CN113401120A - Driving assistance system, method for operating driving assistance system, and program product - Google Patents

Driving assistance system, method for operating driving assistance system, and program product Download PDF

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Publication number
CN113401120A
CN113401120A CN202110856796.0A CN202110856796A CN113401120A CN 113401120 A CN113401120 A CN 113401120A CN 202110856796 A CN202110856796 A CN 202110856796A CN 113401120 A CN113401120 A CN 113401120A
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CN
China
Prior art keywords
vehicle
driving assistance
image
assistance system
assist system
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.)
Pending
Application number
CN202110856796.0A
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Chinese (zh)
Inventor
孙然
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.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Priority to CN202110856796.0A priority Critical patent/CN113401120A/en
Publication of CN113401120A publication Critical patent/CN113401120A/en
Priority to DE102022002706.2A priority patent/DE102022002706A1/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to the technical field of vehicle driving assistance. The invention discloses a driving assistance system for a vehicle, the driving assistance system including: a sensor module configured to be adapted to sense an object, in particular a moving object, in the surroundings of the vehicle; a projector module configured to be adapted to project an image of an object sensed by the sensor module; a controller module configured to control the projector module for image projection based on the sensed object in the surrounding environment; wherein the projector module is controlled to project an image, in particular a virtual image, of the object to the outside of the vehicle. The invention can additionally provide the prompt of the opposite vehicle for the driver through the projection information outside the vehicle during the meeting, thereby avoiding the vehicle collision accident. The invention also discloses a method for operating a driving assistance system, a vehicle having a driving assistance system and a computer program product.

