EP2082388A1 - Method and apparatus for identifying concealed objects in road traffic - Google Patents

Method and apparatus for identifying concealed objects in road traffic

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Publication number
EP2082388A1
EP2082388A1 EP07821156A EP07821156A EP2082388A1 EP 2082388 A1 EP2082388 A1 EP 2082388A1 EP 07821156 A EP07821156 A EP 07821156A EP 07821156 A EP07821156 A EP 07821156A EP 2082388 A1 EP2082388 A1 EP 2082388A1
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EP
European Patent Office
Prior art keywords
vehicle
information
environment
vehicles
risk
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07821156A
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German (de)
French (fr)
Other versions
EP2082388B1 (en
Inventor
Matthias Strauss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
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Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2082388A1 publication Critical patent/EP2082388A1/en
Application granted granted Critical
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Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking

Definitions

  • the invention relates to methods for detecting obscured objects in traffic with the features of the preamble of claim 1 and an apparatus for performing the method.
  • the object of the invention is to provide a method that overcomes the previous limitations of the prior art with respect to the Um chargeds vented and recognizes in particular hidden objects in traffic.
  • a first embodiment of the invention takes place in the method for detecting obscured objects in traffic in which on the one hand the environment of a vehicle and on the other hand movement quantities of the own vehicle are detected by sensors, these as information to surrounding vehicles by means of an interface 17 to the vehicle Vehicle communication 60) and are received by the surrounding vehicles, wherein the steps are passed through: a) the data of the sensors (10, 20, 30, 40) expand an environment model (50) b) the extended environment model (50 ) is updated in the own vehicle by means of a display (80) c) a situation analysis (70) of the environment and an evaluation of the situation in the own vehicle is carried out d) objects representing an accident risk are visualized in the display with a high priority e ) predefined steps to reduce the risk of accidents in your own company be activated f) via the communication system (60) to the vehicle to vehicle communication, the information about the initiated steps to reduce the risk of accidents are transmitted to the environment
  • the transmission of the information by means of multicast and / or unicast and / or broadcast transmission takes place.
  • a particularly advantageous Ausgetsaltung is characterized in that the received information is evaluated prioritized and sent the information to be transmitted prioritized after a relevance check.
  • the embodiment of the method is particularly advantageous in that the received information is forwarded to a separate driver assistance system (14) and, in the case of detected vehicles in the environment having an activated driver assistance system, the transmitted information is supplied to the respective driver assistance system of the respective vehicle ,
  • a stereo camera with a 12-bit dynamic range is used as the visual sensor, which carries out an object tracking and an object tracking. This results in a kind of production of the dataset to be evaluated when modifying the environment model.
  • a particularly advantageous embodiment of the method according to the invention is characterized in that the transmitted information takes place in the form of position and dynamic information packets (29).
  • the packet-oriented approach addresses all packet-oriented transmission protocols.
  • the device comprising at least one memory, at least one computer unit (15) and at least one interface (17) for the data exchange, wherein the information from the neighboring vehicles via the communication system (60) and via the interface (17 ) are forwarded to the computer unit (15), the data of the own vehicle (1) by the sensors (10, 20, 30) determined, updated and forwarded via the sensor data processing (50) to an environment model (50), wherein under real-time conditions the own position, the environment and the position of the neighboring vehicles is determined via the position determination system (12) and fed to the computer via the interface (17) to the environment model (50), from the received information and the determined data a prediction of the trajectory of the own vehicle, the environment and the adjacent vehicles is carried out, which at risk S Signaling via an output unit (80) to the driver or by intervention by the vehicle safety and / or driver assistance systems (13,14) in the trajectory of the own vehicle or signaling the engagement of the trajectory of the vehicle (1) to the adjacent Vehicles are done.
  • An embodiment of the invention is illustrated in the drawings and
  • FIG. 1 shows a display representation according to the invention in the vehicle
  • FIG. 2 block diagram according to the invention
  • FIG. 3 shows an example of a data model
  • the vehicle 1 are at least one communication, a position determination, vehicle safety, driver assistance system 11/12/13/14, and sensors 10, 20, 30 and a sensor data processing 40, and at least one computer unit 15 with memory via wired or mobile data bus lines performs a data exchange with the system elements and sensors, wherein on the computer unit a dynamically changeable environment model 50, the sensor data processing unit 40 and a situation analysis 70 is performed.
  • the environment model 50, the sensor data processing unit 40 and the situation analysis are preferably constructed as modules.
  • the modular concept is reflected again.
  • the communication system 11 exchanges information over a cellular network such as GSM and the communication system 60 is used for the transmission and reception of information from vehicle to vehicle.
  • GSM Global System for Mobile communications
  • the communication system 60 is used for the transmission and reception of information from vehicle to vehicle.
  • all communication functionality will be performed in a single communication system.
  • an electronic display is used in the vehicle 80, which can be mounted stationary and / or variable visible to the driver in the passenger compartment.
  • a method is used whose detection range is not limited by optical visibility.
  • One such method is the vehicle-vehicle communication already mentioned.
  • the communication system 60 is at least configured for vehicle-to-vehicle communication.
  • a standardized, non-optical, radio-based information transmission method supporting system for the communication between at least two vehicles or participants is used as a communication system.
  • the communication system 110 supports various mobile transmission methods that establish information distribution in the so-called point-to-point connection, whereas the communication system 60 performs a broadcast mode.
  • the transmission of data packets from a point, or vehicle, to all vehicles or subscribers within a network is understood. It is used to transmit environment information via defined radio standards such as eg IEEE 802.11p and display it in your own vehicle. In dangerous situations, after execution of the method according to the invention, an additional warning or intervention in the vehicle behavior takes place.
  • different mobile transmission methods such as WLAN, DSRC, GSM, GPRS, UMTS, are executed.
  • Positioning systems 12 serve to determine the own position. Positioning systems are GPS transmitters and receivers as well as navigation systems. According to the invention, integrated position determination systems that combine both functionalities in one device can also be used. As vehicle safety systems 13, all braking systems available in the vehicle can be used with electronic control. Vehicle safety systems may include Electronic Break System (EBS) 131, Engine Management System (EMS) 132, Anti-lock Braking System (ABS) 133, Traction Control (ASR), Electronic Stability Program (ESP), Electronic Differential Lock (EDS), Transmission Control Unit (TCU), Electronic Brake Force Distribution (EBV) and / or Engine Drag Torque Control (MSR).
  • EBS Electronic Break System
  • EMS Engine Management System
  • ABS Anti-lock Braking System
  • ASR Traction Control
  • ESP Electronic Stability Program
  • EDS Electronic Differential Lock
  • TCU Transmission Control Unit
  • EVS Electronic Brake Force Distribution
  • MSR Engine Drag Torque Control
  • Driver assistance systems 14 are electronic ancillary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but also the increase in ride comfort in the foreground. These systems partly autonomously or autonomously intervene in drive, control (eg gas, brake) or signaling devices of the vehicle or warn the driver shortly before or during critical situations by means of suitable man-machine interfaces.
  • control eg gas, brake
  • signaling devices of the vehicle or warn the driver shortly before or during critical situations by means of suitable man-machine interfaces.
  • driver assistance systems are, for example, parking assistance (sensor arrays for obstacle and distance detection), brake assist (BAS), cruise control, adaptive cruise control (ACC) 141, distance warning, turn assistant, traffic jam assistant, lane detection system, lane departure warning / lane assistant (lane departure warning, LDW )) 142, Lane Keeping Support), Lane Change Assistance, Lane Change Support, Intelligent Speed Adaptation (ISA), Adaptive Headlights, Tire Pressure Monitoring System, Driver Acquisition, Traffic Sign Recognition, Platooning, Automatic Emergency Braking (ANB), headlamp dipping and dipping assist, night vision system.
  • FIG. 2 shows a multi-sensorial environmental detection with a networked environment model.
  • the core of the method according to the invention are the steps of sensor data processing 40, formation and supplementation of the environment model 50 by means of the sensor data processing 40 and the vehicle-to-vehicle communication 60, and the delivery of the environment model to a situation analysis.
  • the environment model 50 knows an interface to the vehicle safety system and driver assistance systems and at the same time allows validation of the environmental detection.
  • lidar 10 based on scanning or fixed laser beams and radar 20 with characteristics for long-range radar and near-range radar and visual sensors in the form of cameras 30, both for the visible range and for the invisible range, which includes, for example, the heat radiation.
  • a radar system measures the distance to and at the same time the speed of objects by evaluating the object backscatter.
  • different possibilities like pulse radar, FMCW (frequency modulated continuous wave) and FSK ⁇ frequency shift keying) modulation, as well as combinations thereof are used.
  • Adaptive Cruise Control (ACC) uses a far-range radar that can measure distances up to 150 meters and spot objects as punctiform.
  • the short-range radar With short-range radar, several sensors (transmitter and receiver) are used at the same time, each having a significantly larger opening angle (up to +/- 60 °). By coupling evaluation of the received signals, it is also possible to locate several objects up to a distance of 30 meters. While the far-field radar operates at a frequency of 77 GHz, the short-range radar uses the frequency range around 24 GHz and 79 GHz, respectively. An important advantage of radar is the insensitivity of the radar wave propagation against 'weather influences such as rain, snow or fog.
  • Non-scanning systems with multiple laser beams and photodiodes are used as the distance radar for distance (ACC), whereby the larger number of beams results in a better lateral resolution compared to the long-range radar.
