DE102010021944A1 - Device for forecasting road arrangement in front of vehicle, particularly motor vehicle, comprises interface for reading information about position of headlights or rear lights of vehicle - Google Patents
Device for forecasting road arrangement in front of vehicle, particularly motor vehicle, comprises interface for reading information about position of headlights or rear lights of vehicle Download PDFInfo
- Publication number
- DE102010021944A1 DE102010021944A1 DE102010021944A DE102010021944A DE102010021944A1 DE 102010021944 A1 DE102010021944 A1 DE 102010021944A1 DE 102010021944 A DE102010021944 A DE 102010021944A DE 102010021944 A DE102010021944 A DE 102010021944A DE 102010021944 A1 DE102010021944 A1 DE 102010021944A1
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- headlamps
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- 238000000034 method Methods 0.000 claims abstract description 8
- 230000006870 function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
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Classifications
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- 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
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- 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
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/803—Relative lateral speed
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zur Vorausschau eines vor einem Fahrzeug liegenden Streckenverlaufs, insbesondere eines vor einem Kraftfahrzeug liegenden Straßenverlaufs. Die Erfindung betrifft ferner ein Verfahren zur Vorausschau des vor einem Fahrzeug liegenden Streckenverlaufs.The invention relates to a device for forecasting a route ahead of a vehicle, in particular a road ahead of a motor vehicle. The invention further relates to a method for predicting the route ahead of a vehicle.
Aus dem Stand der Technik sind verschiedene Lösungen zur Vorausschau eines vor einem Fahrzeug liegenden Streckenverlaufs bekannt, bei denen aus Kamerabildern einer vor einem Kraftfahrzeug liegenden Straße der Straßenverlauf ermittelt wird. Der so ermittelte Straßenverlauf kann in verschiedenen Fahrerassistenzsystemen genutzt werden, zum Beispiel in Fahrerassistenzsystemen zur Steuerung von Lichtfunktionen, insbesondere Lichtverteilungen von Scheinwerfern.From the prior art, various solutions for predicting a route lying in front of a vehicle are known in which the course of the road is determined from camera images of a road in front of a motor vehicle. The thus determined road course can be used in various driver assistance systems, for example in driver assistance systems for controlling light functions, in particular light distributions of headlights.
Bei den bekannten Lösungen wird der Straßenverlauf anhand von Spurmarkierungen oder anderen feststehenden Objekten im Straßenraum erkannt. Als solche Objekte kommen Straßenschilder und Leitpfosten in Frage.In the known solutions of the road is detected by lane markers or other stationary objects in the street. As such objects, street signs and delineators come into question.
Ein Nachteil ist jedoch, dass die Sichtweite und damit der ermittelbare Straßenverlauf gerade bei Nacht stark reduziert ist, so dass eine Erkennung der Spurmarkierungen mittels einer Kamera sehr begrenzt ist. Für die sinnvolle Steuerung von Lichtfunktionen durch ein Fahrerassistenzsystem ist eine große Vorausschau notwendig, wünschenswert ist eine Vorausschau des Straßenverlaufs von mindestens 60 m.A disadvantage, however, is that the visibility and thus the determinable road course, especially at night is greatly reduced, so that detection of the lane markers by means of a camera is very limited. For the sensible control of lighting functions by a driver assistance system, a large foresight is necessary, a prediction of the road course of at least 60 m is desirable.
Alternativ ist auch die Nutzung von Daten von satellitengestützten Navigationssystemen zur Vorausschau eines Straßenverlaufs bekannt. Die Möglichkeit der Vorausschau mittels eines satellitengestützten Navigationssystems findet allerdings ihre Grenze, wenn das verwendete elektronische Kartenmaterial nicht aktuell ist. Eine zuverlässige Vorausschau des Straßenverlaufs mit einem satellitengestützten Navigationssystem allein ist bei der Verwendung des Straßenverlaufs in Fahrerassistenzsystemen allein nicht sinnvoll. Eine gleichwertige Alternative zur im Vergleich dazu stets aktuellen Auswertung eines Kamerabildes ist die Vorausschau des Straßenverlaufs mittels eines Navigationssystems daher nicht.Alternatively, the use of data from satellite-based navigation systems for forecasting a road course is known. However, the possibility of forecasting by means of a satellite-based navigation system finds its limit if the electronic map material used is not up-to-date. A reliable forecast of the road with a satellite-based navigation system alone is not useful when using the road in driver assistance systems alone. An equivalent alternative to the comparison of this always current evaluation of a camera image is the forecast of the road through a navigation system therefore not.
