DE102006008656A1 - Motor vehicle with a device for traffic sign recognition - Google Patents

Motor vehicle with a device for traffic sign recognition

Info

Publication number
DE102006008656A1
DE102006008656A1 DE200610008656 DE102006008656A DE102006008656A1 DE 102006008656 A1 DE102006008656 A1 DE 102006008656A1 DE 200610008656 DE200610008656 DE 200610008656 DE 102006008656 A DE102006008656 A DE 102006008656A DE 102006008656 A1 DE102006008656 A1 DE 102006008656A1
Authority
DE
Germany
Prior art keywords
traffic sign
output form
motor vehicle
probability
representation
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.)
Withdrawn
Application number
DE200610008656
Other languages
German (de)
Inventor
Jürgen Meurle
Markus Popken
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.)
Audi AG
Original Assignee
Audi 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 Audi AG filed Critical Audi AG
Priority to DE200610008656 priority Critical patent/DE102006008656A1/en
Publication of DE102006008656A1 publication Critical patent/DE102006008656A1/en
Application status is Withdrawn legal-status Critical

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708Systems 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
    • G08G1/096716Systems 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 does not generate an automatic action on the vehicle control

Abstract

motor vehicle with a device (2) for traffic sign recognition, comprising a camera (3), a control device (4) for determining a any traffic sign (11) contained in the camera image and / or its regulatory content and a display (5) for outputting a representation the traffic sign (11) or information concerning its regulatory content, depending on the probability of correctness of the detection of the traffic sign or its regulatory content is the output between a first output form at lower probability and a second output form at higher Probability changeable is.

