DE102015009875A1 - Method for autonomous driving of a vehicle - Google Patents
Method for autonomous driving of a vehicle Download PDFInfo
- Publication number
- DE102015009875A1 DE102015009875A1 DE102015009875.6A DE102015009875A DE102015009875A1 DE 102015009875 A1 DE102015009875 A1 DE 102015009875A1 DE 102015009875 A DE102015009875 A DE 102015009875A DE 102015009875 A1 DE102015009875 A1 DE 102015009875A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- surrounding area
- autonomous driving
- image
- driver assistance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005286 illumination Methods 0.000 claims abstract description 17
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
- B60Q1/247—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the close surroundings of the vehicle, e.g. to facilitate entry or exit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
- B60Q1/249—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the field of view of a sensor or camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/2661—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions
- B60Q1/2665—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions on rear-view mirrors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/2661—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions
- B60Q1/2669—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic mounted on parts having other functions on door or boot handles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
Abstract
Die Erfindung betrifft ein Verfahren zum autonomen Fahren eines Fahrzeuges bei Dunkelheit, bei welchem ein seitlicher Umgebungsbereich des Fahrzeuges (1) durch das Fahrzeug (1) ausgeleuchtet wird und von dem ausgeleuchteten seitlichen Umgebungsbereich ein Bild aufgenommen wird, welches einem Fahrerassistenzsystem (23) übermittelt wird. Bei einem Verfahren, welches es ermöglicht, auch bei Nacht ein autonomes Fahren des Fahrzeuges zu verwirklichen, erfolgt die Ausleuchtung des seitlichen Umgebungsbereiches des Fahrzeuges (1) bei Dunkelheit, wobei das Bild von dem, das autonome Fahren steuernden Fahrerassistenzsystem (23) zur Berechnung einer zweiten Fahrspur des Fahrzeuges (1) ausgewertet wird.The invention relates to a method for autonomous driving of a vehicle in darkness, in which a lateral surrounding area of the vehicle (1) is illuminated by the vehicle (1) and an image is taken of the illuminated lateral surrounding area, which image is transmitted to a driver assistance system (23) , In a method which makes it possible to realize an autonomous driving of the vehicle even at night, the illumination of the lateral surrounding area of the vehicle (1) takes place in the dark, the image of the autonomous driving controlling driver assistance system (23) for calculating a second lane of the vehicle (1) is evaluated.
Description
Die Erfindung betrifft ein Verfahren für ein autonomes Fahren eines Fahrzeuges, bei welchem ein seitlicher Umgebungsbereich des Fahrzeuges durch das Fahrzeug ausgeleuchtet und von dem ausgeleuchteten seitlichen Umgebungsbereich ein Bild aufgenommen wird, welches einem Fahrerassistenzsystem übermittelt wird, sowie ein Fahrzeug zum autonomen Fahren bei Dunkelheit.The invention relates to a method for autonomous driving of a vehicle, in which a lateral surrounding area of the vehicle is illuminated by the vehicle and an image is taken of the illuminated side surrounding area, which is transmitted to a driver assistance system, and a vehicle for autonomous driving in the dark.
Aus der
Bei autonom fahrenden Fahrzeugen wird durch ein Fahrerassistenzsystem in Form eines Autobahnpiloten ein hochautonomer Fahrmodus eingestellt. Für diesen hochautonomen Fahrmodus ist die Berechnung einer zweiten Fahrspur für das Fahrzeug zwingend notwendig. Eine solche zweite Fahrspur wird mithilfe der seitlich am Fahrzeug angeordneten Surround-View-Kameras ein Bild erfasst, welches von dem Fahrerassistenzsystem ausgewertet wird. Aufgrund der kleinen Baugröße dieser Surround-View-Kamera bei gleichzeitig hoher Auflösung (> 1 Megapixel) ist die Surround-View-Kamera nicht sehr lichtempfindlich. Deshalb kann bei Nacht keine Spurberechnung erfolgen, da die Kamera keine auswertbaren Bilder liefert.In autonomous vehicles, a highly autonomous driving mode is set by a driver assistance system in the form of a highway pilot. For this highly autonomous driving mode, the calculation of a second lane for the vehicle is absolutely necessary. Such a second lane is detected using the side of the vehicle arranged surround view cameras, an image that is evaluated by the driver assistance system. Due to the small size of this surround-view camera with high resolution (> 1 megapixel), the surround-view camera is not very sensitive to light. Therefore, no trace calculation can be made at night because the camera does not provide any evaluable images.