  • ACC distance radar for distance
  • predominantly scanning lidar is used, which in principle allows a complete all-round view (360 ° opening angle). To compensate for pitching movements of the vehicle, it is recommended to use several scanning planes.
  • Cameras offer a high-resolution picture of the driving environment, in contrast to the distance-measuring principles of radar and lidar. Since the contrast ratios in the road are often very large, according to the invention a highly dynamic cameras with, for example, a 12-bit dynamic range is used. While grayscale cameras can be used for track recognition, color cameras are provided for reliable amp detection. In order to associate the 2D information of a monocamera with distance information, according to the invention, stereo cameras with a horizontal base, such as the pair of human eyes, and the disparities between the two images are determined mainly on vertical edges for distance determination.
  • movable cameras such as scanning attachments in lidar or radar
  • additional control in the viewing direction e.g. based on the attention.
  • thermal imaging cameras for pedestrian detection, since the temperature of the human body is a reliable detection feature.
  • the block Sensor Data Processing 40 takes special account of the additional requirements of a multisensorial approach. Once sensor data is correlated, both the mutual location of the sensors and a common time base are related to each other.
  • Stereo Cameras e.g. are operated synchronously to obtain both measurements at the same time.
  • asynchronous systems are also used if the measurements are provided with a time stamp which is supplied by a common system clock (master clock).
  • the environment model 50 all the results of the multisensorial driving environment detection and additionally received information from the environment are collected by the vehicle-to-vehicle communication via the communication system 60.
  • Receiving and updating the information from the neighboring vehicles is done in such a way that the neighboring vehicles 2 and 3 their position and dynamic information packages 29 (PDP), as exemplified in Figure 3, on the in-vehicle and for the information exchange between at least two vehicles communicate continuously with the communication system for the vehicle to vehicle communication.
  • PDP position and dynamic information packages 29
  • the position and dynamic information packages 2 representing and distributing the respective vehicle contain information, e.g. the vehicle identifier 21, the GPS data with accurate lane keeping information 22, the individual vehicle parameters 23, e.g. the vehicle geometry with length 231, width 232, turning circle, the vehicle type (car / off-road vehicle / small truck / truck / etc.) 233, the previously known information of the vehicle dynamics 24 with max. Longitudinal acceleration and deceleration 241, max. Lateral acceleration 242, max. Vehicle speed 23, the current vehicle speed 245, the longitudinal acceleration, the lateral acceleration, the current yaw rate, the current steering angle.
  • the position and dynamic information packs 29 contain information about the currently in the respective Vehicle active vehicle safety systems 25 and driver assistance systems 25, as well as information about the lane parameters 26, such as slope angle and estimated friction. Further fields are provided in the position and dynamic information packages 2 for optional information 27, such as the status of traffic lights or the position of recognized pedestrians.
  • the position and dynamic information of all neighboring vehicles, with which the own vehicle communicates, are stored in a dynamically updated, internal memory of the computer unit 15, which can be configured as a database.
  • the sending vehicle already has an active position and dynamics information packet in the database, i. it is already "recognized" by the receiving own vehicle, the data is updated with the latest position and dynamics information packets.
  • the position and dynamics information packets 2 of a vehicle leaving the zone and no longer transmitting data after an active period are removed from the database.
  • the updating and transmission of the own position and dynamic data of the own vehicle takes place in such a way that in the own vehicle the same data as described are recorded and calculated and the entire position and dynamic data packet are transmitted by the own communication system to the neighboring vehicles.
  • the position data of the first positioning system which may be implemented as a GPS receiver, is used as basic information. These data are forwarded to the environment model 50.
  • the environment model 50 comprises a multiplicity of previously known object types which are structured to describe the driving environment in a so-called object catalog.
  • each object there are a number of attributes which are either measured and determined with the sensors, for example width, height, distance, speed, or in a very simple embodiment as a look-up table or in another embodiment in the already are recorded, such as number of lanes, assignment of traffic lights and speed limits.
  • attributes which are either measured and determined with the sensors, for example width, height, distance, speed, or in a very simple embodiment as a look-up table or in another embodiment in the already are recorded, such as number of lanes, assignment of traffic lights and speed limits.
  • the objects are distinguished between static objects, i. Objects that are part of the infrastructure, such as lanes, traffic signs or peripheral buildings and dynamic objects.
  • static objects i. Objects that are part of the infrastructure, such as lanes, traffic signs or peripheral buildings and dynamic objects.
  • the description of the movement of dynamic objects is made by subordinate dynamics models, which are formulated relative to object-specific coordinate systems.
  • the situation analysis 70 defines and describes the relationships between the found objects, such as singers or lane drive in the function of the traffic jam assistant.
  • the driver assistance system such as distance display, distance warning, adaptive cruise control, congestion assistant, emergency braking, different levels of abstraction in the situation analysis, such as distance to the vehicle in front, consideration of own speed, Einscherer situation, possible evasive maneuvers, formed according to the invention.
  • the information from and communication with other vehicles and / or the infrastructure is used. The entire available information about the current situation is now stored in the extended environment model and is available to the situation analysis 70.
  • the display in the vehicle 80 is either directly in the video image or as a virtual image from the perspective, we indicated in Fig. 1, the bird's eye view. It is intended that the recognition results, such as vehicles or lane markings, enter directly into the image. If there are no video recordings available or the coverage of other sensors is greater than the camera field of view, the detected objects are displayed in a virtual image.
  • the method it is advantageously possible to determine the danger emanating from an object on the basis of a situation analysis. If it is then a very high risk, the object will be highlighted in the ad and measures to avoid an accident initiated.
  • measures are e.g. the tightening of the straps, the priming of the brake system. It is also thought to give the driver acoustic, haptic and visual cues to the driver that a dangerous situation is developing.
  • the initiated measures are in turn transmitted via the communication system 60 to the environment in order to notify the measures introduced to the vehicles located in the vicinity.
  • the relevant information is forwarded to the driver assistance systems in the vehicles 2 and 3, which are located in the immediate vicinity, in order to extend their coverage area as well.
  • the driver of the individual vehicle is not in his actions by the evaluation of the Um chargeds vente, which has only a limited local range limited. As a result, the presence of certain local conditions at a certain time the driver made accessible, which then measures can be taken in an advantageous manner to avoid accidents, for example.

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  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

A method for identifying concealed objects in road traffic in which firstly a vehicle's surroundings and secondly movement variables for one's own vehicle are captured by means of sensors, and these are transmitted as information to vehicles in the environment by means of an interface 17 for vehicle-to-vehicle communication (60) and are received by the vehicles in the environment, with the following steps being performed: a) the data from the sensors (10, 20, 30, 40) expand an environment model (50), b) the expanded environment model (50) is reproduced in updated form in one's own vehicle by means of a display (80), c) a situation analysis (70) of the environment and an assessment of the situation are performed in one's own vehicle, d) objects which represent a risk of accident are visually displayed with high priority in the display, e) predefined steps for reducing the risk of accident are activated in one's own vehicle, and f) the communication system (60) for vehicle-to-vehicle communication is used to transmit the information about the steps initiated to reduce the risk of accident to the surroundings.

Description

Verfahren und Vorrichtung zur Erkennung von verdeckten Objekten im StraßenverkehrMethod and device for detecting hidden objects in traffic
Die Erfindung betrifft Verfahren zur Erkennung von verdeckten Objekten im Straßenverkehr mit den Merkmalen des Oberbegriffs des Anspruchs 1 sowie eine Vorrichtung zum Durchführen des Verfahrens .The invention relates to methods for detecting obscured objects in traffic with the features of the preamble of claim 1 and an apparatus for performing the method.
1. Stand der Technik1. State of the art
Unfälle resultieren fast immer aus einem Fehlverhalten eines Verkehrsteilnehmers. Dieses Fehlverhalten kann mehrere Ursachen haben:Accidents almost always result from the misconduct of a road user. This misconduct can have several causes:
1. ) Mangelnde Erfahrung1.) Lack of experience
2.) Absichtlich hohe Risikobereitschaft2.) Intentionally high risk-taking
3.) Übersehen der relevanten Objekte oder Unaufmerksamkeit3.) Overlook the relevant objects or inattention
4.) Schlechte Sicht4.) Bad view
Die ersten 3 Punkte bringen hierbei die größte Gefahr mit sich. Dem 4. wird kein hohes Gefahrenpotential zugemessen, da ein Verkehrsteilnehmer in einer solchen Situation möglichst vorsichtig sein wird und ansonsten unter Punkt 2 fällt. Da Punkt 1 und 2 alleine von den persönlichen Eigenschaften des Fahrers abhängen, ist hier kaum etwas zu bewirken, außer durch eine verbesserte Ausbildung oder höhere Sanktionen. Für die letzten beiden Punkte wurde in den vergangenen Jahrzehnten bereits viel in Fahrerassistenzsysteme investiert, die auf klassischen Umfeldsensorik wie Video- oder Strahlsensoren beruhen. Aber auch für diese Sensoren gibt es Beschränkungen, die den Erfassungsbereich betreffen. Solche können z.B. Gegenstände, Nebel oder Schnee den Erfassungsbereich begrenzen. In kritischen Verkehrssituationen wie z. B. drohenden Kollisionen mit anderen Fahrzeugen kann ein Fahrer häufig nicht schnell genug bzw. nicht situationsgerecht reagieren.The first 3 points bring with it the biggest danger. The 4th is not assigned a high risk potential, as a road user in such a situation will be as careful as possible and otherwise falls under point 2. Since points 1 and 2 depend on the personal characteristics of the driver alone, there is little to be done except through improved training or sanctions. For the last two points, much has already been invested in driver assistance systems over the past decades, based on classic environment sensors such as video or beam sensors based. But even for these sensors, there are limitations that affect the detection area. For example, objects, fog or snow can limit the detection area. In critical traffic situations such. B. impending collisions with other vehicles, a driver often can not respond quickly enough or not appropriate to the situation.
