DE102013216490A1 - A system for providing a signal to an object in the environment of the system - Google Patents
A system for providing a signal to an object in the environment of the system Download PDFInfo
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- DE102013216490A1 DE102013216490A1 DE201310216490 DE102013216490A DE102013216490A1 DE 102013216490 A1 DE102013216490 A1 DE 102013216490A1 DE 201310216490 DE201310216490 DE 201310216490 DE 102013216490 A DE102013216490 A DE 102013216490A DE 102013216490 A1 DE102013216490 A1 DE 102013216490A1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
- B60Q1/5035—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
- B60Q1/5037—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays the display content changing automatically, e.g. depending on traffic situation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/547—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
Ein System (10) zur Bereitstellung eines Signals für ein Objekt (2) in der Umgebung des Systems umfasst eine Sensoreinrichtung (110) zum Erfassen eines Abbildes der Umgebung des Systems (10), eine Recheneinrichtung (120) zur Auswertung des erfassten Abbildes der Umgebung des Systems (10) und zum Ermitteln des bereitzustellenden Signals in Abhängigkeit von der Auswertung des erfassten Abbildes der Umgebung des Systems (10) und eine Ausgabeeinrichtung (130) zur Ausgabe des Signals. Das Signal kann eine Information enthalten, dass das System (10) das Objekt (2) erkannt hat und wie eine Gefahrensituation aus Sicht des Systems (10) gelöst werden kann.A system (10) for providing a signal for an object (2) in the vicinity of the system comprises a sensor device (110) for acquiring an image of the environment of the system (10), a computing device (120) for evaluating the acquired image of the environment the system (10) and for determining the signal to be provided as a function of the evaluation of the acquired image of the environment of the system (10) and an output device (130) for outputting the signal. The signal may include information that the system (10) has detected the object (2) and how a hazardous situation can be resolved from the perspective of the system (10).
Description
Die Erfindung betrifft ein System zur Bereitstellung eines Signals für ein Objekt in der Umgebung des Systems. Des Weiteren betrifft die Erfindung ein Fahrzeug, insbesondere ein Fahrzeug, das zum autonomen Fahren geeignet ist, mit Bereitstellung eines Signals für ein Objekt in der Umgebung des Fahrzeugs. The invention relates to a system for providing a signal to an object in the environment of the system. Furthermore, the invention relates to a vehicle, in particular a vehicle, which is suitable for autonomous driving, providing a signal for an object in the vicinity of the vehicle.
Mit fortschreitender Navigationstechnik wird zukünftig autonomes Fahren immer wahrscheinlicher. Neben bemannten Fahrzeugen werden dann auch autonom fahrende Fahrzeuge, das heißt Fahrzeuge ohne einen Menschen als Fahrzeugführer im Innenraum des Fahrzeugs, am Straßenverkehr teilnehmen. Sollten sich die technischen Herausforderungen und gesetzlichen Hürden zum autonomen Fahren in den nächsten Jahren lösen lassen, so können beispielsweise Pkws oder Lkws mit entsprechender Technik zum autonomen Fahren ausgerüstet werden. As navigation technology progresses, autonomous driving will become more and more likely in the future. In addition to manned vehicles then autonomously moving vehicles, that is, vehicles without a human as a driver in the interior of the vehicle to participate in road traffic. If the technical challenges and legal hurdles to autonomous driving can be solved in the next few years, for example, cars or trucks equipped with the appropriate technology for autonomous driving can be equipped.
Mit autonom fahrenden Fahrzeugen ohne Insassen werden viele neue Anwendungen interessant. Beispielsweise kann ein Fahrer sein Fahrzeug rufen, welches dann selbstständig vom hinteren Ende eines Parkplatzes zum Eingang eines Einkaufszentrums vorfährt. Andererseits stellen sich für andere Teilnehmer am Straßenverkehr, beispielsweise Fußgänger, Radfahrer, technisch nicht fortschrittliche beziehungsweise bemannte Autos oder allgemein für Objekte in der unmittelbaren Umgebung eines autonom fahrenden Fahrzeugs neue Herausforderungen, wenn ihnen autonom fahrenden Fahrzeuge begegnen und sich gleiche Wege teilen. With autonomous vehicles without occupants many new applications become interesting. For example, a driver can call his vehicle, which then automatically moves from the rear end of a parking lot to the entrance of a shopping center. On the other hand, for other road users, such as pedestrians, cyclists, technically unmodified or manned cars or generally for objects in the immediate vicinity of an autonomously driving vehicle, new challenges arise when they meet autonomous vehicles and share the same paths.
