DE102006023544A1 - Method for operating a motor vehicle comprises distinguishing between different classes of surroundings based on data measured by a camera and activating the operation of a support function depending on each determined surroundings data - Google Patents

Abstract

Method for operating a motor vehicle comprises distinguishing between different classes of surroundings based on data measured by a camera and activating the operation of a support function depending on each determined surroundings data. An independent claim is also included for a device for operating a motor vehicle. Preferred Features: Street signs, road markings and parked vehicles are photographed by the camera and recognized by an evaluating unit.

Description

The Invention is in the field of motor vehicle operation, more precisely of such automobiles that have automatic support functions for the Driver to increase driving safety and comfort.

It Various methods are related to the prior art known with the operation of motor vehicles that support the driver.

For example, is from the DE 199 38 266 A1 a method and a device for the electronic detection of traffic signs are known, wherein a camera acquires environmental data and interprets images by means of a pattern matching method and provides the driver with recognition aids for traffic signs. In this case, more extensive traffic flow parameters and / or traffic signs are used for interpretation, if a traffic sign is not electronically clearly recognizable.

Also from the DE 198 29 162 A1 is a system for detecting traffic signs by means of an electronic camera known. The system described therein serves to correct and warn the driver who does not behave according to the traffic signs. For this purpose, driving parameters are compared with the requirements associated with the traffic signs.

From the DE 197 36 367 74 A1 For example, a method for displaying information in a vehicle is known in which, inter alia, a traffic sign that has been detected by a camera is displayed. Further processing of the information conveyed by the traffic sign initially does not take place. However, according to this disclosure, the actual driving behavior is compared with the specifications of traffic signs and possibly signals a deviation.

The The present invention more specifically relates to a method for Operation of a motor vehicle, with at least one at least partially automated support function for the Driver and with a collection of environmental data by means of a Camera and a processing of collected data by means of a Data processing device.

Of the Invention is based on the object, the support function to use optimally and thereby a high comfort with high driving safety connect to.

The The object is achieved by the Characteristics of claim 1 solved.

The Camera, which in modern motor vehicles often for certain anyway Assistance systems is present, in addition to the Collection of data used, which evaluated in an evaluation unit be to analyze the driving environment and the particular situation to associate a particular class of environments from a selection.

In dependence from the respectively assigned environment class becomes then a certain one for the Situation appropriate mode of support function activated.

Of the Invention is based on the idea that many support functions such as an automatic distance compliance system, a lane departure system (for warning when leaving the track or for automatic Compliance with the infrastructure) the usefulness of support or Assistance system depends on for example, if the vehicle is within a closed Locality or outside a village, on a country road or on a motorway.

For example is possibly a lane departure system on a highway reliable to use as on a highway and the system can in this Environment a higher Measure Decision-making competence in driving operation. In other Environments should be the lane-departure system be better switched off or restricted in its action, because the input gained by this system is rather annoying than useful would be like for example within closed villages. To the driver however, by deciding whether a particular assistance system makes sense to use or how reliable the system in the respective environment is to relieve, which serves present invention to the nature of the respective driving environment determine and associate one of certain prior art classes of environments, out of it for to deduce the implications of the application of certain driver assistance systems.

Advantageous can from the camera to street signs be recorded and recognized by the evaluation or even Road markings, traffic lights, pedestrian crossings or at the edge of the road parked vehicles.

The road signs can give information on the driving environment through their information content, which can be analyzed. In this case, for example, entry or exit signs can be analyzed, with the results possibly not yet being completely reliable. It is also at For example, on motorways, the large information labels located above the roadway can be evaluated and, in general, the color of the signs following a specific code.

Also the lane markings are typical of certain environments where Turning arrows, stop line and side edges or dashed Center lines are evaluable.

lights and pedestrian crossings are strong signs of an environment in a closed area, as well as at the edge of the road parked vehicles that at least certain Exclude classes of environments such as a Highway.

Often is the class of environment from a single recognized character not detectable, so that different characters are used have to, the partial probabilities for to provide the presence of certain environments.

For example can Traffic lights also on country roads occur, however, when parked together with at the roadside Vehicles occur, so it is more likely that the environment is within a closed town.

In addition to the detected optical information, the vehicle speed profile recorded and evaluated, for example, via and startup operations and top speeds Information gives.

Also the steering angles give information about the shape of intersections, with right-angled bends Motorways do not occur, but on rural roads and in urban areas.

Basically the environmental class by comparing the detected and if necessary preprocessed data with given empirical data of different Environment classes determined. It thus becomes the observed pattern compared with a database to compare trend matches to be able to.

there are certain empirical data of the database depending predeterminable by the situation. For example, the expected Pattern in European Abroad, unlike in Germany, because of certain practices in the Design of roads, Traffic signs and other elements of road traffic from state to state vary. Thus, for example, a state can be set and with it certain parts of the database for comparison and identification the actual Driving situation are used.

