DE102014203807A1 - A driver assistance system and method for delaying or suppressing an output of a warning by an assistance system of a vehicle - Google Patents

Abstract

A driver assistance system and a method for delaying or suppressing an output of a warning by an assistance system (10) of a vehicle (1) are proposed. The method comprises the steps: determining a current vehicle position, adjusting the vehicle position with a digital road map, determining at least one potentially preceding path section based on the alignment, determining at least one action of the vehicle driver and / or Comparison with a database, - determination of a probability for the potentially preceding path section (2, 3, 4) on the basis of - the action of the vehicle driver and / or - the comparison with the database, - determination of a point (5) for the path section (2 ) having a highest probability at which the vehicle (1) must potentially give priority to another road user (6a, 6b), and - determining a likelihood that the driver has recognized and appreciated a cause for warning by the assistance system based on the action of the driver.

Description

The present invention relates to an assistance system for a means of locomotion and a method for delaying or suppressing an output of a warning by an assistance system of a means of locomotion. In particular, the present invention relates to the evaluation of a driving situation as to whether the driver of the vehicle has correctly recognized and appreciated a current traffic situation.

Driver assistance systems are designed to make driving more comfortable and safer. In response to sensed environmental signals, the driver assistance system outputs warnings and other information to the operator of the vehicle. Occasionally, reactions are also initiated automatically by the assistance system, thus intervening in the longitudinal / transverse guidance of the vehicle.

It is known to determine the field of view or the field of a current attention distribution of a driver of a means of locomotion, for example via an optical camera (English "gaze tracking") and issue in case of inadequate observation of the traffic by the guide a warning to this. However, in situations in which the assistance system has detected an imminent collision, additional information recognized by the driver of the means of locomotion may make the danger of a collision significantly lower or measures have already been taken to prevent it, without the assistance system being able to take this fact into account. As a result, prior art systems generate a warning without this alert containing useful information for the leader. Moreover, it may be perceived by the driver of the vehicle as disturbing to receive warnings about traffic situations, the explosiveness of which he himself assesses differently or for the avoidance of which he has already initiated measures.

It is therefore an object of the present invention to overcome the aforementioned disadvantages of the prior art.

The present invention solves the above object by a method having the features of claim 1 and a driver assistance system having the features of claim 11. Accordingly, the issuance of a warning by an assistance system of a vehicle is delayed or completely suppressed after the following steps have been performed are: In a first step, a current vehicle position is determined, which can be done using satellite-based location, for example. Alternatively or additionally, other wireless communication systems (eg, WiFi, GSM, UMTS, EDGE, LTE, or the like) may be used. Alternatively or additionally, it is also possible to use a system for optical environment detection by means of which traffic signs and other information in the urban environment can be visually recognized, interpreted and spatially assigned. It is only important that due to the determined vehicle position in a second step can be done with a digital road map, which is stored for example in the vehicle. Alternatively or additionally, the digital road map can also be obtained in sections via wireless communication systems. By the aforementioned adjustment, the vehicle position with respect to a position on the digital road map can be determined. Now, in a further step, a potentially preceding path section can be determined on the basis of the comparison made. Here, for example, the current direction of movement of the vehicle, a lane traveled by the vehicle, a possibly entered into a navigation system destination or similar. evaluated and / or all possible in the vicinity of the vehicle routes or sub-routes are taken into account. Subsequently, a basis for determining a probability for the probably preceding path section is created by detecting at least one action (eg viewing direction, head movement, interaction with the vehicle, in particular steering movement, brake pedal / gas pedal operation) and / or an alignment with an electronic database with respect to past journeys. When comparing with the database, the current trip can be compared in particular with those entries that were made at similar times of the day on similar days of the week and preferably in the same section. Since, in particular, weekday similar routes are driven at similar times, can be determined from such an "electronic logbook" an important indicator of the potentially preceding path section. In other words, according to the invention, exactly one potential path section can be ascertained which is traveled next with the highest probability. This may be, for example, a right turn maneuver at the next traffic light. Subsequently, a point is determined on this path section at which the vehicle must potentially give priority to another road user. In the case of a right turn maneuver, for example, straight ahead passers-by or straight-ahead cyclists should be given priority. Subsequently, according to the invention, a probability is determined that the driver has recognized and acknowledged an occasion for warning by the assistance system. If in the situation mentioned so an assistance system of the prior art issue a warning In order to make the driver of the vehicle aware of rightful cross traffic, it is proposed according to the invention to first check whether the determined action of the driver indicates that the driver has already correctly detected the situation. Such information can be obtained in the case of a right turn maneuver in particular by looking into the right side mirror and a view towards oncoming passers-by. According to the invention, a warning by the assistance system can therefore be omitted, which means that the acceptance of the assistance system at the leader of the means of transport increases. In other words, situations are avoided in which the guide of the means of transport receives the warning without actually notifying him of new information.