Aufgabe der Erfindung ist es, ein Verfahren zum autonomen Fahren eines Fahrzeuges anzugeben, bei welchem das autonome Fahren auch in Dunkelheit erfolgen kann.The object of the invention is to provide a method for autonomous driving of a vehicle, in which the autonomous driving can also be done in darkness.
Die Erfindung ergibt sich aus den Merkmalen der unabhängigen Ansprüche. Vorteilhafte Weiterbildungen und Ausgestaltungen sind Gegenstand der abhängigen Ansprüche. Weitere Merkmale, Anwendungsmöglichkeiten und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung, sowie der Erläuterung von Ausführungsbeispielen der Erfindung, die in den Figuren dargestellt sind.The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Other features, applications and advantages of the invention will become apparent from the following description, as well as the explanation of embodiments of the invention, which are illustrated in the figures.
Die Aufgabe ist mit einem Verfahren dadurch gelöst, dass die Ausleuchtung des seitlichen Umgebungsbereiches des Fahrzeuges bei Dunkelheit erfolgt, wobei das Bild von dem, das autonome Fahren steuernden Fahrerassistenzsystem zur Berechnung einer zweiten Fahrspur des Fahrzeuges ausgewertet wird. Dies hat den Vorteil, dass das Fahrzeug auch bei Nacht oder bei schlechten Witterungsbedingungen hochautonom fahren kann, weil eine zweite Spurberechnung zuverlässig durchgeführt werden kann.The object is achieved by a method in that the illumination of the lateral surrounding area of the vehicle takes place in the dark, the image being evaluated by the driver assistance system controlling autonomous driving for calculating a second lane of the vehicle. This has the advantage that the vehicle can drive highly autonomously even at night or in bad weather conditions, because a second track calculation can be performed reliably.
Vorteilhafterweise wird die Beleuchtung des seitlichen Umgebungsbereiches bei Dunkelheit automatisch während der Fahrt des Fahrzeuges eingeschaltet. Dadurch können auch andere Verkehrsteilnehmer anhand der Beleuchtung erkennen, dass sich das Fahrzeug gerade im hochautonomen Fahrmodus bewegt.Advantageously, the lighting of the lateral surrounding area is switched on automatically in the dark during the drive of the vehicle. As a result, other road users can also recognize from the illumination that the vehicle is currently moving in the highly autonomous driving mode.
In einer Ausgestaltung wird zur Aufnahme des Bildes des ausgeleuchteten Umgebungsbereiches eine Surround-View-Kamera verwendet. Solche Surround-View-Kameras sind bereits für andere Fahrerassistenzsysteme, wie Parkassistenten und Hinderniserkennungssysteme, bekannt, weshalb die Kosten für die Durchführung des Verfahrens reduziert werden.In one embodiment, a surround-view camera is used to record the image of the illuminated surrounding area. Such surround-view cameras are already known for other driver assistance systems, such as parking assistants and obstacle detection systems, and therefore the costs for carrying out the method are reduced.
Eine Weiterbildung der Erfindung betrifft ein Fahrzeug zum autonomen Fahren bei Dunkelheit, umfassend
- – ein, das autonome Fahren steuerndes Fahrerassistenzsystem zur Bestimmung einer zweiten Fahrspur des Fahrzeuges,
- – mindestens eine Bildaufnahmeeinheit zur Aufnahme eines seitlichen Umgebungsbereiches des Fahrzeuges, welche mit dem Fahrerassistenzsystem verbunden ist, und
- – eine Beleuchtungseinrichtung zur Ausleuchtung des von der Bildaufnahmeeinheit aufzunehmenden seitlichen Umgebungsbereiches des Fahrzeuges.
- An autonomous driving controlling driver assistance system for determining a second lane of the vehicle,
- - At least one image pickup unit for receiving a lateral surrounding area of the vehicle, which is connected to the driver assistance system, and
- A lighting device for illuminating the lateral surrounding area of the vehicle to be received by the image recording unit.
Mittels eines solchen Fahrzeuges kann auch bei Dunkelheit, wie bei Nacht oder schlechten Witterungsbedingungen der hochautonome Fahrmodus eingestellt werden, da jederzeit die zweite Spurberechnung durch das Fahrerassistenzsystem durchgeführt werden kann.By means of such a vehicle, the highly autonomous driving mode can also be adjusted in the dark, such as at night or in bad weather conditions, since the second track calculation can be performed by the driver assistance system at any time.
