DE102007048842A1 - Control device for driver assistance system, has decision component providing decision about generation of output signal using information, where signal provides correctness of current driving direction, and output for outputting signal - Google Patents

Abstract

The device has an input for receiving image information captured by a camera (K). The image information provides information on a set of objects (LP) from a vehicle (F). An evaluation component evaluates the image information for recognizing front and back views of the objects. A decision component provides decision about the generation of an output signal using information determined by the evaluation component, where the output signal provides the correctness of a current driving direction of the vehicle, and an output for outputting the output signal. Independent claims are also included for the following: (1) a method for operating a driver assistance system for a vehicle (2) a computer program product for a driver assistance system for a vehicle.

Description

The The invention relates to a control device for a driver assistance system for a vehicle.

Under the concept of driver assistance systems (English: ADAS, Advanced Driver Assistance Systems) functions are summarized which to assist the driver of a motor vehicle. The aim of the driver assistance systems is often the increase safety by avoiding dangerous situations their emergence and the support of the driver for accident prevention in critical situations. Other goals are the increase of comfort through stress reduction and relief the driver in standard situations, facilitating orientation by situation-dependent prepared and driver-appropriate mediated Environment information, as well as the increase of driving pleasure.

Examples for driver assistance functions are traction control or traction control such as ABS (antilock braking system), ASR (traction control), ESP (Electronic Stability Program), EDS (Electronic Stability Program) Differential lock), as well as adaptive headlights, fade-in and dimming assist for driving lights, night vision systems, Cruise Control, Park Assist, Brake Assist, ACC (Adaptive Cruise Control) distance control, distance warning, turn assistant, traffic jam assistant, Lane Detection System, Lane Keeping Assist, Lane Keeping Assist, Lane Change Assistant, ISA (Intelligent Speed Adaptation), ANB (Automatic Emergency braking), curve assistant, tire pressure monitoring system, driver condition detection, Traffic sign recognition, Platooning.

Of the Invention is based on the object, an efficient control device for a driver assistance system, and a corresponding Driver assistance system, a method for operating a driver assistance system and to show a computer program product.

These Task is performed by a control device with the features of Claim 1, and by a driver assistance system, by a method and a computer program product with features of siblings Claims solved. Advantageous embodiments and further developments are the subject of dependent claims.

The Control device according to the invention comprises a Input for receiving image information captured by a camera, the image information being specific objects from the environment of Vehicle, whose front view differs from their rear view different. Furthermore, an evaluation component is available to evaluate the image information to recognize the front and Rear view of specific objects, and a decision component for deciding on the creation of an output signal using the value determined by the evaluation component Information, wherein the output signal is the correctness of the current Direction of travel of the vehicle concerns. Finally one is Output available for outputting the output signal.

The Camera, which is preferably oriented to the front, takes picture information on. The image information forms at least part of the vehicle environment from. Instead of a single camera, this feature can also be done by two or more cameras are met.

The Image information concerns, at least among other things, certain objects, d. H. includes the vehicle environment recorded by the camera these particular objects. The particular objects are preferably stationary objects. It is possible to determine the correctness the direction of travel to consider only one type of objects; alternative can also consider several object types become.

The specific object each have a front view and a back view. The two views correspond to opposite sides of an object; If you look at the front view, that is the back view not visible and vice versa. In relation to a single object is thus a simultaneous view of the front and rear view not possible. The front and the rear view the particular objects are different from each other. Ie. at Contemplation of the front view or the rear view can be determined that it is the front view or the Rear view and not the other view is.

From the evaluation component is an evaluation of the image information performed. Here, the evaluation component is able to Front and back view of certain objects from each other to distinguish and thus determine with respect to a particular object whether the camera took the front or the rear view Has.

From The information determined in the evaluation component is sent to the Decision element passed. The decision component decides whether an output signal is to be output and if necessary which content the output signal should have. Due to the use The information of the evaluation component depends on the output signal depending on whether the image information is the front or back view one or more specific objects.

The Output signal relates to the correctness of the current direction of travel. The correctness hereby refers to that in most For vehicles admitted lanes a certain direction of travel is predetermined, which is to be kept. Drives a vehicle in the reverse direction, his current direction of travel is not correctly.

The For example, certain objects may be in the environment a traffic lane accessible only in one direction of travel in such a way be arranged that the front view when looking in the direction This direction of travel is visible. This means that the picture information contain the front view of certain objects when the Vehicle moved in the correct direction of travel. At only in One driving direction traffic lane is this direction given as binding, such. B. in a one-way street.

