DE102008043761B4 - Method and control unit for adapting a vehicle assistance system - Google Patents

Method and control unit for adapting a vehicle assistance system

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Publication number
DE102008043761B4
DE102008043761B4 DE102008043761.1A DE102008043761A DE102008043761B4 DE 102008043761 B4 DE102008043761 B4 DE 102008043761B4 DE 102008043761 A DE102008043761 A DE 102008043761A DE 102008043761 B4 DE102008043761 B4 DE 102008043761B4
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Germany
Prior art keywords
traffic sign
vehicle
adapted
control signal
sign information
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DE102008043761.1A
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German (de)
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DE102008043761A1 (en
Inventor
Holger Janssen
Omar Alaa El-Din
Frank Suhling
Anke Brock
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of DE102008043761A1 publication Critical patent/DE102008043761A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04Traffic conditions
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00818Recognising traffic signs

Abstract

A method of adapting a vehicle assistance system, comprising the steps of: receiving (101) a sensor signal via an interface, the sensor signal being suitable for detecting a traffic sign (221) in an environment of a vehicle (210); Determining (102) traffic sign information based on the sensor signal; and providing (103) a control signal in response to the traffic sign information, the control signal being adapted to drive an object recognition system (215) adapted to recognize different classes of objects using specialized classifiers, and wherein the Control signal is adapted to the object recognition system (215) by the selection of a specialized classifier, which is particularly suitable for the recognition of a class of objects, which is indicative of a traffic sign just recognized, set to a classification method tuned to the traffic signal information.