Während ein Fahrer in einem Fahrzeug in jeder Situation durch einfache Gesten, wie zum Beispiel Handzeichen, oder das Betätigen der Hupe/Lichthupe andere Verkehrsteilnehmer auf eine Gefahrensituation aufmerksam machen kann oder ihnen sein eigenes zukünftiges Verhalten mitteilen kann oder sie zu einem bestimmten Verhalten ihrerseits auffordern kann, ist bei einem autonom fahrenden Fahrzeug eine derartige menschliche Kommunikation nicht gegeben. Zudem ist zu erwarten, dass einem selbstfahrenden Auto von andern Verkehrsteilnehmern eine gewisse Skepsis und Unsicherheit entgegengebracht wird. While a driver in a vehicle in any situation by simple gestures, such as a hand signal, or pressing the horn / flasher may make other road users aware of a dangerous situation or their own future behavior can tell or prompt them to a certain behavior on their part , In such an autonomous vehicle such human communication is not given. In addition, it is to be expected that a self-driving car from other road users a certain skepticism and uncertainty is presented.
Die Aufgabe der vorliegenden Erfindung ist es, ein System zum Bereitstellen eines Signals für ein Objekt in der Umgebung des Systems anzugeben, mit dem es ermöglicht wird eine Gefahrensituation für das Objekt aufzulösen oder zu vermeiden. Eine weitere Aufgabe der vorliegenden Erfindung ist es, ein Fahrzeug mit Bereitstellung eines Signals für ein Objekt in der Umgebung des Fahrzeugs anzugeben, mit dem es ermöglicht wird, eine Gefahrensituation für das Objekt zu vermeiden oder aufzulösen. The object of the present invention is to provide a system for providing a signal for an object in the environment of the system, with which it is possible to resolve or avoid a dangerous situation for the object. Another object of the present invention is to provide a vehicle with provision of a signal for an object in the vicinity of the vehicle, with which it is possible to avoid or resolve a dangerous situation for the object.
Eine Ausführungsform eines Systems zur Bereitstellung eines Signals für ein Objekt in der Umgebung des Systems ist in Patentanspruch 1 angegeben. Das System kann eine Sensoreinrichtung zum Erfassen eines Abbildes der Umgebung des Systems umfassen. Des Weiteren weist das System eine Recheneinrichtung zur Auswertung des erfassten Abbildes der Umgebung des Systems und zum Ermitteln des bereitzustellenden Signals in Abhängigkeit von der Auswertung des erfassten Abbildes der Umgebung des Systems auf. Darüber hinaus umfasst das System zur Bereitstellung eines Signals für ein Objekt eine entsprechend ausgebildete Ausgabeeinrichtung zur Ausgabe des Signals. An embodiment of a system for providing a signal for an object in the environment of the system is given in claim 1. The system may include a sensor device for capturing an image of the environment of the system. Furthermore, the system has a computing device for evaluating the acquired image of the environment of the system and for determining the signal to be provided as a function of the evaluation of the acquired image of the environment of the system. In addition, the system for providing a signal for an object comprises a suitably designed output device for outputting the signal.
Mit Hilfe des oben angegebenen Systems kann auch ein Fahrzeug mit Bereitstellung eines Signals für ein Objekt in der Umgebung des Fahrzeugs angegeben werden. Eine Ausführungsform eines derartigen Fahrzeugs, insbesondere Kraftfahrzeugs, ist im Patentanspruch 12 angegeben, wonach das Fahrzeug das oben genannte System zur Bereitstellung des Signals für das Objekt in der Umgebung des Systems umfasst. With the aid of the abovementioned system, it is also possible to specify a vehicle with provision of a signal for an object in the surroundings of the vehicle. An embodiment of such a vehicle, in particular a motor vehicle, is specified in claim 12, according to which the vehicle comprises the above-mentioned system for providing the signal for the object in the vicinity of the system.
