DE102013001018A1 - Method for operating e.g. truck, involves determining distance of vehicle to light signal system by determining distance of vehicle to traffic symbol, if traffic symbol is arranged in preset region of light signal system - Google Patents

Abstract

The method involves determining (70,60) whether light signal system and traffic symbol are arranged in current region of vehicle, based on captured images of optical camera. A determination is made (80) whether traffic symbol is arranged in preset region of vicinity of light signal system, if light signal system and traffic symbol are arranged in current region. The distance of vehicle to light signal system is determined (100) by determining distance of vehicle to traffic symbol based on captured images, if traffic symbol is arranged in preset region of light signal system vicinity. Independent claims are included for the following: (1) a vehicle; and (2) computer program product comprising machine-readable medium storing program for operating vehicle.

Description

The application relates to a method of operating a vehicle, a vehicle, a computer program product and a computer readable medium.

From the DE 20 2010 012 464 U1 is a measuring system for determining distance using a 3D camera known. The measuring system simultaneously detects all distances of the visible objects that can be seen on a 3D photo. The measuring system is used in particular to determine the distance of moving and stationary objects with a moving camera.

It is an object of one embodiment of the invention to specify a method for operating a vehicle, a vehicle, a computer program product and a computer-readable medium, which permit improved determination of the distance for the vehicle.

This object is achieved with the subject matter of the independent claims. Advantageous developments emerge from the dependent claims.

A method for operating a vehicle, wherein the vehicle has at least one optical camera, wherein the at least one optical camera is designed for detecting objects in the region of an environment of the vehicle, has the following steps according to an aspect of the invention. A determination is made as to whether at least one traffic light system is arranged in the region of a current environment of the vehicle, based on images taken by the at least one optical camera. In addition, it is determined whether at least one traffic sign is arranged in the region of the current surroundings of the vehicle, based on the images taken by the at least one optical camera. If it is determined that at least one traffic light system and at least one traffic sign are arranged in the region of the current surroundings of the vehicle, a determination is made as to whether the at least one traffic sign is arranged in a predetermined area of an environment of the at least one traffic light system based on the at least one traffic light an optical camera taken pictures. If it is determined that the at least one traffic sign is arranged in the predetermined area of the surroundings of the at least one traffic light system, a determination of a distance of the vehicle to the at least one traffic light system takes place by means of determining a distance of the vehicle to the at least one traffic sign based on the traffic signal the at least one optical camera taken pictures.

The method according to the said embodiment enables an improved distance determination for the vehicle. This is done in particular by determining whether the at least one traffic sign is arranged in a predetermined area of an environment of the at least one traffic signal system, and determining the distance of the vehicle to the at least one traffic light system based on a determined distance of the vehicle to the at least one traffic sign, if this is the case. It is based on the consideration that in the majority of the traffic signal systems also traffic signs are arranged in their environment in order to allow in case of failure of the traffic signal system continue to traffic control. Such traffic signs, in contrast to traffic signals typically given dimensions. Thus, the distance of the vehicle to a determined traffic sign can be determined in a simple manner based on the images taken by the at least one optical camera, as will be explained in more detail below. The determined distance of the vehicle to the determined traffic sign can thus be used as a measure of the distance of the vehicle to the at least one traffic light system, if the traffic sign is arranged in the region of at least one traffic signal. In this case, the determined distance of the vehicle to the at least one traffic sign is classified as a parameter characterizing the distance of the vehicle to the at least one traffic light system. By means of the determined distance, the distance of the vehicle to the at least one traffic light system can thus be estimated as accurately as possible. In addition, traffic signs typically have a light-reflecting coating, whereby the traffic signs can be detected in greater distance from the at least one optical camera in comparison to traffic lights, especially at dusk or darkness. Thus, the distance of the vehicle to the at least one traffic signal system can advantageously already be estimated at an earlier point in time.

The determination of the distance of the vehicle to the at least one traffic signal system further includes in a further embodiment of the method determining a distance of the vehicle to a stop line associated with at least one traffic light system based on the images taken by the at least one optical camera. Such stop lines are typically arranged in the area of traffic signals and can also be detected by means of the optical camera. Thus, the distance of the vehicle to a, the traffic signal associated holding area can be determined as accurately as possible.