Der Erfindung liegt das Problem zugrunde die Möglichkeiten der Vorausschau von Streckendaten insbesondere bei Nacht zu verbessern.The invention is based on the problem of improving the possibilities of forecasting route data, in particular at night.
Dieses Problem wird erfindungsgemäß dadurch gelöst, dass die Vorrichtung eine erste Schnittstelle aufweist, über welche Informationen
- - über Positionen von Scheinwerfern und/oder von Rückleuchten wenigstens eines entgegenkommenden und/oder vorausfahrenden Fahrzeugs,
- – über Positionsänderungen der Scheinwerfer und/oder der Rückleuchten,
- – über Objektwinkel der Scheinwerfer und/oder der Rückleuchten,
- – über Objektwinkeländerungen der Scheinwerfer und/oder der Rückleuchten,
- – über Öffnungswinkel zwischen Objektrichtungen von Scheinwerfern und/oder Rückleuchten eines Paares der Scheinwerfer und/oder der Rückleuchten und/oder
- – über Öffnungswinkeländerungen
- - positions of headlamps and / or tail lamps of at least one oncoming and / or preceding vehicle,
- - changes in the position of the headlamps and / or taillights,
- Via object angles of the headlights and / or tail lights,
- Via object angle changes of the headlights and / or the tail lights,
- - Over opening angle between the direction of the headlights and / or tail lights of a pair of headlights and / or taillights and / or
- - over opening angle changes
Das Problem wird ferner gelöst durch ein erfindungsgemäßes Verfahren zur Vorausschau eines vor einem Fahrzeug liegenden Streckenverlaufs, bei dem die Ermittlung des Streckenverlaufs aus aktuellen und/oder gespeicherten Informationen
- – über Positionen von Scheinwerfern und/oder von Rückleuchten wenigstens eines entgegenkommenden und/oder vorausfahrenden Fahrzeugs,
- – über Positionsänderungen der Scheinwerfer und/oder der Rückleuchten,
- – über Objektwinkel der Scheinwerfer und/oder der Rückleuchten,
- – über Objektwinkeländerungen der Scheinwerfer und/oder der Rückleuchten,
- – über Öffnungswinkel zwischen Objektrichtungen von Scheinwerfern und/oder Rückleuchten eines Paares der Scheinwerfer und/oder der Rückleuchten und/oder
- – über Öffnungswinkeländerungen
- - positions of headlamps and / or tail lamps of at least one oncoming and / or preceding vehicle,
- - changes in the position of the headlamps and / or taillights,
- Via object angles of the headlights and / or tail lights,
- Via object angle changes of the headlights and / or the tail lights,
- - Over opening angle between the direction of the headlights and / or tail lights of a pair of headlights and / or taillights and / or
- - over opening angle changes
Dieses bietet insbesondere bei Nachtfahrten die Möglichkeit unabhängig von den Spurmarkierungen oder anderen ortsfesten Dingen den Straßenverlauf mittels eines Kamerabildes zu ermitteln. Die Erfindung kann aber auch in Ergänzung zu einer bekannten Vorrichtung zur Vorausschau des Steckenverlaufs genutzt werden.This offers the possibility, in particular during night driving, to determine the course of the road by means of a camera image independently of the lane markings or other stationary objects. The invention can also be used in addition to a known device for forecasting the Steckenverlaufs.
Die erfindungsgemäße Vorrichtung kann eine zweite Schnittstelle aufweisen. Über die erste Schnittstelle oder die zweite Schnittstelle können Informationen über die Beschaffenheit der vom Fahrzeug befahrenen Straße, wie zum Beispiel der Straßenbreite, der Anzahl der Fahrspuren und/oder der Fahrbahnbeschaffenheit in die Vorrichtung einlesbar sein. Auch diese weiteren Informationen können vorteilhaft für die Ermittlung des Straßenverlaufs genutzt werden.The device according to the invention may have a second interface. About the first interface or the second interface information about the nature of the road used by the vehicle, such as the road width, the number of lanes and / or the road condition can be read into the device. This further information can be used advantageously for the determination of the course of the road.
