DE102013003798A1 - Driver assistance system - Google Patents

Abstract

A driver assistance system comprises detection means (2, 4) for detecting traffic signs valid for a currently traveled route, output means (5, 13) for outputting at least one of a plurality of simultaneously valid traffic signs and judging means (1) for judging the relevance of the traffic signals detected as valid Traffic sign and selecting the at least one traffic sign with the highest relevance for output by the output means (5, 13).

Description

The present invention relates to a driver assistance system for assisting a driver of a motor vehicle in the consideration of traffic signs.

Road traffic, especially in cities, is governed by a large number of traffic signs, the density of which, despite occasional conflicting efforts, continues to increase over the years. Many traffic signs are not relevant for all vehicle types, some are valid only at certain times of day or are only to be considered under certain weather conditions. A driver moving in traffic must constantly distinguish between relevant and irrelevant traffic signs, and there is always the danger that a single traffic sign will be overlooked. This often leads to uncertainty as to which bans or bans are valid on a currently traveled stretch of stretch, and subsequently to the actual threat situation of poorly adjusted driveability. Both a driving style that is too aggressive for the existing danger situation and an unexpectedly defensive driving behavior for other road users can lead to problems. Therefore, driver assistance systems have been developed, which are to indicate to the driver at any time the valid on a just-used plug section signs.

A driver assistance system with means for detecting traffic signs and providing traffic sign information corresponding to a current position of the vehicle for outputting to a driver of the vehicle is off DE 10 2008 043 756 A1 known. Although such a driver assistance system offers the driver the opportunity to ascertain at any time which traffic signs are valid on a currently traveled section of the route, the underlying problem that lavish road signage overstretches the driver's ability to hold remains unresolved. The problem that an important sign among a plurality of other signs is not or not perceived in time, regardless of whether these signs are placed on the roadside or can be seen on a display screen of a driver assistance system.

The object of the present invention is to provide a driver assistance system that effectively facilitates the driver's consideration of important traffic signs.

The object is achieved by a driver assistance system comprising detection means for detecting traffic signs and output means valid for a currently traveled route section for outputting at least one of a plurality of simultaneously valid traffic signs further for judging the relevance of the traffic signs detected as valid and selecting the at least one Traffic sign with the highest relevance for output by the output means.

In the simplest case, the judging means may be arranged to sort out as irrelevant such traffic signs which have no significance for the vehicle in which the driver assistance system is used, due to the design of the vehicle. So z. B. valid only for trucks or motorcycles valid traffic signs are eliminated when the driver assistance system is installed in a car.

In order to further improve the clarity of the output for the driver and to be able to increase the number of traffic signs not to be issued, the judging means are preferably provided with at least one sensor for detecting a time-variable parameter, e.g. As an operating parameter of the vehicle or a climate parameter, connected and arranged to judge the relevance of the valid at a given time traffic signs based on this variable parameter.

In order to limit the amount of traffic signs issued at a given time to those which may actually have an influence on the driving behavior of the driver, it is expedient to take into account not just one but various parameters. Thus, a speedometer may be provided as at least one sensor, and the judging means may be arranged to judge the relevance of speed or parking-related traffic signs and / or danger warning signs from the speed detected by the speedometer.

Whether the driver intends to park can be detected not only by the speed of the vehicle but also by a gear engaged in a transmission of the vehicle; in particular, the engagement of the reverse gear is a good indication of an intended parking. Therefore, a sensor may be suitably provided to detect a gear engaged in a transmission of the vehicle, and the judging means may be arranged to judge the relevance of park-related traffic signs on the basis of the detected gear.

In order to enable a correct assessment of the relevance of snow- and ice-related traffic signs, a thermometer should also be provided as a sensor.

When assessing the relevance of the curve warning sign or the danger of a skid hazard warning, the consideration of possible slipperiness on the basis of the temperature may also make sense.

In order to be able to correctly assess the relevance of curve warning signs and / or skid hazard warning signs, it may also be expedient to provide a precipitation sensor. Such a sensor can directly detect the presence of precipitate on the body; however, recognition may also be based on the driver's reaction to precipitation, for example by B. the sensor detects the operating state of a windshield wiper or the position of the windshield wiper controlling switch.