Furthermore an environment class can also be set manually if For example, the driver determines that the driving behavior for the driving environment is not typical and he does not want that, contrary to his better knowledge, detects a driving environment and set, which is not optimal in reality.

There It is certainly often forgotten that a driving environment is manual was set, can be advantageously provided that when changing the driving environment, the inventive device the new driving environment also sets against the manually entered environment class.

Want the driver still continues to adjust manually, so he has to Do this again by changing the environment class. This will but the forgetfulness of the driver prevented.

Advantageous Is used as a CCD camera color or black and white camera of conventional design, which is typically directed forward on the route and through the windshield takes pictures through.

Advantageous can also be provided that the support function is a low-speed following system is that allows you to own the vehicle without your own intervention in the flow of traffic Move by automatically following a leading vehicle or an ACC system (please to the client, this more to specify), a pedestrian protection system, at the pedestrian automatically be recognized, a lighting control system, that prevents dazzling oncoming traffic, a lane departure system, a lane-keeping system, which automatically holds the vehicle on the road as well as any other well-known system that enhances ride comfort without interference the driving safety lifts.

The The present invention additionally relates to a device for operating a motor vehicle with a camera, a device to provide a support function, an evaluation device for data captured by the camera, an allocation device that assigns an environment class to the data of the evaluation function and a control device, which depends on the assigned Environment class activates an operating mode of the support function.

By means of the association device, which determines an environmental class, and the control device, which activates a specific operating mode of the assistance function, an optimized support function is created according to the invention, which thus differentiated to the respective driving situation is customizable. As a result, the driver is better supported depending on the situation and because of the more concrete situation reference, a higher level of safety can also be guaranteed.

Advantageous is a database for mapping the data to an environment class provided in a non-volatile memory, on a CD or DVD or similar Storage medium, can be deposited.

From the data of the database by preselecting, for example, a state of certain data as applicable, so that differences in road traffic different states or continents.

in the The following is the invention with reference to an embodiment in a drawing shown and then described.

there shows

1 schematically a typical traffic situation;

2 a flow diagram of the method according to the invention;

3 a schematic representation of the device according to the invention.

The 1 shows from above a motor vehicle 1 in a normal traffic situation in front of a crossroads 10 , The motor vehicle moves in the direction of the arrow 9 on the crossroads 10 to. There are lane markings in the detection area of the camera installed behind the windshield and pointing forward in the direction of travel 4 . 5 , Traffic sign 2 , a traffic light 3 and a crosswalk / pedestrian crossing marker 6 ,

In addition, from the camera as usual in lane departure systems, the lane markings 7 (Median strip) and 8th (Edge strip) detected.

The recognition of one of the known features in itself often does not yet allow the reliable assignment of an environmental class, such as a traffic light 3 that can occur both inside and outside a built-up area.

Therefore be possible Many of the mentioned features are detected and analyzed, so that from the common occurrence of these features or some of these Features in a certain temporal context with certain probabilities that Presence of certain environmental classes can be detected.

To can additionally Information about the instantaneous driving speed or over the Speed profile in the past minutes of the ride as well information about steering angles be used.

Out This information can be used to derive further conclusions.

For example can the different detectable features with different scores be provided with different probabilities for the presence speak different environmental classes and then it can be statistical a total score will be evaluated to an environment class assigned.

With the said procedure may become the appropriate environment class, for example, closed town, not immediately after crossing the city entrance sign detected, but at least a short time later, if the typical signs of a closed town.

This however, is not detrimental because of the signs thus determined only practical suggestions for certain modes of function wizards are determined, for example a system for the automatic keeping of driving distances or a system for controlling the vehicle lighting.

In In this case, the function assistant will not be changed until indeed the corresponding characteristics are present which correspond to the set operating mode be advantageous. In a lighting control system For example, a mode can be set in-town, the the headlights stronger dimming or deflects to the right edge of the road and in any case the strong fading or the operation of additional Headlamps for the illumination of traffic signs restricts.

One corresponding lane departure system would at least be placed in a "city" mode, in the Deviations of the detected road course are more easily tolerated as outside of closed villages.

In the 2 is on the left with the arrow 11 the time course is shown, where successively different events 12 . 13 . 14 each entering the identification of a particular traffic sign, a lane marking or other information of relevant kind in the streets Display traffic through the electronic camera. The corresponding events or recognized characters are identified in an evaluation device not shown in detail and the allocation device 15 which is in the data exchange with a database 16 stands. Database 16 contains various storage devices 17 . 18 . 19 that store certain environment class scenarios.

The allocation device now either assigns individual events 12 . 13 . 14 or certain groups of co-occurring events a scenario 17 . 18 . 19 or an environment class, if this is clearly possible. Often it is only possible to allow for the existing collected data, the assignment of the corresponding environmental classes with certain probabilities.

Then will be the one with the highest Probability appropriate environment class selected and based on the further control.

Of the The process of assigning an environment class is repeated periodically or after certain triggering Events, for example, at the option of the driver.

After a certain environment class is selected, the corresponding information is sent to the controller 20 given corresponding to the support function 21 sets a suitable mode or parameters for optimal functioning in the given environment.

