DE102014209015A1 - Method and device for distance control for a vehicle - Google Patents

Abstract

The invention relates to a method (250) for adjusting the distance for a vehicle (100), wherein the vehicle (100) has an image capture device (116) and an environmental sensor system (118), wherein the environmental sensor system (118) provides an environmental signal (122) a position information and / or a speed information (vfzg) for at least one preceding vehicle (110), wherein the method (250) comprises a step of reading (252) image information (120) of the image acquisition device (116), a step of determining ( 254) at least one environment information (128) using the image information (120), and a step of determining (256) a proximity control signal (132) using the environmental signal (122) and using the environmental information (128) to provide pitch control for the Vehicle (100) to realize.

Description

State of the art

The present invention relates to a method for distance control for a vehicle, to a corresponding device for adjusting the distance for a vehicle and to a corresponding computer program.

A so-called adaptive cruise control (ACC) is an expression of a driver assistance system in vehicles, which can determine a relative position and a relative speed between a so-called ego vehicle and a front vehicle and can regulate a minimum distance or desired distance and a target relative speed between the vehicles. Frequently, radar-based systems can be found here.

The DE 10 2012 210 608 A1 discloses a method for generating a control parameter for an assistance system of a vehicle, in particular a distance assistance system. In this case, the method can be carried out in conjunction with a vehicle which comprises an environment detection device oriented in the direction of travel of the vehicle.

Disclosure of the invention

Against this background, with the approach presented here, a method for distance control for a vehicle, furthermore a device for distance control for a vehicle, which uses this method, and finally a corresponding computer program according to the main claims are presented. Advantageous embodiments emerge from the respective subclaims and the following description.

By incorporating image information from an image capture device of a vehicle in an automatic distance control for the vehicle, the automatic distance control can advantageously be made more dynamic and robust. In this case, in a variant of the presented method, the automatic distance control for the vehicle may determine a distance to a preceding vehicle and / or a speed of the vehicle at least using a signal of an environment detection device, and the distance and / or the speeds using one of the image information validate or adapt the information obtained.

A method for distance control for a vehicle is presented, the vehicle having an image capture device and an environment sensor system, wherein the environment sensor system provides an environment signal representing position information and / or a speed information for at least one preceding vehicle, the method comprising the following steps :
Reading an image information of the image capture device; Determining at least one environment information using the image information;
Determining a proximity control signal using the surround signal and using the environmental information to realize a vehicle pitch control.

An environment sensor system can be understood as an environment detection device. In this case, the environment signal may represent a property such as a movement state or a position of the preceding vehicle with respect to the vehicle or ego vehicle or with respect to a roadway, a lane marking or a lane boundary. The environment information can be obtained, for example, using object recognition and additionally or alternatively other image processing algorithms with regard to objects or vehicles in front of the vehicle or ego vehicle. The vehicle or ego vehicle can be understood as meaning a vehicle which comprises the surroundings sensor system and the image capture device. A distance control device in the vehicle or ego vehicle may provide a distance control signal as a control variable for a control device of the vehicle. In this case, a minimum distance to a preceding vehicle can be maintained using the distance control signal. In this case, the distance control signal can be passed on to a control unit in order to realize an automatic distance control or, alternatively, information can be provided to a driver of the vehicle as visual or auditory information in order to maintain a predetermined distance to the preceding vehicle. In order to maintain the predetermined distance to the preceding vehicle, a speed of the vehicle or ego vehicle can be adjusted or regulated.

In the step of determining, information about at least one road marking and additionally or alternatively information about a transverse offset of the at least one preceding vehicle and additionally or alternatively information about an activation of at least one brake light of the at least one preceding vehicle can be determined as environment information. The environment information may be obtained from the image information using object recognition or other image processing function. It can under the image information an image or an image of an environment of the vehicle or an information obtained using an image of the surroundings of the vehicle. The environment information may generally include information about a traffic lane, about a position on a traffic lane or about a direction of movement of the vehicle in the traffic lane and additionally or alternatively the preceding vehicle on the roadway. In this case, a lane may be defined by a road marking or a plurality of road markings. The information about the lateral offset of the preceding vehicle may include a lateral offset of the preceding vehicle to the vehicle or to the ego vehicle or a lateral offset of the vehicle or lateral offset of the ego vehicle.

Further, in the step of determining, the distance control signal may be validated using the environment information. Using the environment information, a distance control signal can be generated. A pitch control signal generated using the surround information may be used to validate the pitch control signal generated using the surround signal.

In the step of ascertaining, information can be determined as environment information that represents a vehicle class of the at least one preceding vehicle. The distance control signal can be adapted to a vehicle class. The distance control signal may be determined using the information about a vehicle class of the preceding vehicle. Under a vehicle class can be understood a vehicle genus or a vehicle segment. The class of vehicle may include classes of small cars, small cars, middle class, upper class, sports cars, multipurpose or off-road vehicles, buses or even trucks. It is advantageous if a distance control or the distance control signal can be adapted to the vehicle class.

