WO2015000882A1

WO2015000882A1 - Assistance system and assistance method for support when controlling a motor vehicle

Info

Publication number: WO2015000882A1
Application number: PCT/EP2014/063935
Authority: WO
Inventors: Helge ZINNER; Olivier Frament
Original assignee: Continental Automotive Gmbh
Priority date: 2013-07-03
Filing date: 2014-07-01
Publication date: 2015-01-08
Also published as: DE102013213039A1

Abstract

The invention relates to an assistance system for supporting the driver when controlling a motor vehicle (1), said system comprising: sensors (5, 6, 7, 9, 10, 12, 13) for acquiring measurement variables relating to the driving situation; a processing device (27) for determining parameters of a driving situation and control parameters for an assistance controller from the acquired measurement variables; and an output device (15) for displaying the determined parameters of the driving situation. The invention is characterized by an input device (15) for acquiring additional inputs for correcting and/or for supplementing the driving situation parameters and/or control parameters for the assistance controller that have been determined and presented by the output device. The design according to the invention enables the driver to correct interpretations and control actions by the assistance system in a convenient manner.

Description

description

Assistance system and assistance method for assisting in the control of a motor vehicle

The invention is in the field of automation technology and relates specifically to assistance systems in the control of motor vehicles. A ^¬ hand, the riding comfort can be obtained by supporting or part of assisting the driver of a motor vehicle in which control of the vehicle raised and the load on the driver to be reduced, on the other hand, the driver's safety level and its passenger can be raised and it can also be reduced for other road users risks. Fully autonomous driving is limited succeeded by appropriate legal Re ^¬, so that the vehicle has to be controlled by a menschli ^¬ chen driver and driven. Any control actions proposed by the automatic control or carried introduced that have an impact on doing ^¬ neuter driving, can each overridden or are dominated by the driver.

By means of sensor systems, for example with cameras, radar or other imaging sensors and methods, information about the surroundings of the vehicle can be recorded in detail and processed with foresight by means of an assistance system. Accuracy of capture can far outweigh the quality of a driver's perception of accuracy. However, there is a problem in correctly interpreting the information in question and identifying with sufficient certainty hazards or information requiring decisions. For this, the human ability to assess is indispensable. For example, an experienced driver can intuitively recognize dangers threatened by other road users, for example pedestrians who, without warning, cross a roadway. traverses or people who may present a hazard on motorway bridges to the vehicles below.

The present invention is based on the object, an assistance system and an assistance method for assisting the driver in controlling a motor vehicle to sheep ^¬ fen, which allows on one hand the detection broadest possible context information and its processing, on the other hand, however, the inclusion of estimates of the driver in a simple and efficient way.

The object is achieved with the features of claim 1 by an assistance system. The subclaims indicate advantageous embodiments of the system. In addition, we achieve the object by means of an assistance method with the Merkma ^¬ len of claim 6, wherein the following sub ^¬ claims indicate advantageous embodiments of an assistance process. According to the invention, an assistance system for assisting the driver in the control of a motor vehicle is thus provided with sensors for acquiring measured variables relating to the driving situation, a processing device for determining parameters of a driving situation and control parameters of an assistance control from the detected

Measured variables, an output device for displaying the determined parameters of the driving situation.

In addition, to solve the problem an input device for detecting additional inputs for correcting and / or supplementing the determined and represented by the output device parameters of the driving situation and / or the control parameters of the assistance control is provided. Thus, information about the driving situation of the vehicle is detected by the sensors provided, which is interpreted in a processing device and used to determine ner driving situation to be further processed. Cameras, distance sensors, brightness sensors, temperature and humidity sensors, speed sensors, radar or lidar systems, ultrasound systems and the like may be provided as sensors. The processor then generates a representation of the driving situation, which describes the situation as completely as possible including ^¬ be already ahead of predictable events and control options and probabilities for the non-controllable by the driver foreseeable events. This includes, for example, when the host vehicle is traveling at high Ge ^¬ speed in the fast lane of a highway and another vehicle is out of date, an assessment of the likelihood that this other vehicle is veering front of the vehicle.

