DE102013206915A1 - Apparatus, system and method for identifying busy traffic objects and use of the system - Google Patents

Abstract

The invention relates to a device for identifying busy traffic objects (55, 56), comprising optical blasting means (14), optical detection means (12, 13) and control means (15), the control means (15) the blasting means (14) and the detection means ( 12, 13) activate and / or deactivate and analyze optical information acquired by the acquisition means (12, 13), the acquisition means (12, 13) acquiring the optical information in a spatial acquisition range at least from a visible spectral range and wherein the control means (15 ) irradiate the detection area. The device that the blasting means (14) emit ultraviolet radiation and the control means (15) identify animated traffic objects (55, 56) on the basis of the acquired optical information. The invention further relates to a corresponding system and a corresponding method as well as a use of the system.

Description

The invention relates to a device for identifying busy traffic objects according to the preamble of claim 1, a system for identifying busy traffic objects according to the preamble of claim 5 and a method for identifying busy traffic objects according to the preamble of claim 9 and a use of the system.

There are already known from the prior art various types of driver assistance systems, whose primary task is to relieve the driver in often confusing traffic events. In addition, a large number of these driver assistance systems also fulfill risk prevention measures beyond mere comfort effects, e.g. in the form of warning to the driver or even intervention in the vehicle control. As a rule, the information acquisition on which the respective driver assistance system is based is based on environmental sensor technology, on digital map material or also on vehicle-to-X communication. The greater the available information density, the more reliably the said systems can work.

In this context, the DE 10 2010 031 254 A1 a traffic safety communication system to increase the traffic safety of pedestrians. The traffic safety communication system includes a traffic safety communication device integrated in a pedestrian's shoe and a safety risk analysis device in a vehicle. The security risk analysis device sends a signal that activates the power supply of the traffic safety communication device when it is received by it. If the traffic safety communication device has been activated, this in turn sends a signal from which the safety risk analysis device determines a position, a walking speed and, if applicable, a potentially increased risk potential (eg if a child is detected) of the pedestrian. If the safety risk analysis device detects an actual danger to the pedestrian by the own vehicle, a corresponding warning is issued to the driver.

From the DE 100 28 219 A1 a marking device for persons is known, which can for example be attached to the clothing of the person and indicates the position of the person by means of an invisible radiation signal or also acoustic or optical signals. In addition, the marking device itself collects data from its surroundings and can thus make the person aware of any dangers.

In the DE 10 2008 061 301 A1 For example, a validation of information acquired by environmental sensors is described by other environmental sensor information which can be used, for example, for so-called "target-validated braking". For this purpose, a radar signal is validated by means of a camera signal in that the camera signal confirms that the radar signal is reflected by a vehicle. An additional distance measurement by means of a stereo camera is not provided. Due to this validation by a second sensor, the reliability of the information is sufficiently high to initiate an autonomous braking process for accident prevention.

The still unpublished DE 10 2012 219 106.2 describes a signal generator which is suitable for highlighting objects, in particular people, in traffic. The signal transmitter is reflective in the infrared spectral range and essentially imperceptible to the human eye. Thus, the signal generator is suitable for incorporation into garments, since it does not affect the fashionable character of the garments due to its perceptually neutral nature. A corresponding equipped for detecting the signal generator vehicle illuminates the area in front of the vehicle infrared and detects the signal reflected by the signal generator, if a signal transmitter is in the illuminated area. Thus, persons can be recognized autonomously and reliably by the vehicle.

However, the devices and systems known in the prior art, despite all efforts so far still not provide a sufficiently reliable solution, for example, in the event of an emergency-related automated evasive maneuver in all situations sufficiently fast and accurate between inanimate objects on the one hand and persons on the other to distinguish possible avoidance area and so reliably avoid the injury of persons. On the one hand, namely the detection of persons using radar sensors or camera sensors is relatively unreliable, on the other hand, only a few pedestrians with a device as in DE 10 2010 031 254 A1 , of the DE 100 28 219 A1 or the DE 10 2012 219 106.2 described, equipped.

It is therefore the object of the invention to provide a device which overcomes the disadvantages known from the prior art.

This object is achieved by the device for identifying busy traffic objects according to claim 1.