Determining whether at least one traffic light system is arranged in the region of the current environment of the vehicle includes, in one embodiment of the method, determining whether at least one traffic light system, which is also referred to as a traffic light system, is arranged in the region of the current surroundings of the vehicle. Furthermore, determining whether at least one traffic light system is arranged in the region of the current surroundings of the vehicle may include determining whether at least one stop light system of a level crossing is arranged in the region of the current surroundings of the vehicle.

Determining whether the at least one traffic sign is arranged in the predetermined area of the surroundings of the at least one traffic light system preferably includes determining whether the at least one traffic sign is attached to a fastening device of the at least one traffic light system. For example, it is determined whether the at least one traffic sign is fastened to a post of the traffic signal system carrying a traffic light body. This makes it possible to determine in a particularly simple manner whether the traffic sign is arranged in the area of the traffic light system.

In a further embodiment of the method, the determination includes whether at least one traffic light system is arranged in the region of the current surroundings of the vehicle and / or determining whether at least one traffic sign is arranged in the region of the current surroundings of the vehicle, an evaluation of the at least one Optical camera recorded images by means of a pattern recognition method. Thus, based on the images taken by the at least one optical camera, it can be determined in a simple manner whether such traffic facilities are located in the vicinity of the vehicle.

Determining the distance of the vehicle to the at least one traffic sign in a further embodiment of the method comprises determining dimensions of the at least one traffic sign in the images captured by the at least one optical camera and comparing the determined dimensions with predetermined values stored in a memory device the real dimensions of the at least one traffic sign. In this case, as already explained, it is assumed that traffic signs typically have predetermined or standardized dimensions, which are standardized, for example, by statutory regulations. Thus, the distance of the vehicle to the traffic sign after a successful classification of the detected traffic sign can be easily determined based on a comparison of the dimensions of the traffic sign in the images with the predetermined dimensions.

In another embodiment of the method, determining the distance of the vehicle to the at least one traffic sign includes determining changes in the dimensions of the at least one traffic sign at different times captured by the at least one optical camera and determining a current speed of the vehicle. In the mentioned embodiment, therefore, the distance of the vehicle from the traffic sign is determined based on the instantaneous speed of the vehicle and changes in the dimensions of the traffic sign in the recorded images occurring as the vehicle approaches the traffic sign.

The determined distance of the vehicle to the at least one traffic light system is transmitted in a further embodiment of the method to at least one driver assistance system of the vehicle. Thus, an operation of the driver assistance system can be adapted in an advantageous manner to the determined distance of the vehicle to the at least one traffic signal, as will be explained in more detail below.

In a further embodiment of the method, an instantaneous speed of the vehicle and a momentary switching phase of the at least one traffic light system are also determined. Based on the determined instantaneous distance of the vehicle to the at least one traffic light, the determined instantaneous speed of the vehicle and the determined instantaneous switching phase of the at least one traffic signal system, it is further determined whether the vehicle passes the at least one traffic light during a holding bid phase of the at least one traffic signal.

If it is determined that the vehicle passes the at least one traffic light system during a holding bid phase of the at least one traffic light system, preferably an automatic actuation of at least one element of the vehicle, selected from the group consisting of a braking device, a drive device and a warning device. Thus, the occupants of the vehicle, in particular the driver of the vehicle, can be warned of the occurrence of such a situation or can take place to avoid such a situation, an autonomous intervention in the driving dynamics of the vehicle.

Another aspect of the invention relates to a vehicle that has at least one optical camera wherein the at least one optical camera for detecting objects in the region of an environment of the vehicle is formed. In addition, the vehicle has a first determination device, which is designed to determine whether at least one traffic light system is arranged in the region of a current environment of the vehicle, based on images taken by the at least one optical camera. Furthermore, the vehicle has a second determination device, which is designed to determine whether at least one traffic sign is arranged in the region of the current surroundings of the vehicle, based on the images taken by the at least one optical camera. In addition, the vehicle has a third determination device, which is designed to determine whether the at least one traffic sign is arranged in a predetermined region of an environment of the at least one traffic light system, based on the images taken by the at least one optical camera, if it is determined in that at least one traffic light system and at least one traffic sign are arranged in the region of the current surroundings of the vehicle. Furthermore, the vehicle has a fourth determination device, which is designed to determine a distance of the vehicle to the at least one traffic light system by determining a distance of the vehicle to the at least one traffic sign based on the images taken by the at least one optical camera, if determined in that the at least one traffic sign is arranged in the predetermined area of the surroundings of the at least one traffic light system.

