CN113160581A - Method and device for recognizing road condition change - Google Patents
Method and device for recognizing road condition change Download PDFInfo
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- CN113160581A CN113160581A CN202010076172.2A CN202010076172A CN113160581A CN 113160581 A CN113160581 A CN 113160581A CN 202010076172 A CN202010076172 A CN 202010076172A CN 113160581 A CN113160581 A CN 113160581A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a method and apparatus for recognizing a road condition change, in which the surrounding environment of a vehicle is detected using an image sensor; generating real-time map data within a predetermined range around the own vehicle using the detected image data; acquiring static map data within a predetermined range around a host vehicle; and comparing the real-time map data with the static map data. When it is determined through the comparison that the real-time map data and the static map data have a difference, determining whether the difference is related to a change in road condition, and when it is determined that the difference is related to a change in road condition, identifying a change in road condition.
Description
Technical Field
The invention relates to a method and a device for detecting changes in road conditions, which can be used in particular in autonomously driven vehicles, for example partially or completely autonomously driven vehicles, but also in manually driven vehicles. The identified change in road conditions may be used to alert the driver, or for re-planning of the navigation path of the vehicle.
Background
Digital maps are required for use in navigation of vehicles. Especially for autonomously driven vehicles, accurate real-time digital maps are important for safe and successful driving. Digital maps known in practice are either static or can be considered quasi-static. For some digital maps, there is a periodic or aperiodic update. However, these updated digital maps may still not be up-to-date and, therefore, may not reflect the current real-time driving environment of the vehicle. For example, temporary road construction, temporary traffic control, sudden traffic accidents, sudden natural disasters on roads, etc. may occur, and these road condition changes are not necessarily reflected in the static digital map in time. Especially for autonomously driven vehicles, navigation planning made from digital maps that do not reflect the current road conditions may pose potential risks. Static digital maps may be particularly high-precision maps.
Disclosure of Invention
The present invention is directed to a method and apparatus for recognizing a change in road conditions, by which a change in road conditions that is not reflected in a static digital map can be recognized in time while a vehicle is driving.
According to a first aspect of the present invention, a method for identifying a change in road conditions is proposed, said method comprising the steps of:
detecting a surrounding environment of the vehicle by using an image sensor;
generating real-time map data within a predetermined range around the own vehicle using the detected image data;
acquiring static map data within a predetermined range around a host vehicle; and is
Comparing the real-time map data with the static map data;
wherein, when it is determined through the comparison that the real-time map data and the static map data have a difference, it is determined whether the difference is related to a change in road condition, and when it is determined that the difference is related to a change in road condition, a change in road condition is identified.
In some embodiments, the image sensor may be a camera, radar, and/or lidar. Theoretically, a single or a few image sensors may also be feasible if the viewing angle of the image sensor is sufficiently wide, for example in the case of a camera with a fish-eye lens. Preferably, the surroundings of the own vehicle may be detected by a group of image sensors, which are arranged distributed around the own vehicle. For example, the set of sensors may include an image sensor for detecting the surroundings in front of the own vehicle, an image sensor for detecting the surroundings behind the own vehicle, and image sensors for detecting both sides of the own vehicle.
In some embodiments, the predetermined range around the own vehicle may be a range surrounding the own vehicle. In some further embodiments, the predetermined range around the host vehicle may be a range completely in front of the host vehicle. In some further embodiments, the predetermined range around the host vehicle may include a range completely in front of the host vehicle and ranges on both sides of the host vehicle that extend over a portion of the length of the host vehicle.
In some embodiments, upon identifying a change in road conditions, a cause of the change in road conditions may be determined and/or a location of the change in road conditions may be determined.
In some embodiments, the change in the road condition, the cause of the change in the road condition, and/or the location of the change in the road condition may be notified. The notification may be implemented, for example, in audio and/or visual form. The notification can be sent, for example, to the driver of the vehicle, or to a central server via a radio network, or to the associated traffic participants via a vehicle-to-vehicle system.
In some embodiments, when it is determined through the comparison that the real-time map data has a new object related to the change of the road condition relative to the static map data, a reason for the change of the road condition can be determined from the real-time map data.
In some embodiments, when the real-time map data has a road construction sign and the corresponding road construction sign does not exist in the static map data, it may be identified that the cause of the road condition change is road construction.