In Development of the invention include the specific objects marking devices to mark a roadside. An example of this is Delineators. In this case, the evaluation component can be formed be for detecting located on the guide post reflectors. The reflectors of the front view can z. By shape, Number, color, size or their basic presence different from those of the rear view.

In Development of the invention include the specific objects traffic signs. In this case, the evaluation component can be designed for Detecting an arrangement of a fastening device of the traffic sign, z. B. the post of the traffic sign. This can be examined in particular be how the fastening device relative to attached to the actual sign. Additionally or Alternatively, the evaluation component can be designed for recognition content of traffic signs. This can be used to differentiate the front of the rear view z. B. the presence used by characters or color, which is usually only to be expected on the front view.

In Embodiment of the invention, the decision component is formed for generating an output signal based on an evaluation of image information concerning at least two of the particular objects. This serves the Increasing the reliability of the output signal against viewing only one object.

one Another embodiment of the invention according to a traffic sign recognition component available for evaluation the image information for detecting traffic signs indicating an entry ban, wherein the decision component is adapted to decide on the creation of the output signal using from the traffic sign recognition component determined information, wherein the output signal is the entrance of the vehicle into a prohibited area. This can - at Presence and recognition of an entry ban Traffic sign - be avoided that the vehicle enters a certain area.

The inventive driver assistance system comprises a control device of the kind explained and an the output connected to output the output signal interface to the driver of the vehicle, using the interface information the output signal to the driver are transferable. hereby the driver can be made aware that he is in the wrong direction drives. Alternatively or in addition this can be one to the output for outputting the output signal connected interface to a control device of the vehicle be provided, wherein the control device is designed for Braking the vehicle towards the output signal. additionally to slow down or in addition to this it is possible that the control device causes other measures.

at The inventive method are of a Camera captured image information received, with the image information concern certain objects from the environment of the vehicle, whose Front view is different from their rear view. The image information becomes the recognition of the front and rear views evaluated the particular objects, and about the creation an output signal is decided using the evaluation determined information. Here, the output signal relates the correctness of the current direction of travel of the vehicle. After all the output signal is output.

The computer program product according to the invention has the functionality of an input for receiving image information acquired by a camera, the image information relating to specific objects from the surroundings of the vehicle whose front view differs from their rear view, and via the functionality of an evaluation component for evaluating the image information for recognition the front and rear view of the particular objects, and the functionality of a decision element for deciding on the creation of an output signal using information determined by the evaluation component, wherein the output signal relates to the correctness of the current direction of travel of the vehicle, and the functionality of an output to Outputting the output signal. Under a computer program In connection with the present invention, in addition to the actual computer program (with its technical effect beyond the normal physical interaction between the program and the arithmetic unit), in particular a product may be a record carrier for the computer program, a file library, a configured arithmetic unit, but also for example a memory device or a server on which the files associated with the computer program are stored.

The Computer program product according to the invention and the Inventive methods are particularly suitable for the control device according to the invention, this also applies to the embodiments and developments can. For this they can take further suitable steps or Include functionalities.

in the The following is the invention with reference to an embodiment explained in more detail. Showing:

1 : a driving situation on a highway,

2A : a guide post viewed from the front,

2 B : viewed from behind, a guide post

3 : a section of a driver assistance system.

in the Road traffic exist areas or road sections, in which the driveway coming from a certain direction is not allowed is. Examples are motorway exits, which are not used in the opposite direction as motorway exit be allowed to because the wrongly ascending Vehicle otherwise would represent a ghost vehicle, as well One-way streets. The driver of a vehicle receives Information about such prohibited areas via Entry ban traffic sign, defined in Germany in the StVO.

By Carelessness, distraction or deficits in the ability to perceive are overlooked entrance prohibition traffic signs. These Rule violations can be fines entail On the other hand, there is a risk of injury for the driver and other road users.

• 1. Telematikbasierte Lösungen: Hierzu werden spezielle Funkeinrichtungen am Straßenrand aufgestellt. Diese senden Signale über das bestehende Verbot, welche von in den Fahrzeugen vorhandenen Empfängern empfangen und ausgewertet werden.
• 2. Bauliche Maßnahmen: Die Zufahrt kann in der verbotenen Richtung physikalisch blockiert werden. Hierzu werden unidirektionale Barrieren verwendet, die im Straßenbelag eingebracht sein können, wie z. B. so genannte Krallen, welche die Autoreifen beschädigen. Der Einsatz von baulichen Maßnahmen ist jedoch umstritten, da solche Vorrichtungen auch Feuerwehr und Rettungsdiensten das Erreichen eines Einsatzortes in Gegenrichtung erschweren. Weiterhin ist die Wirkung von baulichen Maßnahmen gegebenenfalls abhängig von den Witterungsbedingungen wie Eis- oder Schneebelag auf der Fahrbahn.

