WO2011069488A1 - Procédé d'assistance au conducteur d'un véhicule routier pour le guidage du véhicule - Google Patents

Procédé d'assistance au conducteur d'un véhicule routier pour le guidage du véhicule Download PDF

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Publication number
WO2011069488A1
WO2011069488A1 PCT/DE2010/001416 DE2010001416W WO2011069488A1 WO 2011069488 A1 WO2011069488 A1 WO 2011069488A1 DE 2010001416 W DE2010001416 W DE 2010001416W WO 2011069488 A1 WO2011069488 A1 WO 2011069488A1
Authority
WO
WIPO (PCT)
Prior art keywords
country
vehicle
signal
evaluated
lane
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.)
Ceased
Application number
PCT/DE2010/001416
Other languages
German (de)
English (en)
Inventor
Urban Meis
Christoph Wiedemann
Wladimir Klein
Axel Roth
Mari Joan Hilario
Steen Kristensen
Matthias Zobel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Microelectronic GmbH
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 US13/514,189 priority Critical patent/US8639433B2/en
Priority to DE112010003570T priority patent/DE112010003570A5/de
Priority to JP2012545082A priority patent/JP2013513901A/ja
Priority to EP10803358.0A priority patent/EP2510510B1/fr
Publication of WO2011069488A1 publication Critical patent/WO2011069488A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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 OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/10—Recognition assisted with metadata