To assess this situation, intuitively acquired information is available to the human driver, which can be drawn, for example, from the previously observed behavior of the same vehicle and which can not yet be obtained via an automated assistance system.

In this case, it does not make sense to obtain information from the assistance system directly from the sensors

To correct the driver, since the physically detectable measures by the assistance system with high probability can be detected more accurately than by the perceptiveness of the driver. It makes sense, on the other hand, to let the driver intervene in the interpretation of the data by the assistance system by being able to override, supplement or correct corre- spondingly won interpretations of the processing device. For this purpose, it is necessary that the parameters of Fahrsituati ^¬ on containing the corresponding interpretations of the processing means, in a dispenser DAR and presented to the driver for assessment. In addition, control parameters of the assistance control such as planned braking and evasive maneuvers can be presented to the driver for acknowledgment or correction. The driver has one hand a matter of course the possibility to take over directly via the control elements of the vehicle such as the steering wheel, clutch and brake the STEU ^¬ augmentation at any time. In addition, however, by supplementing and correcting the assistance system, he can in principle accept the control of the assistance system, but his

Correct the assessment of the situation as well as the control parameters and planned actions based on them.

If, for example, when driving on a country road behind a preceding vehicle, the assistance system proposes overtaking the preceding vehicle because the assistance system does not detect any oncoming vehicles, the driver at the same time sees a dog walker approaching on a forest path that leads into the highway. so the assistance system, for example, acoustically make the announcement: "overtaking vehicle", which the driver can "no" by the announcement or correct "danger" on such acoustic imaging system of Assis ^¬ tenzsystems can on its own, but also in conjunction with. In the following, however, reference is essentially made to a purely optical display system, since this allows a higher display ^density and a higher ^comfort in the presentation of the driving situation.

Accordingly, it can be advantageously provided that we ^¬ nigstens a sensor for detecting at least one optical image of the in the direction of travel in front of the motor vehicle area is provided as well as a visual display for displaying a data processed by the image processing means, including the calculated parameter of the driving situation. As a sensor, for example, at least one camera can be provided for this purpose, which is directed to the lying in the direction of travel in front of the motor vehicle route. The driver is thus offered a perspective image ^¬ example on a display screen or in a head-up display, which has at least a certain similarity with the real picture, which he perceives without technical aids through the windows of his vehicle. Aller- recently it is useful and advantageous to take advantage of image capture by technically sophisticated sensors here, such as the ability to zoom in on specific ^¬ De tails of the image or to zoom in. In addition, the speed of the vehicle or the speed of the other on the transport part ^¬ participating vehicles can for example be displayed and it can be added from ^¬ warnings, for example, when the distance to the preceding vehicle for the speed is too low or when the vehicle is a high speed Approaching the obstacle. Recognized signs or traffic signs can also be highlighted.

The planned own infrastructure, for example when Überho ^¬ len a leading vehicle can be displayed.

Particularly advantageous may also be provided that the output device is a touch screen is provided on the inputs can be made by touch. For example, a touch screen allows the identification of individual parts of the image by touching with a finger, which can then be zoomed closer by the assistance system, for example, or whose evaluation can be checked by the assistance system. For example, if the assistance system proposes to overtake a vehicle, but the driver recognizes in the distance a road sign that could indicate a passing prohibition, so it can on the screen Tap on the appearance of the possibly unrecognizable sign to cause the assistance system to zoom in and reinterpret that sign. On the other hand, it can also be provided that the driver can touch the driver and move the car on the screen to prevent overtaking.

It can also be provided that the driver can each touch an image area or an object on the touchscreen and comment on such as "danger" or "correction," which the processing system reinterprets the corresponding image area or a new one Capture of image data by the sensors can cause.

