DE102013213039A1 - Assistance system and assistance method for assisting in the control of a motor vehicle - Google Patents

Abstract

The invention relates to an assistance system for assisting the driver in controlling a motor vehicle (1) with sensors (5, 6, 7, 9, 10, 12, 13) for detecting measured variables relating to the driving situation, a processing device (27) for Determining parameters of a driving situation and control parameters of an assistance control from the detected measured variables, an output device (15) for displaying the determined parameters of the driving situation, characterized by an input device (15) for detecting additional inputs for correcting and / or supplementing the determined and by the output device represented parameters of the driving situation and / or the control parameters of the assistance control. Due to the design according to the invention, a correction of interpretations and control actions of the assistance system by the driver is made possible in a comfortable manner.

Description

The invention is in the field of automation technology and relates specifically to assistance systems in the control of motor vehicles.

By supporting or partially assisting the driver of a motor vehicle in controlling the vehicle, on the one hand the ride comfort can be raised and the burden on the driver can be lowered, on the other hand the safety level of the driver and his passengers can be raised and risks for other road users can be reduced. Fully autonomous driving is restricted by appropriate legal regulations, so that the vehicle must be controlled and driven by a human driver. Any control actions proposed or performed by the automatic control which have an influence on the actual driving can be overridden or dominated by the driver respectively.

By means of sensor systems, for example with cameras, radar or other imaging sensors and methods, information about the surroundings of the vehicle can be recorded in detail and processed with foresight by means of an assistance system. Accuracy of capture can far outweigh the quality of a driver's perception of accuracy. However, there is a problem in correctly interpreting the information in question and identifying with sufficient certainty hazards or information requiring decisions. For this, the human ability to assess is indispensable. For example, an experienced driver can intuitively recognize dangers threatening other road users, such as pedestrians crossing a lane without warning, or persons who may present a hazard on highway bridges for the vehicles under them.

The present invention has for its object to provide an assistance system and an assistance method for assisting the driver in the control of a motor vehicle, on the one hand the most comprehensive possible environment information and their processing allows, on the other hand, the inclusion of assessments of the driver in a simple and efficient manner allows.

The object is achieved with the features of claim 1 by an assistance system. The subclaims indicate advantageous embodiments of the system. In addition, we have achieved the object by means of an assistance method with the features of patent claim 6, the following subclaims indicating advantageous embodiments of an assistance method.

According to the invention, an assistance system for assisting the driver in the control of a motor vehicle is thus provided with sensors for acquiring measured variables relating to the driving situation, a processing device for determining parameters of a driving situation and control parameters of an assistance control from the detected measured variables, an output device for displaying the ascertained Parameters of the driving situation.

In addition, to solve the problem an input device for detecting additional inputs for correcting and / or supplementing the determined and represented by the output device parameters of the driving situation and / or the control parameters of the assistance control is provided.

Thus, information about the driving situation of the vehicle is detected by the sensors provided, which are interpreted in a processing device and further processed to determine a driving situation. As sensors, cameras, distance sensors, brightness sensors, temperature and humidity sensors, speed sensors, radar or lidar systems, ultrasound systems and the like may be provided. From this, the processing device generates a representation of the driving situation, which describes the situation as completely as possible, including the already predictable events and control options, as well as occurrence probabilities for the unforeseeable events that can not be controlled by the driver. This includes, for example, when one's own vehicle is moving at high speed in the fast lane of a freeway and another vehicle is overtaken, an estimate of the likelihood that this other vehicle will dislodge in front of its own vehicle.

For the assessment of this situation, intuitively acquired information is available to the human driver, which can be drawn, for example, from the previously observed behavior of the same vehicle and which can not yet be obtained via an automated assistance system.

In this case, it does not make sense to let the driver directly correct information obtained from the assistance system, since the physically detectable measured variables can be more accurately detected by the assistance system than by the perception ability of the driver. It makes sense, however, to let the driver intervene in the interpretation of the data through the assistance system, by being able to override, supplement or correct the interpretations of the processing facility obtained accordingly.

For this purpose, it is necessary that the parameters of the driving situation, which contain the corresponding interpretations of the processing device, are displayed in an output device and presented to the driver for assessment. In addition, control parameters of the assistance control such as planned braking and evasive maneuvers can be presented to the driver for acknowledgment or correction. On the one hand, of course, the driver has the opportunity to take over the control at any time directly via the control elements of the vehicle such as, for example, the steering wheel, clutch and brake. However, by supplementing and correcting the assistance system, he can generally accept the control of the assistance system, but correct his assessment of the situation as well as the control parameters and planned actions based thereon.