Proposals for avoiding entry into prohibited areas or driving in an unauthorized direction are z. B .:

• 1. Telematics-based solutions: For this purpose, special radio devices are set up at the roadside. These send signals about the existing ban, which are received and evaluated by existing receivers in the vehicles.
• 2. Structural measures: The access road can be physically blocked in the forbidden direction. For this purpose, unidirectional barriers are used, which may be incorporated in the road surface, such. As so-called claws, which damage the tires. However, the use of structural measures is controversial, since such devices also make it difficult for firefighters and rescue services to reach a site in the opposite direction. Furthermore, the effect of structural measures may be dependent on the weather conditions such as ice or snow on the road.

1 shows a driving situation on a highway. For the given direction of travel - in 1 running from bottom to top - a right lane SPR and a left lane SPL is provided. By using the outgoing road lane SPAB vehicles can leave the highway, by using the leading on the highway lane SPAUF vehicles can drive onto the highway. This is indicated inter alia by the at the junction of the two lanes SPAUF and SPAB attached traffic signs, an entry ban traffic sign and a mandatory sign.

The vehicle 1 moves in the correct direction on the right lane SPR, the vehicle 2 moves in the correct direction on the left lane SPL, and the vehicle 3 comes in the correct direction moving from the Auffahrtsfahrbahnspur SPAUF on the right lane SPR. The considered below vehicle F, which is equipped with a driver assistance system, would like to drive onto the highway. In this case, however, the vehicle F is in the process of using the lane SPAB instead of the correct lane SPAUF.

The vehicle F has one or more cameras K, z. For example, a CMOS camera, which takes pictures of the vehicle environment in the visible light and / or in the infrared range. The camera K is in this case aligned to the front, so that the front of the vehicle lying part of the environment is detected. According to 3 which represents a section of a driver assistance system of the vehicle F, the images B taken by the camera K are forwarded to the processing component S, which decides when or via the interface I a warning signal is to be output. A warning signal should then be issued when the processing component S of the opinion is that the vehicle is driving in the opposite direction.

at The interface I may be a human-machine interface and / or act on an interface for autonomous control of the vehicle. about the man-machine interface can alert the driver due to wrong course. This warning can be audible, z. B. via a warning tone or the cause of the warning Voice response, optical, z. B. via a warning sign or a the reason of warning indicating text train, or haptic, z. B. over Vibrating the steering wheel, by a brake pressure or actuation the belt tensioner done. Also combinations of these warning options can be used. About the interface For autonomous control of the vehicle, the driving behavior can be without Participation of the driver to be influenced, for. B. by the vehicle slowed down or brought to a standstill.

A conceivable possibility of avoiding incorrect driving, d. H. the use of the lane SPAB instead of the lane SPAUF, is a recording of the environment of the vehicle F by the Camera K and an evaluation of the images as to whether entry ban traffic signs exist are. In this way, a warning signal can be sent via the interface I go before a wrong course is actually done. However, there is the problem that the camera K in particular in strongly curved curves an entry ban traffic sign may not be detected. Also due to heavy pollution an entry ban sign or through a snow layer on the entry prohibition traffic sign detection can be difficult or prevented. As the entry ban traffic sign only positioned at the beginning of the lane SPAB, would be when using only the entry prohibition traffic signs for the driver assistance system no further criterion available, the wrong drive to prevent or terminate, and / or the driver note bring to. Therefore, another will be described as follows Criterion used by means of which the output of a Warning signal to be decided on the interface I can. This may be in addition to or as an alternative to detection the entry ban traffic signs are used.

As in 1 to see, are mounted on the right lane delineator LP. These are traffic facilities that serve to demarcate the edges of the road. Often Leitpostosten LP are provided with reflectors. It is possible that the guide posts LP reflectors only on one side, on the front. In this case, the front side is understood to mean the view of a guide post LP which the driver can see ahead when driving forward in the correct direction when looking out of the vehicle. In Germany reflectors are used for the front view 2A used, ie white rectangular reflectors on a black background. If in Germany a bollard LP also has reflectors on the back, they correspond 2 B , Ie. The driver sees when looking out of the vehicle against the correct direction of travel two circular white reflectors on a black background. Other countries use other delineator designs; z. For example, in Austria, a delineator model is used, which has a different color symbolism with a front rectangular reflector in red and from behind a rectangular reflector in white.