In some embodiments, road construction workers and/or road construction equipment may additionally be identified from the real-time map data as a verification of "cause of road condition change is road construction".
In some embodiments, when the real-time map data has a traffic accident sign and the corresponding traffic accident sign does not exist in the static map data, the cause of the traffic condition change may be identified as a traffic accident.
In some embodiments, traffic police, ambulance and/or police vehicle may additionally be identified from the real-time map data as a verification of "traffic accident as a cause of road condition change".
In some embodiments, when it is determined through the comparison that the real-time map data has a missing object related to a change in road condition relative to the static map data, a cause of the change in road condition may be determined from the missing object related to the change in road condition. Additionally, objects associated therewith may additionally be identified from the real-time map data as a verification.
In some embodiments, when it is determined by the comparison that the real-time map data has an object associated with a change in road condition modified relative to the static map data, a cause of the change in road condition may be determined from the modification. Additionally, objects associated therewith may additionally be identified from the real-time map data as a verification.
According to another aspect of the invention, a device for identifying a change in a road condition is proposed, said device comprising:
an image sensor configured to detect a surrounding environment of a host vehicle;
a map generation module configured to generate real-time map data within a predetermined range around the own vehicle using the detected image data;
an acquisition module configured to acquire map data of a static state within a predetermined range around a host vehicle;
a comparison module configured to compare the real-time map data with the static map data; and
a determination module configured to determine whether the difference is related to a change in road condition when it is determined from the comparison that the real-time map data and the static map data have a difference, and identify a change in road condition when it is determined that the difference is related to a change in road condition.
In some embodiments, the determination module may be further configured to determine a cause of the change in the road condition and/or determine a location of the change in the road condition.
In some embodiments, the apparatus may include a notification module configured to notify of the change in the road condition, the cause of the change in the road condition, and/or the location of the change in the road condition.
In some embodiments, the determining module may be further configured to determine a cause of the change in the road condition from the real-time map data when it is determined from the comparison that the real-time map data has a new object associated with the change in the road condition relative to the static map data.
In some embodiments, the determination module may be further configured to identify a cause of the change in the road condition as road construction when the real-time map data has the identified road construction sign and the corresponding road construction sign is absent from the static map data.
Preferably, the determination module can be configured to additionally identify road construction workers and/or road construction devices from the real-time map data as a verification of "road construction causes of changes in road conditions".
In some embodiments, the determination module may be further configured to identify that the cause of the change in the road condition is a traffic accident when the real-time map data has a traffic accident sign and the corresponding traffic accident sign does not exist in the static map data.
Preferably, the determination module can be configured to additionally identify the traffic police, the ambulance and/or the police car from the real-time map data as a verification of "traffic accident caused by the change in road conditions".
In some embodiments, the determining module is further configured to determine a cause of the change in the road condition from the missing object associated with the change in the road condition when the real-time map data is determined to have the missing object associated with the change in the road condition relative to the static map data by the comparing.
In some embodiments, the determination module is further configured to determine a cause of the change in the road condition from the modification when the real-time map data is determined to have a modified object associated with the change in the road condition relative to the static map data by the comparison.
Through the preferable scheme of the method and the equipment, the road condition change which is not reflected in the static digital map can be timely recognized during the driving of the vehicle, and the reason causing the road condition change and the specific location of the road condition change can be further determined. The identification of the change in road conditions and the cause of the change in road conditions and the specific location of the change in road conditions may advantageously be utilised, for example for re-navigation planning.
Furthermore, a non-volatile storage medium is also claimed, on which a computer-readable program is stored which, when being executed in a computer, is adapted to carry out the method according to the first aspect of the invention.
The computer readable storage medium may include or be, for example, digital memory, magnetic storage media such as magnetic disks and tape, hard disk, or optically readable digital data storage media. The computer may for example cover a personal computer, a processor or a control unit, which may be programmed to perform the above-mentioned method; either a (field) programmable logic array (PLA, FPLA) or a (field) programmable gate array (PGA, FPGA), which can be programmed to perform the above-described methods.
Drawings
The invention is explained in more detail below with the aid of a detailed description and with reference to the drawings. Wherein:
FIG. 1 is a flow chart of a method for identifying a change in road conditions according to an embodiment of the present invention; and is
Fig. 2 is a block diagram of an apparatus for recognizing a change in road condition according to an embodiment of the present invention.