The support function can do this 21 For example, be a device for pedestrian protection, for lighting control or a lane departure system and a distance control system for a motor vehicle. In this case, for example, in the case of a distance warning system, the optimum distance to the vehicle driving ahead in the city center is set lower than outside a closed locality. For example, a lighting control system can be restricted in its regulation, so that other road users are not unnecessarily blinded in the city, since in many places there is sufficient roadway lighting anyway.

3 schematically shows a camera 22 behind a windshield 23 a motor vehicle mounted and aligned forward in the direction of travel. An evaluation device that performs the digital image analysis and analyzes corresponding traffic signs or other features of the environment is with 24 designated.

The evaluation device 24 gives the information about the existing traffic signs and other features to the allocation device 15 that with the database 16 as described above and performs a comparison between the detected features and the stored scenarios or the environmental classes and the features usually occurring there.

In addition, the allocation device is provided by a speed detection device 25 as well as from a facility 26 for detecting the steering deflection transmitted the respective measured variable, which additionally processes the allocation device. In addition, a timing device in the form of a digital clock 27 provided, each of which gives measurements a time stamp, before that of the allocation device 15 be supplied. This can also be taken into account in the evaluation, as often occur in the time unit certain signals, traffic signs and other features. This applies to both the camera 22 captured data as well as from other sensors 28 collected information.

The allocation device 15 after weighing up any probabilities, allocates a most probable environmental class to the current driving environment and transmits it to a control device 20 , This is with one or several function assistants or support functions 21 connected and sets the appropriate parameters in this or a suitable mode. In this way, the functioning of the corresponding support functions for the respective driving environment or the environment class is optimized. The ride comfort and driving safety can thus be increased beyond the previously known extent.

1

motor vehicle

2

road sign

3

traffic light

4

road marking

5

road marking

6

Crosswalk / pedestrian crossing marking

7

central reservation

8th

edge strips

9

movement direction of the motor vehicle

10

crossing

11

over time

12 13, 14

Various Events

15

allocator

17 18, 19

storage devices

20

control device

21

support function

22

camera

23

Windshield

24

evaluation

25

Speed detection means

26

Facility for detecting the steering angle

27

Timing means

28

sensors

Claims (17)

Method for operating a motor vehicle ( 1 ) with at least one at least partially automated support function ( 21 ) for the driver and with the acquisition of environmental data by means of a camera ( 22 ) and processing of acquired data by means of a data processing device characterized in that on the basis of the camera ( 22 ) distinguished data between different classes of environments and depending on the respectively determined environment class a particular mode of the support function ( 21 ) is activated. Method according to claim 1, characterized in that from the camera ( 22 ) Street signs ( 2 ) and detected by an evaluation device. Method according to claim 1 or 2, characterized in that from the camera ( 22 ) Road markings ( 4 . 5 . 6 . 7 . 8th ) and recognized by the evaluation device. Method according to Claim 1 or one of the subsequent claims, characterized in that the camera ( 22 ) Traffic lights ( 3 ) and recognized by the evaluation device. Method according to Claim 1 or one of the subsequent claims, characterized in that the camera ( 22 ) Crosswalks ( 6 ) and recognized by the evaluation device. Method according to Claim 1 or one of the subsequent claims, characterized in that the camera ( 22 ) parked at the edge of the road and recorded by the evaluation device. Method according to claim 1 or one of the following characterized in that additionally the Driving speed profile with respect to the time is evaluated. Method according to Claim 1 or one of the following, characterized in that in addition steering angles of the vehicle ( 1 ) and taken into account. Method according to claim 1 or one of the following characterized in that the environment class set manually can be. Method according to claim 9, characterized in that that with every change the environment class the evaluation device the new environment class and, if necessary, modify the manual setting. Method according to Claim 1 or one of the following, characterized in that the camera ( 22 ) is directed forward in the direction of travel. Method according to claim 1 or one of the following characterized in that the environment class by comparison the collected data with given empirical data of different environmental classes is determined, taking into account the empirical data depending on can be specified by the driving situation. Method according to claim 12, characterized in that that for different states different experience data can be specified are. Method according to Claim 1 or one of the following, characterized in that the support function ( 21 ) is a low-speed following system, an ACC system, a pedestrian protection system, a lighting control system, a lane departure system or a lane keeping system. (Request to client: Please explain ACC system) Device for operating a motor vehicle with a camera ( 22 ), a facility to provide a support function ( 21 ), an evaluation device ( 24 ) for data captured by the camera, an allocation device ( 15 ), which assigns an environmental class to the data evaluated by the evaluation device and a control device ( 20 ), which depending on the associated environment class, an operating mode of the support function ( 21 ). Device according to claim 15, characterized in that the allocation device ( 15 ) via a database ( 16 ) with empirical data and associated environmental classes. Device according to claim 16, characterized in that the database ( 16 ) is ordered according to different states, wherein the driver of the motor vehicle, a state is selectable.