DE102021115539A1 - Method for determining the course of a lane on a carriageway using a position arrow arranged above it, computer program product and electronic lane course determination system - Google Patents

Abstract

One aspect of the invention relates to a method, in particular a computer-implemented method, for determining a course of a lane (10, 11) on a roadway (9) for a motor vehicle (1), having the following steps: - Driving the roadway (9) with the motor vehicle (1);- Detecting the surroundings of the motor vehicle (1) with at least one detection device (5, 6, 7);- Evaluating the information detected by the detection device (5, 6, 7) with an evaluation unit (3) to determine whether a traffic sign (14) located above the roadway (9) was detected; - If a traffic sign (14) arranged in this way was detected, evaluation with the evaluation unit (3) whether a position arrow (19, 20) is displayed on this traffic sign (14). , which is intended to signal a course of a lane (10, 11) of the roadway (9) which, viewed vertically, runs under the position arrow (19, 20);- taking into account the position of the position arrow (19, 20) for the Be mood of the course of the lane (10, 11), if such a position arrow (19, 20) was detected.

Description

One aspect of the invention relates to a method, in particular a computer-implemented method, for determining a course of a lane on a roadway for a motor vehicle. Another aspect of the invention relates to a computer program product. Yet another aspect of the invention relates to an electronic lane determination system for a motor vehicle.

Various electronic vehicle guidance systems are known in modern motor vehicles that can be operated at least partially autonomously. Such a vehicle guidance system can be an electronic lane keeping system, for example. It is known in this context that such electronic lane keeping systems with detection devices detect the surroundings of the motor vehicle. Detected lane boundaries are used as a basis for detecting the course of the lane. In addition, it is also known that a roadway can have multiple lanes. In this context, roadways are known in which, for example, at least one lane is provided for one direction of travel. It is also known that roadways can have several lanes that are intended for driving in one direction of travel. Multiple lanes on a roadway are usually delimited by lane markings. This indicates where each of the multiple lanes runs. If such lane markings are present and they can also be clearly detected by detection devices, the course of a lane on a roadway can be detected and determined relatively precisely. An at least partially autonomous, in particular also fully autonomous, movement of the motor vehicle along a lane is then possible.

Such methods and systems are, for example, from DE 10 2012 025 067 A1 famous.

In addition, it is from the DE 10 2016 118 497 A1 known that the course of a lane can be determined depending on detected motor vehicles and their movement in the vicinity of the ego vehicle.

The operation of a lane departure warning system may be impaired, particularly in the case of roadways where lane markings for a lane are not present or can only be detected inadequately in some other way.

It is the object of the present invention to create a method, a computer program product and an electronic lane course determination system for a motor vehicle, in which the course of a lane can be determined using alternative environmental information.

In particular, it is an object of the present invention to create a method, a computer program product and an electronic lane course determination system in which the course of the lane is improved when boundaries are not present or can only be detected inadequately.

This object is achieved by a method, a computer program product and an electronic lane course determination system according to the independent claims.

• - Befahren der Fahrbahn mit dem Kraftfahrzeug;
• - Erfassen der Umgebung des Kraftfahrzeugs mit zumindest einer Erfassungseinrichtung, insbesondere des Kraftfahrzeugs;
• - Auswerten der von der Erfassungseinrichtung erfassten Informationen mit einer Auswerteeinheit, insbesondere des Kraftfahrzeugs, dahingehend, ob ein oberhalb der Fahrbahn befindliches Verkehrszeichen erfasst wurde;
• - Falls ein derartig angeordnetes Verkehrszeichen erfasst wurde, Auswerten mit der Auswerteeinheit, ob auf diesem Verkehrszeichen ein Positionspfeil angezeigt ist, der bestimmungsgemäß einen Verlauf einer Fahrspur der Fahrbahn signalisiert, die vertikal betrachtet unter dem Positionspfeil verläuft;
• - Berücksichtigen der Position des Positionspfeils für die Bestimmung des Verlaufs der Fahrspur, falls ein derartiger Positionspfeil erfasst wurde.

One aspect of the invention relates to a method for determining a course of a lane on a roadway for a motor vehicle. The method is in particular a computer-implemented method. In this context, a lane is an area of a roadway that is intended for motor vehicles to drive on in one direction of travel. The width of a lane is intended to be such that only one vehicle can properly drive in the lane. A roadway can have several separate lanes. These can be provided for driving in the same direction of travel or in different directions of travel. The procedure has the following steps:

• - Driving on the roadway with the motor vehicle;
• - detecting the surroundings of the motor vehicle with at least one detection device, in particular of the motor vehicle;
• - Evaluation of the information recorded by the recording device with an evaluation unit, in particular of the motor vehicle, to the effect of whether a traffic sign located above the roadway was recorded;
• - If a traffic sign arranged in this way was detected, evaluating with the evaluation unit whether a position arrow is displayed on this traffic sign, which is intended to signal a course of a lane of the roadway which, viewed vertically, runs under the position arrow;
• - Taking into account the position of the position arrow for determining the course of the lane if such a position arrow was detected.

Such a method makes it possible in a very advantageous manner to be able to determine the course of a lane very precisely. To the presence of a specific traffic sign with a specific display on the traffic sign is used locally to determine the course of a roadway at least at the location of the traffic sign and/or for a specific stretch of road in front of it and/or for a specific stretch of road behind it. Since such a specific traffic sign, which is even intended with its defined position arrows to signal the associated lanes on the road very precisely in terms of position, the proposed method for determining the course of a lane is particularly advantageous and accurate.

The method therefore intelligently uses very specific traffic sign information in order to also very precisely determine this course of a lane, which is associated with the position arrow, depending on this.

A traffic sign of this type, which is also arranged directly and at a distance above the roadway when viewed vertically in the vertical direction, can also be detected easily and reliably by at least one detection device of the motor vehicle. Since the motor vehicle usually drives very straight towards this traffic sign and the traffic sign is positioned such that the motor vehicle drives through the free space between the roadway and the traffic sign, the relevant detection position of a detection device of the motor vehicle and the traffic sign is very advantageous. In this way, a traffic sign of this type can also be detected very easily and precisely with a corresponding position arrow. Since such a position arrow is also a very simple element on the traffic sign, which is easy to detect and its symbolizing intention can also be easily understood, the proposed method is particularly advantageous.