Furthermore, in the step of ascertaining as environment information information can be determined which represents a driving style of the at least one preceding vehicle and additionally or alternatively about a driving style of a driver of the at least one preceding vehicle. A driving style of the preceding vehicle can be understood as a driving style that is determined by the driver and, additionally or alternatively, driver assistance systems of the preceding vehicle. As driving style can be determined, for example, safe, unsafe or athletic. Advantageously, a distance control or the distance control signal can be adapted to the driving style of the preceding vehicle.

In an embodiment, in the step of determining as environment information, information may be determined which represents an occurrence and additionally or alternatively a position and additionally or alternatively a speed of at least one vehicle of oncoming traffic and additionally or alternatively an overtaking possibility of the at least one preceding vehicle. An overtaking facility may be determined using information about a position or a speed of an oncoming traffic vehicle. In this case, a time for an overtaking opportunity can be determined. Advantageously, a predictive control of the distance control signal can be achieved.

It is also favorable if, in the step of determining, a signal is determined as environment signal which represents a transit time-based signal and additionally or alternatively a radar sensor-based signal and additionally or alternatively a LIDAR sensor-based signal and additionally or alternatively a stereo camera-based signal. In this case, it may be favorable if the environmental information and the environmental signal are based on two different measurement methods. Advantageously, strengths of one measurement method can be combined with strengths of another measurement method.

The approach presented here also provides a device which is designed to perform, to control or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

Of advantage is also a computer program product or computer program with Program code that may be stored on a machine-readable medium or storage medium, such as a semiconductor memory, a hard disk space, or an optical memory, and used to perform, implement, and / or control the steps of the method of any of the embodiments described above, especially if the program product or program running on a computer or device.

The approach presented here will be explained in more detail below with reference to the accompanying drawings. Show it:

1 a schematic representation of a vehicle with a device for distance control according to an embodiment of the present invention; and

2 a flowchart of a method for distance control for a vehicle according to an embodiment of the present invention.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, with a repeated description of these elements is omitted.

1 shows a schematic representation of a vehicle 100 with a device 102 for distance control according to an embodiment of the present invention. The device 102 for distance control is in the form of a block diagram in the vehicle 100 shown. The vehicle 100 is also called an ego vehicle 100 designated. The vehicle 100 is on a street 104 with a first lane 106 and a second lane 108 shown.

The vehicle is moving 100 at a speed v _ego on the first lane 106 , In the direction of travel in front of the vehicle 100 is a preceding vehicle 110 shown. The preceding vehicle 110 moves on the first lane 106 at a speed v _vehicle or v _fzg . The preceding vehicle 110 points to the vehicle 100 a transverse offset 112 on. Furthermore, the vehicle 100 to the vehicle in front 110 a distance 114 on. Next to the device 102 for distance control, the vehicle 100 an image capture device 116 as well as an environment sensor 118 on. The image capture device 116 is formed, an image information 120 provide. The environment sensor 118 is trained, an environment signal 122 provide. The ambient signal 122 in this embodiment, represents position information and speed information for the preceding vehicle 110 , The speed information represents a relative speed between the vehicle 100 and the vehicle in front 110 , Under knowledge of the own speed v _ego and the relative speed between the vehicle 100 and the vehicle in front 110 is from the device 102 the speed v _{vehicle of} the preceding vehicle 110 certainly.

The device 102 for the distance control for the vehicle 100 is trained, the image information 120 and the ambient signal 122 at an interface 124 to receive to read. The device 102 for distance control also includes a device 126 for determining at least one environment information 128 , where the environment information 128 using the image information 120 is determined. Furthermore, the device 102 for distance control means 130 for determining a distance control signal 132 using the surround signal 122 and using the environment information 128 on. The device 102 is with a control unit 134 connected, wherein the distance control signal 132 from the device 102 the control unit 134 provided.

On the second lane 108 there is another vehicle 136 , The other vehicle 136 moves at a speed v _w against the direction of travel of the vehicle 100 on the second lane 108 ,

The image capture device 116 detected in the embodiment shown brake lights 138 of the preceding vehicle 110 , Furthermore, lies in a detection range of the image capture device 116 a road marking 140 , In the embodiment shown here is the road marking 140 around a lane marking 140 in the form of a broken line or a guideline of a center mark between the first lane 106 and the second lane 108 ,

In one embodiment, with the device 102 an intelligent Abstandstempomat or Abstandsregeltempomat or a controller for "Adaptive Cruise Control" based on radar sensor technology 118 and video sensors 116 implemented. Advantageously, more and more sensors are networked together to enable autonomous driving. In one variant of a camera-based driver assistance based on a especially looking forward, mounted in front of the rearview mirror, monocamera comfort-oriented assistance functions offered. Alternatively or additionally, a proximity control and an automated emergency deceleration with a higher level of security are implemented on the basis of a forward-looking stereo camera mounted in front of the rear-view mirror.

