DE102013219038A1 - A method for detecting a traffic cop by a driver assistance system of a motor vehicle and a driver assistance system - Google Patents

Abstract

The invention relates to a method for detecting a police officer by a driver assistance system (1) of a motor vehicle, whereby images of the vehicle surroundings are recorded by means of a vehicle-side camera (5), the image data of the recorded images being evaluated by means of an image evaluation stored in the driver assistance system (1), and wherein on the basis of the evaluated image data a police officer is automatically detected. Furthermore, the invention relates to a driver assistance system (1) for a motor vehicle for detecting a police officer, comprising a camera (5) for taking pictures in the vehicle environment (7) and an evaluation unit (9) for evaluating the images recorded by means of the camera (5) wherein the evaluation unit (9) is set up and designed to automatically detect a police officer in the image data of the recorded images.

Description

A modern motor vehicle is now often equipped with a driver assistance system. The aim of such a driver assistance system is to increase road safety by the precautionary avoidance of dangerous situations that can lead to accidents. Further goals are the comfort increase by relieving the driver as well as facilitating the orientation by situationally prepared and driver-friendly conveyed environment information.

A driver assistance system intervenes partially autonomously or autonomously in the drive, the control or in signaling devices of the motor vehicle, warns the driver shortly before or during a critical situation or prevents them by an independent intervention. Here, a driver assistance system is designed so that the responsibility remains with the driver, so this can override autonomous interventions.

A camera system for monitoring the vehicle environment plays an important role. An automatic camera-based driver assistance system detects the vehicle environment by means of one or more cameras, interprets the image data of the recorded images and determines from this a system-specific reaction. For example, the interpretation of the vehicle environment includes the recognition of self-illuminating or illuminated elements of the infrastructure or of the road traffic. Examples include headlights and taillights of other road users as well as traffic lights or traffic signs of their own and possibly adjacent lanes.

With the aid of a traffic light assistant implemented in the driver assistance system, it is possible, for example, to optimally adapt the speed of the motor vehicle to the green or red phase of the next traffic light. Unnecessary abrupt stopping and strong acceleration are thus avoided. The technology in the traffic light communicates to the remaining time of the current traffic light phase to the motor vehicle. Based on the calculations, the traffic light assistant then shows the driver speed recommendations or a stop notice or regulates the speed of the vehicle independently.

From a legal point of view, however, the driver always has full responsibility for his vehicle when using a driver assistance system. With a malfunction of the driver assistance system or a non-or not timely detection of a potentially dangerous traffic situation must be expected at any time.

In a driver assistance system that is based on a camera-based traffic light recognition and / or on a traffic sign recognition, it may occur, for example, that an unexpected, unforeseen traffic situation is not recognized by the driver assistance system. This could be the case, for example, when traffic is regulated by a traffic cop instead of traffic lights or traffic signs.

Although the instructions of police officers go to all other orders and other rules across borders, it is not yet provided in a standard driver assistance system with a traffic light assistant and / or an assistant for detecting traffic signs, the instructions or orders from a police officer instead of the corresponding Traffic or traffic signal to follow.

The invention is thus based on the object of specifying a method which enables a driver assistance system to perceive a traffic policeman.

Further, the invention has for its object to provide a driver assistance system, which perceive a police officer and can respond accordingly.

The first object is achieved by a method for detecting a police officer by a driver assistance system, wherein images are taken from the vehicle environment by means of a vehicle-side camera, wherein the image data of the recorded images are evaluated by means of an image evaluation stored in the driver assistance system, and wherein based on the evaluated image data Policeman is automatically detected.

The starting point for finding a solution is the consideration that a modern driver assistance system is capable of assessing and evaluating the traffic situation and thus actively or passively intervening in the vehicle guidance. A common system includes in particular a traffic light assistant and / or a traffic sign assistant who recognize by electronic image analysis the state of a traffic signal system and appropriate instructions to a driver with regard to the required driving behavior (stop in red, start driving in green, etc.) spend and so supportive in driving can intervene. The invention now provides to provide an electronic or automated image analysis in the driver assistance system or to enable an already existing image analysis to evaluate the image data of the recorded images with regard to the presence of a police officer. One A police officer or a policewoman may preferably be automatically recognized from the recorded image data by means of object recognition and classification methods known per se. For this purpose, a subclass can be provided for an object class "persons", which has typical characteristics for police officers, such as clothing (police uniform), headgear (police hat), safety vest, Winkerkelle and / or whistle. Alternatively or additionally, the location, posture and / or body movement of an object recognized as a "person" may be included for classification as a "policeman" regulating the traffic.

