DE102016212688A1 - Method and device for determining the environment of a vehicle - Google Patents

Abstract

The invention relates to a method for determining the surroundings of a vehicle, comprising the steps of: providing first environment data obtained with an environment sensor system (11) of a first vehicle (10), wherein the first environment data at least object data of other road users and / or obstacles in Surrounding the first vehicle (10); Transmitting the first environment data to a second vehicle (20); Processing the first environment data by the second vehicle (20), whereby the environment of the second vehicle (20) is determined.

Description

Vehicles are increasingly being equipped with systems that compute camera images of an ad image that assists the driver of the vehicle in performing driving maneuvers, such as parking or reversing. During driving, the driver of the vehicle makes decisions by assisting such a system to steer his vehicle safely on the road. In addition, such an imaging system can assist the driver in his orientation in the environment, so that he can, for example, easier to get to his destination. In order to give the driver the most realistic possible picture of the vehicle environment, three-dimensional display images are also increasingly displayed on a vehicle display in order to assist the driver in the decision-making and orientation as efficiently as possible.

In such systems, it often happens that other road users, e.g. other vehicles, pedestrians or obstacles are completely or partially obscured by other objects, so that a realistic display of the concealed road user is not possible. For example, this is a traffic situation in which a vehicle and other vehicle objects meet on a multi-lane road. If a first vehicle object overtakes a second vehicle object in oncoming traffic and the first vehicle object at least partially covers the second vehicle object, then cameras located on the vehicle may only partially or even not detect the outdated second vehicle object under certain circumstances. As a result, the driver may make a wrong decision in a driving decision and its orientation in the flow of traffic under certain circumstances.

For a realistic and clear representation of the objects located in the vicinity of a vehicle is for example from the WO 2015/144145 A2 a method is known in which a classification of objects takes place in sensory environmental images that have objects that are located in the vicinity of the vehicle, the objects are classified based on object features for detecting an object type of the respective object. An insertion of a three-dimensional data model corresponding to the recognized object type of the object for generation of a 3D scene, which represents the surroundings of the vehicle, as well as the display of the generated 3D scene on the vehicle display. This can increase the safety in the implementation of vehicle maneuvers.

Although a variety of vehicles are now equipped with multiple cameras located at different locations on the vehicle, the coverage area may not be large enough to safely detect obscured road users or obstacles from other objects. Thus, the support of driving maneuvers by driver assistance systems with partially or highly autonomous driving functions is limited.

It is an object of the present invention to provide a method and a device for determining the environment of a vehicle in which objects are reliably detected in a wide environment of the vehicle, so that the driver is efficiently supported in driving decisions and its orientation in the flow of traffic and driving decisions by part - or highly automated driver assistance systems can be adopted.

This object is achieved by a method according to the features of patent claim 1 and a device according to the features of patent claim 12. Advantageous embodiments can be found in the dependent claims.

The invention provides a method for determining the environment of a vehicle, comprising the steps:
Providing first environment data obtained with an environment sensor system of a first vehicle, wherein the first environment data include at least object data of other road users and / or obstacles in the vicinity of the first vehicle;
Transmitting the first environment data to a second vehicle;
Processing the first environment data by the second vehicle, whereby the environment of the second vehicle is determined.

The environment sensor system of the first vehicle, which may be a preceding or following vehicle with respect to the second vehicle, may include one or more cameras and / or a radar system and / or lidar system. The first environmental data obtained from the environmental sensor system comprises object data. The object data represents the presence and local information of other road users. Local information can be provided, for example, by GPS coordinates, which can be obtained from the known position of the first vehicle and the analysis of the first environment data. The object data may be supplemented by vehicle signals, such as a speed of the first vehicle and the other road users detected by the surroundings sensor system. Other road users can use others Vehicles, bicycles, people or cyclists. Under obstacles in the context of the present invention are standing vehicles, jam ends, barriers (eg railway barriers), crossing road users, but also static obstacles, such as trees and the like to understand.

By processing the first environment data obtained by the first vehicle by the second vehicle, the "field of view" of the second vehicle is extended forwards and / or backwards, which on the one hand efficiently supports the driver in driving decisions and his orientation in the traffic flow and on the other hand partially or highly automated driving functions of driver assistance systems of the vehicle can be supplied with more precise data.