Description

  • State of the art
  • The present invention relates to a method according to claim 1, a control device according to claim 10, and a computer program product according to claim 11.
  • The DE 19736774 A1 describes a method for displaying information in a vehicle. In this case, a section of an image of a camera is displayed on a display unit. The picture may show a traffic sign.
  • The DE 10 2007 002 562 A1 describes a method for classifying objects. For the classification of an object, a first classifier and at least one differently trained second classifier are provided. Before a classifier selection boundary conditions are determined.
  • The DE 10 2004 050 597 A1 describes a deer warning device. The wildlife warning device includes sensor systems designed to detect occurring wildlife, as well as other data output systems that provide data relevant to the assessment of a wild-game probability, and means for determining a hazard potential for debriefing based on the results of the sensor systems and the game provided data of the data output systems are formed.
  • There are systems for detecting traffic signs (traffic sign recognition VZE) that can be used in vehicles. The systems can recognize various road signs and indicate them to the driver.
  • There are also systems for detecting objects in traffic. For example, vehicles, trucks or pedestrians can be detected. Some of these systems for recognizing objects have specialized classifiers to recognize the different classes of objects (object recognition OE). For detection, the systems can use video sensors or RADAR or ultrasound based sensors.
  • Furthermore, engine management systems (MM) and vehicle dynamics control systems (FD) are known, which provide in the vehicle for optimized engine performance and adapted to the road dynamics.
  • Disclosure of the invention
  • Against this background, the present invention proposes a method for adapting a vehicle assistance system, furthermore a control device for adapting a vehicle assistance system, and finally a corresponding computer program product according to the independent patent claims. Advantageous embodiments of the invention will become apparent from the respective dependent claims and the description below.
  • On the one hand, the invention is based on the recognition that an improvement of the object recognition performance can be achieved with a system which has both traffic sign recognition and object recognition. The improvement of the object recognition performance can result from the fact that object recognition can use other classification methods on the basis of information from the traffic sign recognition.
  • On the other hand, the invention is based on the recognition that engine management and vehicle dynamics control can be optimized with the aid of traffic sign recognition, so that better adaptations of these systems to existing environmental conditions become possible.
  • The present invention provides a method of adapting a vehicle assist system comprising a step of receiving a sensor signal via an interface, the sensor signal being adapted to detect a traffic sign in an environment of a vehicle; a step of determining traffic sign information based on the sensor signal; and a step of providing a control signal in response to the traffic sign information, wherein the control signal is adapted to drive a vehicle assistance system. The vehicle assistance system can be a system for object recognition or a system for vehicle control, for example an engine management system or a vehicle dynamics control system. The sensor signal may represent a signal provided by a traffic signal detection sensor system. If the method is executed by a control unit, the interface may be an interface of the control unit. The traffic sign information may include an indication of a recognized traffic sign or its meaning. The control signal may include information determined from the traffic sign information. Further, the control signal may be provided or not provided depending on the kind of traffic sign information.
  • According to one embodiment, the control signal is suitable for driving an object recognition system. In this case, the control signal may be designed to set the object recognition system to a classification method which is tuned to the traffic signal information. Thus, the object recognition can be optimally set to a situation that is announced by a recognized traffic sign. The classification method can be set by selecting a classifier adapted to the corresponding situation. The classifier may have predetermined parameters that are particularly suitable for recognizing a particular object. For this purpose, the control signal can be designed to provide a classifier adapted to the classification method from a memory to the object recognition system. Thus, depending on the situation, it is possible to fall back on predetermined classifiers.
  • For example, the traffic sign information may include a warning of a particular object, and the control signal may be configured to set the object recognition system to a method of recognizing the particular object. For example, it may be a warning to persons. Thus, the system z. B. be optimized in response to a city entrance sign on a person recognition.
  • Further, the traffic sign information may include information about a currently traveled road, and the control signal may be configured to set the object recognition system to a classification process tuned to a road type corresponding to the currently traveled road. Thus, for example, characteristic settings can be made for a highway.
  • According to another embodiment, the control signal is adapted to set a vehicle control according to the traffic sign information. For example, the traffic sign information may include an indication of a speed change and the control signal may be configured to set the vehicle control to a changed vehicle speed. Thus, depending on a detected traffic sign, vehicle acceleration or braking can be prepared or initiated.
  • If the vehicle control system is an engine management system, then the control signal can be designed to set the engine management system to an engine output adapted to the traffic signal information. For example, the engine power can be throttled within a locality.
  • If the vehicle control system is a vehicle dynamics control system, then the vehicle control system may be configured to set the vehicle dynamics control system to a vehicle behavior corresponding to the traffic sign information. For example, a curve behavior of the vehicle can be adapted to the ambient conditions.
  • According to a further embodiment, the control signal may be configured to provide a warning to a vehicle driver in response to the traffic sign information. Thus, the driver of the vehicle, for example, be alerted to a speed limit.
