DE102017201538A1 - A method of processing data about an object located in an environment of a first vehicle - Google Patents

Abstract

The invention relates to a method for processing data about an object (30) located in an environment of a first vehicle (10) in a vehicle-external computing unit (50), wherein the vehicle-external computing unit (50) has data about a location (31) and a movement of the object (30) from the first vehicle (10) receives (80), future locations (32, 33) of the object (30) predetermined and at least one of the future locations (32, 33) of the object (30) to at least a second one Vehicle (20) transmitted (40).

Description

The present invention relates to methods for processing data about an object located in an environment of a first vehicle and to a computing unit and a computer program for carrying out the same.

State of the art

Modern vehicles are equipped with numerous sensors to detect the environment, the position and the traffic situation and to communicate with other vehicles as well as with central traffic control systems and the driver in the assessment of the traffic situation and in the detection of potential hazards and by warnings and To support driving instructions with as safe a vehicle guidance as possible. In particular, pedestrians and cyclists are included, who in turn are not equipped with such active systems.

The detection of objects such as bicycles or pedestrians and the calculation of a probable further movement of corresponding objects in an autonomous vehicle is for example from US 9120484 B1 known. The recorded data relating to corresponding objects are transmitted to a server. The server calculates probabilities for a possible further behavior of the objects, whereby numerous aspects (eg speed, road course, weather, inclines) are included in the creation of corresponding models. The information obtained in this way is then made available to the vehicle which has collected the data.

The interaction of the telematics systems of several vehicles and the transmission of the determined data to a central service center for the determination of collision risks, but also a direct communication of the vehicles among each other is from the US 2005/0197771 A1 known. There the concept of a safe environment is used, whereby the safe environment of a vehicle constantly changes with its speed, acceleration and turning direction and whereby the central service center or the direct communication between the vehicles should ensure that a vehicle is not in the safe environment penetrates another vehicle. In this case, warning messages are issued or intervened in the vehicle guidance.

Disclosure of the invention

According to the invention, methods for processing data about an object located in an environment of a first vehicle as well as a computing unit and a computer program for carrying them out with the features of the independent patent claims are proposed. Advantageous embodiments are the subject of the dependent claims and the following description.

In connection with an ever-increasing traffic density and the meeting of very different road users with different speeds and different responsiveness, such as pedestrians, bicycles, motorcycles, partially autonomous vehicles and commercial vehicles with overlong and heavy semi-trailers on the same traffic surface, the danger prediction and warning by driver assistance systems always comes greater importance. A similar development can also be observed in aviation and maritime transport. Therefore, the term vehicles in the context of the present invention, land vehicles (passenger vehicles and commercial vehicles of all kinds) and watercraft and aircraft to understand the embodiments of the present invention are applicable accordingly. The term objects are to be understood among other motor vehicles in particular also bicycles and pedestrians. The term objects may also include non-classical road users such as wildlife and other objects that can be recognized by the vehicles and may have an impact on the traffic situation and possibly a hazard potential for certain road users

The invention uses data from a different object in different entities to process data about an object in an environment of a first vehicle. In the first vehicle, the object is sensory detected and its current location, preferably also direction of movement and speed are determined, possibly additionally a classification of the object is performed to a class of the object, such as pedestrians, cyclists, motorcyclists, cars, trucks, etc ., Obstacle (eg boulders, branch, etc.) etc. to determine. The particular location, preferably also movement direction and / or speed as movement data, and possibly the specific class are transmitted to a remote non-vehicle computing unit, such as a data center, "cloud", etc. There are future whereabouts of the object, preferably each with an associated probability of residence, predetermined, for example, based on models, known streets, etc., and at least one future residence is transmitted, preferably with an associated probability of residence, at least a second vehicle, where based a signaling of the object, for example on a Screen, such as a navigation system, by means of warning lights, warning sounds, etc. takes place. In the case of signaling, a possible collision of the second vehicle and the object is preferably taken into account. For example, an intersection is formed between a likely movement of the second vehicle and a probable movement of the object, and this intersection is signaled. The formation can take place either in the remote processing unit or in the second vehicle.

The invention allows the determination of class and location (and motion) of objects in the environment, their potential hazard and hazard potential, and the prediction of probable future locations or behavior to be expected from those objects. In particular, different objects detected by several suitably equipped vehicles can be combined with route data and traffic data and transmitted to the road users concerned together with a prediction about the future location and the resulting individually determined dangers.