Advantageously, the device allows 102 for the distance control for a vehicle 100 a sporty ambitious driver during the regulated by a Adaptive Cruise Control (ACC) driving a speedy progress. The camera 116 recognizes its environment visually and gives additional information on how the distance control (ACC control) can be adapted to the driving situation. The indications result in the distance control signal 132 ,

In one variant, an improvement of a close-follow ACC control is achieved. It can under a close-follow ACC control, a distance control with a small distance to the vehicle in front 110 be understood. So can the ego vehicle 100 to the vehicle in front 110 For example, keep a distance between 5 meters and 30 meters at a speed of 100 km / h. Such a variant of the device 102 is interesting for vehicles where the distance control (ACC control) on distances to the vehicle in front 110 as short or dynamic as possible and applied to the highest possible delays or accelerations. Through the camera 116 An added benefit is created. The camera 116 detects the brake lights 138 of the preceding vehicle 110 , By detecting and recognizing the brake lights 116 includes the distance control signal 132 a control signal or a control signal component for decelerating the ego vehicle 100 by ACC or ESP. A signal change of the distance control signal 132 starts earlier and runs more dynamically than without an image capture device 116 , This creates a performance increase in the distance control, which can be used advantageously especially on racetracks. The proposed distance control works reliably even if the current legal minimum distance is not reached.

For higher speed proximity control, the image capture device supports 116 a radar-based environment sensor 118 for distance control. Only from the ambient signal 122 is not directly detectable which vehicles 110 . 136 on your own lane 106 located, and which on the neighboring track 108 , According to the described approach, the vehicle 100 delayed, if the vehicle in front, especially slower 110 in your own lane 106 can be found. The camera 116 is advantageous, since a transverse offset 112 of the preceding vehicle 110 and thus a lane assignment for the preceding vehicle 110 , is recognizable. According to the approach described, a track course can be recognized, for example, via detected lines, lane markings or tracks. Furthermore, the device 102 formed in a variant, a lane course of a preceding vehicle 110 to predict. This is advantageous einordenbar, whether a preceding vehicle 110 is on its own track. In a variant of the embodiment described here, the device 102 designed for distance control, at least one brake light 138 of a preceding vehicle 110 even at a relatively greater distance, such as more than 50 meters or more than 100 meters. With a brake light detection during the day and additionally or alternatively at night, in particular over long distances of more than 100 meters, a deceleration, for example, even before a capture range of the radar can be introduced.

In a particular variant of the embodiment of the device described here 102 for distance control this is formed, a vehicle class of the preceding vehicle 110 through the camera 116 to recognize. The distance control is adapted in this embodiment to the vehicle class; For example, distance and dynamics are adjusted accordingly. In a recognized sports car, for example, a smaller distance or a more dynamic control is driven.

In a variant of the device shown here 102 for distance control this is formed, a driving style of the vehicle ahead 110 to recognize. For example, the driving style distinguishes between safe, unsafe and sporty. The distance control or the distance control signal 132 is in such an embodiment of the driving style of the preceding vehicle 110 customized. When recognized sporty driving style is, for example, to a smaller distance 114 regulated as if an unsafe driving style is determined.

One aspect of the idea presented creates an advantage for a sporty driver with high motorisation of his vehicle 100 especially on a country road with a carriageway 106 depending on the direction of travel. It is advantageous if to overtake a slower, preceding vehicle 110 It is detected whether an overtaking process is possible at the current time. In this case, the image capture device detects 116 next to the vehicle ahead 110 at least one more vehicle 136 on the opposite lane 108 , The other vehicle 136 on the opposite lane 108 can do this as oncoming traffic 136 be designated. As long as an oncoming traffic 136 is detected, the distance becomes 114 to the vehicle in front 110 regulated according to a standard specification. When through the image capture device 116 and the facilities 124 . 126 . 130 the device 102 for the distance control and it is determined that an oncoming vehicle 136 In a predetermined time interval leaves a critical for an overtaking area, the speed v _{ego of} the vehicle 100 increases as well as the distance 114 between the vehicle 100 and the vehicle in front 110 reduced. If the track is then clear for overtaking, then the driver of the vehicle 100 quickly overtake, as there is already a positive differential speed to the vehicle in front 110 has been built.