The invention relates to an apparatus for identifying busy traffic objects, comprising optical blasting means, optical detection means and control means, the control means activating and / or deactivating the blasting means and the detection means and analyzing optical information detected by the detection means, the detection means operating the spatial information Detect detection range at least from a visible spectral range and wherein the control means irradiate the detection area. The device is characterized in that the blasting means radiate ultraviolet radiation and identify the control means based on the detected optical information animated traffic objects.

This results in the advantage that by means of the device according to the invention all those objects can be optically detected, which on the ultraviolet radiation emitted by the blasting agents at least in the visible spectral range with an optical change, for example with an increase in the intensity of the reflected visible radiation or a change the wavelength of the reflected visible radiation. The former makes the subject appear brighter, but the latter makes the subject appear in a different color. Such changes can be detected optically by the detection means. In particular, objects which react to the ultraviolet radiation emitted by the blasting means are all kinds of objects containing so-called whitening agents. These, in turn, are primarily garments that are rewetted with whiteners through regular contact with the various cleansers during each wash. The term "whitening agent" is a collective term for different types of fluorescent substances, which are contained in particular in clothing detergents. Whiteners have the effect of making the washed clothes, especially white clothes, cleaner and brighter because the fluorescent effect of the whitening agents converts part of the ultraviolet radiation not visible to the human eye into visible radiation and then reflects it. An object provided with whiteners therefore reflects more radiation in the visible spectral range and therefore appears brighter than an identical object that is not provided with whitening agents. Depending on the particular type of fluorescence, the maximum intensity of the reflected wavelength can also change, which is visually perceivable as a color change. Since people in the street usually wear clothes, they can be detected by the device according to the invention by exploiting the effects described in a simple manner as animate transport objects. In addition, many types of soft contact lenses contain whiteners.

When using contact lenses can be drawn from the recognized distance of the contact lenses additional detection security. If the distance of the contact lenses namely corresponds to the usual eye relief of a human being, it can be assumed with very high certainty that the detected traffic object is actually a human being and thus a living traffic object.

The device according to the invention is therefore particularly well suited to identify people as such, since inanimate objects do not wear clothing. In addition, the spread and incorporation of whiteners in clothes washes is safe and generally accepted. The device according to the invention can thus be used without the living objects to be identified having to be specially marked. A special equipment of the busy transport objects is not necessary. Thus, the barriers to the effective use of the device in road traffic are very low.

Known whitening agents are, for example, the so-called stilbene compounds (such as, for example, blankophore), ethylene, phenylethylene and thiophene derivatives which contain two heteroaromatic radicals (for example the benzoxazole radical). Further, coumarin and carbostyril derivatives, 1,3-diphenyl-2-pyrazolines, naphthalimides and various compounds in which a condensed aromatic is directly linked to a heteroaromatic (such as thiazoles, pyrazoles, oxdiazoles or triazines) are known and widely used , At present about 400 different substances are regularly used as whiteners for different purposes.

The control means may be designed as a microcontroller or suitable processor, which execute a corresponding computer program or corresponding computer algorithms. They activate and deactivate both the detection means and the blasting means. In order to be able to meaningfully recognize a change in a traffic object in the detection area, it is preferred that the detection means are already activated before the blasting means which trigger the change are activated or that the detection means remain activated even after the blasting means have been deactivated again. If the detection means and the blasting means were simultaneously activated and deactivated, the detecting means could not detect any change.

The control means advantageously also carry out a known object recognition in order to to recognize and differentiate different objects in the detection area. Such object recognition, which is known per se, can be carried out together with the inventive identification of busy traffic objects by means of the control means in the device, whereby the recognition reliability of busy traffic objects is further improved.

The detection means must be able to detect the optical information in the spatial detection range from the visible spectral range and can e.g. be designed as a camera, in particular as a stereo camera, as a photodiode or photodiodes or laser scanner. The detection means may also be continuously activated, which may be useful in particular with a camera or stereo camera, since this can thus also be used for other vehicle systems or driver assistance systems. If the detection means are designed as stereo camera, a distance determination to the traffic object is additionally possible.

Preferably, the blasting agents are not activated continuously, since a prolonged irradiation with ultraviolet radiation in humans can be known to lead to health problems.