Substantial advantages of a vehicle-external processing of data of an object located in the vicinity of a vehicle are that the data of several vehicles that relate to a similar environment and / or the same object can be brought together and compared. This creates the most comprehensive picture possible of the class, location and movement of objects in the vehicle-external computing unit, so that future positions can be predetermined and resulting dangers can be identified. Not only can errors in the position determination of the object be corrected by a single vehicle, but also errors in the object recognition and in the interpretation of the class of the object can be reduced in their probability. In particular, recordings of a camera always show only a projection from a certain direction and perspective, so that the assessment of a spatial traffic situation, the merger of multiple shots different vehicles from different positions is very beneficial.

Preferably, the remote vehicle-external computing unit knows the respective sensory and / or functional features of the vehicles communicating with it. In this way, it can be considered that not reporting an object at a predicted position does not necessarily mean that the object is not in position, but also that the object could not be detected by the vehicle.

The non-vehicle processing of the data is also advantageous in terms of security aspects and data protection aspects, so intentionally falsified data can be recognized and filtered out and the origin of the data can be rendered unrecognizable by the vehicle-external computing unit. In addition, there is the possibility to include additional topographical information and information about the traffic situation, danger spots and obstacles from a central traffic control center. Finally, the non-vehicle processing of the data is also advantageous in terms of reliability, since direct communication between two vehicles must first be successfully initiated and negotiated, which is associated with a loss of time, and requires that a particular vehicle actually has a working system of the same type and is able to send data.

In order to determine the location, direction and speed of an object from a moving vehicle, it is advantageous to determine the position, direction of travel and speed of the vehicle itself as precisely as possible. In addition, acceleration and, in particular, braking maneuvers of the vehicle provide important information about danger spots on the route, for example a congestion on a stretch of road or a dangerous jam end on the highway in the event of obstruction or behind a curve. It is particularly advantageous if the corresponding data are already present in the vehicle and can be taken from the ABS or ESP or the steering angle sensor and a GPS, for example.

A further advantage of the invention is that the prediction of the future location of the object and corresponding hazard warnings from the non-vehicle computing unit are individually aligned with and transmitted to a single vehicle. Since dangerous situations can be different for different vehicles, the vehicle's own computing unit receives the information and warnings that are valid for this vehicle individually.

Advantageously, future locations of the object are only for objects of predetermined classes, in particular for classified as dangerous or endangered objects, especially for classified as dangerous or endangered vehicles, people or cyclists and / or objects at predetermined locations, in particular at intersections and / or in front and / or confusing and / or dangerous track sections predetermined. Thus, computing capacity can be saved by processing only relevant objects.

It is also advantageous if the location of the object is already determined by the first vehicle only for objects of such predetermined classes or if it is determined, is transmitted to the vehicle-external computing unit. The advantage is a reduction and focusing of the data volume on actually relevant objects and events. This avoids overloading the vehicle-external computing unit as well as the data transmission paths from and to the vehicles.

Advantageously, the sensor data comprise camera data and / or infrared sensor data and / or radar sensor data. These are particularly suitable for capturing the object. Alternatively or additionally, the sensor data may comprise GPS data and / or steering angle sensor data and / or inertial sensor data and / or data of an engine management system and / or a chassis control system and / or ABS and / or ESP system of the first vehicle. This has the advantage that one's own position and speed can be more accurately determined as a basis for the detection of class and location of the object and information about the traffic can be recorded.

According to a further advantageous embodiment of the invention, the method for detecting sensor data in a vehicle comprises performing a sensor data fusion. The sensor data fusion combines the data of several, especially different sensors such as camera sensors and radar sensors to an overall result with higher reliability and accuracy. The term is known to the person skilled in the art.

According to an advantageous embodiment of the invention, the method for receiving and displaying data of a non-vehicle computing unit by an on-board computing unit and display unit comprises that the data comprise at least one future position of an object identified as dangerous or endangered, in particular a vehicle recognized as dangerous or endangered, a person or a cyclist.

The prediction data for a vehicle, which is determined individually by this vehicle and which relates to the future location of the object and its potential danger or danger potential, are received by the on-board computer and advantageously displayed to the driver in a suitable form. In particular, warnings are highlighted accordingly and can be perceived directly by the driver.