2 shows a flowchart of a method 250 for distance control for a vehicle according to an embodiment of the present invention. The vehicle may be an embodiment of an in 1 shown vehicle 100 act. The vehicle has an image capture device and an environment sensor. The image capture device is designed to provide image information. The image information represents an image of an environment, especially in the direction of travel in front of the vehicle. The environment sensor is designed to provide an environmental signal. In this case, the environment signal represents a position information and a speed information for a preceding vehicle. In this case, a vehicle driving ahead is understood to mean a vehicle which is located in the detection area of the surroundings sensor system or the image detection device.

The procedure 250 includes a step 252 reading the image information of the image capture device, a step 254 determining at least one environment information using the image information and a step 256 determining a proximity control signal using the surround signal and using the environmental information to realize a vehicle pitch control.

In one exemplary embodiment, the environment information in the step of determining represents information about an activated brake light of the preceding vehicle. In an alternative embodiment, the environment information represents information about a lateral offset of the preceding vehicle. Optionally, in the step of determining, the environment information represents information about a road mark or a traffic lane.

In a particular embodiment, the distance control signal in step 256 of determining using the environment information.

In an embodiment not shown is in step 254 determining as environment information information that represents a vehicle class of the at least one preceding vehicle.

Optionally, in step 254 determining as environment information information that represents a driving style of the at least one preceding vehicle and / or a driving style of a driver of the at least one preceding vehicle.

In one embodiment, in step 254 determining as environment information information that represents an occurrence and / or a position and / or a speed of at least one vehicle of an oncoming traffic and / or an overtaking possibility of the at least one preceding vehicle.

Depending on the exemplary embodiment, the environment sensor system is a radar sensor, a LIDAR sensor or a sensor which determines a distance and a relative speed of an object via transit time-based signals and evaluation unit. Alternatively, in one exemplary embodiment, the environment sensor system is a stereo camera.

As an aspect of the presented idea, a distance control, in particular radar sensor-based, is adapted by information obtained from an image of a video camera. Thus, in one variant, a verification of the information obtained from the radar sensor of the preceding vehicle by information obtained from the image information, such as transverse misalignment, road markings or lighting up brake lights executed. In one embodiment, a vehicle class is determined using the image information and used for the distance control for verification or determination of the distance control signal.

Furthermore, the method steps presented here can be repeated as well as executed in a sequence other than that described.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

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 102012210608 A1 [0003]

Claims (10)

Procedure ( 250 ) for the distance control for a vehicle ( 100 ), where the vehicle ( 100 ) an image capture device ( 116 ) and an environment sensor system ( 118 ), wherein the environmental sensor ( 118 ) an environment signal ( 122 ) that provides position information and / or speed _information (v _fzg ) for at least one preceding vehicle ( 110 ), the method ( 250 ) includes the following steps: reading in ( 252 ) of image information ( 120 ) of the image capture device ( 116 ); Determine ( 254 ) at least one environment information ( 128 ) using the image information ( 120 ); Determine ( 256 ) of a distance control signal ( 132 ) using the environment signal ( 122 ) and using the environment information ( 128 ) to provide a vehicle pitch control ( 100 ) to realize. Procedure ( 250 ) according to claim 1, wherein in step ( 254 ) of determining as environment information ( 128 ) information about at least one road marking ( 140 ) and / or information about a transverse offset ( 112 ) of the at least one preceding vehicle ( 110 ) and / or information about an activation of at least one brake light ( 138 ) of the at least one preceding vehicle ( 110 ) is determined. Procedure ( 250 ) according to one of the preceding claims, in which the step ( 256 ) of determining the distance control signal ( 132 ) using the environment information ( 128 ) is validated. Procedure ( 250 ) according to one of the preceding claims, wherein in step ( 254 ) of determining as environment information ( 128 ) information is determined, which is a vehicle class of the at least one preceding vehicle ( 110 ). Procedure ( 250 ) according to one of the preceding claims, wherein in step ( 254 ) of determining as environment information ( 128 ) an information is determined which determines a driving style of the at least one preceding vehicle ( 110 ) and / or about a driving style of a driver of the at least one preceding vehicle ( 110 ). Procedure ( 250 ) according to one of the preceding claims, wherein in step ( 254 ) of determining as environment information ( 128 ) information is determined, which includes an occurrence and / or a position and / or a speed (v _w ) of at least one vehicle ( 136 ) an oncoming traffic and / or overtaking the at least one preceding vehicle ( 110 ). Procedure ( 250 ) according to one of the preceding claims, wherein in step ( 256 ) of determining as environment signal ( 122 ) determines a signal representing a transit time based signal and / or a radar sensor based signal and / or a LIDAR sensor based signal and / or a stereo camera based signal. Contraption ( 102 ), which is designed to handle all the steps of a process ( 250 ) according to one of the preceding claims. Computer program adapted to perform all the steps of a method according to any one of the preceding claims. Machine-readable storage medium with a computer program stored thereon according to claim 9.

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