Definitions

  • the invention relates to a method for assisting the driver of a road-bound vehicle in the vehicle guidance according to the preamble of patent claim 1. Furthermore, the invention relates to an apparatus for carrying out the method according to the invention.
  • driver assistance systems that support the driver in the longitudinal and / or transverse guidance or take over this task independently, such as ACC (Adaptive Cruise Control), LDW (Lane Departure Warning), ISA (Intelligent Speed Adaption) or lane detection systems.
  • ACC Adaptive Cruise Control
  • LDW Li Departure Warning
  • ISA Intelligent Speed Adaption
  • the essential task of such systems is to reliably detect the course of the traffic lane and its lateral boundaries, in particular with regard to the ISA function traffic signs safely, d. H. especially with a low rejection rate.
  • a navigation device is provided, with which the location of the vehicle is determined.
  • a method is known from DE 103 43 941 AI, in which after exceeding a national border or in the event of an imminent crossing of a national border, the changing traffic rules are issued. This includes, for example, a regulation for a light control of the vehicle or a regulation for a maximum speed of the vehicle. Also in this known method, the position of the vehicle by means of a navigation device, in particular via a satellite location is determined.
  • a method for identifying traffic signs with the additional use of navigation data is known, for example, from EP 1 114 371 B1, in which navigation data are provided after the recognition of traffic signs for locating the vehicle, and these are compared with one another and, if necessary, updated. For this purpose, these data are fed to an evaluation unit, a currently valid speed limit determined and possibly generated control signals for a driver assistance system.
  • the object of the invention is therefore to provide an improved method for assisting the driver of a road-bound vehicle in the leadership of his vehicle of the type mentioned, with the particular false detection with respect to lane and traffic sign recognition can be reduced.
  • the image data of the environmental sensor system are evaluated with regard to lane-relevant information
  • Data indicative of lane markings are evaluated and a first country estimation signal corresponding to the current location of the vehicle is generated;
  • the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle supporting driver assistance system.
  • the country signal is supplied to a traffic signal recognition system and / or a license plate recognition system.
  • the object is also achieved by a method having the features of patent claim 3.
  • the invention provides that
  • the image data of the environmental sensor system are evaluated with regard to information relevant to traffic signs,
  • the recognized traffic sign-relevant information is evaluated by means of data indicative of country-specific traffic signs stored in a memory device, and a second country estimation signal corresponding to the current location of the vehicle is generated,
  • the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle supporting driver assistance system.
  • the country signal is supplied to a lane detection system and / or a license plate detection system.
  • the invention provides that the image data of the surroundings sensor system are evaluated with regard to the recognition of motor vehicle registration numbers and an country estimation signal is generated by means of a frequency analysis, a country signal indicating the current location of the vehicle is generated by means of a microprocessor from the country estimation signal, and
  • the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle supporting driver assistance system.
  • the country signal is preferably fed to a traffic sign recognition system and / or to a lane recognition system and / or to a license plate identification system.
  • the image data of the environmental sensor system are evaluated with regard to lane-relevant information
  • the recognized lane-relevant information is evaluated by means of data indicating country-specific lane markings stored in a first memory device, and a first country estimation signal corresponding to the current location of the vehicle is generated, the image data of the environmental sensor system are evaluated with regard to information relevant to traffic signs,
  • the recognized traffic-sign-relevant information is evaluated by means of data indicating country-specific traffic signs stored in a second memory device and a second country estimation signal corresponding to the current location of the vehicle is generated,
  • a country signal indicating the current location of the vehicle is generated from the first and second country estimation signals
  • the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system.
  • Lane markings Information collected as features that describe the lane, such. Ex. Lane markings, characteristic edge structures, restricted areas, or other country-specific road markings.
  • the fusion module weights and selects the two country estimation signals as input values and from this generates the actual country signal, which indicates the country in which the vehicle is located.
  • country signal supplied to a driver information device country-specific information is made available to the driver, for example a country-specific maximum speed on highways. If such a country signal to a driver assistance system for
  • country-specific traffic laws and traffic standards can be met, so for example by corresponding country-dependent parameterization in an ACC system, the minimum distance to the vehicle ahead.
  • an implicit speed limit can be determined and used by a driver assistance system for regulating the vehicle speed.
  • the country signal together with the lane-relevant information serve the position of the current lane running within the road.
  • the statutory distance to the vehicle in front can be maintained country-specific.
  • the image data of the environmental sensor system are evaluated with regard to the recognition of motor vehicle registration numbers, in order to generate from this by means of a frequency analysis a third country estimation signal, which is supplied to the fusion module.
  • the country signal can advantageously be supplied to a traffic sign recognition system, in order, for example, to obtain a traffic signal recognition system.
  • the country signal is supplied to a lane recognition system of the vehicle, a dynamic adaptation of algorithms to the country conditions can be carried out, in order here to increase the detection performance while simultaneously reducing a false detection.
  • the detection of Botts "Dots can be limited to the country USA, so as to prevent possibly Falschwarnungen due to misrecognized Botts" dots in other countries.
  • Another advantage is the saving of computation time, since special detector stages can be completely switched off under certain circumstances (eg Bott 1 s Dots Detection, rectangular speed limits in the USA, etc.).
  • a double marking can be interpreted correctly, since, for example, overtaking is only permitted if the marking is dashed inside the traffic lane but is drawn through outside the traffic lane,
  • a construction site can only be identified correctly on the basis of the marking color depending on the country (for example, in Germany the marking color of a construction site is yellow, in the US, on the other hand, the color yellow is used as normal marking), and
  • dashed marks may differ from country to country and u. a. depending on the keyholes / segment lengths (example: In Spain and France, external markings on motorways are common
  • the unit of measure that is to say km / h or mph of the numbers recognized on the traffic signs, is determined from the driving data of the vehicle, in particular its driving speed and the recognized traffic-sign-relevant information.
  • the invention is also advantageous to detect the color of the street lighting as lane-relevant information and to use it to generate the first country estimation signal.
  • FIG. 1 shows a block diagram of an apparatus for carrying out an embodiment of the method according to the invention.
  • This device installed in a vehicle comprises an environment sensor system 1 implemented as a camera, a lane recognition system 2 with an associated first memory device 2a, a traffic sign recognition system 3 with an associated second memory device 3a and a license plate recognition system 4 with an associated third memory device 4a.
  • environment sensor system 1 implemented as a camera
  • lane recognition system 2 with an associated first memory device 2a
  • traffic sign recognition system 3 with an associated second memory device 3a
  • license plate recognition system 4 with an associated third memory device 4a.
  • These systems 2, 3 and 4 obtained from the camera 1 image data of the vehicle environment.
  • the camera 1 is usually installed behind the windshield in the region of the rearview mirror and directed forward so that both the roadway with the vehicles ahead and the road edges are detected.
  • the lane recognition system 2 comprises an image processing system with which the obtained image data are processed and evaluated.
  • the image data of the camera 1 are evaluated with regard to lane-relevant information by Knowing lane-related information using data stored in the first memory device 2a country-specific lane markers indicating data are compared and the current location of the vehicle corresponding country estimation signal Sl is generated, which is a fusion module 5, usually a microprocessor supplied.
  • the traffic sign recognition system 3 likewise comprises an image processing system with which the received image data are processed and evaluated.
  • the image data of the camera 1 are evaluated with regard to information relevant to traffic signs by comparing the recognized traffic-sign-relevant information by means of country-specific traffic signs stored in a second memory device 3a and generating a second country estimation signal S2 corresponding to the current location of the vehicle.
  • This second country estimation signal S2 is also supplied to the fusion module 5.
  • the image data is also processed by the license plate detection system 4 and compared by means of the data indicative in its associated memory device 4a country-specific vehicle license plate data and a third country estimate signal S3 fed to the fusion module 5.
  • the device can also be realized without such a license plate detection system 4.
  • the fusion module 5 determines a country signal L which is stored in a non-volatile memory 5 a of the fusion module 5 at least via an ignition run of the vehicle.
  • This country signal L is both a driver information device 6 and / or a driver assistance system 7, for example.
  • a ACC system or a lane detection system which includes, for example, a lane keeping function and / or lane change assistant supplied.
  • an ACC system with the country signal can set the country-specific legally permissible distance to the vehicle ahead and take it into the corresponding regulation.
  • the driver can, for example, be informed about the applicable speed limit on a motorway, or information about the traffic regulations and traffic regulations valid in the current country can be informed. It is also possible to indicate to the driver whether the speedometer is displayed in "km / h" or "mph".
  • the device according to FIG. 1 for carrying out the method according to the invention can also be constructed in such a way that only the image processing system of the lane recognition system 2 generates a country estimation signal S1, from which the fusion module 5 generates a country signal L, which corresponds to both
  • a further alternative embodiment results from the fact that, instead of the image processing system of the lane recognition system 2, the traffic signal recognition system 3 generates a country estimation signal S2, which in turn is supplied as a country signal L to the lane recognition system 2 and to the license plate recognition system 4.
  • the license plate detection system 4 may be used to generate a country estimation signal S3 so that the country signal L generated therefrom can be supplied to the other systems, that is to say to the lane recognition system 2 and also to the traffic signal recognition system 3.
  • two of these three systems ie lane recognition system 2 and traffic sign recognition system 3 or lane recognition system 2 and license plate recognition system 4 or traffic signal recognition system 3 and license plate recognition system 4 each generate a country estimation signal Sl and S2 or Sl and S3 or S2 and S3, from which Fusion module 5 a country signal L is generated.