Precipitation collected in this way can also be a criterion for assessing the relevance of a rockfall warning sign, as the rain-softened surface increases the risk of loose stones coming off a slope.

Further, as a sensor, a turn signal switch may be provided, at the actuation by the driver whose intention to turn off or to change the lane is recognizable. This allows for an accurate assessment of the relevance of turning-related traffic signs, roundabout warning signs, oncoming traffic warning signs and / or overtaking prohibition signs.

An accelerator pedal sensor may be provided to allow a correct assessment of the relevance of speed related traffic signs and / or overtaking prohibition signs.

The prerequisite for an overtaking process is the existence of a vehicle to be overtaken. Therefore, the assessment of the relevance of a no-passing sign may also be based on the detection of a preceding vehicle by a corresponding sensor, typically a radar sensor or a camera.

The detection result of such a sensor can also be used to assess the relevance of crushed gravel warning signs and / or congestion warning signs.

Further, a brake sensor may be provided to detect when the vehicle is approaching an intersection at which priority is to be given, unrestrained, and possibly assigning high relevance to the corresponding right of way sign.

As a means of output of the driver assistance system, a screen is typically provided, on which a limited number of currently valid and found relevant for traffic signs can be displayed. However, it is also possible to provide acoustic output means, in particular voice output means, in order to make the driver aware of a road sign of extremely high relevance or a sudden change in the relevance assessment if necessary.

The subject of the invention is also a computer program product comprising instructions which, when executed on a computer, enable it to function as a judgment means in the driver assistance system described above, as well as a computer-readable data medium on which such instructions are recorded.

Further features and advantages of the invention will become apparent from the following description of embodiments with reference to the accompanying figures. From this description and the figures also show features of the embodiments, which are not mentioned in the claims. Such features may also occur in combinations other than those specifically disclosed herein. Therefore, the fact that several such features are mentioned in the same sentence or in a different type of textual context does not justify the conclusion that they can occur only in the specific combination disclosed; instead, it is generally to be assumed that it is also possible to omit or modify individual ones of several such features, provided this does not call into question the functionality of the invention. Show it:

1 a block diagram of a driver assistance system according to the invention; and

2 a flowchart of a running in the processor of the assistance system working method.

1 shows a block diagram of the driver assistance system according to the invention. A central processor 1 , typically a microprocessor, comes with a camera 2 which is mounted in a vehicle aligned with the road ahead of the vehicle, typically between a rearview mirror and a windshield of the passenger compartment of the vehicle. The camera 2 delivers pictures taken by the microprocessor 1 be analyzed on traffic signs and possibly also on other road users and their distance from the vehicle. When a traffic sign is found, the microprocessor determines 1 also the type of traffic sign and updates based on the result one in a working memory 3 Guided list of traffic signs valid for the section of road currently occupied by the vehicle.

To the microprocessor 1 may further include a navigation signal receiver 4 be connected. This can be part of a known vehicle navigation system. Modern vehicle navigation systems usually have a map dataset which not only indicates the course, but also the category of a traffic route such as inner-city, highway, expressway, and from which a speed limit applicable to a currently traveled route section can be derived. However, traffic signs can also be recorded directly in the map data of such a vehicle navigation system and according to the current geographical position of the vehicle to the microprocessor 1 be reported to the list of valid traffic signs in memory 3 to update.

A screen 5 is to the microprocessor 1 connected to display pictures of the valid traffic signs from the list. As long as the number of traffic signs on the list is shorter than a maximum number of characters on the screen 5 traffic signs to be displayed, all traffic signs of the list can be displayed. However, if the list is longer, then an appropriate selection of the traffic signs to be displayed must be made. To make this selection, the microprocessor is 1 connected with various sensors.

