeug

Publications (1)

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WO2016078651A1 true WO2016078651A1 (fr) 2016-05-26

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WO (1) WO2016078651A1 (fr)

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Publication number Priority date Publication date Assignee Title
GB2580388B (en) * 2019-01-09 2021-07-28 Jaguar Land Rover Ltd Control system for a vehicle

Citations (3)

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DE19829162A1 (de) * 1998-06-30 2000-01-05 Erwin Dietz Verwendung einer elektronischen Kamera und einer mit ihr zusammenarbeitenden Bilderkennungseinrichtung in einem Automobil zum Erkennen von Verkehrszeichen
DE102007048842A1 (de) * 2007-10-11 2008-09-04 Vdo Automotive Ag Fahrerassistenzsystem zur Warnung bei Falschfahrt
DE102011082600A1 (de) * 2011-09-13 2013-03-14 Robert Bosch Gmbh Erkennung eines Befahrens eines Fahrzeuges in eine nicht zulässige Fahrtrichtung

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Publication number Priority date Publication date Assignee Title
EP1383098B1 (fr) * 2002-07-09 2006-05-17 Accenture Global Services GmbH Dispositif de détection automatique de panneaux de signalisation routière
DE10334620B4 (de) * 2003-07-30 2023-07-06 Robert Bosch Gmbh Generierung von Verkehrshinweisen durch die Interpretation von Verkehrszeichenszenarien und Navigationsinformation in einem Fahrzeug
DE102008043756B4 (de) * 2008-11-14 2022-09-01 Robert Bosch Gmbh Verfahren und Steuergerät zum Bereitstellen einer Verkehrszeicheninformation
DE102010028669A1 (de) * 2010-05-06 2011-11-10 Zf Friedrichshafen Ag Verfahren zum Betreiben eines Antriebsstrangs
DE102012200431B4 (de) * 2012-01-12 2019-08-08 Robert Bosch Gmbh Verfahren zur Bestimmung eines Vorliegens einer Kreuzung in einem von einem Fahrzeug befahrenen Straßenverlauf

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
DE19829162A1 (de) * 1998-06-30 2000-01-05 Erwin Dietz Verwendung einer elektronischen Kamera und einer mit ihr zusammenarbeitenden Bilderkennungseinrichtung in einem Automobil zum Erkennen von Verkehrszeichen
DE102007048842A1 (de) * 2007-10-11 2008-09-04 Vdo Automotive Ag Fahrerassistenzsystem zur Warnung bei Falschfahrt
DE102011082600A1 (de) * 2011-09-13 2013-03-14 Robert Bosch Gmbh Erkennung eines Befahrens eines Fahrzeuges in eine nicht zulässige Fahrtrichtung

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LEVINSON J ET AL: "Towards fully autonomous driving: Systems and algorithms", INTELLIGENT VEHICLES SYMPOSIUM (IV), 2011 IEEE, IEEE, 5 June 2011 (2011-06-05), pages 163 - 168, XP032415188, ISBN: 978-1-4577-0890-9, DOI: 10.1109/IVS.2011.5940562 *

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DE102014223812A1 (de) 2016-05-25
DE112015004087A5 (de) 2017-06-22

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