  • The present invention further provides a control device having means for receiving a sensor signal via an interface, the sensor signal being adapted to detect a traffic sign in an environment of the vehicle; means for determining traffic sign information based on the sensor signal; and means for providing a control signal in response to the traffic sign information, the control signal being adapted to drive a vehicle assistance system. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.
  • Also of advantage is a computer program product with program code, which is stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above, when the program is executed on a control unit.
  • The invention will now be described by way of example with reference to the accompanying drawings. Show it:
  • 1 a flow diagram of the method according to the invention;
  • 2 a block diagram of another embodiment of the present invention; and
  • 3 a block diagram of another embodiment of the present invention.
  • The same or similar elements may be provided in the following figures by the same or similar reference numerals. Furthermore, the figures of the drawings, the description and the claims contain numerous features in FIG Combination. It is clear to a person skilled in the art that these features are also considered individually or that they can be combined to form further combinations not explicitly described here.
  • 1 FIG. 12 is a flowchart of a method for customizing a vehicle assistance system according to an embodiment of the present invention. In a first step of the method according to the invention, receiving ( 101 ) of a sensor signal via an interface. The sensor signal is suitable for detecting a traffic sign in an environment of a vehicle. In a following step, a determination ( 102 ) traffic sign information based on the sensor signal. Subsequently, a provision is made ( 103 ) of a control signal. The control signal is provided in response to the traffic sign information and is adapted to drive a vehicle assistance system.
  • The vehicle assistance system may be an object recognition system that can recognize different classes of objects using specialized classifiers. In this case, the control signal is suitable for driving the object recognition system. In particular, the control signal can be designed to set the object recognition system to a classification method which is tuned to the traffic signal information. The setting can be done by loading a classifier from a memory which is tuned to the classification method and thus also to the traffic sign information.
  • The traffic sign information may, for example, have an indication of a sign with a warning of game change. An indication of people on the road can be caused, for example, by recognizing a pedestrian crossing sign or indirectly by detecting a place sign. In this case, the system may have an assignment rule that links a recognized town sign, for example, with a possible presence of pedestrians. In this case, the control signal may be configured to set the object recognition system specifically for the recognition of persons.
  • Also, the traffic sign information may include information about a currently traveled road. For example, a road type can be recognized by a motorway sign. Thus, the control signal may be configured to specifically set the object recognition system to a classification method that is tuned to a road type corresponding to the currently traveled road.
  • The vehicle assistance system may also be a vehicle control. In this case, the control signal may be configured to set the vehicle control according to the traffic sign information. For example, by detecting a sign with a speed limit, the traffic sign information may include an indication of a speed change. Thus, the control signal may be configured to adjust the vehicle control to a changed vehicle speed. The control of the vehicle control can be carried out additionally or alternatively to the control of the object detection. In addition, the control signal may be configured to provide a warning to a vehicle driver in response to the traffic sign information.
  • For example, the vehicle control may be an engine management system. In this case, the control signal may be configured to set the engine management system to adjust the engine power of the engine of the vehicle to the traffic sign information.
  • Furthermore, the vehicle control may be a vehicle dynamics control system. In this case, the control signal may be configured to set the vehicle dynamics control system to a vehicle behavior corresponding to the traffic sign information. For example, a cornering behavior or a damping of the vehicle can be adapted accordingly.
  • The method according to the invention can be carried out, for example, by a control unit of a vehicle. For this purpose, the control device may have a device for receiving a sensor signal via an interface. The device for receiving the sensor signal may be formed as an input circuit of the controller. Furthermore, the control device may comprise a device for determining traffic sign information and a device for providing a control signal. The device for determining the traffic sign information and the device for providing the control signal can each be designed as logic circuits of the control device.
  • 2 shows a block diagram of a method for evaluating a sensor signal, according to a first embodiment of the present invention. In particular, a system for controlling an object classifier by means of traffic sign recognition is shown.
  • Shown is a vehicle 210 that has a sensor 211 , a computing unit 213 , another arithmetic unit 215 a permanent memory 216 and a volatile memory 217 having. The sensor 211 may be a video based sensor and configured to be a traffic sign 221 to detect or recognize. The sensor 211 may be configured to send a sensor signal to the arithmetic unit 213 provide. The arithmetic unit 213 can be designed as a traffic sign recognition system and can contain information about a recognized sign 221 to the further processing unit 215 provide. The further arithmetic unit 215 may provide an object recognition functionality and be configured to evaluate the result of traffic sign recognition.
  • The permanent storage 216 may include an object classification method. The further arithmetic unit 215 may be configured to load certain classifiers from the persistent store and place them in the volatile memory. In this way it is possible to provide those classifiers which are especially suitable for recognizing objects which are indicated by a traffic sign which has just been recognized.