The invention enables a driver assistance system, which is equipped in particular with a traffic light assistant and / or a traffic sign assistant, to recognize a policeman controlling the traffic and to react to the police rather than to a traffic light or traffic sign. For example, the driver of the motor vehicle can intervene autonomously or partially autonomously by downgrading or ignoring a recognized traffic light phase or a recognized traffic sign in their priority. Also, the driver can be prompted by the driver assistance system upon detection of a police officer by a corresponding visual and / or acoustic signal to take control of the motor vehicle and to follow the instructions of the police officer for the duration of his presence. Thus, in the case of such a special situation, a driver must correctly classify the instructions of the police officer within the meaning of the Highway Code and follow them independently. The driver assistance system as such can thus give the driver complete control when the police officer is detected. Only after passing the special situation, the driver assistance system can be used again to support the driver in traffic.

The image analysis stored in the driver assistance system can be a suitable stored software and / or a corresponding hardware, whereby known algorithms for object recognition and / or pedestrian recognition can be used to recognize the police officer on the basis of conventional image processing systems. For this purpose, in particular, information stored in the driver assistance system can be accessed and a corresponding adjustment made.

Based on the evaluated image data, the instructions given by the police officer for regulating road traffic, in particular country-specific, are preferably automatically recognized. This is done by an identification of the body position and / or posture and / or arm and leg position of the recognized police officer. Also, the image processor employed can be trained to identify a trowel or other signaling tool that the policeman holds in his hand. The interpretation of the detected positions of the police officer in the sense of the corresponding instructions assigned to regulate the traffic is particularly country-specific. If the instructions given by the police officer through posture, etc., are recognized by the driver assistance system, the driver assistance system can assist the driver with assistance in carrying out the recognized instructions. However, it is also possible that the driver assistance system then actively engages the vehicle guidance in accordance with the recognized instructions and controls the motor vehicle accordingly, in particular thus, for example, triggers a braking operation. In this case, in the driver assistance system, the recognized signs and / or instructions of the police officer are rated higher in relation to a detected traffic light phase or a recognized traffic sign, or the latter is not used to control the motor vehicle.

In an advantageous embodiment, to detect the instructions of the police officer or even the police officer as such additional acoustic signals of the police officer, in particular the beep of a whistle or the like, used. For this purpose, the driver assistance system can be equipped, for example, with a corresponding sound recording function, and include an audio analysis function, so that specific sounds or certain typical signal or sound forms can be identified.

A sound analysis function can also be used to recognize a deployment vehicle, regardless of the detection of a police officer, and to give the same priority or the same prioritization as a police officer in the driver assistance system or to inform the driver of the priority of the emergency vehicle.

The automatic detection of a police officer and / or his instructions also allows the driver assistance system to prepare for a corresponding special situation or dangerous situation in traffic and to follow the signs and instructions of the police officer. For example, the driver can be warned by the driver assistance system when approaching his vehicle with a crossing usually controlled by a traffic light circuit, and a policeman is deployed, for example, as a result of an accident or a failed traffic light control. The driver assistance system recognizes the presence of the police officer and / or the corresponding instructions regarding the required driving behavior and reacts corresponding. Already by an additional warning the attention of the driver is sharpened so that it can respond to the police, whereby a potential risk of accidents is reduced.

According to the Highway Code of the Federal Republic of Germany is indicated by a police officer, for example by a lateral extension of an arm or both arms transversely to the direction of travel that a stop is required before the intersection. The cross traffic is released. This is valid as long as the same direction is waved or this basic position is maintained. Lifting an arm indicates that a road user must wait for the next sign before the intersection, and road users at the intersection must clear the intersection. If the instructions are recognized country-specific, with corresponding information being stored in the driver assistance system, the driver assistance system can be used safely to detect a police officer without retrofitting even when traveling abroad

The number of cameras used is basically variable. Optionally, it is advantageous if multiple cameras are arranged on the vehicle, the images of the entire vehicle environment allow.