According to an expedient embodiment, the step of providing the first environment data additionally comprises the provision of environment data which are obtained with an environment component of an infrastructure component. According to this embodiment, the field of vision of the second vehicle is expanded not only with first environment data acquired by the first vehicle, but additionally with environment data obtained by an infrastructure component. Such infrastructure components include, for example, camera systems on tunnels, intersections and the like.

A further embodiment provides that image information is determined as the first environment data by capturing image data of the environment by the environmental sensor system of the first vehicle and / or by the infrastructure component and processing the image data into the image information. For this purpose, the first vehicle, as mentioned above, has one or more cameras for capturing and generating image data of the environment. Alternatively or additionally, the image data provided by one or more cameras of the infrastructure component can be processed into the image information in order to then be provided as the first environment data.

It is furthermore expedient if the location of a traffic route infrastructure component comprising at least one traffic sign or lane is determined as first environment data. As described below, this information can be used, on the one hand, for the visualization of the driver of the second vehicle. On the other hand, for example, information obtained via a traffic sign from a preceding vehicle can be used to adapt the driving strategy of a driver assistance system.

Appropriately, the first environment data for adapting a driving function of the second vehicle are processed. The adaptation of the driving function may include, for example, an intervention in a partially or highly automated driver assistance system or a fully automated driver system. Such interventions include, for example, an acceleration or coasting operation, a braking operation, and the like.

It is furthermore expedient for the first environment data to be output as image data on a display unit of the second vehicle or on a mobile terminal entrained in the second vehicle. For example, the first environment data can be integrated into a map display. Alternatively, the first environment data can be used to enrich a so-called top-view representation of the environment of the second vehicle with the object data of other road users and / or obstacles.

For this purpose, according to an embodiment, environmental data can be obtained from surrounding environment sensors of the second vehicle, which include object data of other road users and / or obstacles in the environment of the second vehicle, wherein the first and the second environment data together on the display unit of the second vehicle or one in the second Vehicle entrained mobile terminal are output as the image data. According to this refinement, not only the first environment data of the first vehicle, but also or only the environment data captured by its second vehicle is to be combined with the driver in his driving decisions and his orientation in the traffic flow. According to a further expedient embodiment, the image data determined from the second environment data are extended with the image data determined from the first environment data, wherein the extension is a supplement to the objects and obstacles contained in the second environment data around the objects and obstacles in a map contained in the first environment data or a perspective view of the surroundings of the second vehicle.

The combination can, as already described, be done by adding object data of the first and second environment data to a map representation, to a three-dimensional view or to the already mentioned top view representation.

If the second vehicle has no display unit, this information can also be stored on a mobile terminal carried in the second vehicle, e.g. a smartphone or tablet PC as the image data is output. As a result, the method can also be used in vehicles which do not have a suitable display unit for the visual output of the image data.

A further embodiment provides that the first environment data is received by a vehicle communication unit of the first vehicle directly through a second vehicle communication unit of the second vehicle via a wireless communication channel. As wireless transmission technologies, for example, 801.xy or any mobile network, such as GSM or LTE come into consideration. A direct transmission of the first environment data to the second vehicle is useful, for example, if the first and the second vehicle system components from the same manufacturer, possibly even with the same algorithm, use. In this case, the processing of the first environment data by the second vehicle is particularly easy.

On the other hand, if the first environment data can not be processed directly by the second vehicle, then the reception of the first environment data of the first vehicle by the second vehicle from a central computer or a cloud service can be expedient since the central computer or the cloud computer Service is already a transformation into a data format formable, which is processable by the second vehicle.

According to a second aspect, the invention proposes a device for determining the environment of a vehicle, which comprises a vehicle communication unit of the vehicle and a computing unit of the vehicle, wherein the arithmetic unit is adapted to first environment data obtained with an environment sensor system of another vehicle and the at least object data of other road users and / or obstacles in the environment of the other vehicle include receiving and processing of the other vehicle. The device according to the invention has the same advantages as described above in connection with the method according to the invention.

The first environment data can be processed by the arithmetic unit for adapting a driving function of the vehicle. In particular, an adaptation of the driving strategy of a partially or highly autonomous driver can hereby be adapted in the presence of corresponding driver assistance systems.

According to a further embodiment, the device expediently comprises an environment sensor system for obtaining second environment data of the vehicle, which includes object data of other road users and / or obstacles in the environment of the vehicle, wherein the first and second environment data are stored together by the computing unit on the display unit of the vehicle or an in the vehicle entrained mobile terminal are output as the image data.