The detection of the traffic situation can be done for example by means of an environmental sensor of the vehicle. As environment sensors in particular optical sensors, radar sensors, ultrasonic sensors, lidar sensors, laser sensors and others have proven useful in this regard. Subsequently, the data of the environment sensor are evaluated, whereby current information about the traffic situation of the ego vehicle are collected. Here, in particular road users, traffic signs, etc. are integrated into the information collection of the vehicle. This information collection also improves the determination of the likelihood that the vehicle driver has independently recognized and appreciated the cause for the warning by the assistance system. If the attention of the driver in a past period, at least partially directed towards potential collision partners for the expected upcoming path section, the probability is higher than if it is determined that the driver is not even his head or view in the direction currently in the environment potential collision partner.

The environmental sensor data may additionally be used to detect a currently imminent collision. In this case, for example, a current or anticipated movement of the ego vehicle can be taken into account. In addition, an action of the driver can be analyzed, which can influence the prevention of the collision. This can be, for example, a viewing direction, a head position, a vehicle operating step with regard to longitudinal / transverse guidance or the like. be. Afterwards it can be decided on the basis of references whether the operating behavior of the driver is to be evaluated as suitable for averting the collision. On the basis of this decision, in a further step, the warning by the assistance system before the potentially impending collision can either be issued, delayed or completely suppressed. In this way, a comprehensive assessment of a variety of circumstances is made before a warning is issued to the driver of the vehicle.

A current operating state of the vehicle (movement, acceleration, change of direction, etc.) can also be assessed in order to make the evaluation result the basis for determining the probability that the driver needs or does not need the warning by the assistance system. For example, based on a current speed signal with respect to a likely upcoming change of direction, it may be inferred whether the driver is taking a wait-and-see or a sporty driving style. While a wait-and-see, slow driving style in this situation is an indication that the driver wants to give priority to another road user, a sporty driving style is an indicator that the driver either has not recognized a potential collision partner or is attempting to to reach the potential collision location in front of the other road user and to pass this before a possible collision.

Also, potential collision points can preferably be determined using a digital database. In principle, these are all those traffic junctions which lie in the vicinity of the ego vehicle or on the section of road which is likely to lie ahead. These nodes can also be assigned on the basis of the digital database of priority rules, from which a better interpretation and assessment of the current operating condition and the current driver behavior with respect to the risk of collision can be determined at the next transport hub. In other words, the information situation is thus improved with regard to the short-term information to be considered.

In addition to the above-exemplified executed actions of the driver is still on a foot position of the driver received, by means of which, for example, on braking / acceleration readiness can be closed. In fact, since a driver's foot located above the brake pedal signals its short-term readiness for braking and also indicates that the driver is considering the need for braking, the alert time for issuing a warning of an impending collision can be reduced or set lower than when the driver has his foot on or over the gas pedal. Such a foot position of the driver can, for example, by Contact switch, capacitive sensors and / or cameras are determined.

The probabilities to be evaluated in the context of the method according to the invention for presumably selected route sections or for the driver no longer requiring a warning by the assistance system can be carried out, for example, using a probability-based model, in particular a Bayesian network. The Bayesian network is a suitable rule for determining conditional probability distributions, as they are to be determined in the context of the present invention. For the details of the Bayesian networks, reference is made to the relevant specialist literature.

Optionally, the method of the present invention may include determining an estimated collision time in the event that no action is taken by the driver. Also, the estimated time of collision depends on many different parameters (e.g., ego-speed, ego-direction of movement, anticipated path-portion, as well as speed, direction of movement, and probable path portion of the road user, etc.). Subsequently, a last possible time for issuing a warning signal to the driver is determined, by means of which the potentially impending collision can be averted. Here, known laws for reaction times and braking distances or the initiation of evasive maneuvers are applied. If it is determined that currently there is still time to issue a timely warning to the driver, this can be determined based on the above information. In this case, an adequate reserve is kept in reserve, which represents a sufficiently early warning for most drivers, without being too generous in the case of later findings of the driver to be delayed or suppressed according to the invention can.

Finally, nevertheless, the issuing of a warning signal may be provided at the second time. In the event that the second time is in the past or immediately in the present, an immediate output of the warning signal can take place in order to either avert the collision or to ask the driver for measures to mitigate it.