The vehicle according to the aforementioned embodiment has the advantages already mentioned in connection with the corresponding method, which are not listed again at this point in order to avoid repetition.

The first determination device and / or the second determination device is preferably designed for evaluating the images recorded by the at least one optical camera by means of a pattern recognition method.

In addition, in another embodiment, the vehicle has a transmission device that is designed to transmit the determined distance of the vehicle to the at least one traffic light system to at least one driver assistance system of the vehicle.

The vehicle is preferably a motor vehicle, in particular a passenger car or a truck.

A further aspect of the invention relates to a computer program product which, when executed on a computing unit of a vehicle, wherein the vehicle has at least one optical camera, wherein the at least one optical camera is designed to detect objects in the region of an environment of the vehicle Instructs computing unit to perform the following steps. The arithmetic unit is instructed to determine whether at least one traffic light system is arranged in the region of a current environment of the vehicle, based on images taken by the at least one optical camera. In addition, the arithmetic unit is instructed to determine whether at least one traffic sign is arranged in the region of the current surroundings of the vehicle, based on the images taken by the at least one optical camera. If it is determined that at least one traffic light system and at least one traffic sign are arranged in the region of the current surroundings of the vehicle, the arithmetic unit is instructed to determine whether the at least one traffic sign is arranged in a predetermined area of an environment of the at least one traffic light system, based on the from the at least one optical camera taken pictures. If it is determined that the at least one traffic sign is arranged in the predetermined area of the surroundings of the at least one traffic light system, the arithmetic unit is instructed to determine a distance of the vehicle to the at least one traffic light system by means of determining a distance of the vehicle to the at least one traffic sign on the pictures taken by the at least one optical camera.

Another aspect of the invention relates to a computer-readable medium having stored thereon a computer program product according to the aforementioned embodiment.

The computer program product and the computer-readable medium according to the aforementioned embodiments have the advantages already mentioned in connection with the corresponding method, which are not listed again at this point in order to avoid repetitions.

Embodiments of the invention will now be described with reference to the accompanying figures.

1 shows a flowchart of a method for operating a vehicle according to an embodiment of the invention;

2 shows an example of a traffic situation in which the methods according to the application can be used;

3 shows components of in 2 shown vehicle according to an embodiment of the invention.

1 shows a flowchart of a method for operating a vehicle according to an embodiment of the invention. The vehicle has at least one optical camera, wherein the at least one optical camera is designed to detect objects in the region of an environment of the vehicle. The vehicle is typically a motor vehicle, such as a passenger car or a truck.

In one step 50 there is a determination of data by means of the at least one optical camera, ie images are taken by means of the optical camera.

In one step 60 Based on the images taken by the at least one optical camera, it is determined whether at least one traffic sign is arranged in the region of a current environment of the vehicle.

If this is not the case, ie if there is no traffic sign in the immediate surroundings of the vehicle, the steps become 50 and 60 repeatedly executed.

If, in contrast, in the step 60 it is determined that at least one traffic sign is arranged in the region of the current environment of the vehicle is in one step 70 Based on the images taken by the at least one optical camera, it is determined whether at least one traffic light system is arranged in the region of the current surroundings of the vehicle. For example, in the step 70 determines whether at least one traffic light system is arranged in the region of the current environment of the vehicle.

Determining whether at least one traffic sign is arranged in the region of the current environment of the vehicle and / or determining whether at least one traffic light system is arranged in the region of the current environment of the vehicle includes, for example, an evaluation of the images taken by the at least one optical camera by means of a pattern recognition method.

Will in the step 70 determines that no traffic signal system is located in the range of the current environment of the vehicle, the steps 50 and 60 and optionally 70 repeatedly executed, in which case an output of traffic regulations contained in the detected traffic sign can also be effected by means of an optical and / or acoustic message.