For example, when driving on a highway behind a leading vehicle proposed by the assistance system overtaking the vehicle ahead, because the assistance system detects no oncoming vehicles, the driver sees, however, a walker with a dog on an approaching in the highway forest road approach, so can For example, the assistance system makes the announcement acoustically: "overtaking the vehicle", which the driver can correct with the announcement "no" or "danger". Such an acoustic presentation system of the assistance system can be used alone, but also in conjunction with an optical display system for representing the driving situation. In the following, however, reference is essentially made to a purely optical display system, since this allows a higher density of presentation and a higher level of comfort in the representation of the driving situation.

Accordingly, it can advantageously be provided that at least one sensor is provided for detecting at least one optical image of the landscape lying in front of the motor vehicle in the direction of travel and an optical display for displaying an image processed by the processing device including the determined parameters of the driving situation.

As a sensor, for example, at least one camera can be provided for this purpose, which is directed to the lying in the direction of travel in front of the motor vehicle route.

The driver is thereby offered a perspective image, for example on a display screen or in a head-up display, which has at least a certain similarity with the real image, which he perceives without technical aids through the windows of his vehicle. However, it is useful and advantageous to use the advantages of image acquisition by sophisticated sensors such as the ability to zoom in or zoom in on certain details of the image. In addition, for example, the speed of the own vehicle or the speed of other vehicles participating in the traffic can be displayed and warnings can be issued, for example, if the distance to the leading vehicle for the speed is too low or if the vehicle is approaching an obstacle at high speed. Recognized signs or traffic signs can also be highlighted.

Also, the planned own infrastructure, for example, when overtaking a preceding vehicle can be displayed.

Particularly advantageous may also be provided that the output device is a touch screen is provided on the inputs can be made by touch.

A touch screen, for example, by touching with a finger to the labeling of individual parts of the image, which can then be zoomed closer, for example, by the assistance system or their assessment can be checked by the assistance system. For example, if the assistance system proposes to overtake a vehicle, but the driver recognizes in the distance a road sign that could indicate a passing prohibition, he can tap on the screen on the display of the possibly unrecognizable sign to make the assistance system to cause zoom in on this sign and reinterpret it. On the other hand, it can also be provided that the driver can touch the driving trajectory and move it on the screen in order to prevent overtaking.

It can also be provided that the driver can touch an image area or an object on the touchscreen and can comment on such as "danger" or "correction", which the processing system to reinterpret the corresponding image area or to a new detection of Can cause image data through the sensors.

The driver can thus intervene on an interpretation and planning level of the processing in the controller corrective. He can prevent or correct planned actions, one enter some interpretation of perceived parameters or force a reinterpretation by the processing system.

The invention relates in addition to a system and a device for assisting a driver in the control of a motor vehicle on a corresponding assistance method in which detected by sensors at least one optical image of lying in the direction of travel in front of the motor vehicle landscape, processed by the processing device and including the determined parameter of the driving situation is displayed in a visual display.

The visual display is carried out, for example, on a screen, in particular a touch screen or a head-up display, the display does not have to be photorealistic. For example, the representation may be schematized by representing only a black-and-white image or only the representation of sketchy lines; size ratios may be distorted by increasing or decreasing as a function of the distance of displayed areas or objects. For example, more distant objects can be made larger than close objects. Objects can also be enlarged or zoomed in according to their importance or the assessment of their potential dangers. In this case, objects with a higher risk potential are advantageously displayed larger or highlighted in another way, for example in color.

The transitions between areas or objects of the image, which are magnified differently, can be made fluent.

Additional situation parameters such as information about other road users or the indication "road surface wet", the indication "excessive speed" or the indication "attention speed restriction" or similar information can also be displayed.

Corresponding information can also be displayed via symbolic image representations (icons) instead of a linguistic representation.

Special hazards can also be announced acoustically.

In addition, it can be advantageously provided that within the processing device by means of an image recognition device on the currently detected optical image areas, in particular objects that are relevant for driving, in particular hazards, meaning is assigned.

In this case, the processing device and within this the image recognition device can rely on a database of images, which also allows the recognition of three-dimensional objects from different viewing angles. In addition, standard situations can be detected, which also require the detection of certain movement patterns and speed parameters.

