DE102017202496A1 - Method and system for predicting the dazzling probability of the driver of a vehicle by the sun - Google Patents

Abstract

The invention relates to a method for predicting the dazzling probability of the driver of a vehicle (1) by the sun (2), comprising the following steps: detecting a vehicle position (P1), in particular by means of at least one position detection device (61); Determining a position of the sun, in particular based on the vehicle position (P1); Determining a first impact probability (W1) for the sunlight impact on the driver based on the vehicle position (P1) and the position of the sun; Estimate at least one future vehicle position (P2); Determining at least one second impact probability (W2) for the impact of sunlight on the driver based on a future vehicle position (P2) and a position of the sun; and determining a glare probability of the driver based at least on the first impact probability (W1) and at least one second impact probability (W2). Moreover, the invention relates to a computer-readable memory (69) with corresponding instructions for implementing the method as well as a corresponding system (6) and vehicle (1).

Description

The invention relates to a method and a system for predicting the dazzling probability of the driver of a vehicle by the sun according to claim 1 or 16, a computer-readable memory according to claim 15, and a vehicle having a corresponding system according to claim 19.

When driving a vehicle, in particular motor vehicle, it happens that the driver loses sight by sudden glare from the sun or his view is severely limited. The driver could then cause an accident because he either overlooks other road users or obstacles or gets off the road with the vehicle. In this case, a short moment of the sun in the field of vision of the driver may be sufficient to affect his visual perception of the traffic.

From the prior art, it is known in a vehicle to darken the rearview mirror and the windows due to the momentary solar radiation detected by a light sensor.

From the publication DE 196 20 779 C1 For example, the detection of the instantaneous exposure of a flat vehicle to the rear of a vehicle is known so that the dipped beam can be switched on to improve the visibility of the vehicle for oncoming traffic.

From the publication DE 103 38 764 A1 For example, it is known from the front to detect the instantaneous exposure of a vehicle to sunlight, so that a night vision device can be activated to improve the driver's vision.

The known from the prior art measures against the glare of a driver of a vehicle take into account only the instantaneous solar radiation to the vehicle, but do not allow prediction for the future. Consequently, there may still be a sudden, especially unexpected glare. In addition, the known methods are inaccurate in that they only consider whether the vehicle is exposed to the sun, but not whether the driver is actually dazzled. As a result, the effect of the darkening measures taken can be exaggerated or even completely superfluous. For example, a flat-rate blackout of the vehicle windows may hinder the driver's vision more than would actually have been necessary due to the actual glare. In such a case, the risk of accidents could even increase. The known methods for preventing blinding of the driver solve the underlying problem only insufficient, so that there is still a significant risk of accidents due to glare of the driver by the sun.

The object of the present invention is therefore to provide a method, a device and, in particular, a vehicle, which makes it possible to reduce or completely eliminate the dangers of dazzling the driver of a vehicle by the sun. In particular, glare should be determined as accurately and timely as possible. In particular, an imminent glare is to be predicted to increase the safety when driving a vehicle, so in particular to reduce the risk of accidents.

This object is achieved by a method and a system for predicting the dazzling probability of the driver of a vehicle by the sun according to claim 1 or 16, a computer-readable memory according to claim 15, and a vehicle having a corresponding system according to claim 19.

1. a) Erfassen einer Fahrzeugposition, insbesondere mittels mindestens einer Positionserfassungseinrichtung;
2. b) Bestimmen eines Sonnenstands, insbesondere basierend auf der Fahrzeugposition;
3. c) Bestimmen einer ersten Auftreffwahrscheinlichkeit für das Auftreffen von Sonnenlicht auf den Fahrer, basierend auf der Fahrzeugposition und dem Sonnenstand;
4. d) Schätzung mindestens einer zukünftigen Fahrzeugposition;
5. e) Bestimmen mindestens einer zweiten Auftreffwahrscheinlichkeit für das Auftreffen von Sonnenlicht auf den Fahrer, basierend auf einer zukünftigen Fahrzeugposition und einem Sonnenstand;
6. f) Bestimmen einer Blendungswahrscheinlichkeit des Fahrers, basierend mindestens auf der ersten Auftreffwahrscheinlichkeit und mindestens einer zweiten Auftreffwahrscheinlichkeit.

