DE102009049408A1 - Sensor system for autonomous starting of motor vehicle, has camera system monitoring area before vehicle during standstill condition of vehicle, and preventing automatic starting of vehicle when objects move in predetermined area - Google Patents

Sensor system for autonomous starting of motor vehicle, has camera system monitoring area before vehicle during standstill condition of vehicle, and preventing automatic starting of vehicle when objects move in predetermined area Download PDF

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DE102009049408A1
DE102009049408A1 DE102009049408A DE102009049408A DE102009049408A1 DE 102009049408 A1 DE102009049408 A1 DE 102009049408A1 DE 102009049408 A DE102009049408 A DE 102009049408A DE 102009049408 A DE102009049408 A DE 102009049408A DE 102009049408 A1 DE102009049408 A1 DE 102009049408A1
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Prior art keywords
vehicle
sensor system
autonomous
camera system
objects
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DE102009049408A
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German (de)
Inventor
Matthias Strauss
Stefan Dr. Lüke
Jürgen Pfeiffer
Matthias Komar
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Continental Autonomous Mobility Germany GmbH
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Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
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Priority to DE102009049408A priority Critical patent/DE102009049408A1/en
Publication of DE102009049408A1 publication Critical patent/DE102009049408A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8073—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle security, e.g. parked vehicle surveillance, burglar detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems

Abstract

The sensor system has a camera system monitoring an area before a vehicle during standstill condition of the vehicle. Detection area of the sensor system lies directly before the vehicle, where the camera system prevents automatic starting of the vehicle when objects i.e. persons, move in a predetermined area. The camera system is connected with the sensor system for distance control to an ahead driving vehicle, where movement direction of the objects is determined by optical flow. A detection device e.g. global positioning system, detects type of roads. An independent claim is also included for a method for autonomous starting of a motor vehicle.

Description

Die Erfindung betrifft eine Vorrichtung zur autonomen Anfahrt eines Fahrzeuges gemäß Anspruch 1 und ein Verfahren zur autonomen Anfahrt eines Fahrzeuges gemäß Anspruch 6.The The invention relates to a device for the autonomous approach of a Vehicle according to claim 1 and a method for autonomous access of a vehicle according to claim 6th

Aktuelle Abstandstregeltempomaten (ACC) können den Abstand zu einem vorausfahrenden Fahrzeug regeln, in dem Sie eine Beschleunigungs- oder Geschwindigkeitsvorgabe an das Bremssystem oder das Motorsteuergerät weitergeben.current Distance control (ACC) can regulate the distance to a preceding vehicle in which you an acceleration or speed specification to the brake system or the engine control unit pass on.

Zukünftige Fahrerassistenzsysteme für Stopp&Go-Unterstützung für Kraftfahrzeuge werden zudem ein vollautomatisches Anfahren realisieren. Dazu muss der Anfahrtsraum direkt vor dem Fahrzeug vor dem autonomen Anfahren nach einem Halt, beispielsweise in einem Stau oder ein vorausfahrendes Fahrzeug wartet vor einer Ampel überwacht werden. Für ein sicheres Anfahren ist es wichtig, zu erkennen, ob der Anfahrtsraum frei ist und sich in der Zwischenzeit keine Personen oder andere Objekte in den Raum vor dem Fahrzeug hineinbewegt haben. Dies kann zum Beispiel mit den üblichen Strahlsensoren wie Radar-, Lidar-, Ultraschall-Systemen umgesetzt werden. Auf Grund ihres Einbauorts in der Fahrzeugfront, insbesondere im Kühlergrill oder Scheinwerfer, sind aber zum Beispiel Radar- oder Lidar-Systeme nur begrenzt in der Lage, einen Raum unmittelbar vor dem Fahrzeug zu überwachen. Auch bei einem Ultraschallsystem entstehen kleine nicht überwachte Bereiche direkt vor der Stoßstange. Vorzuziehen ist daher ein hinter einer Windschutzscheibe angebrachtes Sensorsystem, zum Beispiel ein Kamerasystem, das einen sehr viel breiteren Raum vor dem Fahrzeug erfassen kann. Es sind zum Beispiel stereobasierte Kamerasysteme bekannt, die eine dreidimensionale Erkennung von Hindernissen erlauben. Der Aufwand für derartige Stereokameras ist allerdings kostenintensiv und erfordert relativ viel Bauraum im Bereich der Windschutzscheibe im Fahrzeug, da zwei Kameras in diesen Bereich angeordnet werden müssen.Future driver assistance systems for stop & go support for motor vehicles will also realize a fully automatic start. This must be the approach space directly in front of the vehicle before the autonomous start after a stop, for example in a traffic jam or a driving ahead Vehicle waiting in front of a traffic light monitored become. For a safe start it is important to realize if the approach room is free and in the meantime no people or others Objects have moved into the space in front of the vehicle. This can for example, with the usual Beam sensors such as radar, lidar, ultrasonic systems are implemented. On reason their location in the vehicle front, especially in the grille or headlights, but are for example radar or lidar systems only limited to a space immediately in front of the vehicle to monitor. Even with an ultrasound system small unmonitored Areas directly in front of the bumper. Therefore, it is preferable to mount behind a windshield Sensor system, for example, a camera system that a lot can capture wider space in front of the vehicle. They are, for example stereobased camera systems known to be a three-dimensional Allow detection of obstacles. The effort for such However, stereo cameras is costly and requires relatively a lot of space in the windscreen in the vehicle, as two Cameras must be placed in this area.