While in 1 Only on the right roadside guide posts LP are attached, it is also possible that they are present on both the right and on the left roadside. In the example of 1 For example, the alignment of the guide posts LP on the left lane edge would be the same as on the right lane edge, since both lanes SPR and SPL are for the same direction of travel. If, on the other hand, the left lane SPL were provided for the opposite direction of travel, the orientation of the guide posts on the left lane side would be reversed; ie the drivers of the vehicles 1 . 2 and 3 would be on the right side of the road the front view according to 2A and at the left lane edge the rear view according to 2 B see.

• • Preis, C.; Happe, J.; Köhler, T. (2006): Kamerabasierte Fahrerassistenzsysteme. 2. Grazer Nutzfahrzeug Workshop, 21.05.2006, Graz .
• • Bahlmann, C.; Zhu, Y.; Ramesh, V.; Pellkofer, M.; Koehler, T. (2005): A System for Traffic Sign Detection, Tracking, and Recognition Using Color, Shape, and Motion Information. In: IEEE Intelligent Vehicles Symposium (IV 2005), Las Vegas, NV, Juni 2005 .
• • DE 19829162 A1
• • DE 10303010 A1
• • DE 29802953 U1
• • DE 19954002 A1
• • Pressemeldung Siemens VDO vom 4. August 2006 .

From the processing component S, the images BK taken by the camera K are evaluated by searching in the images for specific shapes and / or patterns and / or colors. If the appearance of the guide posts LP is to be evaluated, the patterns to be searched for or filtered correspond to the shape of the reflectors of the guide posts; In the case of colored reflectors, it is also possible to search or filter for the respective color. The recognition of these specific features can take place in a manner known per se, in particular according to algorithms which are also used for traffic sign recognition. Methods for detecting speed traffic signs are z. B. described in

• • Price, C .; Happe, J .; Köhler, T. (2006): Camera-Based Driver Assistance Systems. 2nd Graz Commercial Vehicle Workshop, 21.05.2006, Graz ,
• • Bahlmann, C .; Zhu, Y .; Ramesh, V .; Pellkofer, M .; Koehler, T. (2005): A System for Traffic Sign Detection, Tracking, and Recognition Using Color, Shape, and Motion Information. In: IEEE Intelligent Vehicles Symposium (IV 2005), Las Vegas, NV, June 2005 ,
• • DE 19829162 A1
• • DE 10303010 A1
• • DE 29802953 U1
• • DE 19954002 A1
• • Press release Siemens VDO of 4 August 2006 ,

Become different reflectors for the front and the back used the guide post LP, based on the detected reflectors on the Correctness of the direction of travel to be decided. The same applies if the baffle LP reflectors only on the front or the front and back of the guide posts LP differ from each other in other ways. Recognize the Processing component S, that of the aligned in the direction of travel Camera K taken pictures BK recordings of guide posts LP included which correspond to the rear view, a warning signal over the interface I is issued.

The Consideration of guide post to decide on correctness The direction of travel is particularly advantageous for routes such as motorway or Departures, motorway junctions, as well as at exits of service areas and parking lots. These are places in which the look the front of the guide posts LP usually from the one the back is different.

alternative or in addition to considering the guide posts LP other traffic signs can be evaluated, which give an indication of the correct direction of travel. in this connection In particular, traffic signs come into consideration. This is suitable z. B. for the urban area to avoid of wrong trips in one-way streets.

to Distinction of the front and rear view of a road sign can z. B. the course of the post, to which the respective road sign is appropriate to be evaluated. On a floor-mounted Post makes the front of the road sign a homogeneous Area, the post is viewed from the front only until lower edge of the shield visible. Viewed from the back the sign is i. d. R. mounted behind the post, so that the post covers the shield. Thus, the post course a road sign to indicate whether the sign from the front or from is considered behind.

Also the label of the traffic sign represents a differentiating feature between viewing the shield from the front and from behind. While the front of traffic signs color-coded, with pictures or lettering can be provided represents the back i. d. R. a monochrome, z. B. anthracite colored, area represents.

Recognizes the processing component S, that of the in the direction of travel focused camera K taken pictures BK shots of traffic signs which correspond to the rear view of signs, a warning signal is output via the interface I.

In Germany are on highways delineators at a distance of 50 meters. Also traffic signs are often not in too far away from each other on the roadside appropriate. The advantage of using guide posts LP or traffic signs in the context of the explained driver assistance function is thus, that a variety of objects is available, based whose appearance the correctness of the direction of travel are recognized can. To increase the reliability of a warning can be provided that based on the appearance of multiple objects the result of the wrong course was determined, based on an object determined result thus by the consideration of at least one another object is verified. This can cause false warnings be avoided.