Will, however, in the step 70 determines that at least one light signal system is arranged in the region of the current environment of the vehicle, ie, it is determined in the embodiment shown that at least one traffic light system and at least one traffic sign are arranged in the region of the current surroundings of the vehicle, in one step 80 Based on the images taken by the at least one optical camera, it is determined whether the at least one traffic sign is arranged in a predetermined area of an environment of the at least one traffic light system. For example, in the step 80 based on the images taken by the at least one optical camera determines whether the at least one traffic sign is attached to a fastening device of the at least one traffic signal system.

Will in the step 80 determines that the at least one traffic sign is not arranged in the predetermined area of the surroundings of the at least one traffic signal system, for example if the traffic sign is not attached to the fastening device of the traffic signal system, in one step 90 an instantaneous distance of the vehicle to the at least one traffic light system is determined by means of an image evaluation of the images taken by the at least one optical camera, wherein only the traffic light system detected in the images is used for this purpose. For example, in the step 90 Changes in the dimensions of the traffic signal system, for example, the dimensions of a traffic light body of the traffic signal system, determined at different times by the at least one optical camera taken pictures.

If, in contrast, in the step 80 it is determined that the at least one detected traffic sign is arranged in the predetermined area of the surroundings of the at least one traffic light system, in a step 100 determines the instantaneous distance of the vehicle to the at least one traffic signal system by means of determining a current distance of the vehicle to the at least one traffic sign. The distance of the vehicle to the traffic signal system is thus determined or estimated based on the traffic signs detected in the recorded images. For this purpose, for example, dimensions of the at least one traffic sign are determined in the images captured by the at least one optical camera and, after a successful classification of the determined traffic sign, compared with predetermined values of the dimensions. In addition, the distance of the vehicle to the traffic signal system based on determined changes in the dimensions of the traffic signal determined and with the determined distance compared to the at least one traffic sign.

In one step 110 a current speed of the vehicle and a momentary switching phase of the at least one traffic signal system are determined. The instantaneous switching phase of the traffic signal system can be determined based on the images taken by the at least one optical camera, typically by determining the light signal currently emitted by the traffic signal system. Furthermore, the current switching phase may be determined based on data received by means of a vehicle-to-infrastructure communication device, as will be explained in more detail in connection with the following figure.

In one step 120 is determined based on the determined instantaneous distance of the vehicle to the at least one traffic light system, the determined instantaneous speed of the vehicle and the determined instantaneous switching phase of the at least one traffic signal, whether the vehicle passes the traffic light system during a holding bid phase at a constant speed. For example, it is determined whether the vehicle passes a traffic light system during a red phase.

Will in the step 120 determines that the vehicle passes the traffic light system at a constant speed during a holding bid phase, takes place in one step 130 an automatic actuation of at least one element of the vehicle selected from the group consisting of a brake device, a drive device and a warning device.

If, in contrast, in the step 120 is determined that the vehicle does not pass the traffic light system at a constant speed during the holding bid phase, remains an automatic actuation of the at least one element, as with a step 140 is shown.

In the embodiment shown, it is determined whether at least one traffic light system is arranged in the region of the current surroundings of the vehicle, if it is determined that at least one traffic sign is arranged in the region of the current surroundings of the vehicle. In this case, it is assumed that the determination of traffic signs by means of an image evaluation compared to the determination of traffic lights can be done in a simpler manner. The steps 60 and 70 However, they can also be carried out in the reverse order, that is, it can first be determined whether at least one traffic light system is located in the current environment of the vehicle, and if so, continue to determine whether at least one traffic sign is in the area of the current one Environment of the vehicle is arranged.

By means of the embodiment shown, an improved distance estimation, in particular of traffic lights by means of the camera, which for example forms a front camera of the vehicle, is thus made possible by a recognition of additional signs. The right one, d. H. As accurate as possible, automatic estimation of the distance of traffic lights by means of a front camera is particularly for the application of automatic warning and / or braking interventions on red or yellow traffic light phases of particular importance. Since traffic lights often differ in shape and size, the estimation of the distance may not be accurate enough and may lead to too early or too late warning or braking intervention. Such an error in the estimation also increases with lower resolution of the camera.