In einer weiteren Ausgestaltung wird das Kamerasystem mit dem Ultraschallsystem kombiniert um noch besser ausschließen zu können, ob sich eine Person oder ein Gegenstand vor dem Fahrzeug befindet.In Another embodiment is the camera system with the ultrasound system combined to be even better able to exclude whether a person or an object is located in front of the vehicle.

Aufgabe der vorliegenden Erfindung ist es daher, eine Vorrichtung und ein Verfahren zur autonomen Anfahrt für ein Fahrzeug anzugeben.task The present invention is therefore an apparatus and a Specify autonomous approach method for a vehicle.

Erfindungsgemäß wird ein Sensorsystem zur autonomen Anfahrt eines Fahrzeugs angegeben, wobei der Erfassungsbereich des Sensorsystems direkt vor dem Fahrzeug angeordnet ist. Der Raum vor dem Fahrzeug wird während eines Stillstands des Fahrzeugs überwacht. Es wird eine autonome Anfahrt verhindert, wenn sich Objekte, insbesondere Personen oder ein großes nicht passierbares Hindernis oder ein Ball, in einen vorgegebenen Bereich hineinbewegt haben. In diesem Fall kann nur nach einer Fahrerbestätigung eine Anfahrt erfolgen.According to the invention is a Sensor system for the autonomous approach of a vehicle indicated, wherein the detection range of the sensor system directly in front of the vehicle is arranged. The space in front of the vehicle is monitored during a stoppage of the vehicle. It prevents autonomous access when objects, especially people or a big one impassable obstacle or a ball, in a given Have moved into area. In this case, only after a driver confirmation a Directions are made.

In einer bevorzugten Ausgestaltung der Erfindung ist das Sensorsystem zur Raumüberwachung ein Kamerasystem. Zudem ist ein weiteres Sensorsystem zur Abstandregelung zu einem vorausfahrenden Fahrzeug vorgesehen. Die Sensorsysteme sind miteinander verbunden. Das Sensorsystem zur Abstandregelung gibt die Abmessungen des durch das Kamerasystem zu überwachenden Bereichs vor dem Fahrzeug vor. Der vorgegebene Bereich wird vorzugsweise so gewählt, dass er im Wesentlichen die Fahrspur des eigenen Fahrzeugs bis zu dem Fahrzeug umfasst, zu dem der Abstand von einem Abstandsregeltempomaten des eigenen Fahrzeugs geregelt wird.In A preferred embodiment of the invention is the sensor system for room monitoring a camera system. In addition, another sensor system for distance control intended to a preceding vehicle. The sensor systems are connected. The sensor system for distance control gives the dimensions of the camera system to monitor Area in front of the vehicle in front. The predetermined range is preferably chosen so that he is essentially the lane of your own vehicle up to the distance covered by a distance control of the own vehicle is regulated.