According to a second aspect of the present invention, a driver assistance system with an evaluation unit is proposed, which can be represented for example by a processor of an electronic control unit. In addition, the driver assistance system has at least access to a signal generator, a sensor and data of a vehicle electrical system of a vehicle, whereby the driver assistance system can perform a method according to the first aspect of the present invention. The features, combinations of features and the advantages resulting therefrom correspond to those embodied in connection with the method according to the invention in such a way that, in order to avoid repetition, reference is made to the above statements.

According to a third aspect of the present invention, there is proposed a means of transportation (e.g., a car, a van, a truck, an air and / or water vehicle) with a driver assistance system, as discussed above as the second aspect of the invention. Accordingly, reference is also made, with respect to the vehicle, to the features, feature combinations, and advantages resulting therefrom, as discussed in connection with the first aspect of the invention.

Further details, features and advantages of the invention will become apparent from the following description and the figures. Show it:

1 a schematic view of a traffic situation in which the present invention can be advantageously used to decide on the output of a collision warning;

2 a schematic view of components of an embodiment of an inventively designed driver assistance system in an embodiment of a vehicle according to the invention; and

3 a flowchart illustrating steps of an embodiment of a method according to the invention.

1 shows a traffic situation with an ego vehicle 1 which in principle the options right turn (along arrow 2 ), Straight ahead (along arrow 3 ) and left turn (along arrow 4 ) to the view. A first cyclist 6a comes the ego vehicle 1 on the right side of the road, while a second cyclist 6b parallel to the ego vehicle 1 on the right side of the road is on the way. A collision point 5 marks the location of possible collisions of the ego vehicle 1 with the cyclists 6a . 6b , While the cyclist 6a in the core area of the sector piece 14 illustrated attention distribution of the driver of the ego vehicle 1 is on the way, is the second cyclist 6b even outside the fringes 14a . 14b the attention distribution of the driver. The attention distribution areas 14 . 14a . 14b are based on an interior sensor of the ego vehicle 1 has been determined by means of which Probabilities for potential collisions with the cyclists 6a . 6b determined and used to decide on the issue of a warning by the assistance system.

2 shows a car 1 as a means of transport, which via a driver assistance system 10 according to an embodiment of the present invention. An environment sensor 7 is via a data line with an electronic control unit 9 connected as evaluation unit. A screen 11 as a display unit and a speaker 13 as an acoustic signal generator are also information technology to the electronic control unit 9 connected. About them can collision warnings through the assistance system 10 be issued. Moreover, it is an electronic data store 8th to provide digital map material and to provide information about the right of way in the vicinity of the car 1 to the electronic control unit 9 connected. To receive current traffic reports, Car2Car information and updated map material is an antenna 12 representing a wireless communication unit information technology with the electronic control unit 9 connected.

3 1 is a flowchart illustrating steps of an embodiment of a method according to the invention. The method is for delaying or suppressing an output of a warning by an assistance system of a vehicle. In one step 100 a current vehicle position is determined by means of satellite-based time signals. The determined vehicle position is in step 200 matched with a digital road map, which holds the vehicle in a digital data storage. In step 300 a potentially preceding path section is determined on the basis of the adjustment. In particular, a multiplicity of potentially ahead-lying path sections, preferably all potential path sections lying ahead, are determined. In step 400 a current movement state of the vehicle is evaluated as an operating state. The state of motion includes a direction, a speed, and a negative acceleration (braking) of the vehicle. In step 500 a traffic situation is detected by means of an environmental sensor of the vehicle and the data of the environmental sensor in step 600 evaluated. About an optical camera in the footwell of the vehicle is in step 700 a change of a foot in a position above the accelerator pedal determined as an action of the driver and carried out a comparison with a local database with regard to already at earlier times traveled path sections. This will be in step 800 determines a probability for the potentially leading path section or the potentially leading path sections. In step 900 At least one point is determined for the path section which is traveled with the highest probability below. The point is characterized by the fact that the ego vehicle must potentially give precedence to another road user. In particular, the point identifies the first point on the path section with the highest probability at which the vehicle is potentially confronted with road users entitled to turn up. In step 1000 Potential impending collisions with surrounding road users are determined on the basis of the data of at least one environmental sensor. Subsequently, in step 1100 an action of the driver in the form of an operator behavior of the driver and analyzed in step 1200 evaluated as suitable for averting the collision. In the example, it is a braking process initiated by the driver to engage the cyclists in the in-vehicle 1 to let the situation happen. In step 1300 the likelihood is now determined that the driver has independently recognized and appreciated a cause for the warning by the assistance system and therefore an issue of the warning is no longer required. This is done on the basis of the result of the aforementioned evaluation of the current operating state. In step 1400 An estimated collision time is determined in the event that no action is taken by the driver. On this basis will be in step 1500 a last possible time for issuing a warning signal to the driver to avert the potential collision determined. This is done assuming a common value for the reaction time of vehicle drivers (eg one second). In response, it will be in step 1600 a second time for issuing the warning signal on the basis of the determined last possible time for issuing the warning signal set. In this way, the output of the warning is delayed by the assistance system according to the invention until the probability that the driver has recognized and appreciated the cause for the warning by the assistance system, depending on a predefined reference value is too low. According to the invention, warnings are therefore only output when the driver has probably overlooked the other road user or misjudged the traffic situation in this regard.