Mit Hilfe der Sensoreinrichtung, der Recheneinrichtung und der Ausgabeeinrichtung ist das System bei Einbau in ein Fahrzeug in der Lage, eine Fahrzeug-Objekt Kommunikation aufzubauen, welche einem menschlichen Fahrer und dessen Verhalten sehr nahe kommt und ihn in Bezug auf das Geben von Zeichen/Hinweisen an einen anderen Verkehrsteilnehmer ersetzen kann. Mittels der Sensoreinrichtung kann das nähere Umfeld des Systems beziehungsweise des autonomen Fahrzeugs erfasst werden. Nach Auswertung des von der Sensoreinrichtung erfassten Abbildes der Umgebung lassen sich Objekte in der Umgebung des Systems/des Fahrzeugs von der Recheneinrichtung erfassen beziehungsweise erkennen. Die Recheneinrichtung kann darüber hinaus ausgebildet sein, nach der Objekterkennung festzustellen, ob eine Kontaktaufnahme mit dem erkannten Objekt möglich ist. With the aid of the sensor device, the computing device and the output device, the system, when installed in a vehicle, is able to establish vehicle-to-object communication which is very close to a human driver and his behavior and in terms of giving signs / cues to another road user. By means of the sensor device, the closer environment of the system or of the autonomous vehicle can be detected. After evaluation of the image of the environment detected by the sensor device, objects in the environment of the system / of the vehicle can be detected or recognized by the computing device. The computing device can also be designed to determine after the object recognition, whether a contact with the detected object is possible.
Gemäß einer Weiterbildung kann die Recheneinrichtung anhand der erfassten Umgebung des Systems beziehungsweise Fahrzeugs, sowie anhand des Zustands des erkannten Objekts das zukünftige Verhalten des Objekts abschätzen. Das System kann dadurch beispielsweise den von einem anderen Verkehrsteilnehmer zukünftig beabsichtigten Weg nachvollziehen beziehungsweise vorprognostizieren. In Abhängigkeit von der Prognose des beabsichtigten Verhaltens des Objekts, in Abhängigkeit von der Umgebung, in der sich das System und das Objekt befinden, sowie in Abhängigkeit von dem Zustand des Systems oder des Fahrzeugs, in das das System eingebaut ist, kann die Recheneinrichtung ein Signal zur Ausgabe an das Objekt ermitteln. Das Signal kann eine Information enthalten, dass das Objekt sowie gegebenenfalls dessen Absicht von dem System und damit beispielsweise von einem autonom fahrenden Fahrzeug erkannt worden ist. Des Weiteren kann das Signal Informationen darüber enthalten, wie sich das System beziehungsweise das Fahrzeug, in dem das System angeordnet ist, zukünftig verhalten wird. Des Weiteren kann das Signal eine Information enthalten, wie sich das Objekt gegenüber dem System beziehungsweise einem mit dem System ausgerüsteten Fahrzeug verhalten soll. Das System kann dem Objekt somit Empfehlungen in Bezug auf sein künftiges Verhalten geben. Dadurch ist es möglich, Gefahrensituationen zu vermeiden oder eine Lösung zur Auflösung einer Gefahrensituation anzubieten. According to a further development, the computing device can estimate the future behavior of the object on the basis of the detected environment of the system or vehicle, and on the basis of the state of the detected object. For example, the system can track or predict the way intended by another road user in the future. Depending on the prediction of the intended behavior of the object, depending on the environment in which the system and the object are located, as well as on the state of the system or vehicle in which the object is located System is installed, the computing device can determine a signal for output to the object. The signal may include information that the object and possibly its intent has been recognized by the system and thus, for example, by an autonomous vehicle. Furthermore, the signal may include information about how the system or vehicle in which the system is located will behave in the future. Furthermore, the signal may include information as to how the object should behave towards the system or a vehicle equipped with the system. The system can thus give the object recommendations regarding its future behavior. This makes it possible to avoid dangerous situations or to offer a solution to resolve a dangerous situation.