In einer vorteilhaften Ausgestaltung der Erfindung bestimmt das Kamerasystem die Bewegungsrichtung eines Objekts aus einer Bilderfolge. Wird der optische Fluss des vorgegebenen Bildbereiches ausgewertet, so kann beobachtet werden, ob sich etwas zwischen den Fahrzeugen bewegt. Bewegt sich dort etwas muss das automatische Anfahren unterbunden werden. Somit kann erst nach einer erfolgter Fahrerbestätigung wieder angefahren werden.In an advantageous embodiment of the invention determines the camera system the direction of movement of an object from a sequence of images. Becomes evaluated the optical flow of the given image area, so you can see if something is moving between the vehicles. If something moves there, the automatic start must be prevented become. Thus, only after a successful driver confirmation again be approached.

Vorzugsweise wird nicht nur die Menge des optischen Flusses (entspricht der Größe des bewegten Objekts) auszuwerten, sondern auch die Bewegungsrichtung. So ist nur der Fluss von Interesse, der sich von rechts nach links oder in die andere Richtung bewegt. Bewegungen nach oben, die z. B. durch Abgase oder anfahrendes Fahrzeug hervorgerufen, oder nach unten z. B. verursacht durch Regen oder Schnee bewegt, sind nicht relevant und müssen für die autonome Anfahrt nicht berücksichtigt werden.Preferably not only the amount of optical flow (corresponds to the size of the moving Object), but also the direction of movement. So is only the river of interest, moving from right to left or moved in the other direction. Moves upwards, the z. B. by exhaust gases or approaching vehicle caused, or down z. B. causes moved by rain or snow, are not relevant and need for the autonomous Approach not considered become.

In einer weiteren Ausgestaltung der Erfindung ist eine Ampelerkennung vorgesehen, die eine autonome Anfahrt verhindern kann. Z. B. ist die Ampelerkennung durch ein Kamerasystem ausgeführt, das erkennt ob ein rotes oder ein grünes Ampelsignal für die aktuelle Fahrspur vorliegt. Eine alternative Ausgestaltung sieht die Übertragung der Ampelschaltung durch ein Funksignal vor, das insbesondere von der Ampel ausgeht.In Another embodiment of the invention is a traffic light detection provided that can prevent autonomous access. For example, is the traffic light detection is performed by a camera system that detects if a red or a green one Traffic light signal for the current lane is present. An alternative embodiment sees the transfer the traffic light circuit by a radio signal, in particular of the traffic light goes out.

Die Auswertung kann mit einer Erkennung der Abbiegeabsicht (Lenkwinkel, Blinker) kombiniert werden. Bei einer roten Ampelschaltung wird eine autonome Anfahrt unterdrückt. Eine weitere Ausgestaltung der Erfindung sieht vor, dass das Vorhandensein einer Ampel durch ein GPS System mit elektronischer Karte oder ein Funksignal, das insbesondere von der Ampel ausgeht, erkannt. In diesem Fall wird eine autonome Anfahrt unterdrückt.The evaluation can be combined with a recognition of the turn intention (steering angle, turn signal). In a red traffic light an autonomous approach is suppressed. A further embodiment of the invention provides that the presence of a traffic light by a GPS system with electroni shear card or a radio signal that emanates in particular from the traffic light, detected. In this case, an autonomous approach is suppressed.

In einer weiteren Ausgestaltung der Erfindung ist zudem eine Vorrichtung zur Straßentyperkennung vorgesehen. Dies ist z. B. ein GPS System mit elektronischer Karte oder ein beliebiger Umfeldserfassungssensor (Kamera, Radar, Lidar Ultraschall), der anhand der Verkehrszeichen oder der Anzahl der Fahrspuren oder der Randbebauung einen Straßentyp erkennt. Eine autonome Anfahrt des Fahrzeugs erfolgt nur auf einem vorgegebenen Straßentyp, z. B. einer Autobahn.In a further embodiment of the invention is also a device for road type recognition intended. This is z. B. a GPS system with electronic card or any environment detection sensor (camera, radar, lidar Ultrasound), based on the traffic signs or the number of Lanes or the edge development recognizes a road type. An autonomous Approach of the vehicle takes place only on a given road type, z. B. a highway.