By means of the mentioned embodiment, as already explained, an improved distance estimation is made possible by the evaluation of context information which is located in the area of traffic light installations in particular. As also already explained, are in the majority of traffic lights in the event that the traffic light system fails, additional signs, for example in the form of "right of way eighth". Such signs typically have standardized sizes, unlike traffic lights, and in most cases are closer to a road surface, allowing a better estimate of the distance to a breakpoint.

Furthermore, the signs are typically larger in height and width, so that in addition to a more accurate and an earlier estimate can be made. Furthermore, in particular traffic light bodies, which are of particular importance for the distance estimation, may be difficult to recognize by dark coloration under certain circumstances at dusk or at night by means of the optical camera, whereas traffic signs are largely visible in the spotlight due to their reflections. Due to the vertical position, such traffic signs are also better illuminated than the traffic light system itself.

The more accurate estimation of the distance, in particular to traffic lights, allows a timely tuned, automatic warning or braking. This also has an advantageous effect on the user acceptance of such driver assistance systems,

2 shows an example of a traffic situation in which the methods according to the Embodiments of the invention, in particular the method according to the in 1 shown embodiment, can be used.

In the traffic situation shown drives a vehicle 1 in the form of a passenger car in a direction of travel on a lane schematically represented by an arrow A 22 a roadway 23 in the area in front of a crossroads 40 , Next to the lane 22 indicates the roadway 23 also another lane 24 on.

The vehicle 1 has at least one optical camera 2 on, wherein the at least one optical camera 2 for detecting objects in the area of an environment of the vehicle 1 is trained. In the situation shown, the optical camera forms 2 while a front camera of the vehicle 1 which is used to detect objects within a schematically represented detection area 21 is trained.

The lane 22 is in the area of the intersection 40 a traffic signal system 3 assigned. The traffic signal system 3 is in the situation shown as a traffic light system 8th educated. The traffic light system 8th also has a traffic sign 5 on which at a fastening device 9 the traffic light system 8th is attached. The traffic sign 5 is thus in a predetermined range 6 an environment of the traffic signal system 3 , The predetermined range 6 is for example one meter around the traffic signal system 3 ,

The traffic signal system 3 as well as the traffic sign 5 are in the shown traffic situation within the coverage area 21 the at least one optical camera 2 ,

As will be explained in more detail in connection with the following figure, so that a distance of the vehicle 1 to the traffic signal system 3 be determined or estimated that a distance of the vehicle 1 to the traffic sign 5 based on the at least one optical camera 2 recorded images is determined. Furthermore, determining the distance of the vehicle 1 to the traffic signal system 3 determining a distance of the vehicle 1 to one, the traffic signal system 3 associated stop line 7 and / or a distance of the vehicle 1 to a traffic light body of the traffic signal system 3 based on the at least one optical camera 2 recorded images.

In addition, the vehicle points 1 in the situation shown, a vehicle-to-infrastructure communication device 25 on. By means of the vehicle-to-infrastructure communication device 25 from a roadside infrastructure 26 , which is also referred to as a road side unit, received data can thus a momentary switching phase of the traffic signal system 3 be determined. The roadside infrastructure 26 also has a vehicle-to-infrastructure communication device 25 on. Furthermore, the current switching phase of the traffic signal system 3 based on the at least one optical camera 2 Recorded images are determined by a momentarily by the traffic signal 3 output light signal 20 is determined by means of an image evaluation.

Further details will be explained in connection with the following figure.

In addition shows 3 Components of in 2 shown vehicle according to an embodiment of the invention. Components with the same functions as in 2 are denoted by the same reference numerals and will not be explained again below. For clarity, the vehicle is in 3 not shown in detail.

The vehicle has in addition to the at least one optical camera 2 a first detection device 13 based on from the at least one optical camera 2 recorded images is designed to determine whether at least one light signal system is arranged in the region of a current environment of the vehicle. Furthermore, the vehicle has a second determination device 14 based on that of the at least one optical camera 2 recorded images is designed to determine whether at least one traffic sign in the range of the current environment of the vehicle is arranged. In the embodiment shown, the first detection device 13 and the second detection device 14 thereby to evaluate the of the at least one optical camera 2 recorded images formed by a pattern recognition method. These are the first investigative device 13 via a signal line 30 and the second detection device 14 via a signal line 31 with a storage device 10 connected in the storage device 10 a plurality of predetermined patterns of traffic signs and their dimensions and patterns are stored by traffic lights.