According to a further advantageous embodiment of the invention, the method for receiving and displaying data of a vehicle-external computing unit by an on-board computing unit and display unit, that a corresponding warning is displayed by the on-board display unit. The advantage is that only individually valid and relevant alerts are displayed and are noted by drivers with greater attention than conventional traffic alerts, which also contain numerous irrelevant alerts.

An arithmetic unit according to the invention, e.g. a control device of a motor vehicle is, in particular programmatically, configured to perform a method according to the invention.

Also, the implementation of the method in the form of a computer program is advantageous because this causes very low costs, especially if an executive controller is still used for other tasks and therefore already exists. Suitable data carriers for providing the computer program are in particular magnetic, optical and electrical memories, such as e.g. Hard drives, flash memory, EEPROMs, DVDs, etc. It is also possible to download a program via computer networks (Internet, intranet, etc.).

Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

The invention is illustrated schematically with reference to an embodiment in the drawing and will be described below with reference to the drawing.

Brief description of the drawings

1 schematically shows a traffic situation in which a bicycle detected by a first motor vehicle and the most likely future position of the bicycle is transmitted to a subsequent second motor vehicle.

Embodiment (s) of the invention

In 1 is a traffic situation greatly simplified and shown schematically and with 100 designated. On a country road 60 are a leading vehicle first 10 , an outdated bike 30 and a second motor vehicle following the bicycle 20 on road. The highway 60 has a sharp right bend 61 on, in addition to a tree 70 the view is blocked.

As the vehicle 10 at the current position of the vehicle 20 was, that was bicycle 30 at a position 31 , The car 10 could the bike 30 in the position 31 Easily detect and detect by means of sensors, such as a camera.

According to a preferred embodiment of the invention were in an on-board computing unit 11 of the first vehicle 10 based on the sensor data of the whereabouts 31 , the direction of movement and speed of the bicycle 30 and a classification performed to determine that the object is a bicycle.

Whereabouts, direction of movement and speed and class of the object were subsequently determined by the vehicle's own computing unit 11 through a wireless data connection 80 , eg 3G, 4G, WLAN, etc., to a non-vehicle computing unit 50 in the form of a server or data center, for example at a traffic supervisor, vehicle manufacturer or the like.

From the vehicle-external computing unit 50 In particular, with the help of additional topographic route data or maps, probable future positions 32 and 33 the bicycle, preferably together with respective probabilities of residence, predetermined and preferably with the help of further stored data on the accident frequency on this section and the obstruction by the tree 70 in the curve 61 an increased risk of accidents between the following motor vehicle 20 and the bike 30 at the positions 32 or 33 determined.

In the example shown, the bicycle accordingly moves on the road as the most likely path. These future positions can now, preferably together with respective residence probabilities, early on to the following vehicle 20 be transmitted. Information about the bike ahead 30 and a hazard warning of the risk of accidents at the positions 32 or 33 become individual for the motor vehicle 20 created and the non-vehicle computing unit 50 over the data connection 40 individually to an on-board computer unit 21 of the motor vehicle 20 transmitted and visually and / or acoustically displayed to the driver, for example as a symbol in a navigation system, display o.ä. and / or by a spoken audible warning message.

Preferably, in the signaling, a possible collision of the vehicle 20 and the bike 30 considered. For example, an intersection between a likely movement of the vehicle 20 and a likely movement of the bicycle 30 formed and this intersection is signaled.

In particular, the signaling includes "Attention, cyclists behind the curve are likely." Since it is a prediction, the probability of residence should be spent accordingly, since it can not be said with certainty whether the bicycle is still on the track.

In a partially or fully autonomous driving vehicle and an automatic braking intervention or automatic speed reduction is conceivable.

In the prediction of the danger situation by the vehicle-external computing unit 50 is also the speed of the following motor vehicle 20 taken into account by the on-board computing unit 21 over the data connection 40 preferably likewise to the vehicle-external computing unit 50 is transmitted.

The method can be used advantageously especially in intersection areas, where pedestrians and bicycles are easily overlooked in the so-called blind spot. In addition, it is at highway entrances and in connection with the wrong-hand driver problem of great advantage if the following traffic warned and a wrong-way driver can be stopped if necessary.