Detailed Description
Fig. 1 is a flowchart of a method for recognizing a road condition change according to an embodiment of the present invention. The method includes step S1, and in step S1, the surroundings of the own vehicle are detected using the image sensor 6 (see fig. 2). The method includes step S2, and in step S2, real-time map data within a predetermined range around the own vehicle is generated using the detected image data, for which, for example, a graphic processor and graphic processing software may be employed. The image sensor may relate to a camera, a radar sensor and/or a lidar sensor, for example. It is particularly advantageous that a number of image sensors may be distributed around the vehicle, for example, the surroundings of the own vehicle may be detected by a set of sensors including an image sensor for detecting the surroundings in front of the own vehicle, an image sensor for detecting the surroundings behind the own vehicle, and image sensors for detecting both sides of the own vehicle. The image sensors may have a slight degree of redundancy so that in the event of a failure of a part of them, the remaining image sensors still guarantee full functionality. When the vehicle is equipped with an unmanned aerial vehicle, an image sensor may be provided in addition to or instead of the unmanned aerial vehicle.
The method includes step S3, and in step S3, static map data within a predetermined range around the own vehicle is acquired. The static map data may be stored in the memory of the own vehicle, or may be stored in a remote central server, and may be downloaded online to the own vehicle through a network.
The method includes step S4, comparing real-time map data within a predetermined range with static map data, and identifying a road condition change through the comparison at step S4. When it is determined through the comparison that the real-time map data and the static map data have a difference, it is determined whether the difference is related to the road condition or the change in the road condition in step S5, and when it is determined that the difference is related to the road condition or the change in the road condition, the change in the road condition is identified in step S6.
The boundaries of the predetermined range may be, for example, a first distance on both sides of the vehicle, a second distance in front of the vehicle, and a third distance behind the vehicle. The first distance may be, for example, 50m, the second distance may be, for example, 90m, and the third distance may be, for example, 10 m. The predetermined range may be selected according to specific needs or may be selected according to the performance of the sensor.
The method may be performed continuously, or may be performed at predetermined time intervals, or may be performed at predetermined distance intervals over which the vehicle travels.
The method optionally includes step S7, in step S7, in case of recognizing the road condition change, further determining a cause of the road condition change and/or determining a location of the road condition change. The determination may be carried out by further identifying objects in the surroundings of the vehicle and/or may be carried out using information in a real-time digital map and/or may be carried out using external information and/or may be carried out using information in a static digital map. The external information may be traffic information from a central server or from road management, or information transmitted via a vehicle-to-vehicle system.
The method optionally includes step S8, and in step S8, the change in the road condition, the specific location of the change in the road condition, and/or the reason for the change in the road condition are notified. Such information may be communicated to occupants of the vehicle, for example, via an onboard audio and/or video system, to other vehicles via a vehicle-to-vehicle system, or to a remote central server.
In an exemplary application scenario, real-time map data has a road construction sign, and a corresponding road construction sign does not exist in static map data, on one hand, by comparing the real-time map data with the static map data, a difference between the real-time map data and the static map data can be identified, and the difference can be judged to be related to a road condition or a change of the road condition; on the other hand, the reason causing the road condition change can be identified as road construction by identifying the road construction mark. In this case, the road construction equipment may be further identified from the real-time map data. For example, in the case of recognition of road pavers, road rollers or other construction machines, changes in the road conditions and their causes can be determined more reliably. In this case, the specific location of the road construction may be further identified from the real-time map data, for example, identifying a text from the road construction sign, the text indicating: construction is carried out at the front 100m, so that the specific site of road construction can be determined through the positioning of the construction mark and the text information.
In an exemplary application scenario, if the real-time map data has a traffic accident sign and the static map data does not have the corresponding traffic accident sign, it may be determined that the real-time map data is different from the static map data, and it may be determined that the difference is related to the road condition or the change in the road condition. In addition, it is possible to determine that the cause of the road condition change is a traffic accident. In this case, the presence of traffic police, ambulance and/or police car may further be identified from the real-time map data. In this case, the specific location of the traffic accident may be further determined from the real-time map data, for example by identifying words from the traffic accident signature, which words indicate: a traffic accident occurs at the front 200m, so that a specific place of the traffic accident can be determined by the location of the traffic accident sign and the text information.