Aus EP 0 473 866 A2 ist ein System bekannt, bei dem ein Sensor eine Vielzahl von potenziellen Kollisionsobjekten erfasst und mit Hilfe der erfassten Daten eine mögliche Kollision vorhergesagt wird. Zur Vermeidung der Kollision wird vorgeschlagen, dass von einer Fahrzeugsteuereinheit Bremsmittel und/oder Lenkmittel aktiviert werden, um eine Kollision zu vermeiden. Es wird nicht angegeben, auf welche Weise eine Steuereinheit entscheidet, ob die Lenkmittel, die Bremsmittel oder beides eingesetzt werden müssen, um die Kollision zu vermeiden.From EP 0 473 866 A2 a system is known in which a sensor detects a multiplicity of potential collision objects and with the aid of the acquired data a possible collision is predicted. To avoid the collision, it is proposed that braking means and / or steering means are activated by a vehicle control unit in order to avoid a collision. It is not stated how a control unit decides whether the steering means, the braking means or both must be used to avoid the collision.
Aus US 6,049 295 Al ist ein Verfahren bekannt, das Kollisionen zwischen Fahrzeugen verhindern soll, die eine Kreuzung ohne Verkehrszeichen oder einen schlecht einsehbaren Straßenabschnitt befahren. Dieses Verfahren erfordert eine straßenfeste Einrichtung und fahrzeuggebundene Einrichtungen, die per Funk miteinander in Verbindung stehen.From US Pat. No. 6,049,295 A1, a method is known which is intended to prevent collisions between vehicles which drive on an intersection without traffic signs or a road section which is difficult to see. This method requires a road-solid device and vehicle-mounted devices that communicate with each other by radio.
Aus DE 198 30 547 Al ist weiter ein Kreuzungswarnsystem bekannt, das ebenfalls auf straßenseitige und fahrzeugseitige Einrichtungen angewiesen ist.From DE 198 30 547 Al a crossing warning system is also known, which is also dependent on roadside and on-board facilities.
Die bekannten Verfahren und Vorrichtungen zur Kollisionsvermeidung verwenden bei der Interpretation einer vorliegenden Fahrsituation einzelne fahrsituationstypische Informationen, um eine anschließenden Bewertung durchzuführen. Nachteilig hierbei ist, dass andere Informationen zur Verbesserung der Fahrsituationsbewertung nicht flexibel und einfach ausgewertet werden können.The known methods and devices for collision avoidance use in the interpretation of a present driving situation individual driving situation typical information to perform a subsequent assessment. adversely In this case, other information for improving the driving situation evaluation can not be flexibly and easily evaluated.
Aufgabe der Erfindung ist es ein Verfahren bereitzustellen, das die bisherigen Einschränkungen des Standes der Technik bezüglich der Umfelderfassung aufhebt und das insbesondere verdeckte Objekte im Straßenverkehr erkennt.The object of the invention is to provide a method that overcomes the previous limitations of the prior art with respect to the Umfassungsfassung and recognizes in particular hidden objects in traffic.
Diese Aufgabe wird erfindungsgemäß mit den Merkmalen des Anspruchs 1 sowie den Merkmalen des Anspruchs 8 gelöst.This object is achieved with the features of claim 1 and the features of claim 8.
In einer ersten Ausgestaltung der Erfindung erfolgt bei dem Verfahren zur Erkennung von verdeckten Objekten im Straßenverkehr bei dem einerseits die Umgebung eines Fahrzeuges und andererseits Bewegungsgrößen des eigenen Fahrzeuges mittels Sensoren erfasst werden, diese als Information an im Umfeld befindliche Fahrzeuge mittels einer Schnittstelle 17 zur Fahrzeug zu Fahrzeug-Kommunikation 60) übertragen und von den im Umfeld befindlichen Fahrzeugen empfangen werden, wobei das Schritte durchlaufen werden: a) die Daten der Sensoren (10, 20, 30, 40) ein Umfeldmodell (50) erweitern b) das erweiterte Umfeldmodell (50) mittels einer Anzeige (80) im eigenen Fahrzeug aktualisiert wiedergegeben wird c) eine Situationsanalyse (70) des Umfelds und eine Bewertung der Situation im eigenen Fahrzeug durchgeführt wird d) Objekte, die eine Unfallgefahr repräsentieren in der Anzeige mit einer hohen Priorität visualisiert werden e) vordefinierte Schritte zur Reduktion der Unfallgefahr im eigenen Fahrzeug aktiviert werden f) über die Kommunikationssystem (60) zur Fahrzeug zu Fahrzeug-Kommunikation die Information über die eingeleiteten Schritte zur Reduktion der Unfallgefahr an die Umgebung übermittelt werdenIn a first embodiment of the invention takes place in the method for detecting obscured objects in traffic in which on the one hand the environment of a vehicle and on the other hand movement quantities of the own vehicle are detected by sensors, these as information to surrounding vehicles by means of an interface 17 to the vehicle Vehicle communication 60) and are received by the surrounding vehicles, wherein the steps are passed through: a) the data of the sensors (10, 20, 30, 40) expand an environment model (50) b) the extended environment model (50 ) is updated in the own vehicle by means of a display (80) c) a situation analysis (70) of the environment and an evaluation of the situation in the own vehicle is carried out d) objects representing an accident risk are visualized in the display with a high priority e ) predefined steps to reduce the risk of accidents in your own company be activated f) via the communication system (60) to the vehicle to vehicle communication, the information about the initiated steps to reduce the risk of accidents are transmitted to the environment
In einer vorteilhafte Ausgestaltung des erfindungsgemäßen Verfahren erfolgt die Übermittlung der Information mittels Multicast und/oder Unicast und/oder Broadcast-Übertragung.In an advantageous embodiment of the method according to the invention, the transmission of the information by means of multicast and / or unicast and / or broadcast transmission takes place.
Eine besonders vorteilhafte Ausgetsaltung zeichnet sich dadurch aus, dass die empfangen Information priorisiert ausgewertet und die zu übertragenden Information nach einer Relevanzprüfung priorisiert gesendet werden.A particularly advantageous Ausgetsaltung is characterized in that the received information is evaluated prioritized and sent the information to be transmitted prioritized after a relevance check.
Besonders vorteilhaft ist die Ausgestaltung des Verfahrens in der Art, dass die empfangen Information an ein eigenes Fahrerassistenzsystem (14) weitergeleitet werden und bei erkannten Fahrzeugen in der Umgebung, die ein aktiviertes Fahrerassistenzsystem aufweisen, die gesendeten Information zu dem jeweiligen Fahrerassistenzsystem des jeweiligen Fahrzeuges zugeführt werden.The embodiment of the method is particularly advantageous in that the received information is forwarded to a separate driver assistance system (14) and, in the case of detected vehicles in the environment having an activated driver assistance system, the transmitted information is supplied to the respective driver assistance system of the respective vehicle ,
In einer weitern vorteilhaften Ausgestaltung erfolgen vordefinierten Schritte im Fahrzeug 1 zur Reduktion der Unfallgefahr durch die Straffung der Gurte, und/oder das Vorfüllen der Bremsanlage des Fahrzeuges.In a further advantageous embodiment, predefined steps in the vehicle 1 to reduce the risk of accidents carried out by tightening the straps, and / or the priming of the brake system of the vehicle.
In einer vorteilhaften Ausbildung des erfindungegemäßen Verfahrens wird als visueller Sensor eine Stereokamera mit einem 12 bit Dynamikbereich verwendet, die eine Obejektracking und eine Objektverfolgung ausführt. Hierdurch erfolgt eine Art Re- duktion der zu bewertenden Datenmenge, bei der Modifikation des Umfeldmodells.In an advantageous embodiment of the method according to the invention, a stereo camera with a 12-bit dynamic range is used as the visual sensor, which carries out an object tracking and an object tracking. This results in a kind of production of the dataset to be evaluated when modifying the environment model.
Eine besonders vorteilhafte Ausgestaltung des erfindungsgemäßen Verfahrens zeichnet sich dadurch aus, dass die gesendeten Information in Form von Positions- und Dynamikinformationspaketen (29) erfolgt. Durch den paketorientierten Ansatz werden alle paketorientierten Übertragungsprotokolle adressiert.A particularly advantageous embodiment of the method according to the invention is characterized in that the transmitted information takes place in the form of position and dynamic information packets (29). The packet-oriented approach addresses all packet-oriented transmission protocols.