The driver can thus correcting on an interpretation and planning ^¬ level of processing in the control eingrei ^¬ fen. It can prevent or correct planned actions, enter a particular interpretation of perceived parameters, or force a reinterpretation by the processing system.

The invention relates in addition to a system and a device for assisting a driver in the control of a motor vehicle on a corresponding Assistenzverfah ^¬ Ren, detected by means of sensors at least an optical image of lying in the direction of travel in front of the motor vehicle landscape, processed by the processing device and including the determined parameters of the driving situation in an optical display.

The visual display is carried out, for example, on a screen, in particular a touch screen or a head-up display, the display does not have to be photorealistic. The representation can be schematized, for example, by representing only a black-and-white image or only the representation of sketchy lines, size relationships may be distorted by performing a function of the distance shown areas or objects a Vergröße ^¬ tion or reduction. For example, objects that are farther away can be enlarged more than nearby objects. Objects can also be enlarged or zoomed in according to their importance or the assessment of their potential dangers. Such objects with a higher risk potential be advantageous way ^¬ greater Darge ^¬ represents or, for example, colored hervorge- raised in other ways.

The transitions between areas or objects of the image, which vary greatly enlarged can be designed flowing ^¬ ßend.

Additional situation parameters such as information about other road users or the indication "road surface wet", the indication "excessive speed" or the indication "attention speed restriction" or similar information can also be displayed.

Corresponding information can also be displayed via symbolic image representations (icons) instead of a linguistic representation.

Special hazards can also be announced acoustically.

In addition, it can be advantageously provided that within the processing device by means of an image recognition device on the currently detected optical image areas, in particular objects that are relevant for driving, in particular hazards, meaning is assigned. In this case, the processing device and, within the latter, the image recognition device can use a database of images which can also be used to detect three-dimensional images. ler objects from different viewing angles allowed. In addition, standard situations can be detected, which also require the detection of certain movement patterns and speed parameters.

Certain objects such as signs, road signs or buildings such as bridges, street lamps and elements of nature such as avenues, trees, snow fields or the like can also be assigned meaning by means of a corresponding image recognition. In the case of information texts on traffic signs, these can be recognized and the significance of the signs can be assigned by color and form. Is an image area or an object associated with a particular risk, a further processing can be done, highlighting the area or object in the display and that sensed risk taken into account in the planning for future ^¬ control activities.

To this end can advantageously be provided that by the encryption processing means is a control of the vehicle designed and that the proposed control represented, in particular optically is provided ^¬ represents.

In particular, it can be provided that the planned control of the motor vehicle is displayed in the visual display by displaying a planned motor vehicle.

A further advantageous embodiment provides that the planned control of the vehicle is displayed by displaying a planned acceleration or a planned deceleration.

The driver can then see, for example, on a screen, a view of the route in front of him, which looks out through the windshield of the car

Vehicle is similar. In addition, in the presentation on the screen ^¬ the planned Fahrtra ektorie in the form of a colored Arrows shown, which is designed according to the current planning, so in a planned overtaking has a corresponding offset. In addition, the trajectory may be colored, for example, green in the area in which to accelerate and red in the area in which a braking is expected. The planned overtaking process can also be announced by an acoustic announcement "overtaking is imminent." In addition, the risky areas of the image can be visually marked, for example by a pointer, circled by a circle or highlighted by a rectangle The risk or the assessment associated with the correspondingly marked objects or image areas can either be displayed directly on the screen or additionally displayed or announced after touching the screen in the marked areas Announcements or by means of a joystick instead of a touchscreen input.

It may also advantageously be provided that the assignment of meaning to at least one displayed area and / or object of the optical image is checked and, in particular, changed in response to an input by means of the input device.