According to a further embodiment, the arithmetic unit is designed to expand the image data determined from the second environment data with the image data determined from the first environment data, wherein the extension is a supplement to the objects and obstacles contained in the second environment data around the objects contained in the first environment data and obstacles in a map or a perspective view of the surroundings of the vehicle.

The invention will be described in more detail below with reference to embodiments in the drawing. Show it:

1 a schematic representation of a device according to the invention for determining the environment of a vehicle;

2 a schematic representation of a traffic situation, based on the method of the invention will be explained according to a first embodiment variant; and

3 a schematic representation of a traffic situation, based on the method of the invention will be explained according to a second embodiment variant.

1 shows a schematic representation of a in a second vehicle 20 Realized device according to the invention for the use of environmental data from a first vehicle 10 were determined. The first vehicle 10 includes an environment sensor 11 , a computing unit 12 and a vehicle communication unit 13 , The second vehicle 20 includes an environment sensor 21 , a computing unit 22 , a vehicle communication unit 23 , a display unit 24 and at least one driver assistance system 25 ,

The environmental sensor systems 11 . 21 of the first and second vehicles 10 . 20 may each comprise one or more cameras and / or a radar and / or lidar system. With the help of environment sensors 11 . 21 first or second environment data are obtained, wherein the respective environment data at least object data of other road users and / or obstacles in the environment of the first or second vehicle 10 . 20 include.

At the first vehicle 10 it is a with respect to the second vehicle 20 preceding or following vehicle. It is not absolutely necessary for the implementation of the method according to the invention that there is a Sichtkonkakt between the first and the second vehicle. In particular, between the first and the second vehicle 10 . 20 other vehicles or road users are located. As a result, may be due to the first vehicle 10 detected first environment data from that of the second vehicle 20 completely differentiate between captured second environment data. If the first and the second vehicle have only a small spatial distance from each other, then the first and the second environment data can also overlap.

The in the respective environment data of the first and the second vehicle 10 . 20 contained object data include the presence of other road users. Depending on the way in which the environment data by the respective arithmetic unit 12 . 22 of the first and second vehicle 10 . 20 other road users can already be classified as vehicles, bicycles, people or cyclists. The object data can also be supplemented by further information of the road user. Such information can be obtained, for example, by evaluating the data supplied by the relevant environment sensor. From these, for example, information about a respective speed, a direction of movement and the like can be determined.

The object data can also alternatively or additionally also obstacles in the environment of the respective vehicle 10 . 20 include. Such obstacles are, for example, stationary vehicles, jam ends, closed barriers of crossing level crossings, intersecting road users, but also static obstacles, such as trees, bollards and the like.

The environment of the second vehicle 20 can be improved by the second vehicle 20 not only due to its environment sensor technology 21 captured second environment data, but additionally by the vehicle communication unit 13 of the first vehicle 10 via a communication connection 30 transmitted first environment data from the vehicle communication unit 23 of the second vehicle 20 received and additionally processed. The communication connection 30 is realized by a wireless transmission technology and can, for example, exploit existing communication networks such as GSM or LTE. Likewise, provided that the distance between the first and the second vehicle 10 . 20 is not too big, to fall back on a standard according to 801.xy.

The arithmetic unit 22 of the second vehicle 20 processes those from the first vehicle 10 received first environment data. Such processing may be a visualization of the other road users and / or obstacles contained in the first environment data on the display unit 24 of the second vehicle 20 and / or processing by the driver assistance system 25 include, for example, a driving strategy of the second vehicle 20 partially or highly automated.

The visualization of detected objects contained in the first environment data and / or obstacles may, for example, at the request of the driver of the second vehicle 20 or automatically depending on a driving situation, such as when initiating an overtaking maneuver of the second vehicle 20 respectively. The processing of the object data contained in the first environment data by the driver assistance system could, for example, lead to an overtaking operation of a preceding vehicle is not initiated, as a by the preceding vehicle first 10 detected, but by the second vehicle 20 not yet recognizable object is on the opposite lane the second vehicle 20 approaches.

One on the display unit 24 displayed image information thus consists of at least one of the environmental sensors 11 of the first vehicle 10 determined image information, as the image data on the display unit 24 be issued. These data can be obtained from the environment sensors 21 of the second vehicle 20 determined image data are combined, so that one through the own environment sensor 21 Unrecognized or detectable viewing direction can be displayed, with hidden views of the own view can be superimposed. Similarly, a time-staggered representation of detected by the first vehicle road users is possible, for example, if the second vehicle at a later time to the place of detection by the first vehicle 10 arrives.

