DE102012022486A1 - Method for operating driver assistance system of passenger car, involves determining potential hazard due to change of lane by recognition of vehicle in lane, and providing mark in captured portion of image based on potential hazard - Google Patents
Method for operating driver assistance system of passenger car, involves determining potential hazard due to change of lane by recognition of vehicle in lane, and providing mark in captured portion of image based on potential hazard Download PDFInfo
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- DE102012022486A1 DE102012022486A1 DE201210022486 DE102012022486A DE102012022486A1 DE 102012022486 A1 DE102012022486 A1 DE 102012022486A1 DE 201210022486 DE201210022486 DE 201210022486 DE 102012022486 A DE102012022486 A DE 102012022486A DE 102012022486 A1 DE102012022486 A1 DE 102012022486A1
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- 239000003550 marker Substances 0.000 claims description 4
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
- B60R2300/305—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
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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
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftwagens gemäß dem Oberbegriff von Patentanspruch 1.The invention relates to a method for operating a driver assistance system of a motor vehicle according to the preamble of patent claim 1.
Fahrerassistenzsysteme sowie Verfahren zum Betreiben solcher Fahrerassistenzsysteme sind aus dem Serienbau von Kraftwagen und insbesondere von Personenkraftwagen hinlänglich bekannt. Fahrerassistenzsysteme haben insbesondere die Aufgabe, den Fahrer des Kraftwagens zu unterstützen und dadurch beim Auftreten von gefährlichen Fahrsituationen die Gefahr von Unfällen zu verringern oder bereits das Auftreten von gefährlichen Fahrsituationen zu vermeiden.Driver assistance systems and methods for operating such driver assistance systems are well known from the mass production of motor vehicles and in particular of passenger cars. Driver assistance systems have the particular task of supporting the driver of the motor vehicle and thereby reduce the risk of accidents when dangerous driving situations occur or to avoid the occurrence of dangerous driving situations.
Ein Verfahren zum Betreiben eines Fahrerassistenzsystems ist beispielsweise der
Dabei werden in der Umgebung des Kraftwagens Fahrspuren und Objekte erfasst, die Fahrspuren und die Objekte einander zugeordnet und es wird eine Relevanz der Fahrspuren und Objekte in Bezug auf den Kraftwagen bestimmt. Ferner ist es vorgesehen, dass für die Bestimmung der Relevanz der einzelnen Objekte eine tatsächliche Veränderung oder eine wahrscheinliche Veränderung der Zuordnung des Objektes zu einer bestimmten Fahrspur berücksichtigt wird. Darüber hinaus kann eine Geschwindigkeit des Objektes relativ zu der bestimmten Fahrspur berücksichtigt werden. Dies bedeutet, dass auch eine Geschwindigkeit des erkannten Fahrzeugs ermittelt wird.In the process, lanes and objects are detected in the surroundings of the motor vehicle, the lanes and the objects are assigned to one another and a relevance of the lanes and objects in relation to the motor vehicle is determined. Furthermore, it is provided that an actual change or a probable change of the assignment of the object to a specific traffic lane is taken into account for determining the relevance of the individual objects. In addition, a speed of the object relative to the particular lane may be considered. This means that a speed of the detected vehicle is also determined.
Schließlich offenbart die
Es hat sich gezeigt, dass gefährliche Fahrsituationen insbesondere dadurch entstehen, dass ein Fahrspurwechsel des Kraftwagens durchgeführt wird, obwohl sich andere Verkehrsteilnehmer auf der Fahrspur, auf die gewechselt wird, befinden oder andere, sich auf dieser Fahrspur bewegende Verkehrsteilnehmer sich dem Kraftwagen mit einer hohen Relativgeschwindigkeit nähern.It has been found that dangerous driving situations arise, in particular, in that a lane change of the motor vehicle is carried out, although other road users on the lane that is being changed or other road users moving in this lane are in the car at a high relative speed approach.
Es ist daher Aufgabe der vorliegenden Erfindung, ein Verfahren zum Betreiben eines Fahrerassistenzsystems der eingangs genannten Art zu schaffen, mittels welchem der Fahrer des Kraftwagens bei einem Fahrspurwechsel besonders gut unterstützt werden kann.It is therefore an object of the present invention to provide a method for operating a driver assistance system of the type mentioned, by means of which the driver of the motor vehicle can be particularly well supported in a lane change.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Patentanspruchs 1 gelöst. Vorteilhafte Ausgestaltungen mit zweckmäßigen und nicht-trivialen Weiterbildungen der Erfindung sind in den übrigen Ansprüchen angegeben.This object is achieved by a method having the features of patent claim 1. Advantageous embodiments with expedient and non-trivial developments of the invention are specified in the remaining claims.