It may be provided that the current assessment of the risk is shown in detail during a first touch of the marked object / area and that this assessment can be corrected by the driver on a second touch. For this purpose so-called moves can be defi ned ^¬ that initiate certain actions of the processing means such as the touching and subsequently closing wiping with a point of contact can eliminate a classified as dangerous object or image area from the calculation. The circling of an image area or object may initiate a recalculation of a risk potential or an automatic increase in risk assessment. For example, pulling apart two touch points may cause a partial image magnification so that the driver can better see an area.

It may also be advantageously provided that when a change of an assignment of meaning to a region or object of the optical image and the planned control of the vehicle is checked and adjusted. Thus, the driver can directly influence the planning of the driving assistance by the assistance system. It can also be provided that the driver can immediately change a planned driving ectoria by changing the representation of the trajectory on the screen by touching and moving. In order for a passing maneuver can be considered, for example, by a straight-looking Fahrtra ektorie to Be ^¬ te the fast lane is pulled out. In this way, conversely, an overtaking process can be aborted or the planning of an overtaking maneuver can be eliminated, or an evasive maneuver can be planned if, for example, a driver encounters suspicious persons who are to be evaded on a motorway bridge he passes under.

In the following the invention will be shown with reference to a Ausführungsbei ^¬ game in figures and explained below.

Showing:

1 is a schematic representation of a motor vehicle on a road from above with detection cones of image capture sensors, Figure 2 is a view of a screen that serves as Ausgabeein ^¬ direction, Figure 3 shows another display of a screen with an opportunity for interaction with a driver, as well

Figure 4 schematically shows the structure of an assistance system.

FIG. 1 shows a motor vehicle 1 which represents its own vehicle guided by a driver with the assistance of an assistance system. FIG. 1 shows an illustration from above, in which the vehicle 1 is shown on a road 2. In the direction of travel 3 in front of the own vehicle 1 is another vehicle 4. At the own vehicle 1 different sensors are arranged, of which in ^¬ example a first image detection sensor 5 and a second image detection sensor 6 are shown at the front end of the vehicle in the headlights , Furthermore, a third image-detecting sensor 7 is arranged in the region above the windshield 8. Among other things, the arrangement and combination of a plurality of image acquisition sensors, each of which may be designed as cameras, permits three-dimensional image acquisition and triangulation, which also facilitates the estimation of distances of detected objects.

In principle, however, only a single image sensor can be provided.

As a further example, a first distance sensors ^¬ sensor 9, and a second distance sensor 10 are arranged at the sides of the vehicle. These distance sensors allow, for example, the detection of the roadside and thus the estimation of the distance of the own vehicle from the roadside and / or the estimation of the distance to neighboring vehicles. Similar distance sensors are also provided at the rear end 11 of the vehicle in the form of the sensors 12 and 13 (third and fourth distance sensor). Appropriate distance sensors may also be provided at the front end of the vehicle. hen to detect the distance of the own vehicle in front of the preceding further vehicle 4.

In the detection of the various cones Bilderfassungssen- sensors 5 ', 6', 7 ', 5, 6, 7 both of the preceding vehicle driving ^¬ imaging 4 and a schematically illustrated road sign 14 is detected.

In a processing device, which will be discussed in more detail below in connection with FIG. 4, a display on a touch-sensitive screen 15 (touchscreen) is generated from the acquired image information, which is a photographic reproduction of the detected view from the motor vehicle in the forward direction of travel at least similar.

FIG. 2 shows by way of example a road 2 on a display screen 15 on which a preceding vehicle 4 is shown in the direction of travel 3 of the driver's own vehicle. In addition, a bridge 16 is shown, on which a person 17 is located.

In addition, a on the opposite lane oncoming vehicle 18 is detected, which moves in the direction of travel 19.

A road sign 14 at the roadside is also detected.