Certain items such as signs, road signs or buildings such as bridges, street lamps and elements of nature such as avenues, trees, snowfields or the like can also be assigned meaning by an appropriate image recognition. In the case of information texts on traffic signs, these can be recognized and the significance of the signs can be assigned by color and form. If an image area or an object is assigned a particular risk, further processing may be performed that highlights the area or object in the presentation and that the risk recorded is also taken into account when planning future control activities.

For this purpose, it can be advantageously provided that a control of the motor vehicle is planned by the processing device and that the planned control is represented, in particular visually displayed.

In particular, it can be provided that the planned control of the motor vehicle is displayed by displaying a planned driving trajectory in the visual display.

A further advantageous embodiment provides that the planned control of the vehicle is displayed by displaying a planned acceleration or a planned deceleration.

The driver can then, for example, see ahead of him on a screen a view of the route in front of him, which resembles the view through the windshield of the vehicle. In addition, the planned driving trajectory in the form of a colored arrow is shown in the representation on the screen, which is designed according to the current planning, that has a corresponding offset in a planned overtaking. In addition, the trajectory may be colored, for example, green in the area in which to accelerate and red in the area in which a braking is expected. The planned overtaking process can also be announced by an acoustic announcement "overtaking is imminent".

In addition, the risky estimated areas of the image may be optically marked by, for example, provided with a pointer, circled by a circle or highlighted by a rectangle. The risk or the assessment that is associated with the correspondingly marked objects or image areas can either be displayed directly on the screen or additionally displayed or announced after touching the screen in the marked areas. It may also be a control by the driver by means of acoustic announcements or by means of a joystick instead of a touchscreen input.

It may also advantageously be provided that the assignment of meaning to at least one displayed area and / or object of the optical image is checked and, in particular, changed in response to an input by means of the input device.

It can be provided that the current assessment of the risk is shown in detail at a first touch of the marked object / area and that this assessment can be corrected by the driver at a second touch. For this purpose, so-called moves can be defined, which initiate certain actions of the processing device, such as touching and then wiping with a touch point can eliminate a classified as dangerous object or image area from the calculation. The circling of an image area or object may initiate a recalculation of a risk potential or an automatic increase of the risk assessment. For example, pulling apart two touch points may cause a partial image magnification so that the driver can better see an area.

It may also be advantageously provided that when a change of an assignment of meaning to a region or object of the optical image and the planned control of the vehicle is checked and adjusted. Thus, the driver can directly influence the planning of the driving assistance by the assistance system. It can also be provided that the driver can directly change a planned driving trajectory by changing the representation of the trajectory on the screen by touching and moving. Thus, for example, an overtaking operation may be considered by drawing a straight ahead driving trajectory to the fast lane side. In this way, conversely, an overtaking process can be aborted or the planning of an overtaking maneuver can be eliminated, or an evasive maneuver can be planned if, for example, a driver encounters suspicious persons who are to be evaded on a motorway bridge he passes under.

In the following the invention is shown by means of an embodiment in figures and explained below.

Showing:

1 FIG. 2 schematically the representation of a motor vehicle on a road from above with detection cones of image acquisition sensors, FIG.

2 a view of a screen that serves as an output device,

3 another display of a screen with an interaction option for a driver, as well

4 schematically the structure of an assistance system.

In the 1 is a motor vehicle 1 represented, which represents the own vehicle, which is led by a driver with the assistance of an assistance system. The 1 shows a picture from above, where the vehicle 1 on a street 2 is shown. In the direction of travel 3 in front of your own vehicle 1 there is another vehicle 4 , At the own vehicle 1 various sensors are arranged, of which, for example, a first image detection sensor 5 and a second image capture sensor 6 are shown at the front end of the vehicle in the area of the headlights. Furthermore, a third image acquisition sensor 7 in the area above the windshield 8th arranged. Among other things, the arrangement and combination of a plurality of image acquisition sensors, each of which may be designed as cameras, permits three-dimensional image acquisition and triangulation, which also facilitates the estimation of distances of detected objects.

In principle, however, only a single image detection sensor can be provided.

As further sensors, for example, a first distance sensor 9 and a second distance sensor 10 arranged on the sides of the vehicle. These distance sensors allow, for example, the detection of the roadside and thus the estimation of the distance of the own vehicle from the roadside and / or the estimation of the distance to neighboring vehicles. Similar distance sensors are also at the rear end 11 of the vehicle in the form of the sensors 12 and 13 (third and fourth distance sensor) provided. Also at the front end of the vehicle corresponding distance sensors may be provided to the distance of the own vehicle before the leading another vehicle 4 capture.