In principle, it is also possible that the blasting means emit visible radiation and the detection means detect optical information in the infrared spectral range. Here, too, the reflection or fluorescence causes a change in the wavelength from shorter to longer wavelengths.

Furthermore, it is preferred that the device is designed such that it is suitable for permanent attachment to the inside of a vehicle windshield. As a result, the device can be used in a motor vehicle and, for example, distinguish living traffic objects from inanimate traffic objects as part of a driver assistance function.

It is advantageous that the detection means detect the optical information in a spatially resolving manner. This results in the advantage that not only can it be detected whether an animated traffic object is within the detection range of the device, but also where exactly the traffic object is located in the detection area. For spatial resolution detection in particular cameras, stereo cameras and laser scanners are. If photodiodes are used as detection means, a limited spatially resolving detection is also possible if additionally at least one separation aperture is used between the photodiodes.

Effective detection areas of the individual photodiodes are oriented in this case in different directions on a horizontal plane and the individual detection areas are determined by the shielding effect of the divider. Thus, a direction detection is possible in a very simple way. If a traffic object is detected by all photodiodes essentially equally well, it is usually located directly in front of the device. If the traffic object is only detected by a photodiode because the divider obscures the traffic object for the other photodiode, then the traffic object is usually located laterally in front of the device. The direction detection can be further improved or resolved higher, the more photodiodes and separating diaphragms are used to shield individual photodiodes against certain solid angles.

In addition, it is preferred that the blasting means are designed as a discharge lamp or as an arrangement of light-emitting diodes and in particular emit the ultraviolet radiation as a single pulse when activated by the control means. Both light emitting diodes of different wavelengths and discharge lamps are known in the art and are equally suitable for emitting the ultraviolet radiation. By emitting only a single pulse, it is ensured on the one hand that, when observed over a period of time beyond the pulse duration, an optical change can be detected on objects located in the detection region, provided they are provided with whitening agents. On the other hand, it is ensured that no human health impairment occurs, since the ultraviolet radiation is emitted only as a single pulse and not permanently.

In particular, it is preferred that the blasting means are activated by the control means only when there is a situation in which busy traffic objects must be autonomously distinguished from inanimate traffic objects. An example of this is the already described autonomous evasive maneuver, in which it is important to avoid collisions with humans and thus injuries to humans.

Furthermore, it is advantageous that the control means are designed for communication with a motor vehicle data bus. This results in the advantage that information about animated traffic objects identified as such can be continued by means of the vehicle data bus to other vehicle devices or driver assistance systems. Thus, for example, in an autonomous evasive maneuver the corresponding vehicle steering means can be controlled such that the vehicle - if a collision is inevitable - collided at least not with a busy traffic object, but instead with an inanimate object of transport. Thus, injuries to people are avoided.

The invention further relates to a system for identifying busy traffic objects, comprising a device according to the invention in a motor vehicle and fluorescence means. The system is characterized in that the device irradiates the fluorescers with ultraviolet radiation and the fluorescers reflect the ultraviolet radiation as visible radiation. The fluorescent agents characterize the busy traffic objects. Thus, the inventive system allows reliable identification of busy traffic objects by a motor vehicle. This can be used to reduce the number of people injured or even killed in traffic.

It is expedient that the fluorescent agents are cleaned garments by means of a cleaning agent comprising fluorescent substance. Since busy transport objects such as people on the road usually wear clothing and this is usually cleaned regularly, there is thus the advantage that people on the road in a simple manner reliably recognizable.

In addition, it is expedient that the fluorescent agents are designed for attachment to garments. The fluorescers are also provided in this case with a fluorescent substance which contains whiteners and produces the described effect. Such labels may e.g. be applied as textile elements or plastic adhesive elements on the garments, but also on other objects such as jewelry and / or transport containers such as backpacks or bags. Due to a comparatively larger possible concentration of contained whitening agents they can cause a comparatively stronger effect.

It is particularly expedient that the fluorescent agents contain at least one machine-readable information. This information can be contained for example in the reflected wavelength or in the form of a geometric pattern or a barcode. The information is only visible under ultraviolet radiation and otherwise imperceptible to the human eye. For reading the machine-readable information, especially cameras or laser scanners are suitable as detection means. The machine-readable information may, for example, describe in more detail the nature of the busy traffic object, for example as a pedestrian, cyclist or child.

