DE102016214599A1 - Method for detecting traffic signs in motor vehicles - Google Patents

Abstract

Method for detecting traffic signs in motor vehicles, in which traffic signs are detected camera-based, analyzed by means of image recognition processes and then reproduced to the driver in a human-machine interface (HMI), in addition to speed limits and overtaking bans further traffic signs are detected, analyzed according to these priorities and essential Information obtained from the traffic signs are reproduced to the driver, wherein the prioritization is carried out depending on the driving situation and vehicle-specific.

Description

The invention relates to a method for traffic sign recognition in motor vehicles.

Known systems for detecting traffic signs in motor vehicles detect camera-based (additionally possibly also card-based) traffic signs, which are analyzed on the basis of image recognition processes and subsequently visualized to the driver in a human-machine interface (HMI).

Currently, these systems may point to speeds with the additional indication of time constraints. Overhaul bans are also partly visualized by these systems.

In city traffic, there is a high density of traffic signs in many places, which in some cases overwhelm drivers and can distract concentration from actual driving. This situation is problematic because traffic signs are partially concentrated at one point and the driver is unable to detect all signs while driving.

He must either reduce his speed to capture all the signs; This maneuver can lead to risky situations for yourself or other road users. Or it does not capture the information of all signs and takes the risk of not recording important information.

From the DE 10 2013 217 531 A1 a method for informing a driver is known, in which a current driving situation is evaluated to determine whether it is a routine trip, which is assessed based on at least one predetermined criterion, whether a detected traffic sign in the current driving situation for the driver of interest and is an output of an indication of the traffic sign to the driver is made or suppressed depending on the result of these evaluations.

The object of the invention is therefore to provide a method for detecting traffic signs in motor vehicles, which is not limited to speed limits and overtaking bans, but also visualizes other traffic situations. In addition, the procedure should provide additional help and support to the driver if he receives further information.

This object is achieved by the method specified in claim 1. According to the invention it has been recognized that it is possible by an extended traffic sign recognition and their analysis, including the driving situation and the vehicle to both solve the problem, lose essential information about the environment as well as summarized important information and provide simplified, can be solved.

The method according to the invention extends the existing functionality of traffic sign recognition. In addition to speed limits and overtaking bans, further traffic signs are detected, analyzed according to priorities, and essential information obtained from the traffic signs is reproduced to the driver.

The method prioritizes traffic signs according to various criteria.

These criteria are dependent on the driving situation. As soon as the vehicle, e.g. in a parking maneuver, parking signs gain in importance. Likewise, these characters are suppressed while the vehicle is in the dynamic state.

Furthermore, the prioritization is made vehicle-specific. Traffic signs that are irrelevant for cars, for example, are not displayed to the driver. So the driver leads a car signs for cyclists, trucks or the like suppressed.

The traffic signs are thus detected and prioritized based on their importance.

Subsequently, based on the priority, it is selected whether and, if so, which information is displayed to the driver, in particular depending on the situation.

• – Ortsschilder, Geschwindigkeiten und Überholverbote spielen für das beschriebene System eine untergeordnete Rolle und haben in diesem Zusammenhang keine Priorität – bestehende Systeme decken diese Zeichen ab.
• – Sinnbilder (§39 StVO) haben eine sehr geringe Priorität.
• – Zusatzzeichen (§39 StVO) haben eine sehr geringe Priorität; es sei denn sie beschreiben eine Vorfahrtssituation oder eine sonstige Gefahr näher.
• – Richtzeichen (§42 StVO) haben eine geringe Priorität; es sei denn es handelt sich um vorfahrtbeschreibende oder gefahrenbeschreibende Zeichen.
• – Verkehrseinrichtungen wie Baken haben eine geringe Priorität.
• – Gefahrenzeichen (§40 StVO) haben eine hohe Priorität.
• – Vorfahrtszeichen haben eine hohe Priorität.
• – Verschiedene fahrzeugbezogene Schilder wie Verbotsschilder können dem Fahrzeug nach angepasst und somit optimiert werden. Beispielsweise können Verbotsschilder für Höhen, Breiten, Gewichte und Achslasten im LKW Bereich für Fahrer von PKW vernachlässigt werden.
• – Für Fahrzeuge irrelevante Verbotsschilder für z.B. Radfahrer oder Reiter müssen dem Fahrer eines PKW ebenfalls nicht angezeigt werden.
• – Das Verbot für Fahrzeuge aller Art hat eine hohe Priorität.

Some priorities of traffic signs exemplarily for the road traffic regulations (StVO) of the Federal Republic of Germany are listed below. It is understood that in other countries the traffic signs and their priorities may differ:

• - Location signs, speeds and overtaking bans play a subordinate role for the described system and have no priority in this context - existing systems cover these signs.
• - Symbols (§39 StVO) have a very low priority.
• - Additional signs (§39 StVO) have a very low priority; unless they describe a priority situation or any other danger.
• - Richtzeichen (§42 StVO) have a low priority; unless they are descriptive or driving-descriptive signs.
• - Transport facilities such as beacons have a low priority.
• - Danger signs (§40 StVO) have a high priority.
• - Priority signs have a high priority.
• - Various vehicle-related signs such as prohibition signs can be adapted to the vehicle and thus optimized. For example, prohibition signs for heights, widths, weights and axle loads in the truck area for drivers of cars can be neglected.
• - For vehicles irrelevant prohibition signs for eg cyclists or riders must also not be displayed to the driver of a car.
• - The ban on vehicles of all kinds has a high priority.