Vorteilhafterweise ist die Beleuchtungseinrichtung in der Nähe der Bildaufnahmeeinheit angeordnet. Dadurch wird sichergestellt, dass der Fokus der Beleuchtungseinrichtung direkt in den Bereich ausgerichtet ist, in welchem die Bildaufnahmeeinheit eine Aufnahme von der seitlichen Umgebung des Fahrzeuges macht.Advantageously, the illumination device is arranged in the vicinity of the image recording unit. This ensures that the focus of the illumination device is directly aligned with the area in which the image acquisition unit takes a picture of the lateral surroundings of the vehicle.
In einer Variante ist die Beleuchtungseinrichtung bei Dunkelheit aktivierbar. Damit wird sichergestellt, dass die Beleuchtungseinrichtung nur dann eingeschaltet ist, wenn dies durch das Fahrerassistenzsystem zur Berechnung der zweiten Fahrspur als notwendig erachtet wird.In a variant, the lighting device can be activated in the dark. This ensures that the illumination device is only switched on if this is considered necessary by the driver assistance system for calculating the second lane.
In einer Ausführungsform weist die Beleuchtungseinrichtung neben einer Lichtquelle eine, der Lichtquelle nachgeordnete Optik zur Fokussierung des von der Lichtquelle ausgegebenen Lichtstrahles auf. Dadurch wird sichergestellt, dass die seitliche Umgebung auch immer so ausgeleuchtet wird, dass die Bildaufnahmeeinheit ein scharfes Bild erzeugen kann. In one embodiment, the illumination device has, in addition to a light source, an optics arranged downstream of the light source for focusing the light beam emitted by the light source. This ensures that the lateral environment is always illuminated in such a way that the image acquisition unit can produce a clear image.
In einer weiteren Ausführungsform ist die Beleuchtungseinrichtung in einem Außenspiegel integriert. Da Beleuchtungseinrichtungen in Außenspiegeln schon bekannt sind, müssen diese lediglich mit dem Fahrerassistenzsystem gekoppelt werden, was eine Reduzierung der Herstellungskosten des Fahrzeuges erlaubt.In a further embodiment, the illumination device is integrated in an exterior mirror. Since lighting devices in exterior mirrors are already known, they need only be coupled with the driver assistance system, which allows a reduction in the manufacturing cost of the vehicle.
In einer Alternative ist die Beleuchtungseinrichtung in einem Türgriff oder in einem äußeren Zierteil des Fahrzeuges integriert.In an alternative, the lighting device is integrated in a door handle or in an outer trim part of the vehicle.
Weitere Vorteile, Merkmale und Einzelheiten ergeben sich aus der nachfolgenden Beschreibung, in der – gegebenenfalls unter Bezug auf die Zeichnung – zumindest ein Ausführungsbeispiel im Einzelnen beschrieben ist. Beschriebene und/oder bildlich dargestellte Merkmale können für sich oder in beliebiger, sinnvoller Kombination den Gegenstand der Erfindung bilden, gegebenenfalls auch unabhängig von den Ansprüchen, und können insbesondere zusätzlich auch Gegenstand einer oder mehrerer separater Anmeldung/en sein. Gleiche, ähnliche und/oder funktionsgleiche Teile sind mit gleichen Bezugszeichen versehen.Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. Described and / or illustrated features may form the subject of the invention itself or in any meaningful combination, optionally also independent of the claims, and in particular may also be the subject of one or more separate application / s. The same, similar and / or functionally identical parts are provided with the same reference numerals.
Es zeigen:Show it:
In
Dieser Autobahnpilot
In
Die Beleuchtungseinrichtung
Obwohl die Erfindung im Detail durch bevorzugte Ausführungsbeispiele näher illustriert und erläutert wurde, so ist die Erfindung nicht durch die offenbarten Beispiele eingeschränkt und andere Variationen können vom Fachmann hieraus abgeleitet werden, ohne den Schutzumfang der Erfindung zu verlassen. Es ist daher klar, dass eine Vielzahl von Variationsmöglichkeiten existiert. Es ist ebenfalls klar, dass beispielhaft genannte Ausführungsformen wirklich nur Beispiele darstellen, die nicht in irgendeiner Weise als Begrenzung etwa des Schutzbereichs, der Anwendungsmöglichkeiten oder der Konfiguration der Erfindung aufzufassen sind. Vielmehr versetzen die vorhergehende Beschreibung und die Figurenbeschreibung den Fachmann in die Lage, die beispielhaften Ausführungsformen konkret umzusetzen, wobei der Fachmann in Kenntnis des offenbarten Erfindungsgedankens vielfältige Änderungen beispielsweise hinsichtlich der Funktion oder der Anordnung einzelner, in einer beispielhaften Ausführungsform genannter Elemente vornehmen kann, ohne den Schutzbereich zu verlassen, der durch die Ansprüche und deren rechtliche Entsprechungen, wie etwa weitergehenden Erläuterungen in der Beschreibung, definiert wird.Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also clear that exemplified embodiments are really only examples that are not in any way intended to limit the scope of protection, the applications or the configuration of the invention are to be construed. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those of skill in the knowledge of the disclosed inventive concept may make various changes, for example, to the operation or arrangement of particular elements recited in an exemplary embodiment, without Protection area defined by the claims and their legal equivalents, such as further explanations in the description.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 33
- Fahrspurlane
- 55
- AußenspiegelMirrors
- 77
- AußenspiegelMirrors
- 1111
- Surround-View-KameraSurround View camera
- 1313
- Surround-View-KameraSurround View camera
- 1515
- Beleuchtungseinrichtunglighting device
- 1717
- Beleuchtungseinrichtunglighting device
- 1919
- Lichtstrahlbeam of light
- 2121
- Lichtstrahlbeam of light
- 2323
- AutobahnpilotHighway Pilot
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.