Die Aufgabe wird gelöst durch die erfindungsgemäße Vorrichtung, umfassend mindestens einen Speicher, mindestens eine Rechnereinheit (15) und mindestens eine Schnittstelle (17) für den Datenaustausch, wobei die Informationen aus den benachbarten Fahrzeugen über das Kommunikationssystem (60) und über die Schnittstelle (17) zu der Rechnereinheit (15) weitergeleitet werden, die Daten des eigenen Fahrzeugs (1) durch die Sensoren (10, 20, 30) ermittelt, aktualisiert und über die Sensordatenverarbeitung (50) an ein Umfeldmodell (50) weitergeleitet werden, wobei unter Echtzeitbedingungen die eigene Position, das Umfeld und die Position der benachbarten Fahrzeuge über das Positionsbestimmungssystem (12) ermittelt und dem Rechner über die Schnittstelle (17) an das Umfeldmodell (50) zugeführt wird, aus den empfangenen Informationen und den ermittelten Daten eine Voraussage der Bewegungsbahn des eigenen Fahrzeugs, des Umfeld und der benachbarten Fahrzeuge erfolgt, wobei bei Gefahr eine Signalisierung über eine Ausgabeeinheit (80) an den Fahrer erfolgt oder durch ein Eingreifen mittels der Fahr- zeugsicherheits- und /oder Fahrassistenzsysteme (13,14) in die Bewegungsbahn des eigenen Fahrzeugs oder Signalisieren des Eingriffs der Bewegungsbahn des Fahrzeuges (1) an die benachbarten Fahrzeuge erfolgt. Ein Ausführungsbeispiel der Erfindung ist in den Zeichnungen dargestellt und wird im Folgenden näher beschrieben.The object is achieved by the device according to the invention, comprising at least one memory, at least one computer unit (15) and at least one interface (17) for the data exchange, wherein the information from the neighboring vehicles via the communication system (60) and via the interface (17 ) are forwarded to the computer unit (15), the data of the own vehicle (1) by the sensors (10, 20, 30) determined, updated and forwarded via the sensor data processing (50) to an environment model (50), wherein under real-time conditions the own position, the environment and the position of the neighboring vehicles is determined via the position determination system (12) and fed to the computer via the interface (17) to the environment model (50), from the received information and the determined data a prediction of the trajectory of the own vehicle, the environment and the adjacent vehicles is carried out, which at risk S Signaling via an output unit (80) to the driver or by intervention by the vehicle safety and / or driver assistance systems (13,14) in the trajectory of the own vehicle or signaling the engagement of the trajectory of the vehicle (1) to the adjacent Vehicles are done. An embodiment of the invention is illustrated in the drawings and will be described in more detail below.
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Fig. 1 Eine erfindungsgemäße Anzeigemdarstellung im Fahrzeug Fig. 2 Erfindungsgemäße Blockschaltbild Fig. 3 Ein Beispiel für ein Datenmodell1 shows a display representation according to the invention in the vehicle FIG. 2 block diagram according to the invention FIG. 3 shows an example of a data model
In dem Fahrzeug 1 befinden sich mindestens ein Kommunikations- , ein Positionsbestimmungs-, Fahrzeugsicherheit-, Fahrerassistenzsystem 11/12/13/14, sowie Sensoren 10, 20, 30 und eine Sensordatenverarbeitung 40, und mindestens eine Rechnereinheit 15 mit Speicher die über drahtgebundene oder mobilen Datenbusleitungen einen Datenaustausch mit den Systementen und Sensoren durchführt, wobei auf der Rechnereinheit ein dynamisch änderbares Umfeldmodell 50, die Sensordatenverarbeitungseinheit 40 und eine Situationsanalyse 70 ausgeführt wird. Bevorzugt werden das Umfeldmodell 50, die Sensordatenverarbeitungseinheit 40 und die Situationsanalyse als Module aufgebaut. In der in Fig. 1 dargestellten Ausführungsform spiegelt sich das mo- dulare Konzept wieder. Bespielweise erfolgt über das Kommunikationssystem 11 die der Austausch von Informationen über ein Mobilfunknetz wie GSM und das Kommunikationssystem 60 wird zur für die Übertragung und den Empfang von Information von Fahrzeug zu Fahrzeug eingesetzt. In einer bevorzugten Ausführungsform ist es angedacht, dass sämtliche Kommunikationsfunktionalität in einer einzigen Kommunikationssystem ausgeführt wird.In the vehicle 1 are at least one communication, a position determination, vehicle safety, driver assistance system 11/12/13/14, and sensors 10, 20, 30 and a sensor data processing 40, and at least one computer unit 15 with memory via wired or mobile data bus lines performs a data exchange with the system elements and sensors, wherein on the computer unit a dynamically changeable environment model 50, the sensor data processing unit 40 and a situation analysis 70 is performed. The environment model 50, the sensor data processing unit 40 and the situation analysis are preferably constructed as modules. In the embodiment shown in FIG. 1, the modular concept is reflected again. For example, the communication system 11 exchanges information over a cellular network such as GSM and the communication system 60 is used for the transmission and reception of information from vehicle to vehicle. In a preferred embodiment, it is envisaged that all communication functionality will be performed in a single communication system.
Als eine Ausgabeeinheit wird eine elektronische Anzeige im Fahrzeug 80 eingesetzt, die ortsfest und/oder variable für den Fahrer sichtbar im Fahrgastraum angebracht werden kann. Um den Erfassungsbereich sowohl für den Fahrer als auch für die Sensoren zu erweitern wird auf ein Verfahren zurückgegriffen, dessen Erfassungsbereich nicht von optischen Sichtverhältnissen eingeschränkt wird. Ein solches Verfahren ist die bereits erwähnte Fahrzeug-Fahrzeug Kommunikation. Das Kommunikationssystem 60 ist mindestens ausgelegt zur Fahrzeug zu Fahrzeug Kommunikation. Erfindungsgemäß wird als Kommunikationssystem eine standardisierte, nicht optische, funkbasierte Informationsübertragungsverfahren unterstützendes System für die Kommunikation zwischen mindestens zwei Fahrzeugen bzw. Teilnehmern eingesetzt. Das Kommunikationssystem 110 unterstützt unterschiedliche mobile Übertragungsverfahren, die eine Informationsverteilung im so genannten Point to Point Verbindung aufbauen, wogegen das Kommunikationssystem 60 einen Broadcast- Mode durchführt. Als Broadcast oder Rundruf in einem rechnergestützten Netzwerk wird die Übertragung von Datenpakete von einem Punkt, bzw. Fahrzeug aus, an alle Fahrzeuge bzw. Teilnehmer innerhalb eines Netzes verstanden. Mit ihr werden über definierte Funkstandards wie z.B. IEEE 802.11p Umfeldinformationen übertragen und im eigenen Fahrzeug dargestellt werden. In Gefahrensituationen erfolgt nach Ausführung des erfindunge- gemäßen Verfahrens zusätzlich eine Warnung oder ein Eingriff in das Fahrzeugverhalten. Mittels der Kommunikationssystem 11 und 60 werden unterschiedliche mobile Übertragungsverfahren, wie WLAN, DSRC, GSM, GPRS, UMTS, ausgeführt.As an output unit, an electronic display is used in the vehicle 80, which can be mounted stationary and / or variable visible to the driver in the passenger compartment. To the To extend detection range for both the driver and the sensors, a method is used whose detection range is not limited by optical visibility. One such method is the vehicle-vehicle communication already mentioned. The communication system 60 is at least configured for vehicle-to-vehicle communication. According to the invention, a standardized, non-optical, radio-based information transmission method supporting system for the communication between at least two vehicles or participants is used as a communication system. The communication system 110 supports various mobile transmission methods that establish information distribution in the so-called point-to-point connection, whereas the communication system 60 performs a broadcast mode. As broadcast or broadcast in a computer-based network, the transmission of data packets from a point, or vehicle, to all vehicles or subscribers within a network is understood. It is used to transmit environment information via defined radio standards such as eg IEEE 802.11p and display it in your own vehicle. In dangerous situations, after execution of the method according to the invention, an additional warning or intervention in the vehicle behavior takes place. By means of the communication system 11 and 60 different mobile transmission methods, such as WLAN, DSRC, GSM, GPRS, UMTS, are executed.
Positionsbestimmungssysteme 12 dienen zur Bestimmung der eigenen Position. Als Positionsbestimmungssysteme eignen sich GPS- Sender und Empfänger sowie Navigationssysteme. Erfindungsgemäß können auch integrierte Positionsbestimmungssysteme, die beide Funktionalitäten in einem Gerät vereinen eingesetzt werden. Als Fahrzeugsicherheitssystemen 13 sind alle im Fahrzeug verfügbaren Bremssysteme mit elektronischer Regelung einsetzbar. Fahrzeugsicherheitssysteme können das Electronic Break System (EBS) 131, das Engine Management System (EMS) 132, Antiblo- ckiersystem (ABS) 133, Antriebs-Schlupf-Regelung (ASR) , Elektronisches Stabilitätsprogramm (ESP) , Elektronische Differentialsperre (EDS), Transmission Control Unit (TCU), Elektronische Bremskraftverteilung (EBV) und/oder Motor-Schleppmomenten- Regelung (MSR) sein.Positioning systems 12 serve to determine the own position. Positioning systems are GPS transmitters and receivers as well as navigation systems. According to the invention, integrated position determination systems that combine both functionalities in one device can also be used. As vehicle safety systems 13, all braking systems available in the vehicle can be used with electronic control. Vehicle safety systems may include Electronic Break System (EBS) 131, Engine Management System (EMS) 132, Anti-lock Braking System (ABS) 133, Traction Control (ASR), Electronic Stability Program (ESP), Electronic Differential Lock (EDS), Transmission Control Unit (TCU), Electronic Brake Force Distribution (EBV) and / or Engine Drag Torque Control (MSR).