In one exemplary embodiment, the position of the position arrow for determining the position of the lane on the lane in the width direction of the lane is taken into account as the course of the lane. In this way, especially on roadways with several lanes, a lane to be traveled by the motor vehicle, which is assigned to the position arrow, can be distinguished very precisely from other lanes on the roadway in this width direction. In this context, the position of this lane on the roadway in the width direction is an exemplary embodiment of a course of the lane. It is possible in one exemplary embodiment that precisely this position of the lane in the width direction on the roadway is determined at least at the position at which the traffic sign is located above it. In addition or instead of this, one exemplary embodiment can also provide for this position of the lane on the road, viewed in the width direction, to be determined on a section of the road that is currently located between the motor vehicle and the traffic sign located further ahead in the direction of travel. In another exemplary embodiment, it is also possible, in addition to or instead of this, for the position of the lane on the roadway to be determined in the width direction on a section of the roadway in the direction of travel after the traffic sign. This also makes it possible to use this procedure to determine the course of the lane not only at a single, very local point, for example at the point of the traffic sign, but also to design the course of the lane over a certain length in the area of the traffic sign, is also possible in particular before and/or after the traffic sign.

In one embodiment, such a detected position arrow is evaluated as to whether it is a straight arrow. In this regard, the evaluation is carried out as to whether this straight arrow on the traffic sign is oriented vertically upwards or vertically downwards or points in the corresponding direction. If such a position arrow is recognized, it is taken into account, in particular only then, for determining the course of the lane. In one exemplary embodiment, the position arrow is only taken into account for determining the course of the lane if it is oriented in one of these two specific directions. This is because a very precise assignment of a lane is usually made possible precisely with such specific orientations in these two specific directions. Because this is then formed directly below this position arrow viewed in the vertical direction. Since this is also specified and implemented as intended in terms of traffic technology, a very reliable and precise determination of the course of the lane can be carried out from this. This also makes it possible for other arrows that may be present, which are oriented differently and are possibly intended to signal other information, not to be taken into account. Misinterpretations of other arrows on such traffic signs, which would then be taken into account for the course of the lane, can be avoided. This also increases the reliability of determining the course of a lane.

In one exemplary embodiment, the position of the position arrow on the traffic sign is considered to be the center, measured in the width direction of the roadway, of that lane which is associated with the position arrow. As intended the Installation of such a traffic sign with such a position arrow, which is intended to clearly indicate to an observer the lane below, is only carried out in the position according to the regulations, it can also be assumed with this proposed method that with this position arrow the center or roughly the center of the associated lane vertically below is correlated. It is therefore also possible on the basis of this requirement that the course of the lane, and specifically also the position of the lane in the width direction on the roadway, can be determined very precisely. In this context, it can then also be assumed in the determination that the middle of the lane is where this position arrow meets the roadway when the position arrow is projected vertically.

In particular in the case of a position arrow which is oriented vertically upwards or vertically downwards on the traffic sign, this projection is carried out from one end of the position arrow, in particular the lower end, downwards onto the roadway.

In this context, it is also possible for a normal width of a lane to be assumed in order to then determine the width on the one hand and/or the position of the lane on the other hand on the road depending on this center position. It is also possible that individual widths of a lane, which are regional and/or specific to the type of roadway, are known and are taken into account for this respective determination. For example, such information can be transmitted to the evaluation unit of the electronic lane determination system. However, they can also be queried by the electronic lane determination system. For example, this information can be stored in a central processing unit. However, it is also possible for the traffic sign itself to have a communication unit, such as at least one transmitting and/or receiving unit, which makes such electronic information available. These can then also be transmitted from this unit of the traffic sign itself to the motor vehicle. In this way, an exact determination of the course of the lane at the respective local point on the roadway can be achieved in an even better way.

In one exemplary embodiment, the width of the lane and/or the position of the lane on the lane, in particular viewed in the width direction of the lane, is determined as a course of the lane. In particular, this is determined at that point on the roadway that is directly vertically below the traffic sign. The associated advantages have already been explained above.

In a further exemplary embodiment, the width of the lane and/or the position of the lane on the lane, in particular in the width direction of the lane, is determined as the course of the lane, at least at the current location of the motor vehicle in the direction of travel of the motor vehicle on the lane toward the traffic sign.

Generally speaking, the width is viewed in the horizontal direction and measured perpendicular to the direction of travel. It is therefore dimensioned perpendicular to the longitudinal axis of the lane.

In addition or instead of this, in one exemplary embodiment, the width of the lane and/or the position of the lane on the lane, in particular in the width direction of the lane, is used as a course of the lane at least at one point of the motor vehicle in the direction of travel of the motor vehicle on the lane after the traffic sign definitely. The advantages that can be achieved in this way have also already been explained above. This makes it possible to continuously determine and provide the course of the lane using at least one position arrow over a longer, in particular also contiguous, section of the lane.

In one exemplary embodiment, information recorded by a recording system of the motor vehicle is evaluated to determine whether lane markings of the lane on the roadway have been recorded. In addition or instead of this, one exemplary embodiment can provide for information recorded by a recording system of the motor vehicle to be evaluated to determine whether recorded information relating to position and/or movement path was recorded by at least one other motor vehicle on the road that is different from the motor vehicle.

In particular, other motor vehicles located in the vicinity of the motor vehicle, in particular those driving in front of the motor vehicle, can be detected in this context and analyzed with regard to their position and/or their movement path. This information can then also be taken into account for the course of that lane on which the motor vehicle to be assessed is located. In particular, motor vehicles in the vicinity of the motor vehicle that are moving in the same direction of travel can also be taken into account in this context.

Regarding the road markings or in particular lane markings can be called markings applied to the ground. This can be, for example, colored markings close to the ground, such as colored stripes or the like. It is also possible for such a lane marking to be a crash barrier or the like. In this way, markings applied directly to the roadway and/or attached directly to the side next to the roadway, in particular statically and stationary, can be detected and taken into account. It is possible for these lane markings to be detected by a detection device of the motor vehicle's detection system that is different from the detection device with which an above-mentioned specific traffic sign with a specific position arrow that may be present in this regard is to be detected. In one embodiment, the detection system can thus have at least two different detection devices. These can be designed individually as intended for detecting this different environmental information.