Zitierte PatentliteraturCited patent literature
- DE 102013200427 A1 [0002] DE 102013200427 A1 [0002]
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015009875.6A DE102015009875A1 (en) | 2015-07-29 | 2015-07-29 | Method for autonomous driving of a vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015009875.6A DE102015009875A1 (en) | 2015-07-29 | 2015-07-29 | Method for autonomous driving of a vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102015009875A1 true DE102015009875A1 (en) | 2016-03-24 |
Family
ID=55444796
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102015009875.6A Ceased DE102015009875A1 (en) | 2015-07-29 | 2015-07-29 | Method for autonomous driving of a vehicle |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102015009875A1 (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3290271A1 (en) * | 2016-08-29 | 2018-03-07 | LG Electronics Inc. | Lamp and autonomous vehicle |
DE102018212506A1 (en) * | 2018-07-26 | 2020-01-30 | Bayerische Motoren Werke Aktiengesellschaft | Method for operating a driving function of a vehicle |
DE102018130909A1 (en) * | 2018-12-05 | 2020-06-10 | Bayerische Motoren Werke Aktiengesellschaft | Method and control unit to compensate for a reduced quality of the environment |
WO2021094574A1 (en) * | 2019-11-15 | 2021-05-20 | Valeo Vision | Lighting module for lateral part of a vehicle |
FR3103251A1 (en) * | 2019-11-15 | 2021-05-21 | Valeo Vision | Lighting module for the side of a vehicle |
CN112912891A (en) * | 2018-10-24 | 2021-06-04 | 法雷奥照明公司 | Lighting system and method for illuminating a lateral area of a vehicle |
FR3104673A1 (en) * | 2019-12-16 | 2021-06-18 | Valeo Vision | Lighting module for lighting a side area of a vehicle |
EP3960541A1 (en) * | 2020-08-28 | 2022-03-02 | Zenuity AB | Vehicle surroundings object detection in low light conditions |
DE102021112761A1 (en) | 2021-05-18 | 2022-11-24 | Bayerische Motoren Werke Aktiengesellschaft | MOTOR VEHICLE |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013200427A1 (en) | 2013-01-14 | 2014-07-31 | Robert Bosch Gmbh | Method and device for generating a panoramic view of a vehicle environment of a vehicle, method for providing at least one driver assistance function for a vehicle, all-round visibility system for a vehicle, all-round visibility system for a vehicle |
-
2015
- 2015-07-29 DE DE102015009875.6A patent/DE102015009875A1/en not_active Ceased
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013200427A1 (en) | 2013-01-14 | 2014-07-31 | Robert Bosch Gmbh | Method and device for generating a panoramic view of a vehicle environment of a vehicle, method for providing at least one driver assistance function for a vehicle, all-round visibility system for a vehicle, all-round visibility system for a vehicle |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3290271A1 (en) * | 2016-08-29 | 2018-03-07 | LG Electronics Inc. | Lamp and autonomous vehicle |
CN107776472A (en) * | 2016-08-29 | 2018-03-09 | Lg电子株式会社 | Bulb and autonomous land vehicle |
CN107776472B (en) * | 2016-08-29 | 2020-11-03 | Lg电子株式会社 | Bulb and autonomous driving vehicle |
DE102018212506A1 (en) * | 2018-07-26 | 2020-01-30 | Bayerische Motoren Werke Aktiengesellschaft | Method for operating a driving function of a vehicle |
CN112912891A (en) * | 2018-10-24 | 2021-06-04 | 法雷奥照明公司 | Lighting system and method for illuminating a lateral area of a vehicle |
DE102018130909A1 (en) * | 2018-12-05 | 2020-06-10 | Bayerische Motoren Werke Aktiengesellschaft | Method and control unit to compensate for a reduced quality of the environment |
WO2021094574A1 (en) * | 2019-11-15 | 2021-05-20 | Valeo Vision | Lighting module for lateral part of a vehicle |
FR3103251A1 (en) * | 2019-11-15 | 2021-05-21 | Valeo Vision | Lighting module for the side of a vehicle |
FR3104673A1 (en) * | 2019-12-16 | 2021-06-18 | Valeo Vision | Lighting module for lighting a side area of a vehicle |
EP3960541A1 (en) * | 2020-08-28 | 2022-03-02 | Zenuity AB | Vehicle surroundings object detection in low light conditions |