Description

Driving assistance system, method for operating driving assistance system, and program product
Technical Field
The present invention relates to a driving assistance system for a vehicle. The invention also relates to a method for operating a driver assistance system for a vehicle. The invention further relates to a vehicle having a driving assistance system and to a computer program product.
Background
Currently, there are situations where there is a vehicle crossing, for example in urban traffic with oncoming lanes or in a mountain curve, where the driver may have a driving blind spot while passing over these roads. A convex mirror for observing a curve is generally provided at a turn or a whistle is made when a vehicle meets a curve according to traffic regulations to warn an oncoming vehicle. However, this approach is largely limited by environmental conditions and cannot reliably identify and prompt the oncoming vehicle. Particularly, when the vehicle travels on a curved road having a small angle, particularly when the oncoming vehicle makes a right turn, the oncoming vehicle collides with the vehicle traveling in the own direction, and there is a great risk of a traffic accident.
When a vehicle is traveling into an area with a small turning angle and an insufficient field of view, especially in poor light conditions, the driver of the vehicle cannot accurately know the presence of the oncoming vehicle and cannot take appropriate measures such as early deceleration, avoidance, or even parking in time before a vehicle crossing. This can lead to serious traffic accidents. Thus, there is a further need to provide reliable technical support for the driver in case of a vehicle meeting.
Disclosure of Invention
Based on this, the invention proposes an efficient solution for provision in a vehicle, which not only overcomes the disadvantages of the prior art solutions, but also efficiently and reliably assists the driver in better understanding of the surroundings when driving the vehicle and, if necessary, can remind the driver to take corresponding measures to safely drive through the road ahead.
According to an aspect of the present invention, there is provided a driving assistance system for a vehicle, the driving assistance system including:
a sensor module configured to be adapted to sense an object, in particular a moving object, in the surroundings of the vehicle;
a projector module configured to be adapted to project an image of the object sensed by the sensor module;
a controller module configured to be adapted to control a projector module to project an image based on the sensed object in the surrounding environment;
wherein the projector module is controlled to project an image, in particular a virtual image, of the object to the outside of the vehicle.
The basic idea of the invention is that, in the case of a vehicle crossing, in particular when the vehicle crosses while driving in a curve, an image, in particular a virtual image, of the oncoming vehicle is projected outside the vehicle, in particular onto a mountain or a building in the surroundings of the vehicle, using a projector fitted on the vehicle, on the basis of the sensed oncoming vehicle, so that the driver of the vehicle can intuitively understand the relative relationship, such as the relative position and the relative speed, between the oncoming vehicle and the vehicle during the driving in a curve. In the case of a small turning angle or an insufficient field of vision, in particular, for example, in the case of poor environmental conditions (night time or rainy and snowy days), the driver is assisted in adequately grasping the situation of the oncoming vehicle in the oncoming lane, so that appropriate operating measures, such as early deceleration, whistling, avoidance, and even parking, are made in time to avoid a collision accident with the oncoming vehicle. This further improves the driving safety when the vehicle is meeting and further increases the user acceptance of the vehicle driving assistance system.
According to an alternative embodiment of the driving assistance system for a vehicle of the present invention, there is provided the driving assistance system further including:
a calculation module configured and adapted to calculate a relative speed and/or a relative distance and/or a turning angle of a curve and/or a curve radius between the vehicle and the object to calculate an encounter time of the vehicle with the object. The calculation module may calculate the meeting time of the two vehicles by quantitatively calculating the relative relationship (relative speed, relative distance, relative orientation, etc.) between the vehicle and the object and calculating the curve radius and the turning angle when the vehicle and the oncoming vehicle meet in the curve, for example.
According to another alternative embodiment of the driving assistance system for a vehicle according to the present invention, the sensor module comprises a sensor selected from the group consisting of: a radar; lidar, in particular 3D lidar; a monocular camera; a binocular camera; a millimeter wave radar; an ultrasonic sensor; an infrared sensor. The sensor module comprises, inter alia, a combination of several of the above-mentioned sensors, whereby objects in the surroundings can be sensed more reliably.
According to another alternative embodiment of the driving assistance system for a vehicle according to the present invention, it is provided that the projector module is controlled to project the image of the object onto an entity located laterally forward of the vehicle, such as a building or a mountain. Images, in particular virtual images, of the sensed object can be presented using entities existing in the surroundings as projection surfaces, for example during night driving. Therefore, visual and intuitive driving information is additionally provided for the driver along the side front of the driving direction, the driving concentration degree of the driver is not influenced, the driving safety is greatly improved, and the collision risk is further avoided.
In accordance with an alternative embodiment of the driving assistance system for a vehicle according to the invention, it is provided that the relative distance between the vehicle and the object is proportional, in particular proportional, to the relative distance between the projection images of the object and the vehicle.
According to an alternative embodiment of the driving assistance system for a vehicle according to the invention, it is provided that the color of the projected image changes, for example, the color deepens and/or turns red, as the relative distance of the vehicle from the object becomes smaller. Here, the driver may manually set the color of the projected image, or the driving assistance system automatically sets the color of the projected image according to the conditions of the surrounding environment, such as light conditions, weather conditions, and the like, so that it can clearly and prominently present the projected image.
According to a further alternative embodiment of the driving assistance system for a vehicle according to the invention, it is provided that the projector module is configured to comprise a further head-up projection device (HUD) arranged inside the vehicle, which is capable of projecting driving data of the vehicle into the driver's field of view, for example onto a windshield. According to a further alternative embodiment of the invention, it is provided that the high beam and the low beam are switched and/or whistling is carried out when the distance between the vehicle and the object is reduced. Thereby, the object may additionally be alerted by emitting an optical and/or acoustic signal to the object, thereby further avoiding a risk of collision of the vehicle with the object. In addition, the projector module is arranged on the left or right side of the body of the vehicle, in particular in the region of the vehicle located in front of the a-pillar.
According to another alternative embodiment of the driving assistance system for a vehicle according to the present invention, it is provided that, in a case where the sensed object is an oncoming vehicle, the vehicle and the respective calculated relative distances of the oncoming vehicle are projected in synchronization. Here, the vehicle and the opposing vehicle are each equipped with a respective computing unit. The vehicle may communicate with the oncoming vehicle and receive corresponding relative distance information from the oncoming vehicle and project it onto an entity. So that the driver of the vehicle can be doubly prompted.