Fahrerassistenzsysteme 14 sind elektronische Zusatzeinrichtungen in Fahrzeugen zur Unterstützung des Fahrers in bestimmten Fahrsituationen. Hierbei stehen oft Sicherheitsaspekte, aber auch die Steigerung des Fahrkomforts im Vordergrund. Diese Systeme greifen teilautonom oder autonom in Antrieb, Steuerung (z.B. Gas, Bremse) oder Signalisierungseinrichtungen des Fahrzeuges ein oder warnen durch geeignete Mensch-Maschine- Schnittstellen den Fahrer kurz vor oder während kritischer Situationen. Solche Fahrassistenzsysteme sind beispielsweise Einparkhilfe (Sensorarrays zur Hinderniss- und Abstandserkennung) , Bremsassistent (BAS) , Tempomat, Adaptive Cruise Control oder Abstandsregeltempomat (ACC) 141, Abstandswarner, Abbiegeassistent, Stauassistent, Spurerkennungssystem, Spurhalteassistent/Spurassistent (QuerführungsunterStützung, lane departure warning (LDW)) 142, Spurhalteunterstützung (Ia- ne keeping support) ) , Spurwechselassistent (lane change as- sistance) , Spurwechselunterstützung (lane change support) , Intelligent Speed Adaption (ISA), Adaptives Kurvenlicht, ReifendruckkontrollSystem, FahrerzuStandserkennung, Verkehrszeichenerkennung, Platooning, Automatische Notbremsung (ANB) , Auf- und Abblendassistent für das Fahrlicht, Nachtsichtsystem (Night Vision).Driver assistance systems 14 are electronic ancillary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but also the increase in ride comfort in the foreground. These systems partly autonomously or autonomously intervene in drive, control (eg gas, brake) or signaling devices of the vehicle or warn the driver shortly before or during critical situations by means of suitable man-machine interfaces. Such driver assistance systems are, for example, parking assistance (sensor arrays for obstacle and distance detection), brake assist (BAS), cruise control, adaptive cruise control (ACC) 141, distance warning, turn assistant, traffic jam assistant, lane detection system, lane departure warning / lane assistant (lane departure warning, LDW )) 142, Lane Keeping Support), Lane Change Assistance, Lane Change Support, Intelligent Speed Adaptation (ISA), Adaptive Headlights, Tire Pressure Monitoring System, Driver Acquisition, Traffic Sign Recognition, Platooning, Automatic Emergency Braking (ANB), headlamp dipping and dipping assist, night vision system.
Durch die Integration von verschiedenen Systemen werden alle funktionellen Vorteile der einzelnen Subsysteme beibehalten und zusätzlich wird deren Gesamtleistung gesteigert. Während die einzelnen Subsysteme Unfälle reduzieren können, indem sie das Risiko bestimmter Gefahren minimieren, die nur für das eigene Fahrzeug gelten, können erfindungsgemäß komplexe Gefahrensituationen gelöst werden, an der insbesondere zahlreiche Fahrzeuge beteiligt sind.By integrating different systems, all the functional advantages of the individual subsystems are retained and, in addition, their overall performance is increased. While the individual subsystems can reduce accidents by minimizing the risk of certain dangers which apply only to one's own vehicle, complex dangerous situations can be solved according to the invention in which, in particular, numerous vehicles are involved.
Die Aufbau in Fig. 2 zeigt eine multi-sensoriellen Umgebungserfassung mit vernetztem Umfeldmodell. Kern des erfindungsgemäßen Verfahren sind die Schritte Sensordatenaufbereitung 40, Bildung und Ergänzung der Umfeldmodellε 50 mittels der Sensor- datenverarbeitung 40 und der Fahrzeug zu Fahrzeug Kommunikation 60, und die Zuführung des Umfeldmodels an eine Situationsanalyse.The structure in FIG. 2 shows a multi-sensorial environmental detection with a networked environment model. The core of the method according to the invention are the steps of sensor data processing 40, formation and supplementation of the environment model 50 by means of the sensor data processing 40 and the vehicle-to-vehicle communication 60, and the delivery of the environment model to a situation analysis.
Das Umfeldmodell 50 weißt eine Schnittstelle zu den Fahrzeugsicherheitssystem und Fahrerassistenzsystemen und ermöglicht gleichzeitig eine Validierung der Umgebungserfassung.The environment model 50 knows an interface to the vehicle safety system and driver assistance systems and at the same time allows validation of the environmental detection.
Zu Beginn des Verfahrens wird eine Bestandsaufnahme aller verwendbaren Sensoren durchgeführt und erstellt. Diese umfasst sowohl eine funktionelle Beschreibung als auch alle wichtigen Leistungsmerkmale der Sensoren. Trotz der Vielzahl der verfügbaren Sensoren werden die verwendeten Sensoren nach Technologie in folgende drei Kategorien eingeteilt: Lidar 10 basierend auf scannenden oder feststehenden Laserstrahlen und Radar 20 mit Ausprägungen für Fernbereichsradar und Nahbereichsradar und visuelle Sensoren in der Ausführung als Kameras 30, sowohl für den sichtbaren Bereich als auch für den unsichtbaren Bereich, der beispielweise die Wärmestrahlung umfasst.At the beginning of the procedure an inventory of all usable sensors is carried out and created. This includes both a functional description and all important features of the sensors. Despite the variety of available sensors, the sensors used are grouped by technology into the following three categories: lidar 10 based on scanning or fixed laser beams and radar 20 with characteristics for long-range radar and near-range radar and visual sensors in the form of cameras 30, both for the visible range and for the invisible range, which includes, for example, the heat radiation.
Mit elektromagnetischen Wellen misst ein Radarsystem die Entfernung zu und gleichzeitig die Geschwindigkeit von Objekten, indem die Objekt-Rückstreuung ausgewertet wird. Für die Generierung der Radarwellen werden verschiedene Möglichkeiten wie Pulse-Radar, FMCW (frequency modulated continuous wave) und FSK {frequency shift keying) Modulation, sowie Kombinationen davon eingesetzt. Für den Abstandsregeltempomaten (ACC) wird ein Fernbereichsradar eingesetzt, bei dem Entfernungen bis zu 150 Metern gemessen werden können und die Objekte als punktförmig angesehen werden.With electromagnetic waves, a radar system measures the distance to and at the same time the speed of objects by evaluating the object backscatter. For the generation of the radar waves different possibilities like pulse radar, FMCW (frequency modulated continuous wave) and FSK {frequency shift keying) modulation, as well as combinations thereof are used. Adaptive Cruise Control (ACC) uses a far-range radar that can measure distances up to 150 meters and spot objects as punctiform.
Beim Nahbereichsradar werden gleichzeitig mehrere Sensoren (Sender und Empfänger) verwendet, die jeweils einen deutlich größeren Öffnungswinkel (bis +/- 60°) besitzen. Durch verkoppelte Auswertung der Empfangssignale können auch mehrere Objekte bis zu einer Entfernung von 30 Metern lokalisiert werden. Während das Fernbereichsradar bei einer Frequenz von 77 GHz arbeitet, benutzt das Nahbereichsradar den Frequenzbereich um 24 GHz bzw. 79 GHz. Ein wichtiger Vorteil von Radar ist die Unempfindlichkeit der Radarwellenausbreitung gegenüber 'Witterungseinflüssen wie Regen, Schneefall oder Nebel.With short-range radar, several sensors (transmitter and receiver) are used at the same time, each having a significantly larger opening angle (up to +/- 60 °). By coupling evaluation of the received signals, it is also possible to locate several objects up to a distance of 30 meters. While the far-field radar operates at a frequency of 77 GHz, the short-range radar uses the frequency range around 24 GHz and 79 GHz, respectively. An important advantage of radar is the insensitivity of the radar wave propagation against 'weather influences such as rain, snow or fog.
Im Gegensatz zu Radar wird bei Lidar die Objektgeschwindigkeit gewöhnlich über mehrere Entfernungsmessungen bestimmt und nicht direkt durch Auswertung des Dopplereffektes. Nichtscan- nende Systeme mit mehreren Laserstrahlen und Photodioden (MuI- ti-Beam-Lidar) werden wie das Fernbereichsradar für Abstands- regelung (ACC) eingesetzt, wobei durch die größere Anzahl an Strahlen eine bessere laterale Auflösung im Vergleich zum Fernbereichsradar erzielt wird. Im Nahbereich wird überwiegend scannendes Lidar eingesetzt, das im Prinzip eine komplette Rundumsicht (360° Öffnungswinkel) ermöglicht. Um Nickbewegungen des Fahrzeuges zu kompensieren ist es angedaσht mehrere Abtastebenen zu benutzen.Unlike radar, the object speed is usually determined by Lidar over several distance measurements and not directly by evaluating the Doppler effect. Non-scanning systems with multiple laser beams and photodiodes (MuTi-Beam-Lidar) are used as the distance radar for distance (ACC), whereby the larger number of beams results in a better lateral resolution compared to the long-range radar. At close range, predominantly scanning lidar is used, which in principle allows a complete all-round view (360 ° opening angle). To compensate for pitching movements of the vehicle, it is recommended to use several scanning planes.