In an exemplary application scenario, a static digital map has a road construction-specific no-entry mark for a certain road segment ahead, whereas a real-time digital map does not have such a no-entry mark. The difference between the real-time digital map and the static digital map can be determined by comparing the two maps. Since the "forbidden flag" is related to the road condition, the difference means that the road condition is changed. By the fact that the forbidden sign is missing in the real-time digital map, the specific location of the road condition change can be determined, and the reason causing the road condition change can be determined as that the related road construction is completed.
In an exemplary application scenario, in a real-time digital map, a first lane of two adjacent lanes is used for motor vehicles and a second lane of the two adjacent lanes is used for non-motor vehicles. In a static digital map, a first lane of two adjacent lanes is used for non-motor vehicles and a second lane of two adjacent lanes is used for motor vehicles. The difference between the real-time digital map and the static digital map can be determined by comparing the two maps. Since "use of lane" is related to road conditions, the difference means that the road conditions change. By means of the comparison, the specific location of the change in road conditions can be determined, and the cause of the change in road conditions can be determined as the exchange of lane usage.
In one exemplary application scenario, a real-time digital map has a billboard. Static digital maps do not have the billboard. The difference between the real-time digital map and the static digital map can be determined by comparing the two maps. Since the "billboard" is independent of the road conditions, the difference does not mean that the road conditions are changed.
Fig. 2 is a block diagram of an apparatus for recognizing a change in road condition according to an embodiment of the present invention. Said device can be used in particular for carrying out the method according to the invention. The device may comprise an image sensor 6 with which the surroundings of the vehicle can be detected. In fig. 2 a number of image sensors, only a part of which is provided with reference numeral 6, are schematically shown arranged around the vehicle. These sensors may be constructed identically or differently. The apparatus may include a map generation module 1 configured to generate real-time map data within a predetermined range around the own vehicle using the detected image data. Each image sensor 6 may be connected to the map generation module 1 by wire or wirelessly.
The apparatus may include an acquisition module 2 configured to acquire static map data within a predetermined range around the own vehicle. Static map data may be stored in the vehicle and may be recalled. The static map data may also be stored in a remote central server and downloaded to the own vehicle via a network connection, wherein the downloaded map data may be limited to only map data within a predetermined range around the own vehicle.
The device may comprise a comparison module 3, which is configured to compare real-time map data within a predetermined range with static map data. The apparatus may include a determination module 4 configured to determine whether the difference is related to a change in road condition when it is determined from the comparison that the real-time map data and the static map data have a difference, and to identify a change in road condition when it is determined that the difference is related to a change in road condition. The determination module may be further configured to determine a cause of the change in the road condition and/or determine a location of the change in the road condition.
As shown in fig. 2, the map generation module 1, the acquisition module 2, the comparison module 3 and the determination module 4 may be integrated in a common data processing device 10.
The device may additionally comprise a notification module 5 configured to notify of the change in the road condition, the cause of the change in the road condition and/or the location of the change in the road condition.
As shown in fig. 2, the notification module 5 may be a component of the vehicle itself, which may be connected to the data processing device 10. Alternatively, the notification module may also be integrated in the data processing device 10.
For example, the determination module 4 may be configured to identify that the cause of the road condition change is road construction when the real-time map data has road construction marks and the corresponding road construction marks are not present in the static map data. Preferably, the determination module can be designed to additionally identify road construction personnel and/or road construction equipment from the real-time map data as a verification of "cause of road condition change is road construction".
For example, the determination module 4 may be configured to identify that the cause of the road condition change is a traffic accident when the real-time map data has a traffic accident sign and the corresponding traffic accident sign does not exist in the static map data. Preferably, the determination module can be configured to additionally identify the traffic police, the ambulance and/or the police car from the real-time map data as a verification of "traffic accident caused by the change in road conditions".
The map generation module 1, the acquisition module 2, the comparison module 3 and the determination module 4 and the notification module 5 of the device may each be formed separately and connected to one another, or some or all of them may be integrated, for example, in a common data processing device, to which the graphic data detected by the sensors may be supplied, and in which a static digital map may be stored or supplied externally to the data processing device as required.
It will be understood that the present invention has been described with reference to the above specific embodiments, but the present invention is not limited thereto. Modifications may be made by those skilled in the art based on the present disclosure, all without departing from the scope of the invention. The individual features described in the present application, even if they are described in different paragraphs of the description or in different embodiments, may be arbitrarily combined with each other as long as they are not mutually contradictory.