The second investigative device 14 In the embodiment shown, moreover, for determining a momentary switching phase of the at least one traffic light system based on the at least one optical camera 2 recorded images.

The vehicle also has a third detection device 15 based on that of the at least one optical camera 2 is formed to determine whether the at least one traffic sign is arranged in a predetermined region of an environment of the at least one traffic light system, if it is determined that at least one traffic light system and at least one traffic sign are arranged in the instantaneous surroundings of the vehicle. The third investigative device 15 is via a signal line 32 with the first detection device 13 as well as via a signal line 33 with the second detection device 14 connected.

Further, the vehicle has a fourth detection device 16 for determining a distance of the vehicle to the at least one traffic light system based on that of the at least one optical camera 2 recorded images is formed. The fourth investigative device 16 is designed to determine the distance of the vehicle to the at least one traffic light system by means of determining a distance of the vehicle to the at least one traffic sign, if it is determined that the at least one traffic sign is arranged in the predetermined area of the surroundings of the at least one traffic signal system. If, on the other hand, it is determined that the at least one traffic sign is not arranged in the predetermined area of the surroundings of the at least one traffic signal system or if no traffic sign is arranged in the vicinity of the vehicle, the fourth determining device is 16 for determining the distance of the vehicle to the at least one traffic light system based on an evaluation of dimensions of the determined traffic signal system in the at least one optical camera 2 recorded images. The fourth investigative device 16 is via a signal line 34 with the third detection device 15 connected.

Furthermore, the vehicle has a transmission device 17 on, for transmitting the determined distance of the vehicle to the at least one traffic light system to at least one driver assistance system 11 of the vehicle is formed. Furthermore, the transmission device 17 formed in the embodiment shown for transmitting the determined instantaneous switching phase of the at least one traffic signal to the at least one driver assistance system. The transmission device 17 is via a signal line 35 with the fourth detection device 16 , via a signal line 36 with the second detection device 14 as well as via a signal line 37 with the at least one driver assistance system 11 connected.

The first investigative device 13 , the second investigative device 14 , the third investigative device 15 , the fourth investigative device 16 , the storage device 10 as well as the transmission device 17 are in the embodiment shown part of a traffic sign recognition system 28 of the vehicle. The at least one optical camera 2 is via a signal line 29 with the traffic sign recognition system 28 connected.

In the embodiment shown, the driver assistance system is 11 a so-called crossing assistant and is designed to automatically actuate at least one element 12 of the vehicle selected from the group consisting of a brake device, a drive device and a warning device. The driver assistance system 11 is via a signal line 39 with the at least one element 12 connected. Furthermore, the driver assistance system 11 via a signal line 38 with a sensor 27 connected, which is designed to determine a current speed of the vehicle. The driver assistance system 11 determined based on the determined distance of the vehicle to the at least one traffic light, the determined instantaneous speed of the vehicle and the determined instantaneous switching phase of the at least one traffic signal, whether the vehicle passes the at least one traffic light at a constant speed during a holding bid phase of the traffic signal, and actuates automatically the at least one element 12 if this is the case.

Furthermore, in the embodiment shown, the vehicle has an arithmetic unit 18 and a computer readable medium 19 on, being on the computer-readable medium 19 a computer program product is stored that when it is on the arithmetic unit 18 is executed, the arithmetic unit 18 the steps mentioned in connection with the embodiments of the method, in particular the steps of 1 shown embodiment, to carry out by means of the elements mentioned here. This is the arithmetic unit 18 connected in a manner not shown directly or indirectly with the corresponding elements.

Although at least one exemplary embodiment has been shown in the foregoing description, various changes and modifications may be made. The above embodiments are merely examples and are not intended to limit the scope, applicability, or configuration in any way. Rather, the foregoing description provides those skilled in the art with a scheme for practicing at least one example embodiment, and various changes may be made in the operation and arrangement of elements described in an exemplary embodiment without departing from Scope of the attached claims and their legal equivalents.