Description

  • The The invention relates to a motor vehicle with a device for traffic sign recognition comprising a camera, a control device for determining any traffic sign contained in the camera image and / or its regulatory content, and a display for outputting a representation the traffic sign or information regarding its regulatory content.
  • A Traffic sign recognition device serves the driver while to support the ride after not ensuring that the driver is getting every traffic sign sees or recognizes its regulatory content. About the Traffic sign recognition device becomes continuous by means of the camera recorded the vehicle apron and a corresponding image analysis means continuously checked by the control device, whether a traffic sign is located in the camera image. These are suitable Provided detection algorithms. Will such a traffic sign recognized or its regulatory content is analyzed the driver issued a corresponding information on a display, so that he definitely over the presence of this traffic sign is informed. This is ensured that he also receives such traffic signs, which he, for example, due the traffic situation, the increased Attention requires from him, or because of others, the traffic sign Covering vehicles not recorded, brought to the knowledge.
  • Now It may happen that the device for traffic sign recognition a traffic sign or its regulatory content is not can unambiguously recognize, for example, when the traffic sign is dirty when, for example, with respect to its orientation to the driving path is twisted or if, for example, a branch or the like in front depends on the traffic sign. In such a case, it is sometimes not certain that the Device for traffic sign recognition the traffic sign or its Regulatory content recorded correctly. Does it come despite this lesser Probability of correct detection to an output of the allegedly correctly recorded road sign or regulatory content, sometimes the output can be wrong, the driver reacts wrongly, which is disadvantageous. Or there is no issue whatsoever Driver will be so no over the presence of a traffic sign informs.
  • Of the The invention is thus based on the problem of specifying a motor vehicle, even in such cases adapted to the situation driver information is possible.
  • to solution the problem is in a motor vehicle of the aforementioned Art provided according to the invention, that in dependence the probability of correctness of the detection of the traffic sign or its regulatory content, the output between a first output form at lower probability and a second output form at higher Probability is changeable.
  • At the motor vehicle according to the invention There are two different types of output that are dependent on the likelihood of a proper traffic sign or vehicle registration chosen become. The traffic sign detection facility recognizes Traffic sign or a regulatory content and assigns him one Probability value with regard to the correctness of the recognition to. This will, if the detection is done without doubt, 100 %, but may be lower in different circumstances. Further is defines a probability limit, e.g. 75% probability above which of a high probability of correctness the detection is going off, and the traffic sign or the Regulatory content is presented in a second output form. Below This probability limit is the probability that the recognition is correct, much lower, it will be the first Output form selected. About these Output forms the driver can recognize and immediately distinguish how safe the given information is. The driver receives so In any case, information about that a traffic sign or a certain regulatory content has been recognized, as well as a Information about it gets how likely the correct capture and its resulting Information is.
  • When Different forms of output are different possibilities conceivable. After a first invention alternative can in the first Output form a monochrome representation or gray value representation e.g. a pictogram-like image of the supposedly recognized Road sign or its regulatory content, while in the second output form that recognized with high probability correctly Traffic sign or its regulatory content is displayed in color, e.g. also pictogram-like or the like. The driver recognizes So immediately on the basis of the color of the presentation, whether the given Information is secured or unsecured.
  • A second alternative provides that in the first output form, a camera image showing the traffic sign is output. If the recognition is not saved, the original image that the camera has taken is output. Optionally, in the presentation, the traffic sign enlarged and thus highlighted. In the second embodiment, in this variant of the invention, a symbol showing the traffic sign or its regulatory content is displayed, so that the driver can thus recognize and distinguish the probability of the correctness of the detection on the basis of the type of representation (original image, symbol representation).
  • Farther can be considered alternative or additional output option be provided that in the first output form one the lower Probability indicating symbol, in particular a question mark or the like is issued. For example, the Output in the first as well as in the second output form always colored, the respective Ausga can form and thus the probability the correctness over the additional symbol, such as a question mark on a probability be detected below the limit. So for example speed limiting sign, e.g. recorded a 100 km / h sign and if the capture is not secured, this may be for example Sign will be issued in color, in addition, but also a big, eye-catching and if necessary blinking question mark with. With correct Capture only the sign is shown in the second output form. The possibility Of course, a symbol accessory such as the question mark is also in the different embodiments described above conceivable.
  • Finally, can also as another display alternative or additional Display option provided be that in the first output form a flashing display and in the second output form, a permanent representation takes place. The driver can then recognize when the display is flashing, that the likelihood of the accuracy of detection below the probability limit, with permanent representation the information is considered secure.
  • In in every case there is the possibility in a representation in the first output form, so if the probability below the probability limit, an additional one output acoustic signal to inform the driver in addition acoustically.
  • from time to time are associated with certain traffic signs additional characters, usually below the actual traffic sign, e.g. a speed-limiting Traffic signs, are arranged and e.g. a time limit over the above arranged speed-limiting shield defined Regulation. Again, depending on the situation, it may come to one Unsecure capture of the shield or its Control content. In this case, when capturing a the traffic sign assigned additional character the output of the same or its regulatory content between a first output form with less probability, in particular as an information-less pictogram-like representation, and a second output form at higher Probability, in particular in the form of its regulatory content be reproduced pictogram-like representation, be varied. Also Here is a corresponding differentiation. Will the additional sign is not recorded correctly, so it is for example in the output Presentation as white area or as a white shield together with the above correctly recorded bid sign played. If, on the other hand, it is recorded correctly, it is similar to the assigned traffic signs, a corresponding representation the additional sign or a corresponding pictogram-like representation Etc.