In addition, the traffic signs can be evaluated situationally. Thus, traffic signs that regulate parking and parking are dependent on the driving situation. If the driver activates a parking assistant or begins a characteristic parking maneuver, the priority of the parking and holding signs increases. When driving, the parking and holding is subordinate.

The system is thus able to distinguish important from less important information based on the priority analysis.

In principle, all known traffic signs can be included in the recognition and analysis. The analysis may also include environmental influences (e.g., weather, traffic density, etc.).

It may be provided that the essential information is only reproduced for a defined period of time. It can also be provided that the driver can deactivate the playback. This possibility can also be coupled to the driver's characteristic, e.g. For novice drivers the deactivation is not possible. This control can e.g. via programmable vehicle keys etc. take place.

In addition, explanatory information on analyzed traffic signs can optionally be displayed so that the driver can call for more detailed information in case of uncertainty about the meaning and scope of traffic signs.

The reproduction can preferably be done visually. But also an audio playback is conceivable.

It can also be provided that a solution in the form of an animation of an ideal traffic situation is reproduced when analyzing non-trivial priority rules.

A non-trivial right of way applies if the right of way is not fully understood and / or if many road users are involved in a priority situation.

A simple example of a non-trivial right-of-way regulation is an unmarked intersection that runs on all four sides. In this case, the right-to-left rule applies and each participant has one participant to his right.

Also, with a large number of traffic signs, the essential information can be summarized.

It is also possible after analysis of a variety of traffic signs to play them in a list by priority.

All information can be easily reproduced in keywords, pictograms and / or animations.

The method according to the invention of enhanced traffic sign recognition is able, on the basis of a priority analysis, to distinguish important from less important information, to filter and to present the situation to the driver. The following explanations refer to traffic signs of the German Highway Code. However, a modified priority analysis can easily be applied to any other market or country.

Location signs, speeds and overtaking bans play a subordinate role for the described system and have no priority in this context - existing systems cover these signs.

Symbols (§39 StVO) have a very low priority. Examples of typical symbols are shown below.

The representation to the driver makes in the rarest sense and can therefore be almost neglected.

Additional signs (§39 StVO) have a very low priority; unless they describe a foreground situation or danger closer.

The additional information provided above does not constitute essential information that the driver desperately needs. However, there may be additional signs that describe a right of way or danger and may be important. This information should be interpreted in combination with the first character. Examples attached:

Richtzeichen (§42 StVO) have a low priority; unless they are descriptive or driving-descriptive signs. Place signs, motorway exits or the like are already recorded with conventional systems and require no further mention. The examples below are low priority characters and play a minor role.

On the other hand, high priority directives describe dangers or right of way:

Transport facilities such as beacons have a low priority. Traffic facilities are traffic signs that require no explicit mention of the driver. The responsibility to realize this lies with the driver. Especially since they do not convey any explicit information

Danger signs (§40 StVO) have a high priority.

Danger signs describe a wide range of risks (such as deer, level crossings, children, inclines, etc.) and play an important role regardless of the type of vehicle or driver. These signs should be visualized to the driver, in case of doubt or in case of inattention.

Priority signs have a high priority.

Analogous to the danger signs, priority signs are to be regarded independently of driver and vehicle type and thus of high priority. Often a disregarded, prescribed direction of travel can lead to dangerous situations.

Various signs such as prohibition signs can be adapted to the vehicle and thus optimized. For example, prohibition signs for heights, widths, weights and axle loads in the truck area for drivers of cars can be neglected. Prohibition signs for e.g. Cyclists or riders also do not need to be shown to the driver of a car.

Traffic signs that regulate parking and parking are dependent on the driving situation. If the driver activates parking assistants or starts a characteristic parking maneuver, the priority of the parking and holding signs increases. A parking maneuver can be robustly identified by parameters such as the choice of gear, speed and others. When driving, parking and holding signs are suppressed.

Also, all universal traffic signs undergo prioritization according to the criteria presented above.

• – Gefahren- und Vorfahrtszeichen eine hohe Priorität;
• – Richt- und Zusatzzeichen eine mittlere Priorität, abhängig davon, ob sie eine Gefahr oder Vorfahrt näher beschreiben oder nicht;
• – Sinnbilder eine geringe Priorität;
• – Verkehrseinrichtungen eine geringe Priorität.

Summed up:

• - Danger and priority signs a high priority;
• - Indicative and additional signs are a medium priority, depending on whether they describe a danger or right of way or not;
• - Symbols a low priority;
• - Transport facilities a low priority.