In a preferred embodiment, when recognizing a police officer and / or recognizing the arrangements given by a police officer, as already mentioned, a signal is output to the driver that the traffic control is taken over by the police officer. This makes it possible to ensure that a driver is informed about the current traffic situation despite the use of the driver assistance system and, if necessary, can independently intervene in the driving process. In particular, the signal contains indications that the traffic sign recognition, the traffic light recognition and the priority rules stored in the system do not apply during the traffic control by the police officer. The output of the signal - acoustically, visually in the vehicle display or haptic - preferably takes place in such a way that it can be perceived simply and intuitively by the driver, without having to turn his eyes away from the road, for example.

In a further advantageous embodiment, a signal to the driver with regard to the required driving behavior, so for example "stopping", "driving off" or "waiting", etc. output depending on the given by a policeman arrangements. The signal may, for example, be made optically by an indication in the vehicle display and / or also by an acoustic announcement.

When activating the driver assistance system, it is expedient for a driver to point out that in the case of a dangerous situation or a special situation in traffic, the arrangements of a traffic policeman take precedence over the traffic light assistants integrated in the driver assistance system and / or a traffic sign assistant. The reference to this can also be done acoustically, optically or haptically. Further appropriate is a corresponding note also deposited in the user manual of the respective vehicle.

Advantageously, the driver assistance system automatically reacts to the orders of the police officer. The driver assistance system is then able to evaluate the detected images of the police officer and their arrangements so that the vehicle behavior is independently adapted to the prevailing traffic situation. In other words, the driver assistance system actively intervenes in the driving operation. Of course, even with such an automatic response of the driver assistance system oversteer by intervention of the driver is possible at any time.

The image evaluation preferably takes place by means of a comparison with images or image data or image information stored in the driver assistance system. For this purpose, for example, images or corresponding information are stored in the driver assistance system, which indicate the respective possible instructions of a police officer. For example, the postures of a policeman can be seen in the deposited images for the instructions "stopping", "driving off" and "waiting". In particular, these images or information are country-specific deposited.

In the case of traffic control by a police officer, the images of the police officer taken by a vehicle camera can be compared with the stored images or information or image data and the vehicle can be controlled accordingly if the actual posture or position of the police officer or his or her limbs matches with the stored information ,

Further preferably, the evaluation of the images recorded by means of the camera takes place by means of a corresponding image recognition algorithm stored in the driver assistance system. Here, for example, a recognition of a corresponding object in the vehicle environment and then a corresponding classification of the object is performed first. In a traffic cop as a recognized object, the classification is preferably carried out in terms of its position in the road, its posture and the alignment and / or movement of his limbs. The image recognition by means of an image recognition algorithm and by means of a comparison with stored data can in principle also be combined.

The second underlying object of the invention is achieved by a driver assistance system for a motor vehicle for detecting a police officer, comprising a camera for taking pictures in the vehicle environment and an evaluation unit for evaluating the images recorded by means of the camera, wherein the evaluation unit for automatic detection of a police officer is set up and designed in the image data of the recorded images.

Such a driver assistance system allows, as already stated, in the case of the special situation of a traffic control by a police officer, a reaction to this traffic situation. In this case, the instructions of the recognized police officer are also preferably recognized by the driver assistance system and appropriate measures are taken or initiated. In particular, the instructions recognized by the driver are rated higher by the driver assistance system than by the driver assistance system detected traffic lights, traffic signs or other traffic rules.

Further advantageous embodiments emerge from the directed to the driver assistance system dependent claims. The advantages mentioned for the procedure for the detection of a police officer can be transferred analogously to the driver assistance system.

In the following an embodiment of the invention will be explained in more detail with reference to a drawing.

1 shows a schematic representation of a driver assistance system 1 for a motor vehicle. By means of the driver assistance system 1 it is possible to have a traffic policeman 3 and to recognize its instructions and to follow them accordingly. The driver assistance system 1 includes a camera 5 for taking pictures in the vehicle environment 7 and an evaluation unit 9 for evaluation by means of the camera 5 taken pictures. The evaluation unit 9 is set up and trained to automatically recognize the instructions given by the policeman.