According to another aspect of the present invention, there is provided a vehicle including one of the above-described driving assistance systems.
According to a further aspect of the invention, a method for operating a driving assistance system for a vehicle is provided, the method comprising the steps of:
s1: sensing an object, in particular a moving object, in the surroundings of the vehicle; and
s2: projecting an image, in particular a virtual image, of the object to the outside of the vehicle.
According to a further alternative embodiment of the method according to the invention, it is provided that an image, in particular a virtual image, of the object is projected onto a body, in particular a building or a mountain, in the surroundings of the vehicle.
According to yet another aspect of the invention, a computer program product is provided, comprising computer instructions for assisting in implementing at least one of the methods of the invention when executed by a processor.
Further features of the invention will be apparent from the claims, the drawings and the description of the drawings. The features and feature combinations mentioned in the above description and those mentioned in the following description of the figures and/or shown in the figures only can be used not only in the respectively specified combination but also in other combinations without departing from the scope of the invention. Accordingly, the following is also considered to be covered and disclosed by the present invention: these items are not explicitly shown in the drawings and are not explicitly explained, but originate from and result from combinations of separate features from the explained items. The following matters and combinations of features are also to be regarded as disclosed: which does not have all the features of the original written independent claim. Furthermore, the following and combinations of features are considered to be disclosed inter alia by the above: which exceed or deviate from the combinations of features defined in the claims' reference relations.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. In the drawings:
fig. 1 shows a driving assistance system according to an exemplary embodiment of the invention;
FIG. 2 shows a flow diagram of a method according to an exemplary embodiment of the invention;
fig. 3 illustrates a meeting scenario in accordance with an exemplary embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and exemplary embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only.
Fig. 1 shows a driving assistance system according to an exemplary embodiment of the present invention. The driver assistance system includes: a sensor module configured to be adapted to sense an object, in particular a moving object, in the surroundings of the vehicle; a projector module configured to be adapted to project an image from the sensor module; a controller module configured to control the projector module for image projection based on the sensed object in the surrounding environment. In this exemplary embodiment, the projector module is controlled by a controller module to project an image, in particular a virtual image, of the object to the outside of the vehicle. The controller module, the projector module and the sensor module are in communication connection, respectively.
Fig. 2 shows a flow chart of a method according to an exemplary embodiment of the invention. In a first step of the method, objects, in particular moving objects, in the surroundings of the host vehicle are sensed by the sensor module of the driving assistance system equipped with the host vehicle shown in fig. 1. In a second step, a projector module is activated by a controller module of the driving assistance system when the object is sensed and is controlled to project an image, in particular a virtual image, of the object to the outside of the vehicle.
Fig. 3 illustrates a meeting scenario in accordance with an exemplary embodiment of the present invention. In this exemplary embodiment, a scene during a night round meeting is shown. Here, the vehicle follows the right-hand traffic regulations. As can be seen in fig. 3, the host vehicle and the oncoming vehicle each travel in a curve having an oncoming lane, wherein the host vehicle and the oncoming vehicle travel in the opposite direction and will meet in the curve at a future point in time. In addition, in fig. 3, a mountain located on the side of the curve is drawn, which partially blocks the line of sight between the host vehicle and the oncoming vehicle. Furthermore, the mountain body has, at least in part, a relatively flat mountain body side. In this exemplary embodiment, the own vehicle is equipped with the driving assistance system shown in fig. 1. A sensor module of the driving assistance system senses a moving object in the surrounding environment of the own vehicle. Here, the sensor module includes a 3D lidar and senses a moving object in an oncoming lane in a curve in real time. The controller module is in communication with the sensor module and, when the lidar sensor senses, for example, an oncoming vehicle, the controller module activates a projector module disposed on the vehicle based on the sensed oncoming vehicle. In this exemplary embodiment, the projector module is also in communicative connection with the sensor module. The projector module is arranged in an area on the left side of the body of the own vehicle in front of the a-pillar and can project an image into an area on the left front of the vehicle.
In this exemplary embodiment, the projector module includes an image conversion module and may convert an image of the oncoming vehicle sensed by the lidar sensor into a virtual image and project the virtual image of the oncoming vehicle onto a side surface of a mountain in a direction toward the left front of the vehicle. Thus, the driver can observe the projection image of the oncoming vehicle without affecting driving.
Here, the driving assistance system further includes a calculation module that calculates a relative speed and/or a relative distance between the own vehicle and the oncoming vehicle and/or a turning angle and/or a curve radius of the curve based on the sensed subject vehicle to calculate a meeting time of the own vehicle and the oncoming vehicle. The relative distance of the host vehicle with respect to the oncoming vehicle is proportional to the relative distance of the projected image of the oncoming vehicle with respect to the host vehicle. In fig. 3, the relative distance of the projected image of the oncoming vehicle with respect to the own vehicle is represented by reference numeral "s". As the relative distance between the subject vehicle and the oncoming vehicle, or as the relative distance s decreases, the color of the projected image of the oncoming vehicle also changes. In this exemplary embodiment, the color of the projected image changes from light yellow to deep red as the relative distance s decreases, so as to prompt the driver of the own vehicle to: the oncoming vehicle in the curve gradually approaches itself. Therefore, the driver of the vehicle can take corresponding measures based on the prompt, such as deceleration, avoidance and even parking, so as to avoid collision accidents. Additionally, a further head-up projection device is arranged in the vehicle. The head-up projection device projects the running data of the vehicle, such as the speed of the vehicle, the relative speed of the vehicle and the opposite vehicle, the meeting time and the like, into the field of vision of the driver, such as the windshield of the vehicle, so that the driver of the vehicle can intuitively and clearly know and master the running condition of the vehicle. In another exemplary embodiment, the host vehicle may also perform switching between the high beam and the low beam and/or perform whistling as the relative distance from the oncoming vehicle becomes shorter, thereby effectively prompting the oncoming vehicle to avoid a collision accident.
Other advantages and alternative embodiments of the present invention will be apparent to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details, representative structures, and illustrative examples shown and described. On the contrary, various modifications and substitutions may be made by those skilled in the art without departing from the basic spirit and scope of the invention.