1 shows an example of such sensors a tachometer 6 , a thermometer 7 for detecting the outside temperature, a transmission sensor 8th arranged to detect a gear engaged in a manual transmission of the vehicle on the transmission or on a transmission-controlling shift selector lever, a turn signal switch 9 , which controls the turn signal of the vehicle and whose output signal thus indicates whether and possibly which turn signal of the vehicle is set, a windscreen wiper switch 10 whose output signal indicates the operating state of a windshield wiper, an accelerator pedal sensor 11 for detecting the position of the accelerator pedal or an accelerator operated element such as a throttle valve, and a brake pedal sensor 12 which may be arranged on a brake pedal for detecting its position or at any suitable location of a brake circuit for detecting the prevailing therein, via the brake pedal controlled brake pressure.

All of these sensors allow conclusions about the relevance of different types of traffic signs. If a speed limit applies to a currently traveled stretch of road, ie if z. As a sign of the type 274 of the Highway Code (all below mentioned three-digit numbers of traffic signs are the type numbers of the StVO) of the camera 2 detected or validated by the navigation system, then the relevance of this sign is high when that of the speedometer 6 detected speed is close to or above the permissible maximum speed specified by the plate, and it is the lower, the lower the speedometer 6 detected speed is. Conversely, the lower the speed of the vehicle, the higher the relevance to a type 275 sign that dictates a minimum speed.

The output of the thermometer 7 is considered in particular when assessing the relevance of traffic signs 113 (snow or ice) and 114 (risk of skidding or slipping). The relevance of these signs is highest in a temperature range around 0 ° C and decreases towards positive temperatures.

In the assessment of the relevance of the shield 114 is preferably also the position of the wiper switch 10 or the detection result of a rain sensor. It may be appropriate to consider not only the current detection result, but also past detection results, as precipitation increased risk of skidding persists for a while even after the end of the precipitation. How long past precipitation has to be considered can be made dependent on the ambient temperature; but it can also be provided in addition to a brightness sensor to take into account that a street stays wet longer after a rain at night than during the day, and that a rainy road dries faster in the sun than in overcast skies.

The meaning of the gearbox sensor 8th This is primarily due to the fact that low-speed, lower-speed driving, and in particular reverse driving, indicates the driver's desire to park. Signs such as the types 283 (absolute stop), 286 (restricted stop), 291 (parking disc mandatory) therefore expediently get when driving in second or higher gear at most minimal relevance, when driving in first gear increased relevance and when driving in reverse one assigned very high relevance.

Alternatively or additionally, data from the navigation system can also be used to assess the relevance of these signs: if this indicates that the vehicle is in the immediate vicinity of the destination of a route followed by the navigation system, then it is to be expected that the driver will search for a parking space and the relevant signs are thus relevant to him.

When the turn signal switch 9 flashing to the left indicates a driver's desire to turn left or overtake (in countries with legal traffic). In such a case, signs requiring a direction of travel other than that indicated by the flashing, such as 209, 211, 214, 215, 227, but also a no-passing sign 276, become highly relevant. In order to better predict the driver's intention to overtake or overturn, and to better assess the relevance of the corresponding signs, further criteria may be used. For example, based on data from the navigation system, it is possible to judge whether there is even a traffic route to which it could turn to the left. If this is not the case, this indicates an intentional overtaking maneuver, and the overtaking prohibition 276 gets a higher relevance than the signs 209, 211, 214, 215. Conversely, the microprocessor 1 based on the pictures of the camera 2 judge whether there is a preceding vehicle that could be overhauled. If this is not the case, the direction signs 209, 211, 214, 215 have a higher relevance than the overturn prohibition 276.

The brake pedal sensor 12 allows, if necessary in combination with the tachometer 6 an assessment of whether the driver duly takes into account a hazard sign, but in particular a type 205 or 206 right of way sign. If there are doubts because of high speed and lack of operation of the brake pedal, these signs receive increased relevance.

A complete workflow of the microprocessor 1 shows 2 in the form of a flow chart. This process is repeated continuously while the vehicle is in motion, preferably several times per second. In step S1, the microprocessor receives 1 a picture of the camera 2 , In step S2, an analysis is carried out on traffic signs contained in the image and on the presence of other road users. If there are traffic signs in the picture, then their type is determined and the list of valid traffic signs in the main memory 3 is updated in step S3. The update may consist in the addition of new traffic signs to the list, but also in their deletion if a newly recognized traffic sign overrides an already included in the list.