This offers the possibility of being able to determine the course of the lane on the basis of a plurality of environmental information. In particular, this also makes it possible for a position determination using the position arrow to be supported, if necessary, by such a redundant information evaluation. This is particularly advantageous when such lane markings are present and can be detected accordingly.

The same applies in addition to or instead of other motor vehicles that are recorded and are present.

In one embodiment, depending on this evaluation of lane markings and/or depending on the evaluation of the position and/or the movement path of at least one other motor vehicle, the evaluation of the recorded information regarding an existing position arrow on the traffic sign is carried out. In this exemplary embodiment, it can be provided that if such a position arrow has been detected, any lane markings that may be present and/or other motor vehicles are not taken into account for determining the course of the lane. In this context, the method can also be carried out intelligently. With regard to the recorded information about a position arrow, the statement probability value can be determined. This means that the recorded position arrow is assessed by the method, in particular the computer-implemented method, with regard to its accuracy and its informative value. This can be done in an evaluation unit of the electronic lane course determination system. If this information is assessed with an accuracy value that is greater than a predetermined threshold value, for example, the system can only determine the course of the lane depending on this information from the position arrow. This is also the case when lane markings and/or at least one other motor vehicle have been or could be detected and this information could also contribute with sufficient accuracy to an assessment of the course of the lane. Such a scenario can save on the one hand computing effort and on the other hand data processing effort.

However, it is also possible that if the accuracy value of the detected position arrow is less than a threshold value, possibly detected and sufficiently meaningful information about lane markings and/or at least one other motor vehicle is additionally taken into account. In such a scenario, a priority list can then also be created by the evaluation unit. In this context, for example, it can be specified which information relating to the position arrow on the one hand and the lane markings and/or other motor vehicles on the other hand is to be weighted more heavily and thus contributes a greater proportion to determining the course of the lane.

However, the method is particularly advantageous if the course of a lane is to be determined primarily by lane markings and/or other vehicles, but such lane markings are not present on a current section of a lane and/or cannot be detected with sufficient accuracy and comprehensiveness . This can also apply with regard to the criterion of another motor vehicle. If the situation is such that primary criteria, in particular lane markings and/or other vehicles, are not present for the course of the lane in which the current vehicle is currently moving, the proposed method is particularly advantageous. Because then, if necessary, the course of the lane can also be determined solely on the basis of such a traffic sign with this specific at least one position arrow. In particular, this can then be done at least at the location of the traffic sign and/or for a specific section before the traffic sign and/or for a specific section after the traffic sign.

In one embodiment, the evaluation of the information collected is related to a existing position arrow on a traffic sign, in particular only carried out if no lane markings and / or at least no other motor vehicle were detected. In addition to or instead of this, the evaluation of the recorded information regarding an existing position arrow on a traffic sign is only carried out if the information regarding detected lane markings and/or another motor vehicle is classified by the evaluation unit in such a way that this alone does not provide a sufficiently precise determination of the course of the lane is enabled. In such scenarios, the course of the lane is then determined in addition and/or solely on the basis of the information from the position arrow.

The electronic lane course determination system can thus also be operated intelligently in that it can also assess or evaluate detected information about lane markings and/or other vehicles and, depending on this, a decision is made as to whether other information about a position arrow should be used.

In one exemplary embodiment, it is determined based on the recorded information whether the course of the lane is determined only on the basis of the information in the position arrow or only on the basis of the lane markings or only on the basis of the position and/or the movement path of at least one other motor vehicle. It is thus also possible for the system to be so intelligent that it can optionally select existing criteria in order to determine the course of the lane. If a number of such different items of information are recorded that can contribute to the course of a lane determination, the system can also optionally decide in this regard which of this information is to be used and, if necessary, with what degree of prioritization or with what weighting, in particular in comparison to the other information, you be used. In this context, it is also possible for the course of the lane to be determined on the basis of at least two of the possibly three available options or determination information.

In one exemplary embodiment, it can be provided that when both lane markings are recorded as information and at least one position arrow is recorded as information, a plausibility check of this recorded information is carried out to determine whether they result in a different course of the lane. This can be done by comparing the information and the resulting results for the course of a lane. Depending on this plausibility check, a functional state of at least one detection device of the detection system of the motor vehicle can be determined. It is also possible that, depending on this plausibility check, service information is generated and made available, which contains this discrepancy. This service information can be transmitted to a vehicle user or to a workshop or the like. It can thus be signaled immediately that at least one detection device of the detection system is obviously working incorrectly. In particular, further information, for example a service appointment or the like, can also be generated from this immediately. In particular, driving safety information can also be generated in this context, which provides information about the level of driving safety for the motor vehicle. In particular, this can be information relating to the safety of the electronic lane determination system, in particular a lane keeping system, of the motor vehicle.

In a further exemplary embodiment, the course of a lane of a roadway is determined which has at least two parallel lanes next to one another in one direction of travel on the roadway. In this respect, it is precisely such lanes that must be able to be analyzed by the motor vehicle precisely as to which of the possible lanes to continue driving. Especially when there are such roadways with several lanes, in particular also in the same direction of travel, which have no lane markings or corresponding lane markings cannot be detected or cannot be detected sufficiently, it is particularly important to use other criteria, in particular at least one position arrow, to determine the to be able to precisely determine the course of the respective lanes. Especially when the traffic sign also has two separate position arrows in such scenarios, each of which is assigned to one of the lanes, the respective individual course can then also be determined for each of these lanes. This then also makes it possible for the motor vehicle to be moved along a lane under such specific conditions and even then to be able to change lanes if necessary. This is despite the fact that there may not be any dividing lines as lane markings for these two lanes running side by side. Nevertheless, the respective lane can then be determined with regard to its location and its position in the width direction on the road, for example using the two position arrows on the traffic sign. Such a lane change for a motor vehicle is then also possible if there are no lane markings or they cannot be detected sufficiently.

