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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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).
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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.
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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.
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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.
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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.
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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.
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Further
Advantages, features and details of the invention will become apparent
the embodiment described below and with reference to the
Drawings. Showing:
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1 a schematic diagram of a motor vehicle according to the invention, and
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2 a schematic representation of the different display modes depending on the probability of detection.
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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.
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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.
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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.
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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 ,
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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.
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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.
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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%.
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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.
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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.
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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.
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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.
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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.
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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.