• • zusätzliche Detektion weiterer Verkehrszeichen.
• • Analyse der detektierten Verkehrszeichen nach Prioritäten.
• • Wiedergabe daraus gewonnener essentieller Informationen sollen dem Fahrer, ggf. nur für einen definierten Zeitraum.
• • Bei einer großen Anzahl von Verkehrszeichen können die Informationen optional zusammengefasst dargestellt werden.
• • Es besteht die optionale Möglichkeit zusätzliche, erklärende Informationen zu Verkehrszeichen zu erhalten, z.B. um Verständnisprobleme aufzuklären.
• • Auch kann der Fahrer ggf. die Möglichkeit haben, die erweiterte Verkehrszeichenerkennung zu deaktivieren, falls er sich z.B. abgelenkt fühlt.

In summary, the invention comprises:

• • additional detection of additional traffic signs.
• • Analysis of the detected traffic signs according to priorities.
• • Rendering of essential information obtained from this should be for the driver, if necessary only for a defined period of time.
• • If there are a large number of traffic signs, the information can optionally be summarized.
• • There is an option to get additional explanatory information about traffic signs, eg to clarify understanding problems.
• • The driver may also have the option of disabling advanced traffic sign recognition if, for example, he feels distracted.

• • Kameras, um die Umgebung nach Schildern zu scannen;
• • ein Prozessor, der per Bilderkennung die Kameradaten auswertet;
• • ein Ausgabemedium, z.B. ein Display, um dem Fahrer Informationen

mitzuteilen.An advantage of the method is that no additional hardware components are required for the previous traffic sign recognition. The method can be carried out by means of hardware that is usually already present in most motor vehicles:

• • cameras to scan the environment for signs;
• • a processor that evaluates the camera data via image recognition;
• • an output medium, eg a display, to inform the driver

tell.

The method will be explained by way of example in principle.

Example 1: A driver is driving his vehicle in an unknown environment. For example, it is located on a main road with a few intersecting cross streets. The right-of-way sign was overlooked by the driver. The unfamiliar environment may not give him any idea of which road have priority. The advanced traffic sign recognition detects the corresponding right-of-way situation and displays it to the driver in an explanatory manner.

Example 2: A driver is driving his vehicle in an urban area. In this area, the density of traffic signs is very high. The driver has only a limited amount of concentration and limits his concentration on the traffic around him. He does not consciously notice all signs. The system recognizes the signs, displays them to the driver and summarizes their meaning.

Further features and details of the invention will become apparent from the following description of the single drawing, in which a traffic situation and the corresponding traffic signs are shown schematically.

A camera in the vehicle records the traffic situation, as a whole 1 designated. The on-board computer of the vehicle evaluates the camera data and recognizes therein the traffic signs. These include the "Attention Pedestrian Sign" 2 , the parking garage sign 3 , the "Maximum allowed speed signs" 4 as well as the sign 5 to ban the passage of vehicles with a total weight of more than 18 tonnes. The characters are then prioritized.

The "respect pedestrian sign" 2 gets a high priority. This essential information is displayed succinctly to the driver. Furthermore, the "maximum permissible speed sign" 4 classified as important and this information, as usual with other systems, the driver indicated.

The parking garage sign 3 is rather classified as unimportant and therefore not displayed. It would be different if, for example, it is clear from a navigation setting that the driver is looking for a parking space. Then the parking garage sign would be 3 classified as important, eg medium priority, and notified to the driver.

The sign 5 For the ban on driving vehicles with a total weight greater than 18 tons is the driver withheld or not displayed because it is irrelevant for the present vehicle, as this weighs much less and the system has this information.

The rest in the camera data recognized, in 1 displayed traffic signs are not displayed in this situation as not applicable or without relevance. However, if a different traffic situation prevails at the same location, this could be classified as relevant, given a higher priority and possibly also be displayed.

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 102013217531 A1 [0006]

Claims (8)

Method for traffic sign recognition in motor vehicles, in which traffic signs are detected camera-based, analyzed by image recognition processes and then reproduced to the driver in a human-machine interface (HMI), characterized in that in addition to speed limits and overtaking bans further traffic signs are detected, these according to priorities analyzed and essential information obtained from the traffic signs are reproduced to the driver, the prioritization is carried out depending on the driving situation and vehicle-specific. A method according to claim 1, characterized in that essential information is reproduced for a defined period of time. A method according to claim 1 or 2, characterized in that explanatory information on analyzed traffic signs are optionally displayed. Method according to one of the preceding claims, characterized in that in case of non-trivial priority rules after analysis, a solution in the form of an animation of an ideal traffic situation is reproduced. Method according to one of the preceding claims, characterized in that, for a large number of traffic signs, the essential information can be reproduced together. Method according to one of the preceding claims, characterized in that after analysis of a plurality of traffic signs these are reproduced in a list by priority. Method according to one of the preceding claims, characterized in that information is reproduced in brief, pictograms and / or facilitated by animations. Method according to one of the preceding claims, characterized in that - Danger and priority signs with a high priority; - indicative and additional signs with a medium priority, depending on whether they describe a danger or right of way or not; - Low priority emblems - Priority traffic facilities have priority.

Images