If the (dangerous) object is not encountered by the next vehicle at the predicted position, according to a preferred embodiment of the invention, this is done to the computer unit outside the vehicle 50 confirmed, so that the position of the object can be recalculated there (eg vehicle must be in another way) or deleted.

Preferably, the remote non-vehicle computing unit knows 50 the respective sensory and / or functional equipment of the vehicles communicating with it 10 . 20 , In this way, it can be considered that not reporting an object at a predicted position does not necessarily mean that the object is not at the position, but also that the object is from the vehicle (eg 20 ) could not be detected.

The vehicle recognizing the moving (dangerous) object does not benefit from the data itself. Only the next vehicle, which moves towards the object, receives a warning that he will encounter a dangerous object. With participation of many vehicles, however, a very extensive tracking of objects, which benefits all road users.

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

• US 9120484 B1 [0003]
• US 2005/0197771 A1 [0004]

Claims (16)

Method for processing data about an in a vicinity of a first vehicle ( 10 ) object ( 30 ) in a non-vehicle computing unit ( 50 ), wherein the non-vehicle computing unit ( 50 ) Data on a residence ( 31 ) and a movement of the object ( 30 ) of the first vehicle ( 10 ) receives ( 80 ), future whereabouts ( 32 . 33 ) of the object ( 30 ) and at least one of the future locations ( 32 . 33 ) of the object ( 30 ) to at least one second vehicle ( 20 ) transmitted ( 40 ). The method of claim 1, wherein the non-vehicle computing unit data on a class of the object ( 30 ) of the first vehicle ( 10 ) receives ( 80 ). The method of claim 2, wherein the non-vehicle computing unit, the data on a class of the object ( 30 ) to the at least one second vehicle ( 20 ) transmitted ( 40 ). Method according to claim 2 or 3, wherein future locations ( 32 . 33 ) of the object ( 30 ) are predetermined only for objects of predetermined classes and / or for objects at predetermined locations. Method according to one of the preceding claims, wherein in an on-board computer unit ( 11 . 21 ) of the first vehicle ( 10 ) Sensor data are recorded, the whereabouts ( 31 ) and the movement of the object ( 30 ) and data on whereabouts ( 31 ) and the movement of the object ( 30 ) to the vehicle-external computing unit ( 50 ) ( 80 ). The method of claim 5, wherein the sensor data camera data and / or infrared sensor data and / or radar sensor data and / or GPS data and / or steering angle sensor data and / or inertial sensor data and / or data of an engine management system and / or data of a chassis control system and / or data of an ABS and / or ESP system. The method of claim 6, wherein a sensor data fusion is performed. Method according to one of claims 5 to 7, wherein in the on-board computer unit ( 11 . 21 ) of the first vehicle ( 10 ) a class of the object ( 30 ) is determined. Method according to one of the preceding claims, wherein an on-board computer unit ( 21 ) of the second vehicle ( 20 ) Data on the at least one future residence ( 31 ) of the object ( 30 ) from the non-vehicle computing unit ( 50 ) receives ( 40 ) and displays. Method according to claim 9, wherein the on-board computer unit ( 21 ) of the second vehicle ( 20 ) Data about the movement and / or the class of the object ( 30 ) receives ( 40 ) and displays. Method for processing data about an in a vicinity of a first vehicle ( 10 ) object ( 30 ) in an on-board computer unit ( 21 ) of a second vehicle ( 20 ), wherein the arithmetic unit ( 21 ) of the second vehicle ( 20 ) Data on a residence ( 31 ) of the object ( 30 ) from a non-vehicle computing unit ( 50 ) receives ( 40 ) and displays. Method according to claim 11, wherein the arithmetic unit ( 21 ) of the second vehicle ( 20 ) Data about a movement and / or a class of the object ( 30 ) receives ( 40 ) and displays. A method according to claim 12 or 13, in combination with a method according to any one of claims 1 to 8. Arithmetic unit ( 11 . 21 . 50 ), which is adapted to perform a method according to any one of the preceding claims. Computer program comprising a computing unit ( 50 ) to perform a method according to any one of claims 1 to 13, when it on the computing unit ( 50 ) is performed. A machine-readable storage medium having a computer program stored thereon according to claim 15.

Images