In addition, the invention relates to a method for identifying living traffic objects, in which fluorescence from optical radiation means are irradiated with radiation, wherein the blasting means and detection means are activated and / or deactivated by control means, wherein furthermore optical information detected by the detection means is analyzed by the control means, wherein the optical information is detected by the detection means in a spatial detection area at least from a visible spectral range and wherein the beam means irradiate the detection area. The method is characterized in that the blasting agents radiate ultraviolet radiation and traffic objects are detected by the control means based on the acquired optical information. The method according to the invention thus makes possible with the means already described an equally simple and reliable detection of busy traffic objects. This results in the advantages already described.

Furthermore, the invention relates to a use of the system according to the invention for determining an evasion trajectory of a motor vehicle during an autonomous evasion maneuver. This results in the advantage that the evasion trajectory is determined with special consideration of the presence and location of busy traffic objects, since a distinction can be made between busy and inanimate traffic objects.

Further preferred embodiments will become apparent from the subclaims and the following description of an embodiment with reference to figures.

It shows

1 a device according to the invention,

2 the attachment of a device according to the invention in a motor vehicle,

3 a fluorescence process,

4 a radiation spectrum from the infrared to the ultraviolet spectral range and

5 a system according to the invention which carries out the method according to the invention.

1 shows device according to the invention 11 , which is a pair of stereo camera single camera modules 12 and 13 includes. The stereo camera serves as a detection means for optically capturing information about objects located in a detection area in front of the device 11 are located. In addition, by means of the Stereo camera to determine the distance to detected objects. The stereo camera is exclusively for the detection of optical information in a visible spectral range, ie from about 350 nm to about 750 nm wavelength suitable. Furthermore, device includes 11 arrangement 14 ultraviolet-emitting light-emitting diodes which emit once an ultraviolet radiation pulse of 0.1 s duration into the detection area when activated. processor 15 controls both the stereo camera and arrangement 14 , in particular their activation or deactivation. In addition, processor analyzes 15 the optical information captured by the stereo camera. About data contact 16 is device 11 also connected to a motor vehicle data bus.

In 2 is the attachment of a device according to the invention 11 in motor vehicle 21 to see. motor vehicle 21 is only partially shown. Only windshield can be seen 22 , as well as the adjacent vehicle areas. As can be seen, device is 11 in the upper part of the windshield 22 from where traffic objects in front of the vehicle can be detected relatively well, without restricting the driver's view. At the bottom of device 11 is rearview mirror 23 appropriate.

3 schematically shows a fluorescence process on shirt 31 which has been cleaned with a whitener-containing detergent. Shortwave, ultraviolet radiation 32 , which is not visible to the human eye, meets shirt 31 , Which is on shirt 31 whiteners now cause a fluorescence process, as a result, ultraviolet radiation 32 as long-wave, visible radiation 33 is returned or reflected.

In 4 is a radiation spectrum from the infrared to the ultraviolet spectral range. The transition from the ultraviolet spectral range to the visible spectral range is approximately 350 nm. The visible spectral range is followed by the infrared spectral range at longer wavelengths, the transition here being around 750 nm. Only the visible spectral range is perceptible to the human eye.