In one exemplary embodiment, the recorded information from the surroundings is evaluated with the evaluation unit to determine whether, in addition to the first position arrow, there is at least one separate second position arrow on the locally specifically arranged traffic sign, which, as intended, signals a position of another lane on the roadway that is vertical viewed under the second position arrow. Thus, in one exemplary embodiment, it is also checked what number of such functionally specific position arrows are present on the traffic sign. In this way, it is then also possible to obtain an insight into how many lanes the roadway has, in particular how many lanes are present in parallel and directly adjacent to one another in one direction of travel. As a result, a preliminary assessment can already be carried out as to where which lanes can also be in terms of position on the roadway. As a result, in roadways with several lanes in one direction of travel, the course, in particular the position and/or width, of at least one of the lanes can also be determined using the positions of the position arrows relative to one another on the traffic sign. In particular, at least a rough determination or a provisional determination of the course of a lane can be made for this purpose. In particular, this can be done based on the positions of the position arrows in the width direction relative to one another on the traffic sign. In particular, this is advantageous when there are no lane markings to identify the lateral boundaries of a lane in particular and/or such lane markings cannot be detected or cannot be detected with sufficient accuracy. This is because the lane is then erroneously only recognizable or detectable as a coherent, single and relatively wide “lane” for a detection device.

In one exemplary embodiment, if there are several position arrows, it is evaluated whether they are oriented parallel to one another, in particular pointing vertically upwards or vertically downwards. If this is the case, these arrows can be recognized as functionally specific position arrows that are intended to indicate a lane that is vertically below and is associated with it.

In one exemplary embodiment, if at least two such position arrows are recognized on the traffic sign, a fictitious center between the position arrows is determined by the evaluation unit. It can then be provided in one exemplary embodiment that such a notional center is notionally projected vertically downwards onto the roadway. As a result, in one exemplary embodiment, a fictitious dividing line can be generated between two lanes on the roadway, in particular those that are directly adjacent to one another. The course of the lane can then be determined on the basis of this fictitious dividing line.

In particular, the above-mentioned evaluations can be carried out using images or videos recorded by at least one detection device. A detection device can be a camera, for example.

In one exemplary embodiment, a detected arrow on the traffic sign can be assigned to a first category or at least to a different second category during the evaluation by the evaluation unit. The categories can be suitability categories with which the suitability of an arrow for determining the course of at least one lane is assessed. For example, a straight arrow pointing vertically up or vertically down is grouped in the first category. This characterizes the highest suitability. In comparison, the second category characterizes arrows with a lower suitability. For example, these can be arrows that do not point vertically up or vertically down. For example, they can be oriented obliquely upwards or obliquely downwards and to the side, so that they characterize turning lanes or exit lanes, for example. Depending on this, the result of the course determination for a lane can then also be categorized or classified. It can also be used to assess the accuracy and suitability. This also makes it possible that not only arrows on a traffic sign that point straight and vertically downwards or vertically upwards are used as position arrows, but also that deviating arrows displayed on a traffic sign that is locally specified in relation to the roadway are used as position arrows.

A further aspect of the invention relates to a computer program product having instructions which, when the program is executed by a computer, cause the latter to carry out the steps of a method according to one of the preceding claims. The computer program product can be stored in an evaluation unit, for example. This evaluation unit can be part of an electronic lane course determination system for a motor vehicle. Such an electronic lane determination system can be, for example, a lane keeping system, in particular a lane keeping assistance system.

A further aspect of the invention relates to an electronic lane determination system for a motor vehicle. This system has at least one detection device, with which an area surrounding a motor vehicle is detected. The system also has at least one evaluation unit. The electronic lane course determination system is designed to carry out a method according to the above-mentioned aspect or an advantageous exemplary embodiment thereof. In particular, such a method is carried out with the system.

A further aspect of the invention relates to a motor vehicle with an electronic lane determination system.

• - Erfassen der Umgebung des Kraftfahrzeugs mit zumindest einer zur ersten unterschiedlichen zweiten Erfassungseinrichtung des Erfassungssystems;
• - Auswerten der von der zweiten Erfassungseinrichtung erfassten Informationen mit einer Auswerteeinheit dahingehend, ob Fahrspurmarkierungen der Fahrspur und/oder andere Kraftfahrzeuge auf der Fahrbahn erfasst wurden;
• - Bestimmen der Position der Fahrspur abhängig von der zumindest einen Fahrspurmarkierung und/oder dem zumindest einen anderen Kraftfahrzeug;
• - Plausibilisieren der beiden Ergebnisse der bestimmten Positionen der Fahrspur durch Vergleichen;
• - Erkennen oder Vermuten einer Fehlfunktion einer Erfassungseinrichtung bei einem Abweichen der Ergebnisse;
• - Insbesondere Erzeugen zumindest ein Servicehinweis und/oder eines Warnhinweises bezüglich einer möglicherweise funktionsbeeinträchtigten Erfassungseinrichtung.

A further independent aspect of the invention relates to a method for operating a detection system of a motor vehicle, in which a course of a lane is determined using a method according to the aspect mentioned above or an advantageous exemplary embodiment thereof. The following steps are then carried out:

• - detecting the surroundings of the motor vehicle with at least one second detection device of the detection system, which is different from the first;
• - Evaluation of the information detected by the second detection device with an evaluation unit to determine whether lane markings of the lane and/or other motor vehicles on the roadway have been detected;
• - Determining the position of the lane depending on the at least one lane marking and / or the at least one other motor vehicle;
• - Plausibility check of the two results of the determined positions of the lane by comparing;
• - detection or suspicion of a malfunction of a detection device if the results deviate;
• - In particular, generating at least one service notice and/or a warning regarding a possibly functionally impaired detection device.