In step S4, the various sensors needed to assess the relevance of the road signs in the list become 6 to 12 queried. In step S5, the relevance is assessed. In order to make the relevance of different traffic signs comparable, in step S5 points are allocated for each traffic sign of the list according to an algorithm specific to its type as a function of the sensor outputs. General hazard signs, such as signs 101 to 151, are obtained as long as there is no sensor data that justifies a higher relevance, eg. B. 10 points, rule characters such as the characters 205 to 215, which are usually only on a short distance section, but there are mandatory to take into account, get a higher value of z. Eg 20 points. The same score may be justified for prohibition signs such as 250, 251, 260 to 270 if they are applicable to the vehicle, taking into account its type, weight or dimensions. Prohibition signs not applicable to the vehicle receive 0 points. A speed limit sign 274 is replaced by e.g. For example, 0 points if the vehicle speed is at least 20 km / h below the speed limit, 10 points if it is up to 20 km / h below the maximum speed limit, and 20 points or more depending on the extent of violation of the permissible speed limits Top speed. The right of way signs 205, 206 may be treated as a speed limit of 30 or 40 km / h; Shield 206 is assigned additional points if the brake pedal sensor 12 indicates no brake application. Directional signs such as 205, 211, 214, 215 can get 10 points by default and the score can be reduced if the turn signal switch 9 indicates a turn signal set in the direction of the direction prescribed by them, and the score is increased when the turn signal is set in the opposite direction.

The overtake prohibition character 276 is given a low value of e.g. B. 5 points, if in the current picture of the camera 2 no preceding vehicle is recognizable, or if the distance to such a vehicle is large enough to enable safe convoy driving at the current vehicle speed. If the distance is undershot or if a clear approach to the preceding vehicle can be seen from successive images, or if the accelerator pedal sensor 11 indicates an increasing operation of the accelerator pedal, the shield 276 receives a higher relevance of z. Eg 15 points. If the setting of the left turn signal is added, a higher relevance of z. For example, 30 points can be assigned.

Notwithstanding the above-mentioned general rule for the signs 101 to 151, the relevance of the splinter warning sign 116 can also be made dependent on the distance to a preceding vehicle. With sufficient distance, the relevance may be low, e.g. B. be set at 5 points; the distance is small enough so that the vehicle can be hit by the chippings, which a preceding vehicle is whirling up a higher relevance of 20 or, at a very short distance, 30 points.

The snow or ice-slipper warning sign 113 may, in deviation from the above general rule, get a relevance of 0 points at temperatures above 10 ° C. Below 10 ° C, the relevance can increase in one or more steps up to 30 points in the temperature range of -5 ° C to + 2 ° C. Additional relevance points are assigned if at the same time the switch 10 indicates that the windscreen wiper is in operation.

Signs 114, danger of skidding and 115, rockfall, should also show higher relevance values in precipitation than in dry weather.

After all the signs in the memory 3 If the list of relevance values has been assigned to a guided list, it is checked in step S6 whether there have been changes compared to a previous iteration of the method, either by assigning an increased relevance to a sign already in the list or by adding a sign to the list. If yes, it is checked in step S7 whether one of the changed relevance values is related to a high risk potential of, for example, B. points over 25 points. If so, a voice prompt may be generated in step S8 to alert the driver to the danger situation. For this purpose, a speech synthesis program on the microprocessor 1 implemented and a speaker 13 be connected to him. If there is no voice prompt, or following this, in step S9 a predetermined number of signs, e.g. For example, four pieces are selected from the list that have received the highest relevance values, and on the screen 5 output. If no change in priorities has been detected in step S6, the screen contents remain unchanged. So the driver is by looking at the screen 5 informed at any time about the most relevant applicable traffic signs.