The first environment data can for example also be provided in the form of so-called object lists. Such an object list includes, for example, all, by the environment sensor 11 of the first vehicle 10 detected other road users and / or obstacles, possibly supplemented by a classification or other movement information and positions. The in such an object list over the communication connection 30 transmitted data can then by the arithmetic unit 22 of the second vehicle 20 be used for an individual representation, eg in a map.

As a result, the field of view for the driver and the computing unit can be determined by the proposed method 22 , depending on whether the first vehicle 10 in front of or behind the second vehicle 20 moves, extend forward or backward, which increases the valid object detection and reduces the potential for danger.

It is understood that the second vehicle 20 not only the first environment data of the first vehicle 10 but environment data from a plurality of first vehicles 10 located in front of and / or behind the second vehicle 20 can receive, receive and process. Likewise, in a further embodiment environment data can also be obtained from an infrastructure component and via the communication connection 30 from the second vehicle 20 be received. Such an infrastructure component may include, for example, one or more cameras at a tunnel entrance or intersection.

In conjunction with the 2 and 3 Two applications will be described below. 2 shows on his left side a visualization of the environment sensors 21 of the second vehicle 20 covered environment. The vehicle 20 should move in this embodiment on the right lane from bottom to top in drawing plane. With the reference number 26 are there by the environment sensors 21 identified road users. As you can easily see, the road users are 26 partially, in the direction of travel of the vehicle 20 in front of the vehicle 20 as well as partially in the opposite direction on the adjacent lane. With the reference number 10 is the first vehicle marked, in the present example, the vehicle 20 running ahead. The of the environment sensor 11 of the vehicle 10 determined object data (ie road users or obstacles) are with 16 characterized. The object data 16 be in the vehicle 20 made available. The vehicle 20 Based on this data, it can improve its driving functions, eg a driver assistance system, longitudinal or lateral control, up to automated or autonomous driving. The object data 16 passing through the first vehicle 10 are determined by the arithmetic unit 23 processed and may not be visible to the vehicle user or express themselves only in the improved driving function. Alternatively or additionally, these can be displayed in a map display of a vehicle-specific display unit, for example in a top-view system, or a mobile terminal carried by the driver. In the right half shows 2 Such a schematic visualization of the traffic situation for the vehicle 20 , It is readily apparent that in this perspective, schematic representation not only of the environment sensor 21 of the vehicle 20 captured object data 26 , but also the object data 16 are included by the environment sensors 11 of the first vehicle 10 were determined.

The exchanged data can basically be of any kind. It is not mandatory that the object data is other road users. For example, the exchange of recognized traffic signs along the traveled route is conceivable. This is for example in 3 shown. The vehicles are moving 10 . 20 along with the reference numeral 40 marked route 40 , Due to the curve of the route 40 can the driver of the second vehicle 20 the preceding vehicle first 10 as well as from the first vehicle 10 do not recognize the used route. About the preceding vehicle 10 is the second vehicle 20 It is known that a speed of 80 km / h applies in the section of track not yet visible. A corresponding road sign 41 with the valid maximum speed is determined by the environmental sensors 11 of the first vehicle 10 detected. This will be the driver of the first vehicle 10 in a display unit 14 visualized. The current driving speed of the second vehicle 20 is on the currently traveled section 100km / h, but was in the direction of travel ahead traffic sign 42 detected with the future speed limit 120km / h and, for example, on the display unit 24 of the second vehicle 20 visualized. For a predictive, energy-saving driving of the longitudinal dynamics control, such as an intelligent cruise control (cruise control), therefore, no acceleration to 120km / h, but instead a coasting to 80km / h.

The exchange of environmental data can also occur contrary to the direction of travel. For example, at a time t = x, the first vehicle recognizes 10 a third vehicle, while a fourth vehicle is covered by the preceding third vehicle (which does not include environment sensors for carrying out the method according to the invention) or outside the detection range of the environment sensor system of the first vehicle 20 is. The fourth vehicle and its speed are but by the first vehicle 10 detected. By exchanging data with the second vehicle 20 An intended lane change may be prevented for a future time. Due to the information on the hidden fourth vehicle enriched by the data exchange, it is recognized that after the lane change the safety distance would be too low or the fourth vehicle would be obstructed. The lane change is then executed or permitted after passing the fourth vehicle.