In particular, the object is achieved by a method for predicting the dazzling probability of the driver of a vehicle by the sun, comprising the following steps:

1. a) detecting a vehicle position, in particular by means of at least one position detection device;
2. b) determining a position of the sun, in particular based on the vehicle position;
3. c) determining a first impact probability for the impact of sunlight on the driver, based on the vehicle position and the position of the sun;
4. d) estimate at least one future vehicle position;
5. e) determining at least a second impact probability for the impact of sunlight on the driver based on a future vehicle position and a position of the sun;
6. f) determining a glare probability of the driver based on at least the first impact probability and at least one second impact probability.

The method steps are carried out in particular cyclically. In this case, some method steps can be carried out several times, even several times in succession, in particular the estimation of a future vehicle position and the determination of a second impact probability. Some method steps, in particular the detection of a vehicle position or the determination of the Sun position, less frequently, in particular only once be performed within a cycle. Not all process steps, in particular the determination of the position of the sun, must be carried out in each cycle. Before, between or after the method steps according to the invention, further method steps can be provided.

According to the invention, the term "dazzling probability" can be understood as describing the probability, in particular by means of a numerical value greater than or equal to 0 and less than or equal to 1, that a driver is dazzled by the sun in the future. The term "glare" can thus be understood as describing the change of a state without dazzling sunlight to a state with glaring sunlight. Accordingly, a glare is excluded, for example, or is the glare probability 0 when the sun does not shine or not strong enough, the driver or the vehicle is currently in the shade and will remain in the shade in the future, or the driver or the vehicle is in the sun and the driver is already dazzled by the sun in the current state. Conversely, glare is safe, for example, or the glare probability is 1, if the driver or the vehicle is currently in the shade, the driver will be blinded by the sun in the future, however. The glare probability can also be any value between 0 and 1, for example, when a future glare can not be safely excluded or determined. The term of glare can therefore be understood according to the invention as the risk of the driver's visual impairment due to the future appearance of the sun in his field of vision.

The vehicle position is preferably indicated by 3-dimensional coordinates, in particular in a geographic coordinate system. The vehicle position is detected in particular by means of a position detection device, preferably in cooperation with a global navigation satellite system (GNSS) such as GPS, GLONASS, Galileo or Beidou, in particular thus by means of a GNSS receiver, such. a GPS receiver.

In addition to the vehicle position, the position of the vehicle can be detected, in particular in a geographic coordinate system. The geographical orientation of the vehicle and / or the inclination with respect to the horizon and / or relative to the road surface can be detected. It can also be considered a lateral inclination of the vehicle, for example due to centrifugal forces during cornering. The alignment can be detected by means of a, preferably electromagnetic, compass, which optionally works with a correction algorithm. It is also possible to provide additional position sensors, in particular at least one inclination sensor.

The determination of the position of the sun based on a position and a time is known in principle. For example, the position of the sun in the sky for a viewing position and a time, such as the date and time, may be indicated by known azimuth and altitude calculation formulas. Simplified calculation methods may be used and / or data from ephemeris databases may be taken into account for a more accurate determination of the position of the sun. The position of the sun can be determined based on a vehicle position or based on a position of the driver within the vehicle, preferably the driver's head, more preferably one of the driver's eyes. The determination of the position of the sun has the advantage, compared to a mere measurement of the intensity of the sunlight, that an impact probability can be more accurately determined on the basis of the direction of sunlight which can be determined therefrom. Compared to a detection of the sun by means of a camera and image processing methods, the calculation of the position of the sun based on the vehicle position is less expensive and more reliable. In particular, the additional consideration of the vehicle position allows a more accurate determination of an impact probability for the impact of sunlight on the driver, or his head or his eye, and thus the glare probability.

The position of the sun can be determined based on the current vehicle position, in particular for a whole process cycle. A first and at least one second impact probability can therefore be based on the same position of the sun. However, a position of the sun can also be determined separately for the current and for individual vehicle positions or for any future vehicle position, in particular within a method cycle. In a simplifying or resource-saving manner, the position of the sun can also be determined for a number of process cycles based on the same detected vehicle position. If the determination of the position of the sun shows that the sun is below the horizon, dazzling the driver can already be ruled out. The same applies in particular if the vehicle is currently or in the future in a tunnel, which can be determined, for example, using imported map data.