• - Befahren der Fahrbahn mit dem Kraftfahrzeug;
• - Erfassen der Umgebung des Kraftfahrzeugs mit zumindest einer ersten Erfassungseinrichtung des Erfassungssystems;
• - Auswerten der von der ersten Erfassungseinrichtung erfassten Informationen mit einer Auswerteeinheit dahingehend, ob ein oberhalb der Fahrbahn befindliches Verkehrszeichen erfasst wurde;
• - Falls ein derartig angeordnetes Verkehrszeichen erfasst wurde, Auswerten mit der Auswerteeinheit, ob auf diesem Verkehrszeichen zumindest ein Positionspfeil angezeigt ist, der bestimmungsgemäß einen Verlauf einer Fahrspur der Fahrbahn signalisiert, die vertikal betrachtet unter dem Positionspfeil verläuft;
• - Bestimmen der Position der Fahrspur abhängig von dem Positionspfeil;
• - Erfassen der Umgebung des Kraftfahrzeugs mit zumindest einer zur ersten unterschiedlichen zweiten Erfassungseinrichtung des Erfassungssystems;
• - Auswerten der von der zweiten Erfassungseinrichtung erfassten Informationen mit einer Auswerteeinheit dahingehend, ob Fahrspurmarkierungen der Fahrspur und/oder andere Kraftfahrzeuge auf der Fahrbahn erfasst wurden;
• - Bestimmen der Position der Fahrspur abhängig von der zumindest einen Fahrspurmarkierung und/oder dem zumindest einen anderen Kraftfahrzeug;
• - Plausibilisieren der beiden Ergebnisse der bestimmten Positionen der Fahrspur durch Vergleichen;
• - Erkennen oder Vermuten einer Fehlfunktion einer Erfassungseinrichtung bei einem Abweichen der Ergebnisse;
• - Insbesondere Erzeugen zumindest ein Servicehinweis und/oder eines Warnhinweises bezüglich einer möglicherweise funktionsbeeinträchtigten Erfassungseinrichtung.

Another independent aspect of the invention relates to a method for operating a detection system of a motor vehicle, having the following steps:

• - Driving on the roadway with the motor vehicle;
• - detecting the surroundings of the motor vehicle with at least one first detection device of the detection system;
• - Evaluation of the information detected by the first detection device with an evaluation unit to determine whether a traffic sign located above the roadway was detected;
• If a traffic sign arranged in this way was detected, evaluating with the evaluation unit whether at least one position arrow is displayed on this traffic sign, which is intended to signal a course of a lane of the roadway which, viewed vertically, runs under the position arrow;
• - determining the position of the lane depending on the position arrow;
• - detecting the surroundings of the motor vehicle with at least one second detection device of the detection system, which is different from the first;
• - Evaluation of the information detected by the second detection device with an evaluation unit to determine whether lane markings of the lane and/or other motor vehicles on the roadway have been detected;
• - Determining the position of the lane depending on the at least one lane marking and / or the at least one other motor vehicle;
• - Plausibility check of the two results of the determined positions of the lane by comparing;
• - detection or suspicion of a malfunction of a detection device if the results deviate;
• - In particular, generating at least one service notice and/or a warning regarding a possibly functionally impaired detection device.

This also makes it possible for impaired or faulty detection devices of the electronic lane determination system to be recognized immediately. This also makes it possible to react immediately. This is particularly advantageous if the motor vehicle with this system is a highly automated motor vehicle. For example, if it has at least the autonomy level or at least level 2, in particular at least level 3. It is also possible that with this method service information and/or warning information is generated immediately. This can be sent to the vehicle user and/or issued to a service point. It is also possible that, depending on this detection of an impaired functional principle of at least one detection device, another electronic system of the motor vehicle automatically intervenes in the driving behavior of the motor vehicle. For example, the vehicle can be braked here until it comes to a standstill. In particular, such interventions in the driving behavior of the vehicle and/or the generation of the service information and/or the generation of the warning information can be dependent on the magnitude of the deviation in the determination results relating to the course of the lane. In one exemplary embodiment, this means that if deviations have occurred within a tolerance interval, unrestricted functionality is assessed for both detection devices. If there is a deviation greater than a first threshold value, a functional impairment of a first degree can be detected. This can result in the vehicle being able to continue driving. On the other hand, if a deviation occurs that is greater than a second threshold value, the vehicle can be braked immediately, for example, in order to avoid safety-critical driving and traffic conditions.

Further features of the invention result from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description and the features and combinations of features mentioned below in the description of the figures and/or shown alone in the figures can be used not only in the combination specified in each case, but also in other combinations or on their own, without going beyond the scope of the leave invention. The invention is therefore also to be considered to include and disclose embodiments that are not explicitly shown and explained in the figures, but that result from the explained embodiments and can be generated by separate combinations of features. Versions and combinations of features are also to be regarded as disclosed which therefore do not have all the features of an originally formulated independent claim.

Exemplary embodiments of the invention are explained in more detail below with the aid of schematic drawings.

• 1 eine schematische Draufsicht auf ein Ausführungsbeispiel eines erfindungsgemäßen Kraftfahrzeugs mit einem Ausführungsbeispiel eines elektronischen Fahrspurverlaufsbestimmungssystems;
• 2 eine Darstellung einer Verkehrssituation mit Blickrichtung aus einem Kraftfahrzeug in Fahrtrichtung nach vorne; und
• 3 eine schematische Darstellung eines weiteren Ausführungsbeispiels eines Verkehrszeichens mit Positionspfeilen für Fahrspuren auf einer Fahrbahn.

show:

• 1 a schematic plan view of an embodiment of a motor vehicle according to the invention with an embodiment of an electronic lane course determination system;
• 2 a representation of a traffic situation looking from a motor vehicle in the direction of travel ahead; and
• 3 a schematic representation of a further exemplary embodiment of a traffic sign with position arrows for lanes on a roadway.

Elements that are the same or have the same function are provided with the same reference symbols in the figures.

In 1 a motor vehicle 1 is shown in a schematic plan view. In the exemplary embodiment, the motor vehicle 1 is a passenger car or a truck. The motor vehicle 1 is in particular a vehicle that can be operated at least partially autonomously. It can also be a fully autonomous vehicle. The motor vehicle 1 has an electronic lane determination system 2 . This lane course determination system 2 can be a lane departure warning system. The lane course determination system 2 has at least one evaluation unit 3 . In addition, the lane course determination system 2 has a detection system 4 for detecting the surroundings of the motor vehicle 1 . This has at least one first detection device 5 . This is arranged on motor vehicle 1 . The detection system 4 can also have at least one additional, second detection device 6 . Several further detection devices 6, 7 can also be provided. These are arranged in particular on motor vehicle 1 . The detection device 5 can be designed and arranged differently in terms of function and/or location than the at least one other detection device 6, 7. The first detection device 5 is in particular a camera. This can be particularly sensitive in the spectral range that is visible to humans. However, it can also be sensitive, for example, in the infrared range.

The detection system 4 is intended to detect an area surrounding the motor vehicle 1 . In particular, the first detection device 5 is oriented in such a way that its detection range detects a surrounding area in front of a front area 1a of the motor vehicle 1 .