5 shows a system according to the invention, which carries out the inventive method. The system includes motor vehicles 51 with inventive device 11 on street 52 as well as fluorescent agents 53 and 54 , fluorescent agents 53 and 54 are the clothes of pedestrians 55 and 56 which immediately before the vehicle 51 Street 52 cross. On the opposite lane comes the vehicle 51 vehicle 57 opposite. At the roadside of street 52 stands garbage bin 58 , A driver assistance system in vehicle 51 Realizes that is right in front of the vehicle 51 four transport objects 55 . 56 . 57 and 58 and that a collision with at least one of the traffic objects can no longer be prevented. An object recognition in vehicle 51 recognizes vehicle 57 as a motor vehicle. transport objects 55 . 56 and 58 however, they can not be distinguished immediately. Therefore activates processor 15 arrangement 14 of ultraviolet emitting light emitting diodes in device 11 , which then emit a short ultraviolet radiation pulse. During the pulse, the stereo camera captures in device 11 a noticeable change in traffic objects 55 and 56 because clothes 53 and 54 of pedestrians 55 and 56 significantly more radiation is reflected in the visible spectral range during the pulse and thus appears brighter than before or after the pulse. Transportation Estate 58 on the other hand, it remains unchanged in the visible spectral range. Therefore, traffic objects 55 and 56 identified as busy transport objects. Because a collision was recognized as inevitable, vehicle determines 51 now an optimal avoidance trajectory under the given circumstances. It takes into account that a collision with oncoming vehicle 57 to serious property damage and due to the high relative speed can also lead to personal injury. A collision with one or both of pedestrians 55 and 56 this is expected to seriously injure. The comparatively best alternative possibility thus represents a collision with an inanimate traffic object 58 which is a garbage can. Vehicle 51 So performs an autonomous evasive maneuver, which leads to a collision with garbage can 58 leads. Thus, personal injury is prevented and the resulting property damage is relatively low.

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 102010031254 A1 [0003, 0007]
• DE 10028219 A1 [0004, 0007]
• DE 102008061301 A1 [0005]
• DE 102012219106 [0006, 0007]

Claims (10)

Device for identifying busy traffic objects ( 55 . 56 ), comprising optical abrasives ( 14 ), optical detection means ( 12 . 13 ) and control means ( 15 ), wherein the control means ( 15 ) the blasting agents ( 14 ) and the detection means ( 12 . 13 ) and / or deactivate it as well as from the detection means ( 12 . 13 analyze detected optical information, wherein the detection means ( 12 . 13 ) capture the optical information in a spatial detection range at least from a visible spectral range and wherein the control means ( 15 ) irradiate the detection area, characterized in that the blasting means ( 14 ) radiate ultraviolet radiation and the control means ( 15 ) based on the captured optical information animated traffic objects ( 55 . 56 ). Device according to claim 1, characterized in that the detection means ( 12 . 13 ) capture the optical information in a spatially resolved manner. Device according to at least one of claims 1 and 2, characterized in that the blasting means ( 14 ) as a discharge lamp or as an arrangement ( 14 ) are formed by light emitting diodes and in particular upon activation by the control means ( 15 ) radiate the radiation as a single pulse. Device according to at least one of claims 1 to 3, characterized in that the control means ( 15 ) are designed for communication with a motor vehicle data bus. System for identifying busy traffic objects ( 55 . 56 ), comprising a device according to at least one of claims 1 to 4 in a motor vehicle ( 51 . 57 ) and fluorescers ( 31 . 53 . 54 ), characterized in that the device comprises the fluorescence means ( 31 . 53 . 54 ) are irradiated with ultraviolet radiation and the fluorescers ( 31 . 53 . 54 ) reflect the ultraviolet radiation as visible radiation. System according to claim 5, characterized in that the fluorescence means ( 31 . 53 . 54 ) cleaned by means of a cleaning agent comprising fluorescent substance ( 31 . 53 . 54 ) are. System according to claim 5, characterized in that the fluorescence means ( 31 . 53 . 54 ) for attachment to garments ( 31 . 53 . 54 ) are formed. System according to claim 7, characterized in that the fluorescence means ( 31 . 53 . 54 ) contain at least one machine-readable information. Method for identifying busy traffic objects ( 55 . 56 ), in which fluorescence agent ( 31 . 53 . 54 ) of optical abrasives ( 14 ) are irradiated with radiation, wherein the blasting agents ( 14 ) and detection means ( 12 . 13 ) of tax revenue ( 15 ) are activated and / or deactivated, whereby the detection means ( 12 . 13 ) detected optical information from the control means ( 15 ), the optical information being collected by the detection means ( 12 . 13 ) are detected in a spatial detection range at least from a visible spectral range and wherein the blasting means ( 14 ) irradiate the detection area, characterized in that of the blasting means ( 14 ) ultraviolet radiation and emitted by the control means ( 15 ) based on the captured optical information animated traffic objects ( 55 . 56 ) be identified. Use of the system according to at least one of claims 5 to 8 for determining an evasion trajectory of a motor vehicle ( 51 . 57 ) during an autonomous evasive maneuver.

Images