  • An expedient development of the invention provides that the device for traffic sign recognition, in particular its control device, is designed to carry out a plausibility check of its own detection result on the basis of at least one information of at least one further driver assistance or operating system or its sensors or control device. After modern motor vehicles have different driver assistance and operating systems, such as a navigation system or an ACC system (ACC = adaptive cruise control = longitudinal guide system) with appropriate sensors, it is possible to match based on one or more information of such an additional system, the own detection result and to check for plausibility. For example, if the integrated navigation system indicates that the vehicle is in or shortly before a construction site area and if the traffic sign recognition device detects a speed-limiting road sign of 80 km / h, for example-regardless of the probability of the actual registration-information can be obtained From the navigation system that you are in a construction site area or just before, the speed limit is recognized as plausible. Because it is common that in the field of construction sites, especially on highways, the speed is significantly limited. Similarly, for example, can be dealt with information of an ACC system. If, via the ACC sensor system, the distance to the vehicle in front decreases relatively quickly and the vehicle driving out of the vehicle drives relatively slowly, and at the same time a speed-limiting sign is detected with what probability, the ACC information concerning the distance and the speed of the vehicle ahead also here the speed limits be defined as plausible, after it has been assumed that the preceding vehicle has reduced its speed due to the speed limit provided.
  • Further Advantages, features and details of the invention will become apparent the embodiment described below and with reference to the Drawings. Showing:
  • 1 a schematic diagram of a motor vehicle according to the invention, and
  • 2 a schematic representation of the different display modes depending on the probability of detection.
  • 1 shows a motor vehicle according to the invention 1 comprising a device 2 for traffic sign recognition, which in turn is a camera 3 , which is directed forward, looking through the windshield, and detects the vehicle apron, one of these associated control device 4 with an image processing and detection means as well as a display 5 on which a recorded traffic sign or its regulatory content is issued. Also provided is an acoustic signal means 6 For example, here is the speaker system of the usually integrated infotainment system of the motor vehicle used to output if necessary, an acoustic information.
  • The control device 4 is also with different, here two driver assistance or operating systems 7 . 8th communicatively connected, each via various sensors 9 . 10 where appropriate, are recorded on the corresponding environmental or operational or situation information, where appropriate, the control device 4 be given and processed in the context of traffic sign recognition.
  • As driver assistance systems 7 . 8th For example, a navigation system and an ACC system are conceivable, but the embodiment according to the invention is not limited thereto.
  • About the camera 3 is as described continuously recorded the vehicle apron. The camera image is continuously the control device 4 which analyzes in real time the camera image for the presence of any traffic signs. When such a traffic sign is detected, it is checked how probable the accuracy of the detection is. The control device 4 So it's sort of a probability value for the determination or analysis result. Depending on this probability value, the type of output of the traffic sign or of the detected regulatory content varies on the display 5 ,
  • 2 shows by way of example in the form of a tabular form the different display options. The control device 4 differentiates two different forms of output, wherein the choice of one or the other depends on whether the defined probability associated with the successful traffic sign recognition is greater or less than a probability threshold. In 2 the defined probability is indicated by W, while the probability threshold is indicated by W S. The probability threshold can be, for example, 75%, or 80% or 90%, this can be defined by the manufacturer.
  • In the example shown is about the camera 3 a traffic sign 11 , here a speed-limiting sign that limits the speed to 80 km / h, recorded. The control device 4 now analyzes the camera image. The detection can be complicated by the fact that the traffic sign 4 For example, it may be dirty, it may for example be twisted to the road, so that it is only obliquely detected from the side, a branch may hang in front, etc. In such a case, with a lower probability probability to be expected after, for example, dirty road sign control device 4 can not reliably detect the sequence of numbers.
  • Depending on the assigned probability degree W in relation to the probability threshold value W S , the representation now varies. The display options (second output form) are shown in the tabular list on the left, if it is highly probable, ie if W> W S. With an assumed probability threshold of 75%, W> 75%. On the right in the tabular representation, the display forms (first output form) are for a lower probability, so if W <W S = 75%.
  • Under a) two output forms are shown, which differ in color. When detected with high probability, the detected traffic sign becomes 11 or its control content, in this case the 80 km / h, shown in color. With less probability, the representation follows monochrome, eg black / white.
  • As under b) is in a second display mode at a secured representation of a permanent display possible, the is called, the road sign or the regulatory content becomes permanent and lasting displayed. In the case of an unsecured detection, a flashing display takes place here, this means, The displayed traffic sign symbol flashes rhythmically.
  • In a third display mode c) takes place in the second display form with secured recognition a traffic sign or control content representation without additional symbol, while unsecured, first output form with an additional symbol is issued with, for example, a large, eye-catching question mark, which may additionally flash or may be conspicuously colored or the like.
  • Finally, in the second output mode with secure recognition, a fourth output mode d) provides for outputting a pictogram of the traffic sign or its control content, while in the first output form with unsecured recognition the original image of the camera 3 is represented, or a section thereof, which represents the difficult to recognize traffic sign in an enlarged form. The driver thus sees the actual registered license plate.
  • Additionally there is the possibility, in each case to the first expenditure forms, as in the right column in 2 are shown, in each case a sound signal via the acoustic signal means 6 issue.
  • As described, the controller communicates 4 with the two driver assistance systems 7 . 8th , About this can be tapped information, it is possible to check the recognition result for plausibility. If, for example, a speed-limiting sign is detected and if a driver assistance system such as the navigation system recognizes that the vehicle is in a construction area or is approaching a construction site area where a speed limit is probable, this information can be used to detect, for example, 80 km / h -Schilds plausibility, so be verified. Also, this can be used to increase the probability of detection, for example. If, for example, if the road sign is slightly dirty, a probability degree of accuracy of detection is smaller than the probability threshold, but results from one or more driver assistance system information that one is, for example, in a construction site area or the like, then the probability value W can be increased by a certain amount and, if appropriate, the Exceed probability threshold, so that then but can be assumed that a secure detection. That is, taking into account the information of one or more driver assistance systems, despite the original likelihood less likely the traffic sign or control content display can be selected for a secure detection.