In one exemplary embodiment, the lane course determination system 2 has a computer program product 8 . This can preferably be stored on the evaluation unit 3 .

A method, in particular a computer-implemented method, for determining a course of a lane can be performed with the electronic lane course determination system 2 be carried out on a roadway, as is explained below using exemplary embodiments. Depending on this, the driving operation, ie moving, of the motor vehicle 1 can then take place at least partially autonomously.

For this is in 2 an exemplary traffic scenario is shown. The representation in 2 is shown looking forward out of the motor vehicle 1 . The motor vehicle 1 is driving on a roadway 9. The roadway 9 has two lanes 10 and 11 in the exemplary embodiment shown. These are intended to be used in the same direction of travel. Furthermore, for example, a second roadway 12 can also be seen. This second lane 12 is different from the first lane 9 . In one exemplary embodiment, the second lane 12 is separated from the first lane 9 by a boundary 13 . This boundary 13 can have crash barriers, for example. Roadway 12 has at least one lane. This at least one lane is intended for driving in a direction of travel that is opposite to the direction of travel of lanes 10 and 11 .

In addition, in 2 a traffic sign 14 is shown. The traffic sign 14 is assigned to the first lane 9 in terms of location and function. The traffic sign 14 is spaced vertically and thus vertically from and directly above the first lane 9 . An air space 15 is formed between the first lane 9 and the traffic sign 14 . The vehicles can drive through this air space 15 on the first lane 9 directly under the traffic sign 14 .

in the in 2 shown embodiment, the roadway 9 has a further lane 16 . This is a turning lane here and branches off to the right from lanes 10 and 11, which run parallel to one another and directly adjoin one another.

Another traffic sign 17 is shown here in the exemplary embodiment. This symbolizes this turning lane. This turning lane is symbolized by an arrow 18 pointing laterally downwards on this further traffic sign 17 and indicates that it is possible to turn to the right here.

A first position arrow 19 is displayed on the traffic sign 14 . A separate second position arrow 20 is shown in the exemplary embodiment. The position arrow 19 is intended to indicate the first lane 10 locally. In the exemplary embodiment, this is associated with location information 21 . This indicates on the traffic sign 14 that when driving in the lane 10 one can arrive in the direction of the location of the location information 21 . Viewed in the vertical direction, this position arrow 19 is shown on the traffic sign 14 in such a way that in the vertical direction downwards and thus when projected onto the roadway 9 exactly the lane 10 is locally associated. In particular, the position of the position arrow 19 indicates the center or essentially the center of the lane 10 when projected vertically downwards onto the roadway. This center is measured in a width direction x, which is in 2 extends horizontally.

The same is achieved in the exemplary embodiment with the additional position arrow 20 . As intended, this is arranged locally and functionally on the traffic sign 14 in such a way that it indicates the second lane 11 . Here, too, location information 22 is shown on the traffic sign 14 by way of example. Here, too, it is thus symbolized that the location of the location information 22 is reached when driving in the further lane 11 . The two position arrows 19 and 20 are shown here in such a way that their arrowheads point downwards in the direction of the roadway 9 . They each point vertically downwards and directly onto the associated lane 10 on the one hand and 11 on the other. The traffic sign 14 can also contain further location information that is not identified in any more detail.

As in the example in 2 As can be seen, the two lanes 10 and 11, which are directly adjacent to one another in the width direction of the roadway 9 and run parallel to one another, are not separated from one another. This means that in the stretch of road shown here there is no lane marking that separates these two lanes 10 and 11 from one another and/or delimits them laterally outwards. A lateral boundary of lanes 10, 11 is therefore not marked here. In addition, in the exemplary embodiment shown, there is no such roadway marking or dividing line as a boundary between lane 10 and turning lane 16 , at least in a partial section. at the in 2 In the current position of the motor vehicle 1 shown, the three lanes 10, 11 and 16 next to one another are therefore not identified by boundaries or lane markings.

When the motor vehicle 1 drives on the roadway 9 , the surroundings of the motor vehicle 1 are recorded with the detection system 4 . The surroundings are thus recorded at least with the first recording device 5 . The information recorded by this recording device 5 is transmitted to the evaluation unit 3 . you are then evaluated by this evaluation unit 3 to determine whether a traffic sign 14 located above this first lane 9 was detected. If a traffic sign 14 arranged in this way was detected, a further evaluation is carried out to determine whether at least one specific position arrow 19, 20 is displayed on this traffic sign 14. A search is therefore made for such a position arrow 19, 20 which is intended to signal a position of a lane 10, 11 on the roadway 9 which, viewed vertically, runs directly below this respective position arrow 19, 20.

This information about the position arrow is taken into account when determining the course, ie a position and/or width, of a lane 10, 11.

In the exemplary embodiment shown, this means that the motor vehicle 1 is moving in the area of the second lane 11, for example and as can be seen. If it is now detected that the position arrow 20 is present, this knowledge and its position can be used to draw conclusions about the position of the lane 11 on the roadway 9 . In particular, the evaluation unit 3 can determine, for example, the position of the lane 11 on the lane 9 in the width direction of the lane 9 as such a course of the lane 11 .

In this evaluation of the position arrow 19, 20, it is also checked in particular whether such an arrow is a straight arrow which is oriented vertically upwards or vertically downwards on the traffic sign 14. If this is the case, a position arrow is present, which is arranged and shown as intended to make the lane 10, 11 directly below it locally recognizable.

When determining the course of lane 10, 11, the width of lane 10, 11 and/or the position of lane 10, 11 on lane 9, in particular in width direction x of lane 9, is also determined in one exemplary embodiment. This preferably takes place at least at the point on the roadway 9 which is vertically directly below the traffic sign 14 . In addition to or instead of this, this width of the lane 10, 11 and/or the position of the lane 10, 11 on the lane 9 can also be determined at least at the current location of the motor vehicle 1 in the direction of travel of the motor vehicle 1 on the lane 9 towards this traffic sign 14 will. In addition or instead of this, the width of the lane 10, 11 and/or the position of the lane 10, 11 on the lane 9, in particular in the width direction x of the lane 9, can be used as the course of the lane 10, 11, at least at one point on the motor vehicle 1 in The direction of travel of the motor vehicle 1 on the roadway 9 can be determined by the traffic sign 14 .