LIST OF REFERENCE NUMBERS

1

vehicle

2

camera

3

Traffic signal

4

Surroundings

5

road sign

6

Area

7

stop line

8th

traffic lights

9

fastening device

10

storage device

11

Driver assistance system

12

element

13

detecting device

14

detecting device

15

detecting device

16

detecting device

17

transmission device

18

computer unit

19

medium

20

light signal

21

detection range

22

lane

23

roadway

24

lane

25

Vehicle-to-infrastructure communication device

26

infrastructure facility

27

sensor

28

Traffic sign recognition system

29

signal line

30

signal line

31

signal line

32

signal line

33

signal line

34

signal line

35

signal line

36

signal line

37

signal line

38

signal line

39

signal line

40

crossing

50

step

60

step

70

step

80

step

90

step

100

step

110

step

120

step

130

step

140

step

A

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QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 202010012464 U1 [0002]

Claims (15)

Method for operating a vehicle ( 1 ), where the vehicle ( 1 ) at least one optical camera ( 2 ), wherein the at least one optical camera ( 2 ) for detecting objects in the area of an environment of the vehicle ( 1 ) and wherein the method comprises the following steps: - determining whether at least one traffic light system ( 3 ) in the area of a current environment ( 4 ) of the vehicle ( 1 ) is arranged, based on the at least one optical camera ( 2 ), determining whether at least one traffic sign ( 5 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ) is arranged, based on the of the at least one optical camera ( 2 ) - if it is determined that at least one traffic light system ( 3 ) and at least one traffic sign ( 5 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ), determining whether the at least one traffic sign ( 5 ) in a predetermined range ( 6 ) an environment of the at least one traffic light system ( 3 ) is arranged, based on the of the at least one optical camera ( 2 ) - if it is determined that the at least one traffic sign ( 5 ) in the predetermined range ( 6 ) the environment of the at least one traffic signal system ( 3 ), determining a distance of the vehicle ( 1 ) to the at least one traffic light system ( 3 ) by means of determining a distance of the vehicle ( 1 ) to the at least one traffic sign ( 5 ) based on the at least one optical camera ( 2 ) taken pictures. The method of claim 1, wherein determining the distance of the vehicle ( 1 ) to the at least one traffic light system ( 3 ) determining a distance of the vehicle ( 1 ) to one, the at least one traffic signal system ( 3 ) associated stop line ( 7 ) based on the at least one optical camera ( 2 ) included images. The method of claim 1 or claim 2, wherein determining if at least one traffic light system ( 3 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ), a determination includes whether at least one traffic light system ( 8th ) in the area of the current environment ( 4 ) of the vehicle ( 1 ) is arranged. Method according to one of the preceding claims, wherein determining whether the at least one traffic sign ( 5 ) in the predetermined range ( 6 ) the environment of the at least one traffic signal system ( 3 ), a determination includes whether the at least one traffic sign ( 5 ) on a fastening device ( 9 ) of the at least one traffic light system ( 3 ) is attached. Method according to one of the preceding claims, wherein determining whether at least one traffic light system ( 3 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ) and / or determining whether at least one traffic sign ( 5 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ), an evaluation of the at least one optical camera ( 2 ) by means of a pattern recognition method. Method according to one of the preceding claims, wherein determining the distance of the vehicle ( 1 ) to the at least one traffic sign ( 5 ) determining dimensions of the at least one traffic sign ( 5 ) in the at least one optical camera ( 2 ) and comparing the determined dimensions with in a storage device ( 10 ), predetermined values of the dimensions of the at least one traffic sign ( 5 ) includes. Method according to one of the preceding claims, wherein determining the distance of the vehicle ( 1 ) to the at least one traffic sign ( 5 ) determining changes in the dimensions of the at least one traffic sign ( 5 ) at different times from the at least one optical camera ( 2 ) and determining a current speed of the vehicle ( 1 ) includes. Method according to one of the preceding claims, wherein the determined distance of the vehicle ( 1 ) to the at least one traffic light system ( 3 ) to at least one driver assistance system ( 11 ) of the vehicle ( 1 ) is transmitted. Method according to one of the preceding claims, wherein additionally an instantaneous speed of the vehicle ( 1 ) and a momentary switching phase of the at least one traffic light system ( 3 ) and based on the determined distance of the vehicle ( 1 ) to the at least one traffic light system ( 3 ), the determined instantaneous speed of the vehicle ( 1 ) and the determined instantaneous switching phase of the at least one traffic light system ( 3 ) determines whether the vehicle ( 1 ) the at least one traffic light system ( 3 ) during a holding bid phase of the at least one traffic light system ( 3 ) happens. Method according to claim 9, wherein, if it is determined that the vehicle ( 1 ) the at least one traffic light system ( 3 ) during a holding bid phase of the at least one traffic light system ( 3 ) happens, an automatic actuation of at least one Element ( 12 ) of the vehicle ( 1 ) selected from the group consisting of a brake device, a drive device, and a warning device. Vehicle comprising - at least one optical camera ( 2 ), wherein the at least one optical camera ( 2 ) for detecting objects in the area of an environment of the vehicle ( 1 ), - a first detection device ( 13 ) configured to determine whether at least one traffic light system ( 3 ) in the area of a current environment ( 4 ) of the vehicle ( 1 ) is arranged, based on the at least one optical camera ( 2 ), - a second detection device ( 14 ) configured to determine whether at least one traffic sign ( 5 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ) is arranged, based on the of the at least one optical camera ( 2 ), - a third detection device ( 15 ) for determining whether the at least one traffic sign ( 5 ) in a predetermined range ( 6 ) an environment of the at least one traffic light system ( 3 ) is arranged, based on the of the at least one optical camera ( 2 ), if it is determined that at least one traffic light system ( 3 ) and at least one traffic sign ( 5 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ), - a fourth detection device ( 16 ) configured to determine a distance of the vehicle ( 1 ) to the at least one traffic light system ( 3 ) by means of determining a distance of the vehicle ( 1 ) to the at least one traffic sign ( 5 ) based on the at least one optical camera ( 2 ), if it is determined that the at least one traffic sign ( 5 ) in the predetermined range ( 6 ) the environment of the at least one traffic signal system ( 3 ) is arranged. A vehicle according to claim 11, wherein the first detection device ( 13 ) and / or the second detection device ( 14 ) for evaluating the at least one optical camera ( 2 ) is formed by means of a pattern recognition method. Vehicle according to claim 11 or claim 12, further comprising a transmission device ( 17 ) adapted to transmit the determined distance of the vehicle ( 1 ) to the at least one traffic light system ( 3 ) to at least one driver assistance system ( 11 ) of the vehicle ( 1 ). Computer program product that, when stored on a computer unit ( 18 ) of a vehicle ( 1 ) is carried out, the vehicle ( 1 ) at least one optical camera ( 2 ), wherein the at least one optical camera ( 2 ) for detecting objects in the area of an environment of the vehicle ( 1 ), the arithmetic unit ( 18 ) to carry out the following steps: - determining whether at least one traffic light system ( 3 ) in the area of a current environment ( 4 ) of the vehicle ( 1 ) is arranged, based on the at least one optical camera ( 2 ), determining whether at least one traffic sign ( 5 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ) is arranged, based on the of the at least one optical camera ( 2 ) - if it is determined that at least one traffic light system ( 3 ) and at least one traffic sign ( 5 ) in the area of the current environment ( 4 ) of the vehicle ( 1 ), determining whether the at least one traffic sign ( 5 ) in a predetermined range ( 6 ) an environment of the at least one traffic light system ( 3 ) is arranged, based on the of the at least one optical camera ( 2 ) - if it is determined that the at least one traffic sign ( 5 ) in the predetermined range ( 6 ) the environment of the at least one traffic signal system ( 3 ), determining a distance of the vehicle ( 1 ) to the at least one traffic light system ( 3 ) by means of determining a distance of the vehicle ( 1 ) to the at least one traffic sign ( 5 ) based on the at least one optical camera ( 2 ) taken pictures. A computer readable medium having stored thereon a computer program product according to claim 14.

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