The processing device assigns particular importance to the road sign 14 and marks this by encircling it by means of a circular line 20, which may be designed, for example, in color. The inscription on the traffic sign 14 is read by the processing device and displayed in a special display field 21 in enlarged form. This is a speed limit of 50 km / h. Furthermore, the display screen 15 displays a travel trajectory 22 corresponding to the own vehicle's intended lane. In the example shown here, the processor obviously plans an overtaking maneuver to overtake the vehicle 4. Obviously, the oncoming vehicle 18 is not considered ge ^¬ fährlich, that is, the distance is estimated to be from ^¬ sufficient to allow a passing maneuver. If the driver considers this overtaking maneuver to be too risky, especially in view of the speed limit, he may either touch the oncoming vehicle 18 on the display screen 15 to initiate a re-assessment of the risk by the processor or immediately touch the trajectory 22 and by swiping move back in the direction of the arrow 23 on the own carriageway, so that the processing device is brought to discard the planned trajectory 22.

It is also conceivable that the driver sees in the person 17 on the bridge 16, a danger that has not yet been recognized by the proces ^¬ processing device. The driver can intuitively perceive that there is a danger that, for example, the person could drop 17 objects onto the roadway 2. In this case, the driver can touch on the display screen 15 the representation of the person 17 and for this purpose pronounce the word "danger", which can for example be recorded by a microphone coupled to the screen so that the person is marked in the presentation and appropriate braking or evasive maneuvers are planned.

FIG. 3 shows a further example of the driver's influence on the assistance process. On the screen 15, a road 2 is shown, on which a detected, preceding vehicle 4 is located. The assisting assistance system plans a ^¬ Fahrtra ektorie 22 'Überholma- a növer for overtaking the vehicle 4 provides. If the Fah ^¬ rer at the roadside a dog 23 'true that the assistance system has classified as non-hazardous, it can promoted at the appropriate location, the risk potential of the dog as an object by touching the screen 15 °. The dog is then marked with a line 24, which is shown in dashed lines in Figure 3, subsequently marked and the Assis ^¬ tenzsystem discards the trajectory 22 'and thus the Über ^¬ holmanöver to a new trajectory 25, shown in dashed lines in Figure 3 is to suggest. At the same time, the trajectory 25 is colored red, since this driving variant is connected to a braking maneuver and the reduction of the speed can be indicated by a red color code. The trajectory 22 'connected to an acceleration can, for example, be displayed in green.

FIG. 4 schematically shows an overview of the processing device 27 with the necessary periphery of the assistance system. There are initially provided sensors 5, 6, 7 as image detection sensors, as well as distance sensors 9, 10. In addition, other sensors such as ^{Feuchtigkeitssenso ¬} Ren, acceleration sensors, speed sensors, brightness sensors, sound sensors and additional other sensors may be provided. In addition, an antenna 26 is shown, which allows the importing of information via a radio network to the processing device 27. Here, for example, if a ghost driver is announced via a radio announcement, corresponding information can be integrated into the system. The information from the sensors can first be processed in an input stage 28 of the processing device to a three-dimensional representation of the driving situation, that is to image information with additional depth information. The input stage 28 may communicate with an image recognition system 29, which in turn is connected to an image database 30. With the aid of the image database, the image recognition system can analyze the individual recorded tänden pictured importance and possibly a risk potential Alloc ^¬ nen.

Additional parameters such as the speed of movement of the object can be used for the assignment. There he ^¬ gives a three-dimensional representation of the set ^¬ undertaken landscape with objects / ects Whether those assigned at least partly a meaning. On the basis of this information, the input stage 28 generates an indication on a screen 15 which, recognizable for the driver, indicates the image of the route ahead in the direction of travel. The driver can interact with the screen 15 so that information is fed back from there to the input stage 28 of the processing ^device 27.

The input stage can then re-evaluate, together with the image recognition system ^¬ 29 information and, if necessary, modify planned control activities. The control activities via the connecting line 31 to actuators 32, 33, gelei- tet 34, which can for example directly control the driving performance (for example, the steering wheel, a brake, a Gaspe ^¬ dal), but as well as supporting equipment such as Example ^¬ lighting of the vehicle or alarm elements such as a horn can control. However, at any time a so-called override, that is to say a domination of the corresponding control activities of the processing device, is possible by the driver.