The The invention has been described in an embodiment described. It is understood that many changes and modifications are possible without the scope of the Is left invention.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 19829162 A1 [0037]
• DE 10303010 A1 [0037]
• - DE 29802953 U1 [0037]
• DE 19954002 A1 [0037]

Cited non-patent literature

• - • Price, C .; Happe, J .; Köhler, T. (2006): Camera-Based Driver Assistance Systems. 2nd Graz Commercial Vehicle Workshop, 21.05.2006, Graz [0037]
• Bahlmann, C .; Zhu, Y .; Ramesh, V .; Pellkofer, M .; Koehler, T. (2005): A System for Traffic Sign Detection, Tracking, and Recognition Using Color, Shape, and Motion Information. In: IEEE Intelligent Vehicles Symposium (IV 2005), Las Vegas, NV, June 2005 [0037]
• - Press release Siemens VDO of 4 August 2006 [0037]

Claims (15)

Control device (S) for a driver assistance system for a vehicle (F), with an entrance to receive of image information (BK) acquired by a camera (K), in which the image information (BK) certain objects (LP) from the environment of the vehicle (F) whose front view differs from theirs Rear view is different, an evaluation component for evaluating the image information (BK) for recognizing the foreground and rear view of certain objects (LP), one Decision element for deciding on the creation an output signal using from the evaluation component determined information, wherein the output signal is the correctness the current direction of travel of the vehicle (F), and a Output for outputting the output signal. Control device (S) according to claim 1, wherein the certain objects (LP) in the environment of one only in one direction of travel driveable lane track are arranged such that the front view is visible at a glance in the direction of this direction. Control device (S) according to claim 1 or 2, wherein the particular objects (LP) marking devices for marking of a roadside. Control device (S) according to one of the claims 1 to 3, wherein the particular objects (LP) comprise guide posts. Control device (S) according to claim 4, wherein the Evaluation component is designed to recognize at the delineator located reflectors. Control device (S) according to one of the claims 1 to 5, wherein the particular objects (LP) comprise traffic signs. Control device (S) according to claim 6, wherein the Evaluation component is designed to recognize an arrangement a fastening device of the traffic sign. Control device (S) according to claim 6 or 7, wherein the evaluation component is designed to recognize content the traffic sign. Control device (S) according to one of the claims 1 to 8, wherein the decision component is designed for Creation of an output signal based on an evaluation of image information (BK) concerning at least two of the particular objects (LP). Control device (S) according to one of the claims 1 to 9, with a traffic sign recognition component for evaluation the image information (BK) for the detection of an entry ban indicating traffic signs, the decision component is trained to decide on the creation of the Output signal using from the traffic sign recognition component determined information, wherein the output signal is the entrance of the vehicle (F) in a prohibited area. Driver assistance system for a vehicle (F), with a control device (S) according to one of the claims 1 to 10, one to the output for outputting the output signal connected interface (I) to the driver of the vehicle (F), wherein about the interface (I) information of the output signal to the driver transferable are. Driver assistance system, in particular according to claim 11, for a vehicle (F), with a control device (S) according to any one of claims 1 to 10, one to the Output for outputting the output signal connected interface (I) to a control device of the vehicle (F), wherein the control device is designed to decelerate the vehicle (F) to the output signal out. Driver assistance system according to claim 11 or 12, comprising the camera (K) for acquiring image information (BK). Method for operating a driver assistance system for a vehicle (F), where from a camera (K) captured image information (BK) are received, the Image information (BK) certain objects (LP) from the environment of Vehicle (F) concern, whose front view differs from its rear view different, the image information (BK) for recognizing the Front and back view of specific objects (LP) evaluated become, about the creation of an output signal under Use of information obtained in the evaluation decided where the output signal is the correctness of the current direction of travel of the vehicle (F), the output signal is output. Computer program product for a driver assistance system for a vehicle (F), having an input for receiving a camera ra (K) detected image information (BK), wherein the image information (BK) relate to certain objects (LP) from the environment of the vehicle (F) whose front view differs from its rear view, an evaluation component for evaluating the image information (BK) for recognition the front and rear view of the certain objects (LP), a decision element for deciding on the production of an output signal using information determined by the evaluation component, wherein the output signal relates to the correctness of the current direction of travel of the vehicle (F), an output for outputting the output signal.