In the exemplary embodiment shown here, the surroundings are preferably also detected by the detection devices 6 and/or 7 . In one exemplary embodiment, these detection devices 6 , 7 are designed to detect lane markings and/or other vehicles 23 and/or 24 on the lane 9 .

In the exemplary embodiment shown here, there are no lane markings between lanes 10 and 11 . It is therefore also not possible for such road markings to be detected.

In one embodiment, the presence and detection of such a position arrow 19 and/or 20 is particularly advantageous in such a situation. Because then the course of the lane 10 and/or 11 can be determined at least based on a position of such a position arrow 19, 20. In particular, this can only be done using such a position arrow 19, 20 if no other vehicles 23, 24 are detected or they can only be detected insufficiently for such a determination. The same applies in this context to lateral lane boundaries that could limit the lanes 10, 11 on their opposite sides. In the exemplary embodiment shown here, there is only one crash barrier to the other roadway 12 . This is not necessarily a lane delimitation of the left lane 11, since it is arranged outside in the non-paved area. In this context, there is therefore no application of a roadway marking close to the ground on the left side of lane 11 in the exemplary embodiment shown. Thus, for example, this lane 11 is not delimited by a lane marking, for example a colored stripe or the like, neither in the width direction x to the right nor to the left.

As a result, the electronic lane course determination system 2 is not able to determine the course of the lane 11 on the basis of lane markings.

If, on the other hand, such roadway markings were present and could be detected, their suitability can be checked in one exemplary embodiment. This means that they are analyzed to determine whether they provide sufficiently accurate information for determining a course of the lane 10, 11. If this is not the case, the course of the respective lane 10 , 11 can then be determined, for example, only exclusively on the basis of the position arrows 19 , 20 will. If this information from any lane boundaries or lane markings that may be present is suitable, it can in particular also be used to determine the course of the lane. In addition to or instead of this, this also applies to possible other vehicles 23 and 24 on lane 9.

At the traffic sign 14 in 2 the position arrows 19 and 20 are oriented vertically downwards. In 3 a schematic representation of a further exemplary embodiment of a traffic sign 14 is shown. In this case, the position arrows 19 and 20 are oriented vertically upwards. This means their arrowheads are pointing away from lanes 10 and 11 and pointing vertically up. Any location information 21 and 22 that may be present is also shown symbolically on the traffic sign 14 here.

that to 2 explained traffic scenario is in 3 extended to the effect that the roadway 9 has at least three separate lanes, which are formed parallel and directly adjacent to one another and which are intended to be driven on in the same direction of travel. However, it is also possible for a roadway 9 to have only one lane. Even then, the invention explained above can be applied and used accordingly. Because even then, lanes can be locally marked with a traffic sign arranged vertically above them and a position arrow. In particular, this is also suitable when such a lane has no lane markings as boundaries.

In a further exemplary embodiment, it is possible for the at least one detection device 5 to detect an existing traffic sign 14 with at least one position arrow 19, 20. The course of the associated lane 10, 11 can then be determined on the basis of this information. If it is possible in one exemplary embodiment for at least one additional, separate detection device 6 and/or 7 to detect a lane marking of this lane and/or other motor vehicles 23, 24, if this information is sufficiently suitable, a course of the corresponding lane 10, 11 to be determined.

These different results for the lane course can then be compared in a method for operating an electronic lane course determination system 2 . If these results deviate in particular by a value greater than a threshold value, there may be a malfunction at least in one of the various detection devices 5 on the one hand and 6 and/or 7 on the other. A functional impairment of a detection device can thus also be inferred from such a method.

In one embodiment, the position of a traffic sign 14, in particular the position arrows 19 and/or 20 on such a traffic sign 14, can be determined, for example, at least as a function of a global localization system such as GPS. Since in this context the position of motor vehicle 1 is preferably also known as such a global position, a position reference between motor vehicle 1 at its current location and traffic sign 14 can also be made here. In one exemplary embodiment, it is also possible in this context to recognize or determine this global position of the associated lane 10 and/or 11 in relation to the traffic sign 14, in particular a position arrow 19 and/or 20 displayed thereon. In one exemplary embodiment, the position of the motor vehicle 1 on the lane 10 or 11 to be traveled in can then in turn be determined depending on this.

It is possible to determine the position of a position arrow 19, 20 on a traffic sign 14 in addition to or instead of this, but also by other procedures. For example, this can be done solely by evaluating the image and recognizing the position of the detection device 5 in the motor vehicle. Since the associated lane 10, 11 is also known on the captured image and the vertical imaginary line of the position arrow 19, 20 on the image can be related downwards to the lane 9 using a method, this procedure and the then achievable and determinable position of the lane 10, 11, in turn, their actual position in the environment can be determined in reality. Depending on this, the position of the motor vehicle 1 can then in turn be related to this lane 10, 11. Depending on this, the motor vehicle 1 can then in turn be guided along the lane 11 or 10 to be traveled.

Such position arrows 19, 20 oriented vertically upwards or downwards are preferably used for determining the course of a lane 10, 11. In one exemplary embodiment, however, an arrow 18, as is associated with the turning lane 16 arranged underneath it on the traffic sign 17, could also be used accordingly. Depending on the type of such an arrow and/or its orientation, the information that can be obtained with it can also be weighted. For example, the information from the position arrows 19, 20 could be higher or significantly higher are weighted in order to determine a course of an associated lane than the arrow 18. The course of the associated lane 16 can thus optionally also be determined with an arrow 18, but for example with less accuracy. For example, this could then also be suitable for emergency situations in which, for example here due to weather conditions, no lane markings are present and/or cannot be detected and/or no other information is available that could be a course of the relevant lane 16. In such situations, at least with such arrows 18 not oriented vertically upwards or downwards, it would then be possible to continue driving the motor vehicle 1, possibly at a significantly reduced speed. It would then at least be possible not to have to park the motor vehicle 1 immediately, but rather to be able to drive until it can be parked at an uncritical point.

QUOTES INCLUDED IN DESCRIPTION

This list of the documents cited by the applicant was 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.