So wird eine komplexe Ampelerkennung z. B. mit einer Kamera umgangen, die häufig aufgrund der Lichtbedingungen und der Zuordnung zur korrekten Fahrspur nicht möglich ist.So is a complex traffic light detection z. B. bypassed with a camera, the common due to the lighting conditions and the assignment to the correct lane not possible is.

Detektiert dieser Sensor, dass sich kein Objekt zwischen dem vorausfahrenden Fahrzeug und dem eigenen befindet, kann das Fahrzeug vom ACC auch wieder autonom zum Anfahren gebracht werden.detected this sensor, that no object between the preceding Vehicle and your own, the vehicle can also be from the ACC be brought autonomously to start again.

Es ist daher die Aufgabe der hier vorliegenden Erfindung ein Verfahren und eine Vorrichtung zum autonomen Anfahren eines Fahrzeugs anzugeben.It Therefore, the object of the present invention is a method and to provide a device for the autonomous start of a vehicle.

Claims (10)

Sensorsystem zur autonomen Anfahrt eines Fahrzeugs, wobei der Erfassungsbereich des Sensorsystems direkt vor dem Fahrzeug angeordnet ist, dadurch gekennzeichnet dass das Sensorsystem den Raum vor dem Fahrzeug während eines Stillstands des Fahrzeugs überwacht und eine autonome Anfahrt verhindert wird, wenn sich Objekte, insbesondere Personen, in einen vorgegebenen Bereich hineinbewegt haben.Sensor system for the autonomous approach of a vehicle, wherein the detection range of the sensor system is arranged directly in front of the vehicle, characterized in that the sensor system monitors the space in front of the vehicle during a stoppage of the vehicle and an autonomous approach is prevented when objects, in particular people, in have moved in a predetermined area. Sensorsystem für ein Fahrzeug nach Anspruch 1, wobei – das Sensorsystem zur Raumüberwachung ein Kamerasystem ist – ein weiteres Sensorsystem zur Abstandregelung zu einem vorausfahrenden Fahrzeug vorgesehen ist, – das Kamerasystem mit dem Sensorsystem zur Abstandsregelung verbunden ist, und – das Sensorsystem zur Abstandregelung die Abmessungen des durch das Kamerasystem zu überwachenden Bereichs vor dem Fahrzeug vorgibt.Sensor system for A vehicle according to claim 1, wherein - The sensor system for room monitoring a camera system is - one Another sensor system for distance control to a preceding vehicle Vehicle is provided - the Camera system connected to the sensor system for distance control is and - the Sensor system for distance control the dimensions of the camera system to be monitored Pretends area in front of the vehicle. Sensorsystem nach einem der vorherigen Ansprüche, wobei das Sensorsystem zur Raumüberwachung ein Kamerasystem ist und die Bewegungsrichtung von Objekten mittels optischen Fluss ermittelt wird.Sensor system according to one of the preceding claims, wherein the sensor system for room monitoring a camera system is and the direction of movement of objects by means of optical flux is determined. Sensorsystem nach einem der vorherigen Ansprüche, wobei zudem eine Ampelerkennung vorgesehen ist, die eine autonome Anfahrt verhindern kann.Sensor system according to one of the preceding claims, wherein also a traffic light detection is provided, which can prevent autonomous access. Sensorsystem nach einem der vorherigen Ansprüche, wobei – zudem eine Vorrichtung zur Straßentyperkennung vorgesehen ist und eine autonome Anfahrt des Fahrzeugs nur auf einer Autobahn erfolgt.Sensor system according to one of the preceding claims, wherein - besides a device for road type detection provided is and an autonomous approach of the vehicle only on a highway he follows. Verfahren zur autonomen Anfahrt eines Fahrzeugs, wobei ein Sensorsystem einen Bereich direkt vor dem Fahrzeug erfasst, dadurch gekennzeichnet dass eine autonome Anfahrt verhindert wird, wenn sich Objekte, insbesondere Personen, während eines Stillstands des Fahrzeugs in einen vorgegebenen Bereich vor dem Fahrzeug hineinbewegt haben.Method for the autonomous approach of a vehicle, wherein a sensor system detects an area directly in front of the vehicle, characterized in that a autonomous access is prevented when objects, in particular Persons while a standstill of the vehicle in a predetermined area before have moved in the vehicle. Verfahren nach Anspruch 6, wobei aus Daten ein weiteren Sensorsystems, das zur Abstandregelung zu einem vorausfahrenden Fahrzeug vorgesehen ist, den zu überwachenden Raums vor dem Fahrzeug vorgeben.The method of claim 6, wherein data from another sensor system, intended for distance control to a preceding vehicle is to be monitored Pretend space in front of the vehicle. Verfahren nach einem der Ansprüche 6 oder, wobei das Sensorsystem zur Raumüberwachung kamerabasiert ist und die Bewegungsrichtung von Objekten anhand des optischen Fluß in einer Bilderfolge ermittelt wird.Method according to one of claims 6 or, wherein the sensor system for room monitoring is camera-based and the direction of movement of objects of the optical flow in a sequence of images is determined. Verfahren nach einem der vorherigen Ansprüche, wobei zudem eine Ampelerkennung vorgesehen ist, die eine autonome Anfahrt verhindern kann.Method according to one of the preceding claims, wherein additionally a traffic light recognition is provided, which can prevent autonomous access. Verfahren nach einem der vorherigen Ansprüche 6 bis 9, wobei zudem weitere Sensordaten zur Straßentyperkennung verwendet werden und eine autonome Anfahrt des Fahrzeugs nur auf einer Autobahn erfolgt.Method according to one of the preceding claims 6 to 9, wherein further more Sensor data for road type detection be used and an autonomous approach of the vehicle only up a highway.
DE102009049408A 2008-10-21 2009-10-14 Sensor system for autonomous starting of motor vehicle, has camera system monitoring area before vehicle during standstill condition of vehicle, and preventing automatic starting of vehicle when objects move in predetermined area Pending DE102009049408A1 (en)