The methods for assigning relevance points described above are to be understood as examples only and may be refined as desired. For example, it may be provided that traffic signs influence each other in their relevance. A gradient warning sign 108 may, for. B. increased relevance when it occurs in combination with a warning sign of the type 113, 114 or 116 and this has already been assigned high relevance.

LIST OF REFERENCE NUMBERS

1

microprocessor

2

camera

3

random access memory

4

Navigation signal receiver

5

screen

6

speedometer

7

thermometer

8th

transmission sensor

9

turn signal switch

10

wiper switch

11

accelerator sensor

12

Brake pedal sensor

13

speaker

QUOTES INCLUDE IN THE DESCRIPTION

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.

Cited patent literature

• DE 102008043756 A1 [0003]

Claims (14)

Driver assistance system with detection means ( 2 . 4 ) for detecting traffic signs and output means valid for a currently traveled section ( 5 . 13 ) for outputting at least one of a plurality of simultaneously valid traffic signs, characterized by judging means ( 1 ) for assessing the relevance of the traffic signs detected as valid and selecting the at least one traffic sign with the highest relevance for output by the output means ( 5 . 13 ). Driver assistance system according to claim 1, characterized in that the assessment means ( 1 ) with at least one sensor ( 2 . 6 - 12 ) are connected to detect a time-varying parameter and are arranged to judge the relevance based on the variable parameter. Driver assistance system according to claim 2, characterized in that the at least one sensor ( 6 - 12 ) a speedometer ( 6 ) and the assessment means ( 1 ) are arranged to assess the relevance of speed or park related traffic signs and / or hazard warning signs based on the detected speed. Driver assistance system according to claim 2 or 3, characterized in that the at least one sensor ( 8th ) is arranged to detect a gear engaged in a transmission of the vehicle and the assessment means ( 1 ) are set up to assess the relevance of parking-related traffic signs on the basis of the registered gear. Driver assistance system according to one of claims 2 to 4, characterized in that the at least one sensor is a thermometer ( 7 ) and the assessment means ( 1 ) are adapted to assess the relevance of snow and ice related traffic signs and / or turn warning signs and / or skid hazard warning signs based on the detected temperature. Driver assistance system according to one of claims 2 to 5, characterized in that the at least one sensor, a precipitation sensor or a windscreen wiper switch ( 12 ) and the assessment means ( 1 ) are arranged to judge the relevance of curve warning signs and / or skid warning signs and / or rockfall warning signs from the detection result of the sensor. Driver assistance system according to one of claims 2 to 6, characterized in that the at least one sensor is a turn signal switch ( 9 ) and the assessment means ( 1 ) are arranged to judge the relevance of traffic-related traffic signs and / or roundabout warning signs and / or oncoming traffic warning signs and / or overtaking prohibition signs on the basis of the operating state of a turn signal. Driver assistance system according to one of claims 2 to 7, characterized in that the at least one sensor an accelerator pedal sensor ( 11 ) and the judging means are arranged to judge the relevance of speed-related traffic signs and / or overtaking prohibition signs on the basis of a detected operation of the accelerator pedal. Driver assistance system according to one of claims 2 to 8, characterized in that the at least one sensor ( 2 ) is arranged to detect the distance to a preceding vehicle and / or the speed of a preceding vehicle and the assessment means ( 1 ) are arranged to judge the relevance of overtaking prohibition signs and / or gravel warning signs and / or congestion warning signs based on the detection result. Driver assistance system according to one of claims 2 to 9, characterized in that the at least one sensor is a brake sensor ( 12 ) and the judging means are arranged to judge the relevance of a right-of-way sign on the basis of a detected brake operation. Driver assistance system according to one of the preceding claims, characterized in that the output means comprise a screen ( 5 ), on which several traffic signs can be displayed simultaneously. Driver assistance system according to one of the preceding claims, characterized in that the output means comprise acoustic output means ( 13 ), in particular voice output means. A computer program product comprising instructions that, when executed on a computer, enable it to function as a judging means in a driver assistance system according to any one of claims 1 to 11. Computer-readable data carrier, characterized in that instructions are recorded on it, which enable a computer to work as a judging means in a driver assistance system according to one of claims 1 to 11.

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