In order to inform the processing device that a correction of an interpretation is necessary, the driver can use not only a touch of a touch-sensitive screen 15 but also an input via a microphone 35 or a joystick 36. With the described invention, increased driving safety can be achieved with the assistance of an assistance system, but, above all, a higher acceptance of an assistance system, since an interaction and a Correcting the interpretations and control suggestions of the assistance system in a comfortable way is possible.

Claims

Assistance system to assist the driver in controlling a car (1) with

Sensors (5, 6, 7, 9, 10, 12, 13) for detecting measured variables relating to the driving situation,

a processing device (27) for determining parameters of a driving situation and control parameters of an assistance control from the acquired measured variables,

an output device (15) for displaying the determined parameters of the driving situation,

marked by

an input device (15, 35, 36) for detecting additional inputs for correcting and / or supplementing the ascertained parameters of the driving situation and / or the control parameters of the assistance control represented by the output device (15).

Assistance system according to Claim 1, characterized in that at least one sensor (5, 6, 7) is provided for detecting at least one optical image of the landscape ahead of the motor vehicle (1) in the direction of travel (3) and an optical display (15) for Representation of an image processed by the processing device (27) including the determined parameters of the driving situation.

Assistance system according to claim 1 or 2, characterized in that as a sensor (5, 6, 7) at least one camera is provided, which is directed to the in the direction of travel (3) in front of the vehicle (1) lying driving route.

Assistance system according to one of the preceding claims, characterized in that the output device (15) provided is a touch screen is where inputs can be made by touch.

Assistance system according to one of the preceding claims, characterized in that the processing device (27) comprises a memory device, in each case in the case of a correction by means of the input device, the determined parameters of the driving situation are stored with the meaning attributed to them after the correction.

Assistance method for operating a system according to one of claims 1 to 5, characterized in that by means of sensors (5, 6, 7) we ^¬ detected nigstens an optical image of the direction of travel (3) in front of the motor vehicle (1) lying landscape through processes the processing means (27) and confining ^¬ Lich the determined parameters of the driving situation in an optical display (15) is illustrated.

Assistance method according to claim 6, characterized in that within the processing device ^¬ (27) by means of an image recognition device (29) on the currently detected optical image areas, in particular objects (14, 17, 23), which are relevant for driving, in particular Danger ^sources , meaning is assigned.

Assistance method according to claim 6 or 7, characterized in that a control of the motor vehicle (1) is planned by the processing device (27) and that the planned control is displayed, in particular optically displayed.

Assistance method according to claim 8, characterized in that the planned control of the motor vehicle (1) by displaying a planned Fahrtra ekto- Rie (22, 22 ', 25) in the optical display (15) Darge ^¬ provides.

10. Assistance method according to claim 8 or 9, char - characterized in that the geplan ^¬ te control of the vehicle (1) is displayed by displaying a planned acceleration or a planned deceleration. 11. Assistance method according to one of claims 6 to 10, characterized in that are optically mar ^¬ kiert on the currently detected optical image as risky ^¬ estimated areas of the image displayed.

12. The assistance method according to claim 6, wherein articles (14, 17, 23), to which a particular risk is assigned, are highlighted optically on the currently acquired optical image.

13. Assistance method according to one of claims 6 to 12, characterized in that on an input by means of the input device (15) towards the Zu-order of importance to at least one shown

Scope and / or object (14, 17, 23) of the optical image is checked and in particular changed.

14. Assistance method according to claim 13, d a d u r c h

in that it is checked for a change ei ^¬ ner assignment of significance to a region or object (14, 17, 23) of the optical image and the ge ^¬ planned control of the motor vehicle (1) and adapted.