In the detection cones of the different image acquisition sensors 5 ' . 6 ' . 7 ' . 5 . 6 . 7 becomes both the leading vehicle 4 as well as a schematically illustrated street sign 14 detected.

In a processing facility, referred to below in connection with the 4 will be discussed in more detail, from the captured image information is a display on a touch-sensitive screen 15 (Touchscreen) generated, which is at least similar to a photographic reproduction of the detected view of the motor vehicle in the direction of travel forward.

In the 2 is an example of a street 2 on a display screen 15 shown on the in the direction of travel 3 of the own vehicle, a preceding vehicle 4 is shown. There is also a bridge 16 represented on which a person 17 located.

In addition, on the oncoming lane oncoming vehicle 18 captured, moving in the direction of travel 19 emotional.

A street sign 14 at the roadside is also detected.

The processing device points the street sign 14 special importance and marks this by circling by means of a circular line 20 , which may be colored, for example. The inscription on the road sign 14 is read by the processing device and in a special display field 21 displayed in enlarged form. This is a speed limit of 50 km / h.

Furthermore, the display screen shows 15 a driving trajectory 22 corresponding to the path of the own vehicle planned by the processing device. In the example shown here, the processor obviously plans an overtaking maneuver to the vehicle 4 to overtake. Obviously, the oncoming vehicle 18 not considered dangerous, that is the distance is considered sufficient to allow an overtaking maneuver. If the driver considers this overtaking maneuver to be too risky, especially in view of the speed limit, he may either be on the display screen 15 the oncoming vehicle 18 to initiate a reassessment of the risk by the processing device or directly the trajectory 22 Touch and swipe in the direction of the arrow 23 move back to its own lane, so that the processing device is brought to the planned trajectory 22 to reject.

It is also conceivable that the driver is in the person 17 on the bridge 16 sees a danger that has not yet been recognized by the processing device. The driver can intuitively perceive that danger threatens, for example, the person 17 Objects on the roadway of the road 2 could drop. In this case, the driver may be on the display screen 15 the representation of the person 17 Touch and pronounce the word "danger", which can be recorded for example by a microphone coupled to the screen. This causes the processing device, the person 17 attributed to a higher risk level, so that the person is marked in the presentation and appropriate braking or evasive maneuvers are planned.

In the 3 is another example of the driver's impact on the assistance process shown. On the screen 15 is a street 2 represented on which a detected, preceding vehicle 4 located. The assistance system plans a driving trajectory 22 ' passing an overtaking maneuver to overtake the vehicle 4 provides. If the driver takes a dog at the edge of the road 23 ' true, which the assistance system has classified as non-hazardous, so he can by touching the screen 15 At the appropriate place, raise the risk potential of the dog as an object. The dog is then with a line 24 in the 3 dashed lines, subsequently marked and the assistance system rejects the trajectory 22 ' and thus the overtaking maneuver to a new trajectory 25 in the 3 shown dashed, to propose. At the same time the trajectory becomes 25 colored red, since this driving variant is connected to a braking maneuver and the reduction in speed can be indicated by a red color code. The trajectory associated with acceleration 22 ' can be displayed in green, for example.

In the 4 is a schematic overview of the processing device 27 represented with the necessary periphery of the assistance system. At first, they are sensors 5 . 6 . 7 provided as image sensing sensors, as well as distance sensors 9 . 10 , In addition, other sensors such as humidity sensors, acceleration sensors, speed sensors, brightness sensors, sound sensors and additional other sensors may be provided. There is also an antenna 26 representing the loading of information over a radio network to the processing device 27 allowed. Here, for example, if a ghost driver is announced via a radio announcement, corresponding information can be integrated into the system. The information from the sensors can be found in an input stage 28 the processing device are first processed to a three-dimensional representation of the driving situation, that is to image information with additional depth information. The entrance level 28 can with an image recognition system 29 communicate, in turn, with an image database 30 connected is. Using the image database, the image recognition system can assign importance and potentially risk potential to the individual objects recorded in the image.