Die Informationen an das Objekt können durch geeignete visuelle und/oder akustische Signale weitergegeben werden. Die Ausgabeeinrichtung des Systems kann beispielsweise mehrere Displays, die an verschiedenen Orten angeordnet sind, aufweisen. In Abhängigkeit von der Position des Objekts relativ zu den Displays kann dasjenige Display oder ein bestimmter Bereich auf diesem, das/der von dem Objekt am Besten wahrgenommen werden kann, zur Ausgabe des die Information enthaltenden Signals ausgewählt werden. Die Ausgabeeinrichtung kann beispielsweise mehrere transparente oder nicht transparente Displays umfassen. Wenn das System in einem Fahrzeug verbaut ist kann beispielsweise die Windschutzscheibe oder Seitenscheiben des Fahrzeugs ein oder mehrere integrierte transparente Displays aufweisen oder durch diese ersetzt werden. Zur Anzeige des Signals kann beispielsweise dasjenige Display oder ein spezieller Teilbereich ausgewählt werden, zu dem das Objekt gerade Blickkontakt hält. The information to the object can be passed on by suitable visual and / or acoustic signals. For example, the output device of the system may include a plurality of displays arranged at different locations. Depending on the position of the object relative to the displays, that display or a particular area on it that can best be perceived by the object can be selected to output the signal containing the information. The output device may comprise, for example, a plurality of transparent or non-transparent displays. For example, when the system is installed in a vehicle, the windshield or side windows of the vehicle may include or be replaced by one or more integrated transparent displays. To display the signal, for example that display or a special subarea can be selected, to which the object just keeps eye contact.
Mit dem angegebenen System kann eine selektive Kommunikation zwischen einem Objekt und einem autonom fahrenden Fahrzeug erreicht werden. Ein autonom fahrendes Fahrzeug, das mit dem System ausgestattet ist, kann beispielsweise signalisieren, dass es ein anderes Objekt im Straßenverkehr erkannt hat. Darüber hinaus kann dem Objekt signalisiert werden, dass dessen Absicht vom System erkannt wurde und das System sich dessen Handlung bewusst ist. Des Weiteren kann mittels des ausgegebenen Signals aufgezeigt werden, wie eine Verkehrssituation aus Sicht des Systems beziehungsweise des Fahrzeugs zu lösen ist. Dabei kann eine leicht verständliche Informationssemantik durch akustische und optische Signale, die beispielsweise auch von einem menschlichen Fahrer in einer bestimmten Situation benutzt würden, verwendet werden. Es können dem Objekt somit gezielt Informationen über die voraussichtlich nächste Aktion des autonomen Fahrzeugs mitgeteilt werden oder das Objekt kann von dem System zu einem bestimmten Verhalten aufgefordert werden. Da die Information in Abhängigkeit von dem erkannten Objekt modifiziert werden kann, geht die Informationsdarstellung über eine Fahrzeug-mit-Fahrer und Fußgängerkommunikation hinaus. With the specified system, a selective communication between an object and an autonomously driving vehicle can be achieved. For example, an autonomous vehicle equipped with the system may signal that it has detected another object on the road. In addition, the object can be signaled that its intention has been recognized by the system and the system is aware of its action. Furthermore, by means of the output signal, it can be shown how a traffic situation can be solved from the point of view of the system or of the vehicle. In this case, easily understandable information semantics can be used by acoustic and optical signals, which would also be used, for example, by a human driver in a certain situation. Information about the expected next action of the autonomous vehicle can thus be communicated to the object in a targeted manner or the object can be requested by the system for a specific behavior. Since the information can be modified depending on the detected object, the information presentation goes beyond vehicle-with-driver and pedestrian communication.
Weitere Ausführungsformen der vorliegenden Erfindung werden anhand von Ausführungsbeispielen, die in den nachfolgenden Figuren dargestellt sind, erläutert. Further embodiments of the present invention will be explained with reference to exemplary embodiments, which are illustrated in the following figures.
Es zeigen: Show it:
Das System
Darüber hinaus kann die Recheneinrichtung
Die Information kann als ein optisches oder akustisches Signal ausgegeben werden. Die Ausgabeeinrichtung
Das System umfasst die Sensoreinrichtung
Die Sensoreinrichtung
Die von den Sensoren erfassten Daten werden an eine Sensorsteuereinrichtung
Die Recheneinrichtung
Das System weist beispielsweise eine Speichereinrichtung
Gemäß einer Weiterbildung des Systems verfügt die Recheneinrichtung
Die Recheneinrichtung
Im Rahmen der Interaktionserkennung kann durch Auswerten des von der Sensoreinrichtung
Die Recheneinrichtung
Die Recheneinrichtung
Wenn beispielsweise, wie anhand von
Zur Darstellung des von der Recheneinrichtung ermittelten Signals weist die Ausgabeeinrichtung
Mittels der Sensoren der Sensoreinrichtung
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