US11595587B2 (en) | 2020-08-28 | 2023-02-28 | Zenuity Ab | Vehicle surroundings object detection in low light conditions |
DE102021112761A1 (en) | 2021-05-18 | 2022-11-24 | Bayerische Motoren Werke Aktiengesellschaft | MOTOR VEHICLE |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102015009875A1 (en) | Method for autonomous driving of a vehicle | |
EP2384295B1 (en) | Camera system and method for capturing the surroundings of a vehicle | |
EP2755859B1 (en) | Method and device for an assist system in a vehicle for carrying out an autonomous or semi-autonomous driving maneuver | |
DE102018203807A1 (en) | Method and device for detecting and evaluating road conditions and weather-related environmental influences | |
DE19801884A1 (en) | CCTV monitoring system for blind spots around motor vehicle | |
EP3488607B1 (en) | Camera device for recording an environmental area of a vehicle, and method for providing a driver assistance function | |
EP3607740B1 (en) | Camera device and method for detecting an area outside a vehicle | |
DE202014006923U1 (en) | Driver assistance system, computer program product and motor vehicle | |
DE102015116542A1 (en) | Method for determining a parking area for parking a motor vehicle, driver assistance system and motor vehicle | |
DE102013019226A1 (en) | Device for camera-based environmental detection for a vehicle | |
DE102018217891A1 (en) | Method for operating a driver assistance system and motor vehicle | |
DE102007025147A1 (en) | Lane departure warning and/or lane keeping function providing system for motor vehicle i.e. car, has camera aligned perpendicularly downward to road surface and serving for recognition of lane marking provided on road surface | |
DE102010023199A1 (en) | Method for operating image capturing device for realizing outer mirror functions of motor vehicle, involves monitoring momentary state of cameras in dependence of result of comparison and/or merging of environmental characteristics | |
EP2731831A1 (en) | Camera system for use in a vehicle and vehicle with such a camera system | |
DE102012018121A1 (en) | Image detecting device for detecting images of environment of motor vehicle, has stereo camera unit which has optical unit for detecting images of environment and another optical unit for detecting images of environment | |
DE102015010535A1 (en) | Camera-based environmental detection for commercial vehicles | |
DE102011121473A1 (en) | A method for displaying images on a display device of a motor vehicle, driver assistance device, motor vehicle and computer program | |
DE102006016673A1 (en) | Vehicle surveillance system, to detect obstacles and the like, has an image capture with a lens of two different focal lengths to give vehicle function modules | |
DE102011083232A1 (en) | Image capture device for a vehicle | |
DE102014224903A1 (en) | Optical environment sensor for vehicles | |
DE102017100669A1 (en) | Method for detecting an environmental region of a motor vehicle with adaptation of a region of interest as a function of a trailer, computing device, camera system and motor vehicle | |
EP2603006A1 (en) | Control device for a vehicle surroundings monitoring device | |
DE102016012717A1 (en) | Method for displaying a traffic light in a vehicle | |
DE102019218790A1 (en) | Method for providing image data from a camera system as well as camera system and motor vehicle | |
DE102016205471A1 (en) | Stereo camera device and a method for operating the stereo camera device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R230 | Request for early publication | ||
R012 | Request for examination validly filed | ||
R081 | Change of applicant/patentee |
Owner name: MERCEDES-BENZ GROUP AG, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE Owner name: DAIMLER AG, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE |
|
R081 | Change of applicant/patentee |
Owner name: MERCEDES-BENZ GROUP AG, DE Free format text: FORMER OWNER: DAIMLER AG, STUTTGART, DE |
|
R016 | Response to examination communication | ||
R002 | Refusal decision in examination/registration proceedings | ||
R003 | Refusal decision now final |