LIST OF REFERENCE NUMBERS

1

Ego vehicle

2, 3, 4

Arrows / possible trajectories of the ego vehicle

5

possible collision point

6a, 6b

bike-rider

7

camera

8th

data storage

9

electronic control unit

10

Driver assistance system

11

screen

12

Antenna / communication device

13

speaker

14

Core area attention distribution

14a, 14b

Edge area attention distribution

100-1600

steps

Claims (12)

Method for delaying or suppressing an output of a warning by an assistance system ( 10 ) of a vehicle ( 1 ) comprising the steps of: - determining ( 100 ) of a current vehicle position, - matching ( 200 ) of the vehicle position with a digital road map, - determining ( 300 ) at least one potentially preceding path section ( 2 . 3 . 4 ) based on the reconciliation, - Determine ( 700 ) at least one action of the driver and / or comparison with a database ( 8th ), - Determine ( 800 ) of a probability for the potentially preceding path segment ( 2 . 3 . 4 ) on the basis of - the action of the driver and / or - the comparison with the database ( 8th ), - Determine ( 900 ) of a point ( 5 ) for the route section ( 2 ) with a highest probability at which the vehicle ( 1 ) another road user ( 6a . 6b ) potentially has priority, and - determining ( 1300 ) a likelihood that the driver gives an opportunity for warning by the assistance system ( 10 ) has recognized and appreciated, based on the action of the driver. Method according to claim 1 further comprising - detecting ( 500 ) a traffic situation by means of an environment sensor ( 7 ) of the vehicle ( 1 ), - evaluate ( 600 ) of the environmental sensor data ( 7 ), and - determining ( 1300 ) the likelihood of the driver giving a reason for warning by the assistance system ( 10 ) has independently recognized and appreciated on the basis of the result of the evaluation of the data of the environment sensor ( 7 ). The method of claim 1 or 2 further comprising - determining ( 1000 ) of a potentially impending collision based on data from an environmental sensor ( 7 ), - Analyze ( 1100 ) an action of the vehicle driver, in particular an operating behavior of the vehicle driver, and - evaluating ( 1200 ) of the operating behavior as suitable for averting the collision. Method according to one of the preceding claims further comprising - evaluating ( 400 ) of a current operating state, in particular a movement state, of the vehicle ( 1 ), where determining ( 1300 ) the likelihood of the driver giving a reason for warning by the assistance system ( 10 ) independently recognized and appreciated, for the potentially preceding path section ( 2 ) based on a result of the evaluation ( 400 ) of the current operating state. Method according to one of the preceding claims, wherein - determining ( 900 ) of the point at which the vehicle ( 1 ) another road user ( 6a . 6b ) may have priority over consulting a digital database ( 8th ). Method according to claim 5, wherein the digital database ( 8th ) an assignment of a priority control to potential collision points ( 5 ) on the potentially leading path sections ( 2 . 3 . 4 ). Method according to one of the preceding claims, wherein the determining ( 700 ) at least one action of the vehicle driver detecting and evaluating - a view and / or - a head position and / or - a foot position of the driver and / or - an interaction of the driver with the vehicle ( 1 ). Method according to one of the preceding claims, wherein the determining ( 700 ) the likelihood of the driver giving a reason for warning by the assistance system ( 10 ) has recognized and appreciated independently, using a probabilistic model, in particular a Bayesian network. Method according to one of the preceding claims, further comprising - determining ( 1400 ) an estimated time of collision in the event that no action is taken by the driver, - 1500 ) a last possible time for issuing a warning signal to the driver to avert the potential collision, and. - Establish ( 1600 ) of a second time to output the warning signal on the basis of the determined last possible time for issuing a warning signal. The method of claim 9, further comprising - Issuing a warning signal at the second time or immediately, if the second time has already elapsed. Driver assistance system comprising - an evaluation unit ( 9 ), and - a signal generator ( 11 ), the driver assistance system ( 10 ), using sensors ( 7 ) and data of a vehicle electrical system to perform a method according to any one of the preceding claims. Vehicle comprising a driver assistance system ( 10 ) according to claim 11.

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