Patent Literature Cited

• DE 102012025067 A1 [0003]
• DE 102016118497 A1 [0004]

Claims (15)

Method, in particular computer-implemented method, for determining a course of a lane (10, 11) on a roadway (9) for a motor vehicle (1), having the following steps: - Driving on the roadway (9) with the motor vehicle (1); - detecting the surroundings of the motor vehicle (1) with at least one detection device (5, 6, 7); - Evaluation of the information detected by the detection device (5, 6, 7) with an evaluation unit (3) to determine whether a traffic sign (14) located above the roadway (9) was detected; - If a traffic sign (14) arranged in this way was detected, evaluation with the evaluation unit (3) whether a position arrow (19, 20) is displayed on this traffic sign (14) which is intended to indicate a course of a lane (10, 11) of the roadway (9) which, viewed vertically, runs under the position arrow (19, 20); - Considering the position of the position arrow (19, 20) for determining the course of the lane (10, 11) if such a position arrow (19, 20) was detected. procedure after claim 1 , in which the position of the position arrow (19, 20) for determining the position of the lane (10, 11) on the lane (9) in the width direction (x) of the lane (9) as the course of the lane (10, 11) is taken into account will. procedure after claim 1 or 2 , in which a detected position arrow (19, 20) is evaluated to determine whether it is a straight arrow pointing vertically upwards or vertically downwards on the traffic sign (14), and the position arrow (19, 20), in particular only then for the determination of the course of the lane (10, 11) is taken into account when the position arrow (19, 20) has this vertical orientation. Method according to one of the preceding claims, in which the position of the position arrow (19, 20) on the traffic sign (14), in particular when projecting vertically onto the roadway (9), as a center measured in the width direction (x) of the roadway (9). that lane (10, 11) which is associated with the position arrow (19, 20), the course of the lane (10, 11) being determined depending on this center position of the position arrow (19, 20). Method according to one of the preceding claims, in which the width of the lane (10, 11) and/or the position of the lane (10, 11) on the roadway (9), in particular in the width direction ( x) the roadway (9), at least at the point of the roadway (9) vertically below the traffic sign (14). Method according to one of the preceding claims, in which the width of the lane (10, 11) and/or the position of the lane (10, 11) on the roadway (9), in particular in the width direction ( x) the roadway (9), at least at the current location of the motor vehicle (1) in the direction of travel of the motor vehicle (1) on the roadway (9) towards the traffic sign (14), and/or as the course of the lane (10, 11) the width of the lane (10, 11) and/or the position of the lane (10, 11) on the lane (9), in particular in the width direction (x) of the lane (9), at least at one point on the motor vehicle (1st ) is determined in the direction of travel of the motor vehicle (1) on the roadway (9) after the traffic sign (14). Method according to one of the preceding claims, in which recorded information is evaluated to determine whether lane markings of the lane (10, 11) have been recorded, and/or in which recorded information is evaluated to determine whether information regarding the position and/or movement path of at least one other Motor vehicle (23, 24) on the roadway (9), in particular which is moving in the same direction as the motor vehicle (1), were detected. procedure after claim 7 , in which, depending on this evaluation of lane markings and/or depending on the evaluation of the position and/or the movement path of the at least one other motor vehicle (23, 24), the evaluation of the information recorded with regard to an existing position arrow (19, 20) on a Traffic sign (14) is carried out. procedure after claim 7 or 8th , in which the evaluation of the recorded information regarding an existing position arrow (19, 20) on a traffic sign (14) is carried out, in particular only if no lane markings and/or no at least other motor vehicle (23, 24) were detected or the Information on detected lane markings and/or another motor vehicle (23, 24) is classified by the evaluation unit (3) in such a way that it is not possible to determine the course of the lane (10, 11) with sufficient accuracy with this alone. Method according to any of the preceding Claims 7 until 9 , in which it is determined, depending on the recorded information, whether the determination of the course of the lane (10, 11) only on the basis of the information of the position arrow (19, 20) or only on the basis of the lane markings or only on the basis of the position and/or the movement path of at least one other motor vehicle (23, 24) or on the basis of at least two of the three options. Method according to any of the preceding Claims 7 until 10 , in which, when both lane markings and at least one position arrow (19, 20) have been detected, a plausibility check of this detected information is carried out to determine whether they result in a different course of the lane (10, 11), in particular depending on this plausibility check a functional status of at least one of the detection devices (5, 6, 7) is determined or estimated and/or at least one service notice and/or a warning regarding a possibly functionally impaired detection device (5, 6, 7) is generated. Method according to one of the preceding claims, in which the course of a lane (10, 11) is determined for a lane (9) which has at least two parallel lanes (10, 11) next to one another in one direction of travel on the lane (9). . Computer program product, comprising instructions which, when the program is executed by a computer, cause the latter to carry out the steps of a method according to one of the preceding claims. Electronic lane course determination system (2) for a motor vehicle (1), which has at least one detection device (5, 6, 7) and at least one evaluation unit (3), the electronic lane course determination system (2) for carrying out a method according to one of the preceding Claims 1 until 13 is trained. Method for operating a detection system (4) of a motor vehicle (1), having the following steps: - Driving on the roadway (9) with the motor vehicle (1); - detecting the surroundings of the motor vehicle (1) with at least one first detection device (5) of the detection system (4); - Evaluation of the information detected by the first detection device (5) with an evaluation unit (3) to determine whether a traffic sign (14) located above the roadway (9) was detected; - If a traffic sign (14) arranged in this way was detected, evaluation with the evaluation unit (3) whether at least one position arrow (19, 20) is displayed on this traffic sign (14) which is intended to indicate a course of a lane (10, 11) of the Lane (9) signaled, viewed vertically below the position arrow (19, 20); - Determining the position of the lane (10, 11) depending on the position arrow (19, 20); - detecting the surroundings of the motor vehicle (1) with at least one second detection device (6, 7) of the detection system (4) which is different from the first; - Evaluation of the information recorded by the second detection device (6, 7) with an evaluation unit (3) to determine whether lane markings of the lane (10, 11) and/or other motor vehicles (23, 24) on the roadway (9) were detected; - Determining the position of the lane (10, 11) depending on the at least one lane marking and/or the at least one other motor vehicle (23, 24); - Plausibility check of the two results of the determined positions of the lane (10, 11) by comparing; - detecting or suspecting a malfunction of a detection device (5, 6, 7) if the results deviate; - In particular, generating at least one service notice and/or a warning regarding a possibly functionally impaired detection device (5, 6, 7).

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