The camera 5 , or a plurality of cameras continuously takes pictures of the vehicle environment during operation of the vehicle assistant 7 on. If a policeman regulates traffic, for example in the case of an accident on an intersection, then the camera 5 Pictures taken by the policeman 3 demonstrate. These images or the corresponding image data are in the evaluation unit 9 automatically compared with stored images or image data. From the comparison, the driver assistance system 1 first of all directly to the presence of a police officer, for example by detecting a "person" on or next to the road, especially at an intersection or traffic light. The "person" can be further classified as a "policeman" on the basis of the identified typical clothing (police coat or uniform and police hat as headgear). By further analysis and / or by further comparison with corresponding images or image data, a police officer in show each corresponding to a specific instruction to regulate the traffic corresponding posture or position, the recorded position or posture of the police officer of a specific instruction, such as "stopping", "waiting" or "driving off" assigned.

After the evaluation is in one of the evaluation 9 connected signaling unit 11 a signal is generated and output to the driver. The signal is emitted, for example, optically, by displaying the identified instruction or the action required in the driver's display according to the instruction, or acoustically, by announcing the identified instruction or the required action. Alternatively or in parallel with the signal output, the driver assistance system can also intervene in support of vehicle operation and, for example, initiate a braking process.

The shown components of the driver assistance system 1 In the present case, only the part of the system components used serves to identify the police officer. Other components, such as those used for the detection of traffic lights and traffic signs, as well as multiple cameras for side and rear monitoring of the vehicle environment are in the present 1 not shown, but of course possible. Traffic light phases or traffic signs already recognized by the driver assistance system, in particular the actions to be deduced or derived from, indications or checks in the vehicle guidance, are ignored.

LIST OF REFERENCE NUMBERS

1

Driver assistance system

3

police officer

5

camera

7

vehicle environment

9

evaluation

11

signaling unit

Claims (15)

Method for detecting a police officer by a driver assistance system ( 1 ) one Motor vehicle, wherein by means of a vehicle-side camera ( 5 ) Images of the vehicle environment are recorded, wherein the image data of the recorded images by means of a driver assistance system ( 1 ) evaluated image evaluation, and wherein based on the evaluated image data a police officer is automatically detected.  The method of claim 1, wherein based on the evaluated image data given by the police instructions for the regulation of road traffic, in particular country-specific, automatically detected.  A method according to claim 2, wherein for detecting the instructions additional acoustic signals of the police officer are used.  Method according to one of the preceding claims, wherein upon detection of the police officer, a signal is output to the driver that the traffic control is taken over by the police officer.  A method according to claim 4, wherein, depending on the orders given by the police officer, a signal is issued to the driver with regard to the required traffic behavior. Method according to one of claims 2 to 5, wherein the driver assistance system ( 1 ) automatically reacts to the detected orders of the policeman. Method according to one of the preceding claims, wherein the image data are obtained by comparison with in the driver assistance system ( 1 ) deposited images are evaluated. Method according to one of the preceding claims, wherein the image data are stored by means of a driver assistance system ( 1 ) algorithm for object recognition are evaluated. Driver assistance system ( 1 ) for a motor vehicle for detecting a policeman, comprising a camera ( 5 ) for taking pictures in the vehicle environment ( 7 ) and an evaluation unit ( 9 ) for evaluation by means of the camera ( 5 ), the evaluation unit ( 9 ) is set up and configured to automatically detect a policeman in the image data of the captured images. Driver assistance system ( 1 ) according to claim 9, wherein the evaluation unit ( 9 ) is set up and designed for automatic, in particular country-specific, recognition of the arrangements given by the police officer. Driver assistance system ( 1 ) according to claim 9 or 10, comprising one with the evaluation unit ( 9 ) associated signaling unit ( 11 ), which is set up and designed to output a signal to the driver in the event of detection of the police officer. Driver assistance system ( 1 ) according to claim 11, wherein the signaling unit ( 11 ) is arranged and designed such that it outputs a signal regarding the required traffic behavior to the driver depending on the arrangements given by the police officer. Driver assistance system ( 1 ) according to one of claims 9 to 12, which is set up and designed to automatically respond to the detected orders of the police officer. Driver assistance system ( 1 ) according to one of claims 9 to 13, wherein in the evaluation unit ( 9 ) Images are stored for comparison with the images taken by the vehicle environment. Driver assistance system ( 1 ) according to one of claims 9 to 14, wherein in the evaluation unit ( 9 ) an algorithm for object recognition is stored.

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