Um ein Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftwagens, insbesondere eines Personenkraftwagens, der im Oberbegriff des Patentanspruchs 1 genannten Art zu schaffen, mittels welchem der Fahrer des Kraftwagens bei einem Fahrspurwechsel besonders gut unterstützt werden kann, ist es erfindungsgemäß vorgesehen, dass wenigstens eine das erkannte Fahrzeug bezüglich dessen Umgebung charakterisierende Größe und in Abhängigkeit von der Größe ein Gefahrenpotential ermittelt wird. Dabei wird die Fahrspur im Rahmen der Veränderung des Bilds in Abhängigkeit von dem ermittelten Gefahrenpotential zumindest teilweise mit zumindest einer Markierung versehen. Durch diese Markierung kann das ermittelte Gefahrenpotential beispielsweise dem Fahrer des Kraftwagens visualisiert werden. Dadurch kann dem Fahrer auf einfache und für ihn verständliche Weise kommuniziert werden, ob er einen Wechsel von einer Fahrspur, auf der der Kraftwagen aktuell fährt, auf eine weitere und beispielsweise auf die erkannte Fahrspur durchführen kann, ohne dass es zu einer gefährlichen Fahrsituation kommt oder nicht.In order to provide a method for operating a driver assistance system of a motor vehicle, in particular a passenger car, referred to in the preamble of claim 1, by means of which the driver of the motor vehicle can be particularly well supported in a lane change, it is provided according to the invention that at least one recognized Vehicle with respect to the environment characterizing size and depending on the size of a potential hazard is determined. In this case, the lane is at least partially provided with at least one mark in the context of the change of the image as a function of the determined risk potential. By means of this marking, the ascertained hazard potential can be visualized, for example, to the driver of the motor vehicle. This allows the driver to be communicated in a simple and understandable manner, whether he can perform a change from a lane on which the car is currently driving, to another and, for example, the recognized lane, without causing a dangerous driving situation or Not.
In besonders vorteilhafter Ausgestaltung wird die Markierung, insbesondere eine Farbe der Markierung, in Abhängigkeit von dem Gefahrenpotential variiert. Ist beispielsweise ein Fahrspurwechsel möglich, ohne dass es zu einer gefährlichen Fahrsituation kommt, so ist das Gefahrenpotential niedrig. Die Markierung wird dann zum Beispiel in der Farbe Grün dargestellt. Ergibt die Bildverarbeitung, dass ein Fahrspurwechsel zu einer gefährlichen Fahrsituation führen würde, so wird die Markierung beispielsweise in den Farben Gelb, Orange oder Rot dargestellt. Hierdurch wird dem Fahrer besonders verständlich kommuniziert, dass er – um eine gefährliche Fahrsituation zu vermeiden – von einem Fahrspurwechsel auf die erkannte Fahrspur gegebenenfalls absehen sollte.In a particularly advantageous embodiment, the marking, in particular a color of the marking, varies depending on the hazard potential. If, for example, a lane change is possible without causing a dangerous driving situation, the danger potential is low. The mark is then displayed, for example, in the color green. If the image processing indicates that a lane change would lead to a dangerous driving situation, the marker is displayed, for example, in the colors yellow, orange or red. In this way, the driver is communicated in a particularly understandable manner that, in order to avoid a dangerous driving situation, he should possibly refrain from changing the lane to the recognized lane.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines bevorzugten Ausführungsbeispiels sowie anhand der Zeichnung. Die vorstehend in der Beschreibung genannten Merkmale und Merkmalskombinationen sowie die nachfolgend in der Figurenbeschreibung genannten und/oder in der Figur alleine gezeigten Merkmale und Merkmalskombinationen sind nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar, ohne den Rahmen der Erfindung zu verlassen. Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the figure description and / or shown alone in the figure can be used not only in the respectively specified combination, but also in other combinations or in isolation, without the scope of To leave invention.
Die Zeichnung zeigt in der einzigen Figur eine schematische Darstellung eines Bilds, welches im Rahmen eines Verfahrens zum Betreiben eines Fahrerassistenzsystems eines Personenkraftwagens einer Bildverarbeitung unterzogen, gegenüber dem Rohzustand verändert und im veränderten Zustand mittels einer Anzeige angezeigt wird, wobei eine im Bild erkannte Fahrspur mit einer Markierung versehen ist, welche ein Gefahrenpotential bei einem etwaigen Spurwechsel des Personenkraftwagens charakterisiert.The drawing shows in the single figure is a schematic representation of an image, which is subjected to image processing as part of a method for operating a driver assistance system of a passenger car, compared to the raw state and displayed in the changed state by means of a display, wherein a recognized in the image lane with a Mark is provided, which characterizes a potential hazard in a possible lane change of the passenger car.
Anhand der Fig. wird im Folgenden ein Verfahren zum Betreiben eines Fahrerassistenzsystems eines Personenkraftwagens veranschaulicht. Das Fahrerassistenzsystem umfasst wenigstens eine Kamera, mittels welcher Bilder eines Teilbereichs der Umgebung des Personenkraftwagens erfassbar sind. Bei diesen Bildern handelt es sich um bewegte Bilder, so dass mittels der Kamera eine Laufbildaufnahme des Teilbereichs der Umgebung aufnehmbar ist. Eine solche Laufbildaufnahme wird üblicherweise auch als Film oder als Laufbildaufnahme bezeichnet.A method for operating a driver assistance system of a passenger car is illustrated below with reference to FIG. The driver assistance system comprises at least one camera, by means of which images of a subarea of the surroundings of the passenger car can be detected. These images are moving images, so that a motion picture of the subarea of the environment can be recorded by means of the camera. Such a motion picture recording is usually also referred to as a film or as a motion picture recording.