Claims (8)

  1. Motor vehicle with a device ( 2 ) for traffic sign recognition comprising a camera ( 3 ), a control device ( 4 ) for determining any road sign contained in the camera image ( 11 ) and / or its regulatory content, and a display ( 5 ) for outputting a representation of the traffic sign ( 11 ) or information regarding its regulatory content, characterized in that depending on the probability of correctness of the detection of the traffic sign or its regulatory content, the output between a first output form with less probability and a second output form with higher probability is changeable.
  2. Motor vehicle according to claim 1, characterized in that that in the first output form a monochrome representation or Gray value representation and in the second output form a colored one Representation takes place.
  3. Motor vehicle according to claim 1, characterized in that in the first output form the traffic sign ( 11 ) and in the second output form the traffic sign ( 11 ) or its control content showing symbol is displayed.
  4. Motor vehicle according to one of the preceding claims, characterized in that in the first output form one the lower Probability indicating symbol, in particular a question mark or the like is issued.
  5. Motor vehicle according to one of the preceding claims, characterized characterized in that in the first output form a flashing display and in the second output form, a permanent representation takes place.
  6. Motor vehicle according to one of the preceding claims, characterized characterized in that in a representation in the first output form an additional acoustic signal is negotiable.
  7. Motor vehicle according to one of the preceding claims, characterized in that when detecting a traffic sign ( 11 ), the output of the same or its control content between a first output form with less probability, in particular as an information-less pictogram-like representation, and a second output form with a higher probability, in particular in the form of a pictorial representation reproducing its regulatory content, changeable.
  8. Motor vehicle according to one of the preceding claims, characterized in that the device ( 1 ) for traffic sign recognition, esp in particular their control device for carrying out a plausibility check of the own detection result on the basis of at least one information of at least one further driver assistance or operating system ( 7 . 8th ) or its sensors or control device is formed.
DE200610008656 2006-02-24 2006-02-24 Motor vehicle with a device for traffic sign recognition Withdrawn DE102006008656A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200610008656 DE102006008656A1 (en) 2006-02-24 2006-02-24 Motor vehicle with a device for traffic sign recognition

Applications Claiming Priority (3)

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DE200610008656 DE102006008656A1 (en) 2006-02-24 2006-02-24 Motor vehicle with a device for traffic sign recognition
DE200750000013 DE502007000013D1 (en) 2006-02-24 2007-01-26 Motor vehicle with a device for traffic sign recognition
EP20070001706 EP1826736B1 (en) 2006-02-24 2007-01-26 Motor vehicle with a device for road sign recognition

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Cited By (7)

* Cited by examiner, † Cited by third party
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DE102007004453A1 (en) * 2007-01-30 2008-07-31 Volkswagen Ag Road sign information e.g. actual effective allowable maximum speed, rendering method for vehicle i.e. passenger car, involves displaying dependence information that characterizes dependency of rendered road sign information
DE102008057675A1 (en) 2008-11-17 2009-07-02 Daimler Ag Traffic sign recognizing method for driver of vehicle, involves assigning additional character to traffic sign, searching additional character in given positions, and detecting additional character by edge detector and grey value detector
DE102008037268A1 (en) 2008-08-11 2010-02-18 GM Global Technology Operations, Inc., Detroit Motor vehicle has data transmission device for transmitting and receiving data of another vehicle, and traffic sign is detected and evaluated with image detection system
DE102008054041B3 (en) * 2008-10-31 2010-06-10 Audi Ag Method for outputting of image of image recording device with information to display device i.e. LCD-device, in motor vehicle i.e. passenger car, involves considering intensity of image recorded by recording device as image information
DE102012011152A1 (en) * 2012-06-05 2013-12-05 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Driver assistance system for vehicle, has image processing unit to decide whether traffic sign is additive design associated with text areas for extracting text areas in image section and for reproducing image detail on display panel
WO2017144319A1 (en) 2016-02-25 2017-08-31 Bayerische Motoren Werke Aktiengesellschaft Method for detecting roadworks
DE102017200545A1 (en) 2017-01-16 2018-07-19 Continental Teves Ag & Co. Ohg Device and method for detecting a construction site for a motor vehicle