Kameras bieten im Gegensatz zu den entfernungsmessenden Prinzipien von Radar und Lidar ein hochauflösendes Bild der Fahrumgebung. Da die Kontrastverhältnisse im Straßenverkehr oft sehr groß sind, wird erfindungsgemäß eine hochdynamische Kameras mit bspw. einem 12 Bit Dynamikbereich eingesetzt. Während für die Spurerkennung Grauwertkameras einsetzbar sind, sind für eine zuverlässige Ampeldetektion Farbkameras vorgesehen. Um die 2D-Information einer Monokamera mit Entfernungsinformation zu verknüpfen, werden nach der Erfindung Stereokameras mit einer horizontalen Basis, wie das Augenpaar beim Menschen, und bestimmt die Disparitäten zwischen den beiden Bildern hauptsächlich an vertikalen Kanten zur Entfernungsbestimmung. Des weiteren ist es erfindungsgemäß angedacht bewegliche Kameras einzusetzen, wie scannende Ansätze bei Lidar oder Radar, eine deutliche Vergrößerung des Blickwinkels, mit einer zusätzlichen Steuerung in der Blickrichtung z.B. basierend auf der Aufmerksamkeit. Erfindungegemäß ist es auch angedacht, dass Wärmebildkameras für die Fußgängererkennung einzusetzen, da die Temperatur des menschlichen Körpers ein zuverlässiges Detektionsmerkmal darstellt.Cameras offer a high-resolution picture of the driving environment, in contrast to the distance-measuring principles of radar and lidar. Since the contrast ratios in the road are often very large, according to the invention a highly dynamic cameras with, for example, a 12-bit dynamic range is used. While grayscale cameras can be used for track recognition, color cameras are provided for reliable amp detection. In order to associate the 2D information of a monocamera with distance information, according to the invention, stereo cameras with a horizontal base, such as the pair of human eyes, and the disparities between the two images are determined mainly on vertical edges for distance determination. Furthermore, according to the invention, it is intended to use movable cameras, such as scanning attachments in lidar or radar, significantly increasing the viewing angle, with additional control in the viewing direction, e.g. based on the attention. According to the invention, it is also envisaged to use thermal imaging cameras for pedestrian detection, since the temperature of the human body is a reliable detection feature.
Erfindungsgemäß werden durch den Einsatz der genannten Sensoren, die Nachteile der einzelnen Sensoren in der Kombination miteinander, aufgehoben und ein Mehrwert durch den kombinierten Einsatz generiert.According to the invention, the use of the mentioned sensors, the disadvantages of the individual sensors in the combination with each other, repealed and added value generated by the combined use.
Der Block Sensordatenaufbereitung 40 berücksichtigt in besonderer Weise die zusätzlichen Anforderungen eines multisenso- rielien Ansatzes. Sobald Sensordaten in Beziehung gesetzt werden, wird sowohl die gegenseitige Lage der Sensoren als auch eine gerneinsame Zeitbasis in Bezug zu einander gesetzt. Hier zu erfolgt nach der Erfindung eine Ortskalibrierung zur Be- stimmung der geometrischen Relation der Objekte und Fahrzeuge zu einander, eine Zeitsynchronisation zur Bestimmung der seitlichen Relation der Objekte und Fahrzeuge zu einander und der Sensormodeilierung, bei der eine Berücksichtigung von Sensoreigenschaften eingeht. Als Bezugspunkt für das Koordinatensystem ist es erfindungsgemäß angedacht, das Eigenfahrzeug zu verwenden, das natürlich mit ortsgebundeπer Information z.B. von Navigationskarten bzw. Positionsbestimmungssysteme 12 entsprechend in Verbindung gebracht wird.The block Sensor Data Processing 40 takes special account of the additional requirements of a multisensorial approach. Once sensor data is correlated, both the mutual location of the sensors and a common time base are related to each other. Here, according to the invention, a local calibration for determining the geometric relation of the objects and vehicles to each other, a time synchronization for the determination of the lateral relation of the objects and vehicles to each other and the sensor encoding, in which a consideration of sensor properties received. As a reference point for the coordinate system, it is contemplated according to the invention to use the own vehicle, which of course with localized information e.g. from navigation maps or positioning systems 12 is associated accordingly.
Da sich die Objekte im Verkehrsumfeld oft mit hoher Geschwindigkeit bewegen, wird eine gemeinsame Zeitbasis für einen mul- tisensoriellen Ansatz definiert. Stereokameras z.B. werden synchron betrieben, um beide Messungen zum gleichen Zeitpunkt zu erhalten. Erfindungsgemäß werden auch asynchrone Systeme verwendet, wenn die Messungen mit einem Zeitstempel versehen werden, der von einer gemeinsamen Systemuhr (Master-Clock) geliefert wird.Since the objects in the traffic environment often move at high speed, a common time base for a multisensorial approach is defined. Stereo Cameras e.g. are operated synchronously to obtain both measurements at the same time. According to the invention, asynchronous systems are also used if the measurements are provided with a time stamp which is supplied by a common system clock (master clock).
Für das eingesetzte Multisensorsystem Radar-Lidar-Kamera werden alle bekannten und benötigten Sensoreigenschaften in Sensormodellen zu hinterlegt und dann bei der Sensordatenverar- beitung explizit berücksichtigt, da die Eigenschaften der ein- zelnen Sensoren, wie Reichweite, Öffnungswinkel auch bei Änderungen, z.B. anderes Kameraobjektiv, effizient zu berücksichtigen sind.For the multi-sensor system radar lidar camera used, all known and required sensor properties are stored in sensor models and then explicitly taken into account in the sensor data processing, since the properties of the individual Individual sensors, such as range, opening angle even with changes, eg other camera lens, are to be considered efficiently.
Im Umfeldmodell 50 werden alle Ergebnisse der multisensoriel- len Fahrumgebungserfassung und der zusätzlich empfangen Informationen aus der Umgebung durch die Fahrzeug zu Fahrzeug Kommunikation über das Kommunikationssystem 60 zusammengetragen. Empfang und Aktualisierung der Informationen aus den benachbarten Fahrzeugen erfolgt in der Art, das die benachbarten Fahrzeuge 2 und 3 ihre Positions- und Dynamikinformationspakete 29 (PDP), wie in Fig.3 beispielhaft angegeben, über das im jeweiligen Fahrzeug befindliche und für den Informationsaustausch zwischen mindestens zwei Fahrzeugen zuständige Kommunikationssystem für die Fahrzeug zu Fahrzeug Kommunikation fortlaufend senden.In the environment model 50, all the results of the multisensorial driving environment detection and additionally received information from the environment are collected by the vehicle-to-vehicle communication via the communication system 60. Receiving and updating the information from the neighboring vehicles is done in such a way that the neighboring vehicles 2 and 3 their position and dynamic information packages 29 (PDP), as exemplified in Figure 3, on the in-vehicle and for the information exchange between at least two vehicles communicate continuously with the communication system for the vehicle to vehicle communication.
Die das jeweilige Fahrzeug repräsentierenden und verteilten Positions- und Dynamikinformationspakete 2 enthalten Informationen, z.B. die Fahrzeugkennung 21, die GPS-Daten mit genauen Informationen über das Spurhalten 22, die individuelle Fahrzeugparameter 23, wie z.B. die Fahrzeuggeometrie mit Länge 231, Breite 232, Wendekreis, den Fahrzeugtyp (PKW / Geländefahrzeug / Klein-Lastkraftwagen / LKW / usw.) 233, die vorab bekannten Informationen der Fahrzeugdynamik 24 mit max. Längsbeschleunigung und -Verzögerung 241, max. Querbeschleunigung 242, max. Fahrzeuggeschwindigkeit 23, die aktuelle Fahrzeuggeschwindigkeit 245, die Längsbeschleunigung, die Querbeschleu- nigung, die aktuelle Gierrate, den aktuellen Lenkwinkel.The position and dynamic information packages 2 representing and distributing the respective vehicle contain information, e.g. the vehicle identifier 21, the GPS data with accurate lane keeping information 22, the individual vehicle parameters 23, e.g. the vehicle geometry with length 231, width 232, turning circle, the vehicle type (car / off-road vehicle / small truck / truck / etc.) 233, the previously known information of the vehicle dynamics 24 with max. Longitudinal acceleration and deceleration 241, max. Lateral acceleration 242, max. Vehicle speed 23, the current vehicle speed 245, the longitudinal acceleration, the lateral acceleration, the current yaw rate, the current steering angle.
Des Weiteren beinhalten die Positions- und Dynamikinformationspakete 29 Informationen über die aktuell im jeweiligen Fahrzeug aktiven Fahrzeugsicherheitssysteme 25 und Fahrerassistenzsysteme 25, sowie Informationen über die Fahrbahnparameter 26, wie z.B. Böschungswinkel und geschätzte Reibung. Vorgesehen sind weitere Felder in den Positions- und Dynamikinformationspakete 2 für optionale Angaben 27, wie den Zustand von Ampelsignalen oder die Position von erkannten Fußgängern.Furthermore, the position and dynamic information packs 29 contain information about the currently in the respective Vehicle active vehicle safety systems 25 and driver assistance systems 25, as well as information about the lane parameters 26, such as slope angle and estimated friction. Further fields are provided in the position and dynamic information packages 2 for optional information 27, such as the status of traffic lights or the position of recognized pedestrians.