Eine erfindungsgemäße Vorrichtung kann eine dritte Schnittstelle aufweisen. Über die erste Schnittstelle, die zweite Schnittstelle oder die dritte Schnittstelle können Informationen über die Entfernung des Fahrzeugs zum entgegenkommenden und/oder vorausfahrenden Fahrzeug in die Vorrichtung einlesbar sein, die ebenfalls vorteilhaft für die Vorausschau des Streckenverlaufs genutzt werden können.A device according to the invention may have a third interface. Information about the distance of the vehicle to the oncoming and / or preceding vehicle can be read into the device via the first interface, the second interface or the third interface, which information can likewise be advantageously used for the preview of the route.
Vor dem Ermitteln des Streckenverlaufs aus den oben genannten Informationen können bei einem erfindungsgemäßen Verfahren diese Informationen aus Bildern des vor dem Fahrzeug liegenden Fahrzeugumfelds ermittelt werden. Bei der Ermittlung des Streckenverlaufs können Informationen über die Beschaffenheit der vom Fahrzeug befahrenen Straße, wie zum Beispiel der Straßenbreite, der Anzahl der Fahrspuren und/oder der Fahrbahnbeschaffenheit berücksichtigt werden. Ebenso können bei der Ermittlung des Streckenverlaufs die Entfernung des Fahrzeugs zum entgegenkommenden und/oder vorausfahrenden Fahrzeug berücksichtig werden.Before determining the route from the above-mentioned information, in a method according to the invention, this information can be determined from images of the vehicle environment ahead of the vehicle. When determining the route, information about the nature of the road traveled by the vehicle, such as the road width, the number of lanes and / or the road condition can be considered. Likewise, when determining the course of the route, the distance of the vehicle to the oncoming and / or preceding vehicle can be taken into account.
Anhand der beigefügten Zeichnungen wird die Erfindung nachfolgend näher erläutert. Dabei zeigen die Figuren beispielhaft Fahrsituationen in denen eine erfindungsgemäße Vorrichtung in einem Kraftfahrzeug F1 anhand der Rücklichter eines vorausfahrenden Fahrzeugs F2 den Straßenverlauf erkennt. Es zeigt in schematischer DarstellungReference to the accompanying drawings, the invention is explained in more detail below. The figures show by way of example driving situations in which a device according to the invention in a motor vehicle F1 recognizes the course of the road on the basis of the taillights of a preceding vehicle F2. It shows in a schematic representation
Das Kraftfahrzeug F1 weist eine Kamera K und eine erfindungsgemäße Vorrichtung (nicht dargestellt) auf. Das Kraftfahrzeug F1 fährt auf einer Straße S hinter dem zweiten Kraftfahrzeug F2. Die Kamera K erzeugt Bilder des vor dem Kraftfahrzeug F1 liegenden Fahrzeugumfeldes. Dabei erfasst es auch das Heck des Kraftfahrzeugs F2 mit dessen Rückleuchten r2.The motor vehicle F1 has a camera K and a device according to the invention (not shown). The motor vehicle F1 travels on a road S behind the second motor vehicle F2. The camera K generates images of the vehicle environment ahead of the vehicle F1. It also detects the rear of the motor vehicle F2 with its taillights r2.
Bilddaten der von der Kamera K erzeugten Bilder werden über eine Schnittstelle an die erfindungsgemäße Vorrichtung gegeben. In der Vorrichtung werden aus den Bildern Informationen
- – über Positionen der Rückfeuchten des Kraftfahrzeugs F2,
- – über Positionsänderungen der Rückleuchten,
- – über Objektrichtungen bzw. -winkel der Rückleuchten,
- – über Objektrichtungsänderungen bzw. Objektwinkeländerungen der Rückleuchten,
- – über Öffnungswinkel zwischen den Objektrichtungen der beiden Rückleuchten und/oder
- – über Öffnungswinkeländerungen
- Over positions of the return moisture of the motor vehicle F2,
- - about position changes of the taillights,
- Via object directions or angles of the tail lights,
- Via object direction changes or object angle changes of the tail lights,
- - Over opening angle between the directions of the two tail lights and / or
- - over opening angle changes
Aus den aktuellen und den im Speicher abgelegten Informationen der jüngsten Vergangenheit wird von der erfindungsgemäßen Vorrichtung ggf. unter Zuhilfenahme von Informationen über die Geschwindigkeit und Fahrtrichtung des Kraftfahrzeugs F1, die über eine Schnittstelle der erfindungsgemäßen Vorrichtung zugeführt werden, der Verlauf der Fahrt des Kraftfahrzeugs F2 ermittelt. So kann zum Beispiel aus der Änderung der Objektrichtungen o2, o'2, o1, o'1 der Rückleuchten r2 und der Öffnungswinkel α, α' zwischen den Objektrichtungen o2, o'2, o1, o'1 von der Situation gemäß