LIST OF REFERENCE NUMBERS

10

first vehicle

11

environment sensors

12

computer unit

13

Vehicle communication unit

14

display unit

16

recognized object (road user)

20

second vehicle

21

environment sensors

22

computer unit

23

Vehicle communication unit

24

display unit

25

Driver assistance system

26

recognized object (road user)

30

communication link

40

driving route

41

driving route

42

driving route

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

• WO 2015/144145 A2 [0003]

Claims (15)

Method for determining the environment of a vehicle, comprising the steps of: providing first environment data that is associated with an environment sensor system ( 11 ) of a first vehicle ( 10 ), wherein the first environment data at least object data of other road users and / or obstacles in the environment of the first vehicle ( 10 ); Transferring the first environment data to a second vehicle ( 20 ); Processing the first environment data by the second vehicle ( 20 ), whereby the environment of the second vehicle ( 20 ) is determined. A method according to claim 1, characterized in that the step of providing the first environment data comprises the provision of environmental data obtained with an environment sensor of an infrastructure component. Method according to Claim 1 or 2, characterized in that image information is determined as the first environmental data by virtue of image data of the environment being detected by the surroundings sensor system ( 11 ) of the first vehicle and / or the infrastructure component are detected and the image data is processed into the image information. Method according to one of the preceding claims, characterized in that the first environment data of the location of a traffic infrastructure component, comprising at least one traffic sign or a lane, is determined. Method according to one of the preceding claims, characterized in that the first environment data for adapting a driving function of the second vehicle ( 20 ) are processed. A method according to claim 5, characterized in that the adaptation of the driving function includes an intervention in a partially or highly automated driver assistance system or a fully automated driving system. Method according to one of the preceding claims, characterized in that the first environment data are stored on a display unit ( 24 ) of the second vehicle ( 20 ) or one in the second vehicle ( 20 ) entrained mobile terminal are output as image data. A method according to claim 7, characterized in that by an environment sensor ( 21 ) of the second vehicle ( 20 ) second environment data are obtained, the object data of other road users and / or obstacles in the environment of the second vehicle ( 20 ), wherein the first and the second environment data together on the display unit ( 24 ) of the second vehicle or one in the second vehicle ( 20 ) entrained mobile terminal are output as the image data. A method according to claim 8, characterized in that the image data determined from the second environment data is extended with the image data determined from the first environment data, wherein the extension is a supplement to the objects and obstacles contained in the second environment data around the objects contained in the first environment data Obstacles in a map or a perspective view of the surroundings of the second vehicle ( 20 ). Method according to one of the preceding claims, in which the first environment data are transmitted from a first vehicle communication unit ( 13 ) of the first vehicle ( 10 ) directly by a second vehicle communication unit ( 23 ) of the second vehicle ( 20 ) are received via a wireless communication channel. Method according to one of the preceding claims, in which the first environment data of the first vehicle ( 10 ) by the second vehicle ( 20 ) are received from a central computer or a cloud service. Device for determining the environment of a vehicle ( 20 ) comprising: a vehicle communication unit ( 23 ) of the vehicle ( 20 ); an arithmetic unit ( 22 ) of the vehicle ( 20 ), wherein the arithmetic unit ( 22 ) is adapted to first environment data, with an environment sensor ( 11 ) of another vehicle ( 10 ) and the at least object data of other road users and / or obstacles in the environment of the other vehicle ( 10 ) from the other vehicle ( 10 ) to receive and process. Apparatus according to claim 12, characterized in that the first environment data by the computing unit ( 22 ) for adapting a driving function of the vehicle ( 20 ) are processed. Device according to claim 12 or 13, characterized in that it comprises an environment sensor system ( 21 ) for obtaining second environment data of the vehicle ( 20 ), the object data of other road users and / or obstacles in the vicinity of the vehicle ( 20 ), wherein the first and the second environment data by the computing unit ( 22 ) together on the display unit ( 24 ) of the vehicle or one in the vehicle ( 20 ) entrained mobile terminal are output as the image data. Apparatus according to claim 14, characterized in that the arithmetic unit ( 22 ) is designed to expand the image data determined from the second environment data with the image data determined from the first environment data, wherein the extension is a supplement to the objects contained in the second environment data and obstacles to the objects contained in the first environment data and obstacles in a map or a perspective view of the surroundings of the vehicle ( 20 ).

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