  • According to this embodiment, in the vehicle 210 the video sensor 211 installed, although other sensors are possible as an alternative. The video sensor 211 is with the arithmetic unit 213 connected. On the computer unit 213 Running a traffic sign recognition, which passes on their results wireless or wired (CAN, Ethernet) or internally in the arithmetic unit to an object detection system. The object recognition system runs either on the computing unit 213 or on the separate arithmetic unit 215 , An object recognition processing unit is with the permanent memory 216 equipped, in which all required object classification procedures are stored. After interpreting the results of the traffic sign recognition system, the object recognition system loads specialized classifiers from the permanent memory 216 in the volatile memory 217 in which all calculations are performed with the classifier. Alternatively, the charging process can be omitted, or an evaluation of the traffic sign detection results can lead to a change of parameters of an evaluation in an alternative hardware (ASIC, FPGA).
  • According to this embodiment, two existing systems are connected in such a way that a new, much better system is created. In particular, a traffic sign recognition system and an object recognition system are coupled together. As a result, information about the environment of a vehicle is provided to the object recognition system, which are determined by the traffic sign recognition system. This information allows the use of situation-dependent methods for object recognition. This achieves an improvement of the recognition performance.
  • For example, the traffic sign recognition system can detect a sign that warns of animals (game in Germany, kangaroo in Australia, etc.). The traffic sign recognition system may report the found sign to the object recognition system. The object recognition system can then load specialized classification methods by which the object recognition system z. B. can detect wild. Thus, in response to a detected tag, a classification method associated with the tag may be loaded and executed.
  • For example, if the traffic sign recognition system detects a pedestrian crossing sign, the object recognition system may then load specialized pedestrian classifiers. These specialized pedestrian classifiers can otherwise be switched off, for example on the highway. Thus, classifiers may also be associated with specific types of roads or traffic routes.
  • 3 shows a block diagram of a method for evaluating a sensor signal, according to a second embodiment of the present invention. In particular, an adaptive engine management and an adaptive vehicle dynamics control using a traffic sign recognition system are shown.
  • Shown is a vehicle 210 that has a sensor 211 , a computing unit 213 , another arithmetic unit 215 and a permanent memory 216 having. The sensor 211 may be a video based sensor and configured to be a traffic sign 221 to detect or recognize. The sensor 211 may be configured to send a sensor signal to the arithmetic unit 213 provide. The arithmetic unit 213 can be designed as a traffic sign recognition system. In particular, the arithmetic unit 213 an information about a recognized character 221 to the further processing unit 215 provide. The further arithmetic unit 215 can be configured as an engine management system and / or as a vehicle dynamics control system and evaluate a result of traffic sign recognition. The permanent storage 216 contains parameters for the engine management and / or the vehicle dynamics control. In response to a detected traffic sign, the further computing unit 215 Thus, select appropriate parameters for the engine management and / or the vehicle dynamics control in the memory 216 are stored.
  • The vehicle 210 may further include one or more other sensors 312 exhibit. The other sensors 312 can be configured to vehicle data and system data, such. B. to detect the speed of the vehicle and to the other processing unit 215 provide. The further arithmetic unit 215 may be configured to evaluate the vehicle data additionally or alternatively to the result of the traffic sign recognition.
  • According to this embodiment, in the vehicle 210 the video sensor 211 installed, although other sensors are possible as an alternative. The video sensor 211 is with the arithmetic unit 213 connected. On the computer unit 213 a traffic sign recognition is carried out, which transmit their results wirelessly or by wire (CAN, Ethernet) or in the arithmetic unit internally to an engine management system and / or in the vehicle dynamics control system. The engine management and / or vehicle dynamics control system is either on the computing unit 213 or on the separate arithmetic unit 215 executed. In addition, the current vehicle and engine data via external sensors 312 be determined. An engine management and / or vehicle dynamics control computing unit is with permanent memory 216 fitted. On the permanent storage 216 Various parameters for the engine management and / or the vehicle dynamics control are stored. By evaluating the currently valid traffic signs and the current vehicle data, the engine management and / or vehicle dynamics control computing unit can select a parameter set adapted to the driving situation, with which the engine and / or the driving dynamics can be optimally adjusted to the prevailing situation. Thus, the engine management and the vehicle dynamics control, according to this embodiment, be adapted to the current driving situation by evaluating the traffic sign information.
  • According to the invention, the engine management and the vehicle dynamics control can be adapted, for example, when driving into a city to the trips in the city at low speed. The entry into the city can be determined by the recognition of the entrance placard by the traffic sign recognition. To adapt to the city traffic, a change of the engine management can be made in order to drive as economically as possible in the city. Furthermore, a change in the driving dynamics can be done in order to drive well in the tight corners of the city. If pedestrian crossing signs or stop signs are detected and the speed or driving style is not adjusted, the vehicle can also be prepared for heavy braking.
  • When traveling at high differential speeds, the engine management systems and the vehicle dynamics control systems can be prepared to change the speed. Thus, a preparation of a strong braking when driving at high speeds can be triggered when a detection of a speed limit by the traffic sign recognition takes place. This can be done, for example, at a highway speed of 250 km / h and the detection of a speed limit sign to 120 km / h limitation. Likewise, engine management can be prepared for a high acceleration on a detected cancellation of a speed limit. This can be done, for example, when driving at 120 km / h on the highway and a detection of a cancellation sign. Furthermore, a preparation of a strong braking on detection of a warning triangle on the roadside is possible.
  • Also, a warning may be provided to the driver. For example, a brake pressure at excessive speed can be performed as a warning function.
  • The described embodiments are chosen only by way of example and can be combined with each other. In particular, individual method steps can also be performed in different order or multiple times.