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DE102007058542A1 (en) 2007-12-06 2009-06-10 Robert Bosch Gmbh Driver assistance system for monitoring driving safety and corresponding method for detecting and evaluating a vehicle movement
DE102010039634B4 (en) 2010-08-23 2013-05-08 Ford Global Technologies, Llc Arrangement and method for traffic sign recognition
DE102010062633A1 (en) 2010-12-08 2012-06-14 Robert Bosch Gmbh Method and device for detecting traffic signs in the vicinity of a vehicle and comparison with traffic sign information from a digital map
DE102012104069B3 (en) * 2012-05-09 2013-03-14 Continental Teves Ag & Co. Ohg Method for operating assistance system of vehicle i.e. motor car, involves outputting track recommendation to driver of vehicle depending on actual speed of vehicle and tentative velocity recommendation specified for multiple lanes
US10380437B2 (en) 2014-10-14 2019-08-13 Toyota Motor Europe Systems and methods for traffic sign assistance

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DE19736774A1 (en) * 1997-08-23 1999-02-25 Bosch Gmbh Robert Information display method in vehicle
DE19982422C1 (en) * 1998-11-14 2003-03-13 Daimler Chrysler Ag Road sign recognition device reduces image data to simplified representation by erasing regions containing class-specific attribute data

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DE10200784A1 (en) * 2002-01-11 2003-07-31 Audi Ag motor vehicle
EP1383098B1 (en) * 2002-07-09 2006-05-17 Accenture Global Services GmbH System for automatic traffic sign recognition

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DE19736774A1 (en) * 1997-08-23 1999-02-25 Bosch Gmbh Robert Information display method in vehicle
DE19982422C1 (en) * 1998-11-14 2003-03-13 Daimler Chrysler Ag Road sign recognition device reduces image data to simplified representation by erasing regions containing class-specific attribute data

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007004453A1 (en) * 2007-01-30 2008-07-31 Volkswagen Ag Road sign information e.g. actual effective allowable maximum speed, rendering method for vehicle i.e. passenger car, involves displaying dependence information that characterizes dependency of rendered road sign information
DE102008037268A1 (en) 2008-08-11 2010-02-18 GM Global Technology Operations, Inc., Detroit Motor vehicle has data transmission device for transmitting and receiving data of another vehicle, and traffic sign is detected and evaluated with image detection system
DE102008054041B3 (en) * 2008-10-31 2010-06-10 Audi Ag Method for outputting of image of image recording device with information to display device i.e. LCD-device, in motor vehicle i.e. passenger car, involves considering intensity of image recorded by recording device as image information
DE102008057675A1 (en) 2008-11-17 2009-07-02 Daimler Ag Traffic sign recognizing method for driver of vehicle, involves assigning additional character to traffic sign, searching additional character in given positions, and detecting additional character by edge detector and grey value detector
DE102012011152A1 (en) * 2012-06-05 2013-12-05 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Driver assistance system for vehicle, has image processing unit to decide whether traffic sign is additive design associated with text areas for extracting text areas in image section and for reproducing image detail on display panel
WO2017144319A1 (en) 2016-02-25 2017-08-31 Bayerische Motoren Werke Aktiengesellschaft Method for detecting roadworks
DE102016202973A1 (en) 2016-02-25 2017-08-31 Bayerische Motoren Werke Aktiengesellschaft Method for recognizing a road construction site
DE102016202973B4 (en) 2016-02-25 2018-05-17 Bayerische Motoren Werke Aktiengesellschaft Method for recognizing a road construction site
DE102017200545A1 (en) 2017-01-16 2018-07-19 Continental Teves Ag & Co. Ohg Device and method for detecting a construction site for a motor vehicle

Also Published As

Publication number Publication date
DE502007000013D1 (en) 2008-06-19
EP1826736B1 (en) 2008-05-07
EP1826736A1 (en) 2007-08-29

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