BezugszeichenlisteLIST OF REFERENCE NUMBERS
-
- F1F1
- Kraftfahrzeug mit erfindungsgemäßer VorrichtungMotor vehicle with inventive device
- F2F2
- vorrausfahrendes Kraftfahrzeugvorrausfahrendes motor vehicle
- KK
- Kameracamera
- r2r2
- Rückleuchtentail lights
- o1, o'1o1, o'1
- Objektrichtungen der linken RückleuchteObject directions of the left tail light
- o2, o'2o2, o'2
- Objektrichtungen der rechten RückleuchteObject directions of the right tail light
- α, α'α, α '
- Öffnungswinkel zwischen den ObjektrichtungenOpening angle between the object directions
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010021944A DE102010021944A1 (en) | 2010-05-28 | 2010-05-28 | Device for forecasting road arrangement in front of vehicle, particularly motor vehicle, comprises interface for reading information about position of headlights or rear lights of vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010021944A DE102010021944A1 (en) | 2010-05-28 | 2010-05-28 | Device for forecasting road arrangement in front of vehicle, particularly motor vehicle, comprises interface for reading information about position of headlights or rear lights of vehicle |
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Publication Number | Publication Date |
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DE102010021944A1 true DE102010021944A1 (en) | 2011-12-01 |
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DE102010021944A Pending DE102010021944A1 (en) | 2010-05-28 | 2010-05-28 | Device for forecasting road arrangement in front of vehicle, particularly motor vehicle, comprises interface for reading information about position of headlights or rear lights of vehicle |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011081397A1 (en) * | 2011-08-23 | 2013-02-28 | Robert Bosch Gmbh | Method for estimating a road course and method for controlling a light emission of at least one headlight of a vehicle |
US10112526B2 (en) | 2012-04-17 | 2018-10-30 | Denso Corporation | Device and method for controlling light distribution of vehicle headlight |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19713884A1 (en) * | 1997-04-04 | 1998-10-08 | Bosch Gmbh Robert | Process for regulating lighting range and / or lighting direction |
EP1513103A2 (en) * | 2003-08-11 | 2005-03-09 | Hitachi, Ltd. | Image processing system and vehicle control system |
EP1837803A2 (en) * | 2006-03-24 | 2007-09-26 | MobilEye Technologies, Ltd. | Headlight, taillight and streetlight detection |
DE102008029560A1 (en) * | 2008-06-21 | 2009-12-24 | Hella Kgaa Hueck & Co. | Method for detection of preceding motor vehicle, involves adjusting image frequency of camera sensor such that pulsed light sources are differentiated, where image frequency is greater than doubled pulse frequency |
DE102008034166A1 (en) * | 2008-07-22 | 2010-01-28 | Hella Kgaa Hueck & Co. | Method and device for Euting a suitable light distribution of the light emitted by at least one headlight of a vehicle light |
-
2010
- 2010-05-28 DE DE102010021944A patent/DE102010021944A1/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19713884A1 (en) * | 1997-04-04 | 1998-10-08 | Bosch Gmbh Robert | Process for regulating lighting range and / or lighting direction |
EP1513103A2 (en) * | 2003-08-11 | 2005-03-09 | Hitachi, Ltd. | Image processing system and vehicle control system |
EP1837803A2 (en) * | 2006-03-24 | 2007-09-26 | MobilEye Technologies, Ltd. | Headlight, taillight and streetlight detection |
DE102008029560A1 (en) * | 2008-06-21 | 2009-12-24 | Hella Kgaa Hueck & Co. | Method for detection of preceding motor vehicle, involves adjusting image frequency of camera sensor such that pulsed light sources are differentiated, where image frequency is greater than doubled pulse frequency |
DE102008034166A1 (en) * | 2008-07-22 | 2010-01-28 | Hella Kgaa Hueck & Co. | Method and device for Euting a suitable light distribution of the light emitted by at least one headlight of a vehicle light |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011081397A1 (en) * | 2011-08-23 | 2013-02-28 | Robert Bosch Gmbh | Method for estimating a road course and method for controlling a light emission of at least one headlight of a vehicle |
US10112526B2 (en) | 2012-04-17 | 2018-10-30 | Denso Corporation | Device and method for controlling light distribution of vehicle headlight |
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