Claims (11)

  1. Method for adapting a vehicle assistance system, comprising the following steps: receiving ( 101 ) of a sensor signal via an interface, wherein the sensor signal for detecting a traffic sign ( 221 ) in an environment of a vehicle ( 210 ) suitable is; Determine ( 102 ) traffic sign information based on the sensor signal; and deploy ( 103 ) of a control signal in response to the traffic sign information, the control signal being adapted to provide an object recognition system ( 215 ) adapted to recognize, with the aid of specialized classifiers, different classes of objects, and in which the control signal is adapted to operate the object recognition system ( 215 ) by selecting a specialized classifier that is specifically adapted for recognizing a class of objects pointed to by a currently recognized traffic sign, to a classification method tuned to the traffic sign information.
  2. Method according to Claim 1, in which the control signal is designed to convert a classifier adapted from the classification method from a memory ( 216 ) to the object recognition system ( 215 ).
  3. Method according to one of claims 1 to 2, wherein the traffic sign information has a warning of a specific object and the control signal is adapted to the object recognition system ( 215 ) to set a method for recognizing the specific object.
  4. Method according to one of Claims 1 to 3, in which the traffic sign information comprises information about a road currently being traveled and the control signal is designed to operate the object recognition system ( 215 ) to adjust to a classification process that is tuned to a street type that corresponds to the current traffic route.
  5. Method according to Claim 1, in which the control signal is suitable for controlling a vehicle control ( 215 ) according to the traffic sign information.
  6. Method according to claim 5, wherein the traffic sign information has an indication of a change in speed and the control signal is designed to control the vehicle control ( 215 ) to a changed vehicle speed.
  7. Method according to one of claims 5 or 6, in which the vehicle control system is an engine management system ( 215 ), and the control signal is adapted to set the engine management system to an engine output adapted to the traffic sign information.
  8. Method according to one of Claims 5 to 7, in which the vehicle controller has a vehicle dynamics control system ( 215 ), and the control signal is adapted to set the vehicle dynamics control system to a vehicle behavior corresponding to the traffic sign information.
  9. A method according to any one of the preceding claims, wherein the control signal is adapted to provide a warning to a vehicle driver in response to the traffic sign information.
  10. A control device, comprising: means for receiving a sensor signal via an interface, wherein the sensor signal for detecting a traffic sign ( 221 ) in an environment of the vehicle ( 210 ) suitable is; means for determining traffic sign information based on the sensor signal; and means for providing a control signal in response to the traffic sign information, the control signal being adapted to provide an object recognition system ( 215 ) adapted to recognize, with the aid of specialized classifiers, different classes of objects, and in which the control signal is adapted to operate the object recognition system ( 215 ), by selecting a specialized classifier that is specifically adapted for recognizing a class of objects pointed to by a currently recognized traffic sign, to a classification method tuned to the traffic sign information.
  11. Computer program product with program code, which is stored on a machine-readable carrier, for carrying out the method according to one of claims 1 to 9, when the program is executed on a control device.
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DE102013215121A1 (en) * 2013-08-01 2015-02-05 Robert Bosch Gmbh Method for automatic parameterization of a vehicle dynamics control system
DE102013222040A1 (en) * 2013-10-30 2015-04-30 Volkswagen Aktiengesellschaft Method and device for accident prevention
DE102014202099A1 (en) * 2014-02-05 2015-08-06 Bayerische Motoren Werke Aktiengesellschaft Warning of increased vehicle speed due to short-term temporary reduction in longitudinal acceleration
DE102014118058A1 (en) * 2014-12-08 2016-06-09 Valeo Schalter Und Sensoren Gmbh Device and method for warning message output and / or intervention in the vehicle control of a motor vehicle
DE102016000723A1 (en) 2016-01-23 2017-07-27 Audi Ag Detecting a dangerous situation in traffic
DE102017112364A1 (en) 2017-06-06 2018-12-06 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for controlling a drive system of a motor vehicle

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