Die Positions- und Dynamikinformationen aller benachbarten Fahrzeuge, mit denen das eigene Fahrzeug kommuniziert, werden in einem dynamisch aktualisierten, internen Speicher der Rechnereinheit 15, die als Datenbank ausgestaltet sein kann, gespeichert .The position and dynamic information of all neighboring vehicles, with which the own vehicle communicates, are stored in a dynamically updated, internal memory of the computer unit 15, which can be configured as a database.
Wenn das sendende Fahrzeug bereits über ein aktives Positionsund Dynamikinformationspaket in der Datenbank verfügt, d.h. es bereits vom empfangenden, eigenen Fahrzeug "erkannt" wird, werden die Daten mit dem neuesten Positions- und Dynamikinformationspakete aktualisiert.If the sending vehicle already has an active position and dynamics information packet in the database, i. it is already "recognized" by the receiving own vehicle, the data is updated with the latest position and dynamics information packets.
Fährt das Fahrzeug gerade in den Kommunikationsbereich, wird es mit dem ursprünglichen Positions- und Dynamikinformationspakete in die Datenbank eingegeben. Die Positions- und Dynamikinformationspakete 2 eines Fahrzeugs, das die Zone verlässt und das nach einem aktiven Zeitraum keine Daten mehr sendet, werden aus der Datenbank entfernt.When the vehicle is just entering the communication area, it is entered into the database with the original position and dynamics information packets. The position and dynamics information packets 2 of a vehicle leaving the zone and no longer transmitting data after an active period are removed from the database.
Die Aktualisierung und Übertragung der eigenen Positions- und Dynamikdaten des eigenen Fahrzeugs erfolgt in der Art, dass im eigenen Fahrzeugs die gleichen Daten wie beschrieben erfasst und berechnet und das gesamte Positions- und Dynamikdatenpaket durch das eigene Kommunikationssystem an die benachbarten Fahrzeuge übertragen werden. Die Positionsdaten des ersten Positionsbestimmungssystems, der als ein GPS Empfänger ausgeführt sein kann, werden als Basis- information verwendet. Diese Daten werden an das Umfeldmodell 50 weitergeleitet.The updating and transmission of the own position and dynamic data of the own vehicle takes place in such a way that in the own vehicle the same data as described are recorded and calculated and the entire position and dynamic data packet are transmitted by the own communication system to the neighboring vehicles. The position data of the first positioning system, which may be implemented as a GPS receiver, is used as basic information. These data are forwarded to the environment model 50.
Das Umfeldmodell 50 umfasst erfindungsgemäß eine Vielzahl von vorab bekannten Objekttypen, die zur Beschreibung der Fahrumgebung, in einem sogenannten Objektkatalog strukturiert sind.According to the invention, the environment model 50 comprises a multiplicity of previously known object types which are structured to describe the driving environment in a so-called object catalog.
Zu jedem Objekt gibt es eine Anzahl von Attributen, die entweder mit der Sensorik gemessen und bestimmt werden, zum Beispiel Breite, Höhe, Entfernung, Geschwindigkeit/ oder aber in einer sehr einfachen Ausführungsform als Look-Up Tabelle oder in einer weiteren Ausführungsform in der bereits erwähnten Datenbank erfasst sind, wie Anzahl der Fahrspuren, Zuordnung von Ampeln und Geschwindigkeitsbeschränkungen.For each object there are a number of attributes which are either measured and determined with the sensors, for example width, height, distance, speed, or in a very simple embodiment as a look-up table or in another embodiment in the already are recorded, such as number of lanes, assignment of traffic lights and speed limits.
Bei den Objekten unterscheidet man zwischen statischen Objekten, d.h. Objekte, die zur Infrastruktur gehören, wie Fahrspuren, Verkehrszeichen oder Randbebauung und dynamischen Objekten. Die Beschreibung der Bewegung dynamischer Objekte erfolgt durch unterlagerte Dynamikmodelle, die relativ zu objektspezifischen Koordinatensystemen formuliert werden.The objects are distinguished between static objects, i. Objects that are part of the infrastructure, such as lanes, traffic signs or peripheral buildings and dynamic objects. The description of the movement of dynamic objects is made by subordinate dynamics models, which are formulated relative to object-specific coordinate systems.
Fußgänger oder ungeschützte Verkehrsteilnehmer werden gesondert behandelt, da sowohl deren Erkennung als auch die dafür notwendigen Form und Dynamikmodelle, wie veränderliche Gestalt durch Arm- und Beinbewegungen, abrupte Richtungswechsel möglich sind und somit wesentlich komplexer sind als z. B. bei Fahrzeugen. Die Situationsanalyse 70 definiert und beschreibt die Beziehungen zwischen den gefundenen Objekten, wie zum Beispiel Ein- scherer oder Gassenfahrt bei der Funktion des Stauassistenten. Abhängig von der Komplexität der Fahrerassistenzsystems, wie Abstandsanzeige, Abstandswarnung, Abstandsregeltempomat, Stau- assistent, Notbremsung, werden unterschiedliche Abstraktions- stufen bei der Situationsanalyεe, wie Abstand zum vorausfahrenden Fahrzeug, Berücksichtigung der eigenen Geschwindigkeit, Einscherer-Situation, mögliche Ausweichmanöver, erfindungsgemäß gebildet. Neben den Daten aus der Umgebungserfassung werden die Informationen aus der und Kommunikation mit anderen Fahrzeugen und/oder der Infrastruktur verwendet. Die gesamte verfügbare Information über die aktuelle Situation wird nun im erweiterten Umfeldmodell abgespeichert und steht der Situati- onsanalyse 70 zur Verfügung.Pedestrians or unprotected road users are treated separately, since both their recognition and the necessary shape and dynamic models, such as variable shape by arm and leg movements, abrupt changes of direction are possible and thus much more complex than z. B. in vehicles. The situation analysis 70 defines and describes the relationships between the found objects, such as singers or lane drive in the function of the traffic jam assistant. Depending on the complexity of the driver assistance system, such as distance display, distance warning, adaptive cruise control, congestion assistant, emergency braking, different levels of abstraction in the situation analysis, such as distance to the vehicle in front, consideration of own speed, Einscherer situation, possible evasive maneuvers, formed according to the invention. In addition to the environmental data, the information from and communication with other vehicles and / or the infrastructure is used. The entire available information about the current situation is now stored in the extended environment model and is available to the situation analysis 70.
Die Anzeige im Fahrzeug 80 wird entweder direkt im Videobild oder auch als virtuelles Bild aus dem Blickwinkel, wir in Fig. 1 angedeutet, der Vogelperspektive dargestellt. Es ist angedacht, dass die Erkennungsergebnisse, wie Fahrzeuge oder Spurmarkierungen, direkt ins Bild einzutragen. Falls keine Videoaufnahmen zur Verfügung stehen oder der Erfassungsbereich anderer Sensoren größer als das Kamerablickfeld ist, werden die erkannten Objekte in einem virtuellen Bild dargestellt.The display in the vehicle 80 is either directly in the video image or as a virtual image from the perspective, we indicated in Fig. 1, the bird's eye view. It is intended that the recognition results, such as vehicles or lane markings, enter directly into the image. If there are no video recordings available or the coverage of other sensors is greater than the camera field of view, the detected objects are displayed in a virtual image.
Eine Anzeige im Fahrzeug wird dann wie in Fig. 1 dargestellt erfolgen, für den Fall, dass sich zwei Fahrzeuge 1 und 2 als Linksabbieger gegenüber stehen und einer der beiden den entgegenkommenden Verkehr nicht sehen werden, da dieser von dem anderen Linksabbieger verdeckt wird, wobei der der Fahrer des Fahrzeugs 2 sofort erkennen würde, dass er nicht abbiegen darf. Da durch das Verfahren das Sichtfeld erweitert und die Entscheidungsgrundlage in vielen Fällen erheblich beeinflusst wird, sind zahlreiche zusätzliche Variationen möglich, so dass das beschriebene Ausführungsbeispiel keine Einschränkung darstellt.An indication in the vehicle will then occur as shown in Fig. 1, in the event that two vehicles 1 and 2 face as left turn and one of the two will not see the oncoming traffic, as it is covered by the other left turn, where the driver of the vehicle 2 would immediately recognize that he is not allowed to turn. Since the method broadens the field of view and the decision base is considerably influenced in many cases, numerous additional variations are possible, so that the exemplary embodiment described does not represent any restriction.
Durch das erweiterte Sichtfeld, werden vorteilhaft von vornherein Gefahrensituationen vermieden und somit die Anforderungen an passive Sicherheitssysteme minimiert bzw. reduziert.Due to the extended field of view, it is advantageous to avoid dangerous situations from the outset, thus minimizing or reducing the requirements for passive safety systems.