Claims (10)

1. A driving assistance system for a vehicle, the driving assistance system comprising:
a sensor module configured to be adapted to sense an object, in particular a moving object, in the surroundings of the vehicle;
a projector module configured to be adapted to project an image of the object sensed by the sensor module;
a controller module configured to be adapted to control a projector module to project an image based on the sensed object in the surrounding environment;
wherein the projector module is controlled to project an image, in particular a virtual image, of the object to the outside of the vehicle.
2. The drive assist system for a vehicle according to claim 1, wherein the drive assist system further comprises:
a calculation module configured and adapted to calculate a relative speed and/or a relative distance and/or a turning angle of a curve and/or a curve radius between the vehicle and the object to calculate an encounter time of the vehicle with the object.
3. The drive assist system for a vehicle according to claim 1 or 2, wherein the sensor module includes a sensor selected from: a radar; lidar, in particular 3D lidar; a monocular camera; a binocular camera; a millimeter wave radar; an ultrasonic sensor; an infrared sensor.
4. The drive assist system for a vehicle according to one of claims 1 to 3,
the projector module is controlled to project an image of the object onto an entity located laterally forward of the vehicle, such as a building or a mountain; and/or
The relative distance between the vehicle and the object is proportional, in particular proportional, to the relative distance between the projection images of the object and the vehicle.
5. The drive assist system for a vehicle according to one of claims 1 to 4, wherein a color of the projected image changes as a relative distance between the vehicle and the object becomes smaller, such as a color deepening and/or reddening.
6. The drive assist system for a vehicle according to one of claims 1 to 5,
the projector module is configured to include an additional heads-up projection device disposed inside the vehicle; and/or
The vehicle switches between a high beam and a low beam and/or whistles when the relative distance to the object is reduced; and/or
The projector module is arranged on the left or right side of the body of the vehicle, in particular in the region of the vehicle in front of the a-pillar.
7. The drive assist system for a vehicle according to one of claims 1 to 6, wherein, in a case where the sensed object is a oncoming vehicle, the vehicle is projected synchronously with the respective calculated relative distances of the oncoming vehicle.
8. A vehicle including the driving assist system for a vehicle according to one of claims 1 to 7.
9. Method for operating a driving assistance system for a vehicle, in particular according to one of claims 1 to 7, comprising the steps of:
sensing an object, in particular a moving object, in the surroundings of the vehicle; and
projecting an image, in particular a virtual image, of the moving object to the outside of the vehicle.
10. A computer program product comprising computer instructions for assisting, when executed by a processor, in carrying out at least the method of claim 9.
CN202110856796.0A 2021-07-28 2021-07-28 Driving assistance system, method for operating driving assistance system, and program product Pending CN113401120A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202110856796.0A CN113401120A (en) 2021-07-28 2021-07-28 Driving assistance system, method for operating driving assistance system, and program product
DE102022002706.2A DE102022002706A1 (en) 2021-07-28 2022-07-26 Driver assistance system, method for operating a driver assistance system and program product

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110856796.0A CN113401120A (en) 2021-07-28 2021-07-28 Driving assistance system, method for operating driving assistance system, and program product

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CN113401120A true CN113401120A (en) 2021-09-17

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DE (1) DE102022002706A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116394837B (en) * 2023-04-12 2024-05-14 西藏北斗森荣科技(集团)股份有限公司 Safe driving assistance method, device, equipment and storage medium based on Beidou positioning data

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