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GB2497626A (en) * 2011-12-16 2013-06-19 Gm Global Tech Operations Inc Autonomous starting of a vehicle monitoring a preceding vehicle
DE102012016366A1 (en) * 2012-08-16 2014-05-15 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Method for operating a driver assistance system of a motor vehicle and driver assistance system for a motor vehicle
DE102015208432A1 (en) * 2015-05-06 2016-03-24 Conti Temic Microelectronic Gmbh Approaching a traffic light assistant
EP3144919A1 (en) * 2015-09-18 2017-03-22 Continental Automotive GmbH Device and method for start assistance for a motor vehicle
DE102016210534A1 (en) 2016-06-14 2017-12-14 Bayerische Motoren Werke Aktiengesellschaft Method for classifying an environment of a vehicle
US10032085B2 (en) 2016-02-24 2018-07-24 Audi Ag Method and system to identify traffic lights by an autonomous vehicle
WO2022258260A1 (en) * 2021-06-07 2022-12-15 Bayerische Motoren Werke Aktiengesellschaft Determining and outputting a setpoint acceleration of a motor vehicle for automatically starting the motor vehicle by an autonomous cruise control system
DE102022102782A1 (en) 2022-02-07 2023-08-10 Bayerische Motoren Werke Aktiengesellschaft Driver assistance system and method for operating a driver assistance system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2497626A (en) * 2011-12-16 2013-06-19 Gm Global Tech Operations Inc Autonomous starting of a vehicle monitoring a preceding vehicle
DE102011121442A1 (en) * 2011-12-16 2013-06-20 Gm Global Technology Operations, Llc Autonomous start
DE102012016366A1 (en) * 2012-08-16 2014-05-15 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Method for operating a driver assistance system of a motor vehicle and driver assistance system for a motor vehicle
DE102015208432A1 (en) * 2015-05-06 2016-03-24 Conti Temic Microelectronic Gmbh Approaching a traffic light assistant
EP3144919A1 (en) * 2015-09-18 2017-03-22 Continental Automotive GmbH Device and method for start assistance for a motor vehicle
WO2017045802A1 (en) * 2015-09-18 2017-03-23 Continental Automotive Gmbh Device and method for start assistance for a motor vehicle
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