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

Abstract

L'invention concerne un procédé d'assistance au conducteur d'un véhicule routier pour le guidage du véhicule, selon lequel l'environnement du véhicule, en particulier les marquages et les signaux routiers bordant les voies d'une chaussée sont détectés au moyen d'un ensemble de capteurs d'environnement (1) et sont évalués au moyen d'un système d'évaluation d'images. Selon l'invention, les données d'images de l'ensemble de capteurs d'environnement (1) sont évaluées en fonction d'informations pertinentes relatives à la voie, les informations pertinentes détectées relatives à la voie étant évaluées au moyen de données indiquant des marquages de voie spécifiques aux pays stockées dans un dispositif de mémoire (2a) et un premier signal d'estimation du pays (S1) correspondant à l'endroit effectif du véhicule étant produit, et/ou sont évaluées en fonction d'informations pertinentes relatives aux signaux routiers, les informations pertinentes détectées relatives aux signaux routiers étant évaluées au moyen de données indiquant des signaux routiers spécifiques aux pays stockés dans un dispositif de mémoire (3a) et un signal d'estimation de pays (S2) correspondant à l'endroit effectif du véhicule étant produit et/ou sont évaluées en fonction de la détection de numéros d'immatriculation automobiles (4) et un signal d'estimation du pays (S3) est produit au moyen d'une analyse de fréquence. Au moyen d'un microprocesseur (5), un signal de pays (L) indiquant le lieu effectif du véhicule est généré à partir d'un signal d'estimation du pays (S1, S2, S3) ou de plusieurs signaux d'estimation du pays (S1, S2, S3), un dispositif d'information du conducteur (6) destiné à fournir des informations spécifiques aux pays concernant le guidage longitudinal et transversal du véhicule étant commandé par le signal de pays (L) et/ou le signal de pays (L) étant acheminé au moins vers un système d'assistance au conducteur (7) contribuant au guidage longitudinal et/ou transversal du véhicule. L'invention concerne également un dispositif pour mettre en oeuvre le procédé.
PCT/DE2010/001416 2009-12-09 2010-12-07 Procédé d'assistance au conducteur d'un véhicule routier pour le guidage du véhicule Ceased WO2011069488A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US13/514,189 US8639433B2 (en) 2009-12-09 2010-12-07 Method for supporting the driver of a road-bound vehicle in guiding the vehicle
DE112010003570T DE112010003570A5 (de) 2009-12-09 2010-12-07 Verfahren zur Unterstüztung des Fahrers eines straßengebundenen Fahrzeugs bel derFahrzeugführung
JP2012545082A JP2013513901A (ja) 2009-12-09 2010-12-07 車両操縦の際道路通行車両の運転者を支援する方法
EP10803358.0A EP2510510B1 (fr) 2009-12-09 2010-12-07 Procédé d'assistance au conducteur d'un véhicule routier pour le guidage du véhicule

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009057553A DE102009057553A1 (de) 2009-12-09 2009-12-09 Verfahren zur Unterstützung des Fahrers eines straßengebundenen Fahrzeugs bei der Fahrzeugführung
DE102009057553.7 2009-12-09

Publications (1)

Publication Number Publication Date
WO2011069488A1 true WO2011069488A1 (fr) 2011-06-16

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PCT/DE2010/001416 Ceased WO2011069488A1 (fr) 2009-12-09 2010-12-07 Procédé d'assistance au conducteur d'un véhicule routier pour le guidage du véhicule

Country Status (5)

Country Link
US (1) US8639433B2 (fr)
EP (1) EP2510510B1 (fr)
JP (1) JP2013513901A (fr)
DE (2) DE102009057553A1 (fr)
WO (1) WO2011069488A1 (fr)

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US8639433B2 (en) 2014-01-28
US20120245832A1 (en) 2012-09-27
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