For the assignment, additional parameters such as the speed of movement of the object can be used. The result is a three-dimensional representation of the recorded landscape with objects / objects, which at least partially assigned a meaning. Because of this information, the input stage generates 28 an ad on a screen 15 which recognizes the image of the driving distance ahead in the direction of travel of the driver. The driver can with the screen 15 interact, so that from there information to the entry level 28 the processing device 27 be returned.

The input stage can then work together with the image recognition system 29 Reevaluate information and, if necessary, modify scheduled control activities. The control activities are via a connection line 31 to actuators 32 . 33 . 34 directed, for example, directly control the driving behavior (for example, the steering wheel, a brake, an accelerator pedal), but can also control supportive units such as the lighting of the vehicle or alarm elements such as a horn. However, a so-called override, that is to say a domination of the corresponding control activities of the processing device, is possible at any time by the driver.

In order to notify the processing device that a correction of an interpretation is necessary, the driver may, in addition to touching a touch-sensitive screen 15 also an input via a microphone 35 or a joystick 36 serve. With the described invention, increased driving safety with support by an assistance system is achievable, but above all a higher acceptance of an assistance system, since it is possible to interact and correct the interpretations and control suggestions of the assistance system in a comfortable manner.

Claims (14)

Assistance system to assist the driver in controlling a vehicle ( 1 ) with sensors ( 5 . 6 . 7 . 9 . 10 . 12 . 13 ) for the acquisition of measured variables relating to the driving situation, a processing device ( 27 ) for determining parameters of a driving situation and control parameters of an assistance control from the acquired measured variables, an output device ( 15 ) for displaying the ascertained parameters of the driving situation, characterized by an input device ( 15 . 35 . 36 ) for detecting additional inputs for correcting and / or supplementing the determined and by the output device ( 15 ) parameters of the driving situation and / or the control parameters of the assistance control. Assistance system according to claim 1, characterized in that at least one sensor ( 5 . 6 . 7 ) for detecting at least one optical image of the in the direction of travel ( 3 ) in front of the vehicle ( 1 ) and a visual display ( 15 ) to represent one by the processing device ( 27 ) processed image including the determined parameters of the driving situation. Assistance system according to claim 1 or 2, characterized in that as a sensor ( 5 . 6 . 7 ) at least one camera is provided, which in the direction of travel ( 3 ) in front of the vehicle ( 1 ) lying route is directed. Assistance system according to one of the preceding claims, characterized in that as output device ( 15 ) A touch screen is provided on the inputs can be made by touch. Assistance system according to one of the preceding claims, characterized in that the processing device ( 27 ) has a memory device, in each of which, in the case of a correction by means of the input device, the determined parameters of the driving situation are stored with the meaning attributed to them after the correction. Assistance method for operating a system according to one of claims 1 to 5, characterized in that by means of sensors ( 5 . 6 . 7 ) at least one optical image in the direction of travel ( 3 ) in front of the vehicle ( 1 ) by the processing facility ( 27 ) and including the determined parameters of the driving situation in an optical display ( 15 ) is pictured. Assistance method according to claim 6, characterized in that within the processing device ( 27 ) by means of an image recognition device ( 29 ) on the currently captured optical image areas, in particular objects ( 14 . 17 . 23 ), which are relevant for driving, in particular sources of danger, meaning is assigned. Assistance method according to claim 6 or 7, characterized in that by the Processing device ( 27 ) a control of the vehicle ( 1 ) and that the planned control is displayed, in particular visually displayed. Assistance method according to claim 8, characterized in that the planned control of the motor vehicle ( 1 ) by displaying a planned driving trajectory ( 22 . 22 ' . 25 ) in the optical display ( 15 ) is pictured. Assistance method according to claim 8 or 9, characterized in that the planned control of the motor vehicle ( 1 ) is displayed by displaying a planned acceleration or a planned deceleration. Assistance method according to one of claims 6 to 10, characterized in that are optically marked on the currently detected optical image as risky estimated areas of the image displayed. Assistance method according to one of claims 6 to 11, characterized in that on the currently detected optical image objects ( 14 . 17 . 23 ), which are associated with a particular risk, are visually highlighted. Assistance method according to one of claims 6 to 12, characterized in that an input by means of the input device ( 15 ) the assignment of meaning to at least one displayed area and / or object ( 14 . 17 . 23 ) of the optical image is checked and in particular changed. Assistance method according to claim 13, characterized in that when changing an assignment of meaning to an area or object ( 14 . 17 . 23 ) of the optical image, the planned control of the vehicle ( 1 ) is checked and adjusted.

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