Das Fahrerassistenzsystem umfasst auch eine Anzeige, welche mit der Kamera gekoppelt ist. Dadurch können die mittels der Kamera aufgenommenen bewegten Bilder des Teilbereichs angezeigt werden. Die Anzeige ist in einem Cockpit des Personenkraftwagens angeordnet, so dass der Fahrer des Personenkraftwagens die Bilder bzw. die Bewegtbilder betrachten kann.The driver assistance system also includes a display coupled to the camera. As a result, the moving images of the sub-area recorded by the camera can be displayed. The display is arranged in a cockpit of the passenger car, so that the driver of the passenger car can view the images or the moving images.
Die Fig. zeigt dabei ein mit
Das Fahrerassistenzsystem umfasst auch eine Recheneinheit, beispielsweise ein Steuergerät, welche mit der Kamera und der Anzeige gekoppelt ist. Das Verfahren wird dabei mittels der Recheneinheit durchgeführt.The driver assistance system also includes a computing unit, for example a control unit, which is coupled to the camera and the display. The method is carried out by means of the arithmetic unit.
Das Bild
Im Rahmen der Bildverarbeitung werden darüber hinaus Fahrspuren
Bei dem Verfahren wird – wie im Folgenden erläutert wird – das erfasste Bild
Ein genannter Fahrspurwechsel von der Fahrspur
Daher wird im Rahmen des Verfahrens wenigstens eine das erkannte Fahrzeug
Des Weiteren wird in Abhängigkeit von der das erkannte Fahrzeug
Um das ermittelte Gefahrenpotential dem Fahrer zu visualisieren und dadurch verständlich mitzuteilen, wird die Fahrspur
In die Ermittlung des Gefahrenpotentials kann auch der Straßenverlauf der Fahrspuren
Bei der Markierung
Vorliegend wird die Markierung
Das Versehen der Fahrspur
Die Markierung
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 1010
- Bildimage
- 1212
- Teilbereichsubregion
- 1414
- Fahrzeugvehicle
- 1616
- Fahrzeugvehicle
- 1818
- Fahrspurlane
- 2020
- Fahrspurlane
- 2222
- Fahrbahnroadway
- 2424
- Trennstreifenseparating strips
- 2626
- Trennstreifenseparating strips
- 2828
- Seitenstreifenshoulder
- 3030
- Seitenstreifenshoulder
- 3232
- Markierungmark
- 3434
- Randedge
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102006059068 A1 [0003] DE 102006059068 A1 [0003]
- DE 102011121627 A1 [0005] DE 102011121627 A1 [0005]
Claims (5)
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Application Number | Priority Date | Filing Date | Title |
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DE201210022486 DE102012022486A1 (en) | 2012-11-19 | 2012-11-19 | Method for operating driver assistance system of passenger car, involves determining potential hazard due to change of lane by recognition of vehicle in lane, and providing mark in captured portion of image based on potential hazard |
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Application Number | Priority Date | Filing Date | Title |
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DE201210022486 DE102012022486A1 (en) | 2012-11-19 | 2012-11-19 | Method for operating driver assistance system of passenger car, involves determining potential hazard due to change of lane by recognition of vehicle in lane, and providing mark in captured portion of image based on potential hazard |
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Publication Number | Publication Date |
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DE102012022486A1 true DE102012022486A1 (en) | 2013-08-01 |
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DE201210022486 Withdrawn DE102012022486A1 (en) | 2012-11-19 | 2012-11-19 | Method for operating driver assistance system of passenger car, involves determining potential hazard due to change of lane by recognition of vehicle in lane, and providing mark in captured portion of image based on potential hazard |
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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US10807529B2 (en) | 2015-09-30 | 2020-10-20 | Aisin Seiki Kabushiki Kaisha | Driving assistant apparatus with lane marking |
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CN110239436A (en) * | 2018-03-07 | 2019-09-17 | 松下知识产权经营株式会社 | Display control unit, vehicle-surroundings display system and display control method |
US10746987B2 (en) | 2018-07-12 | 2020-08-18 | Toyota Research Institute, Inc. | Vehicle systems and methods for redirecting a driver's gaze towards an object of interest |
DE102019202578A1 (en) * | 2019-02-26 | 2020-08-27 | Volkswagen Aktiengesellschaft | Method for operating a driver information system in an ego vehicle and driver information system |
DE102019202587A1 (en) * | 2019-02-26 | 2020-08-27 | Volkswagen Aktiengesellschaft | Method for operating a driver information system in an ego vehicle and driver information system |
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