Claims (15)
1. A method for identifying a change in road conditions, the method comprising the steps of:
detecting a surrounding environment of the vehicle by using an image sensor;
generating real-time map data within a predetermined range around the own vehicle using the detected image data;
acquiring static map data within a predetermined range around a host vehicle; and is
Comparing the real-time map data with the static map data;
wherein, when it is determined through the comparison that the real-time map data and the static map data have a difference, it is determined whether the difference is related to a change in road condition, and when it is determined that the difference is related to a change in road condition, a change in road condition is identified.
2. The method according to claim 1, wherein upon identifying a change in road conditions, determining a cause of the change in road conditions and/or determining a location of the change in road conditions.
3. The method according to claim 2, wherein the change in road conditions, the cause of the change in road conditions and/or the location of the change in road conditions is notified.
4. The method of claim 2, wherein when it is determined from the comparison that the real-time map data has additional objects related to the change in the traffic status relative to the static map data, determining a cause of the change in the traffic status from the real-time map data.
5. The method of claim 4, wherein the cause of the change in the road condition is identified as road construction when the real-time map data has road construction marks and the corresponding road construction marks are absent in the static map data.
Preferably, the road users and/or road construction devices are additionally identified from the real-time map data as a verification.
6. The method according to claim 2, wherein when the real-time map data has a traffic accident sign and the corresponding traffic accident sign does not exist in the static map data, it is identified that the cause of the traffic condition change is a traffic accident;
preferably, the traffic police, the ambulance and/or the police car are additionally identified from the real-time map data as a verification.
7. The method of claim 2, wherein when it is determined through the comparison that the real-time map data has an object related to a change in road condition missing from the static map data, determining a cause of the change in road condition from the missing object related to the change in road condition; or
Determining a cause of the change in the road condition from the modification when it is determined by the comparison that the real-time map data has a modified object associated with the change in the road condition relative to the static map data.
8. An apparatus for identifying a change in a road condition, the apparatus comprising:
an image sensor (6) configured to detect a surrounding environment of the host vehicle;
a map generation module (1) configured to generate real-time map data within a predetermined range around a host vehicle using detected image data;
an acquisition module (2) configured to acquire static map data within a predetermined range around a host vehicle;
a comparison module (3) configured to compare the real-time map data with the static map data; and
a determination module (4) configured to determine whether the difference is related to a change in road condition when it is determined by the comparison that the real-time map data and the static map data have a difference, and to identify a change in road condition when it is determined that the difference is related to a change in road condition.
9. The apparatus of claim 8, wherein the determination module is further configured to determine a cause of the change in the road condition and/or determine a location of the change in the road condition.
10. The apparatus of claim 9, comprising a notification module configured to notify the change in the road condition, the cause of the change in the road condition, and/or the location of the change in the road condition.
11. The apparatus of claim 9, wherein the determination module is further configured to determine a cause of the change in the road condition from the real-time map data when it is determined from the comparison that the real-time map data has an additional object associated with the change in the road condition relative to the static map data.
12. The apparatus of claim 11, wherein the determination module is further configured to identify a cause of the change in the road condition as road construction when the real-time map data has road construction marks and the corresponding road construction marks are absent from the static map data;
preferably, the determination module is also designed to additionally identify road users and/or road construction equipment from the real-time map data as a verification.
13. The apparatus of claim 9, wherein the determination module is further configured to identify a cause of the change in the road condition as a traffic accident when the real-time map data has a traffic accident sign and the corresponding traffic accident sign is absent from the static map data;
preferably, the determination module is also configured to additionally identify the traffic police, the ambulance and/or the police car from the real-time map data as a verification.
14. The apparatus of claim 9, wherein the determination module is further configured for,
determining a cause of a change in road conditions from the missing road condition change-related object when it is determined by the comparing that the real-time map data has the missing road condition change-related object relative to the static map data; or
Determining a cause of the change in the road condition from the modification when it is determined by the comparison that the real-time map data has a modified object associated with the change in the road condition relative to the static map data.
15. A non-transitory storage medium having stored thereon a computer-readable program for executing the method according to any one of claims 1 to 8 when the program is executed in a computer.
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