Durch das Verfahren ist es in vorteilhaftweise möglich, anhand einer Situationsanalyse die Gefahr, die von einem Objekt ausgeht, zu bestimmen. Handelt es sich dann um ein sehr hohes Gefahrenpotential werden das Objekt in der Anzeige besonders hervorgehoben werden und Maßnahmen zur Vermeidung eines Unfalls eingeleitet. Solche Maßnahmen sind z.B. die Straffung der Gurte, das Vorfüllen der Bremsanlage. Es ist auch angedacht, dem Fahrer akustischen, haptische und visuellen Hinweise dem Fahrer auszugeben, dass eine Gefahrensituation im entstehen ist. Die eingeleiteten Maßnahmen werden wiederum über das Kommunikationssystem 60 an die Umgebung übertragen, um den in der Umgebung befindlichen Fahrzeugen die eingeleiteten Maßnahmen mitzuteilen.By means of the method, it is advantageously possible to determine the danger emanating from an object on the basis of a situation analysis. If it is then a very high risk, the object will be highlighted in the ad and measures to avoid an accident initiated. Such measures are e.g. the tightening of the straps, the priming of the brake system. It is also thought to give the driver acoustic, haptic and visual cues to the driver that a dangerous situation is developing. The initiated measures are in turn transmitted via the communication system 60 to the environment in order to notify the measures introduced to the vehicles located in the vicinity.
Die relevanten Informationen werden an die Fahrerassistenzsysteme in den Fahrzeugen 2 und 3, die sich in unmittelbarer Umgebung befinden weitergegeben, um deren Erfassungsbereich e- benfalls zu erweitern. Es entsteht hierdurch ein Netz von Fahrzeugen, bei dem die nutzbare Informationsreichweite für das einzelne Fahrzeug stark erweitert wird. Der Fahrer des einzelnen Fahrzeuges wird bei seinen Handlungen nicht durch die Auswertung der Umfelderfassung, die lediglich eine begrenzte örtliche Reichweite besitzt, eingeschränkt. Hierdurch wird das Vorliegen von bestimmten örtlichen Gegebenheiten zu einem bestimmten Zeitpunkt den Fahrer zugänglich gemacht, wodurch dann in vorteilhafter Weise Maßnahmen ergriffen werden können, um zum Bespiel Unfälle zu vermeiden. The relevant information is forwarded to the driver assistance systems in the vehicles 2 and 3, which are located in the immediate vicinity, in order to extend their coverage area as well. This creates a network of vehicles in which the useful information range for the individual vehicle is greatly expanded. The driver of the individual vehicle is not in his actions by the evaluation of the Umfassungsfassung, which has only a limited local range limited. As a result, the presence of certain local conditions at a certain time the driver made accessible, which then measures can be taken in an advantageous manner to avoid accidents, for example.

Claims

Patentansprüche : Claims:
1. Verfahren zur Erkennung von verdeckten Objekten im Straßenverkehr bei dem einerseits die Umgebung eines Fahrzeu¬ ges und andererseits Bewegungsgrößen des eigenen Fahrzeu¬ ges mittels Sensoren erfasst werden, diese als Information an im Umfeld befindliche Fahrzeuge mittels einer Schnitt¬ stelle 17 zur Fahrzeug zu Fahrzeug-Kommunikation (60) ü- bertragen und von den im Umfeld befindlichen Fahrzeugen empfangen werden dadurch kennzeichnet, das folgende Schritte durchlaufen werden: a) die Daten der Sensoren (10, 20, 30, 40) ein Umfeldmo¬ dell (50) erweitern b) das erweiterte Umfeldmodell (50) mittels einer Anzei¬ ge (80) im eigenen Fahrzeug aktualisiert wiedergege¬ ben wird c) eine Situationsanalyse (70) des Umfelds und eine Be¬ wertung der Situation im eigenen Fahrzeug durchgeführt wird d) Objekte, die eine Unfallgefahr repräsentieren in der Anzeige mit einer hohen Priorität visualisiert werden e) vordefinierte Schritte zur Reduktion der Unfallgefahr im eigenen Fahrzeug aktiviert werden f) über die Kommunikationssystem (60) zur Fahrzeug zu Fahrzeug-Kommunikation die Information über die eingeleiteten Schritte zur Reduktion der Unfallgefahr an die Umgebung übermittelt werden 1. A method for detecting obscured objects in traffic in which on the one hand the environment of a Fahrzeu ¬ ges and the other motion quantities of the own Fahrzeu ¬ ges are detected by sensors, these as information to surrounding vehicles by means of a section ¬ point 17 to the vehicle to vehicle -Communication (60) transmitted and received by the surrounding vehicles are thereby characterized, the following steps are passed through: a) the data of the sensors (10, 20, 30, 40) extend a Umgebungmo ¬ model (50) b ) the extended environment model (50) by means of an Ad ¬ ge (80) in the own vehicle again updated gege ¬ ben is c) is carried out a situation analysis (70) of the environment and a be ¬ evaluation of the situation in their own vehicle d) objects that a Represent accident risk in the display are visualized with a high priority e) predefined steps to reduce the risk of accidents in your own driving be activated f) via the communication system (60) to the vehicle to vehicle communication, the information about the initiated steps to reduce the risk of accidents are transmitted to the environment
2. Verfahren nach Anspruch 1 dadurch kennzeichnet, dass die Übermittlung der Information mittels Multicast und/oder Unicast und/oder Broadcast-Übertragung erfolgt.2. The method according to claim 1, characterized in that the transmission of the information by means of multicast and / or unicast and / or broadcast transmission takes place.
3. Verfahren nach einem der vorangegangen Ansprüche dadurch kennzeichnet, dass die empfangen Informationen priorisiert ausgewertet und die zu übertragenden Informationen nach einer Relevanzprüfung priorisiert gesendet werden.3. Method according to one of the preceding claims, characterized in that the received information is evaluated prioritized and the information to be transmitted is sent prioritized after a relevance check.
4. Verfahren nach einem der vorangegangen Ansprüche dadurch kennzeichnet, dass die empfangen Information an ein eigenes Fahrerassistenzsystem (14) weitergeleitet werden und bei erkannten Fahrzeugen in der Umgebung, die ein aktiviertes Fahrerassistenzsystem aufweisen, die gesendeten Informationen zu dem jeweiligen Fahrerassistenzsystem des jeweiligen Fahrzeuges zugeführt werden.4. The method according to claim 1, characterized in that the received information is forwarded to a dedicated driver assistance system (14) and, in the case of detected vehicles in the environment having an activated driver assistance system, the transmitted information is supplied to the respective driver assistance system of the respective vehicle ,
5. Verfahren nach einem der vorangegangen Ansprüche dadurch gekennzeichnet, dass die vordefinierten Schritte zur Reduktion der Unfallgefahr im Fahrzeug (1) die Straffung der Gurte, und/oder das Vorfüllen der Bremsanlagen ausgeführt werden.5. The method according to any one of the preceding claims, characterized in that the predefined steps for reducing the risk of accidents in the vehicle (1), the streamlining of the straps, and / or the prefilling of the brake systems are performed.
6. Verfahren nach einem der vorangegangen Ansprüche dadurch gekennzeichnet, das der Sensor 30 eine Stereokamera mit einem 12 bit Dynamikbereich ist. 6. The method according to any one of the preceding claims, characterized in that the sensor 30 is a stereo camera with a 12-bit dynamic range.
7. Verfahren nach einem der vorangegangen Ansprüche dadurch gekennzeichnet, die gesendeten Information in Form von Positions- und Dynamikinformationspaketen (29) erfolgt.7. The method according to any one of the preceding claims, characterized in that the transmitted information in the form of position and dynamic information packets (29).
8. Vorrichtung zur Durchführung des Verfahrens gemäß Anspruch 1, umfassend mindestens einen Speicher, mindestens eine Rechnereinheit (15) und mindestens eine Schnittstelle (17) für den Datenaustausch, dadurch gekennzeichnet, dass dass die Informationen aus den benachbarten Fahrzeugen ü- ber das Kommunikationssystem (60) und über die Schnittstelle (17) zu der Rechnereinheit (15) weitergeleitet werden, die Daten des eigenen Fahrzeugs (1) durch die Sensoren (10, 20, 30) ermittelt, aktualisiert und über die Sensordatenverarbeitung (50) an ein Umfeldmodell (50) weitergeleitet werden, wobei unter Echtzeitbedingungen die eigene Position, das Umfeld und die Position der benachbarten Fahrzeuge über das Positionsbestimmungssystem (12) ermittelt und dem Rechner über die Schnittstelle (17) an das Umfeldmodell (50) zugeführt wird, wobei bei Gefahr eine Signalisierung über die Schnittstelle an eine Ausgabeeinheit (80) an den Fahrer erfolgt oder durch ein Eingreifen mittels der Fahrzeugsicherheits- und /oder Fahrassistenzsysteme (13,14) in die Bewegungsbahn des eigenen Fahrzeugs und/oder Signalisieren des Eingriffs der Bewegungsbahn des Fahrzeuges (1) an die benachbarten Fahrzeuge erfolgt. 8. An apparatus for carrying out the method according to claim 1, comprising at least one memory, at least one computer unit (15) and at least one interface (17) for the data exchange, characterized in that the information from the neighboring vehicles via the communication system ( 60) and forwarded via the interface (17) to the computer unit (15), the data of the own vehicle (1) by the sensors (10, 20, 30) determined, updated and the sensor data processing (50) to an environment model ( 50), wherein under real-time conditions, the own position, the environment and the position of the neighboring vehicles determined by the positioning system (12) and the computer via the interface (17) to the environment model (50) is fed, wherein at risk signaling via the interface to an output unit (80) to the driver or by intervention by means of the vehicle Herheitss- and / or driving assistance systems (13,14) takes place in the trajectory of the own vehicle and / or signaling the engagement of the trajectory of the vehicle (1) to the adjacent vehicles.
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US20100045482A1 (en) 2010-02-25
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WO2008043795A1 (en) 2008-04-17

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