According to the invention, the term "impact probability" can be understood as describing the probability, in particular by means of a numerical value greater than or equal to 0 and less than or equal to 1, that sunlight is directed at the driver, in particular the driver's head, preferably at least one of the eyes of the driver Driver, hits. For example, the impact probability will be 0 if the sun is safely shaded from the driver's point of view by radiation obstacles such as a terrain such as a mountain, a building or a part of the vehicle. In contrast, the impact probability will be 1 if sunlight can radiate directly to the driver, or his head or one of his eyes, unhindered. An impact probability may also be any value between 0 and 1, for example when blinding sunlight only partly hits the driver due to partial shading of the sun, or when blinding sunlight is possible on the driver, taking into account any inaccuracies , for example, with respect to the exact eye position, caused by head movements of the driver, but can not be predicted with certainty. A first impact probability is based, in particular, on a current vehicle position, while a second impact probability is based on a future vehicle position. Preferably, a plurality of second landing probabilities are determined for different future vehicle positions. A glare probability is preferably determined by comparing a first with a second impact probability.

One idea of the invention is to predict a future glare of the driver by the sun, so that the driver can adjust in time and react accordingly, or in time appropriate technical countermeasures against the glare can be initiated. For example, given a sufficiently high probability of glare predicted, a warning signal can be issued to the driver at an early stage so that it is at least no longer surprised by the glare. For example, the driver could then put on sunglasses in a timely manner, fold down a sun visor, squint his eyes or adjust his direct line of sight, which will no longer or only slightly blinded. On the other hand, technical glare countermeasures, such as the appropriate automatic positioning of a sun visor or the darkening of a vehicle window can be made, so that an actual glare of the driver is prevented from the beginning. By determining the position of the sun, and in particular the direction of incidence of the sunlight with respect to the vehicle or the driver, an accurate determination of the impact probability becomes possible. In particular, by taking into account the future route of the vehicle, a prediction of the impact probability, and thereby a prediction of the glare probability, possible. By determining the glare probability as accurately as possible, a timely, more accurate, and in particular probability-dependent warning of the driver and / or implementation of a glare countermeasure name becomes possible. As a result, the risk of accidents due to glare is significantly reduced and increases road safety.

In an advantageous development of the method according to the invention, the first and / or second impact probability is determined based on geometric data of shading objects and / or travel route data, in particular based on, preferably three-dimensional, geometry data of the terrain, of buildings and / or of the vehicle. Road data includes, for example, road planting and / or tunneling data. In particular, geometry data in the form of read-in map data are provided, which contain information on route guidance, roadway inclination, development and / or terrain topology, in particular a height profile.

• - Erfassen der Augenposition mindestens eines Auges des Fahrers, vorzugsweise relativ zum Fahrzeug, insbesondere mittels mindestens einer Bilderfassungseinrichtung, und
• - Bestimmen einer Auftreffwahrscheinlichkeit für das Auftreffen von Sonnenlicht auf das Auge des Fahrers basierend auf der Augenposition.

In an advantageous development, the method according to the invention comprises the following steps:

• - Detecting the eye position of at least one eye of the driver, preferably relative to the vehicle, in particular by means of at least one image capture device, and
• Determining an impact probability for the impact of sunlight on the driver's eye based on the eye position.

An image capture device is, for example, a stereo camera. The eye position can be detected in particular by two stereo cameras and suitable image processing methods, in particular those for face recognition. Alternatively, the eye position could be determined from the head position of the driver, which is determined, for example, via a detected position of the seat as a whole, the backrest and / or the headrest of the driver's seat. The eye position is detected in particular in the form of 3-dimensional coordinates, preferably in a vehicle-related coordinate system. By taking account of the eye position, the accuracy of the impact probability to be determined can be considerably increased, since in particular the incidence of sunlight in one of the driver's eyes leads to glare.

In an advantageous embodiment of the method according to the invention is a Impact probability determined based on a calculated degree of shading of the driver's eye by shading objects. Shading objects include, for example, terrain forms, in particular terrain elevations, such as mountains, buildings, the street planting, such as an avenue of tall trees, or opaque parts of the vehicle body or the vehicle interior. The degree of shading indicates, in particular, what proportion of the sunlight radiated to the eye by the sun actually hits the eye. For example, if a building is between the sun and the eye, the eye is completely shaded. If, on the other hand, unimpeded radiation of sunlight onto the eye is possible, there is no shadowing. In partial shading, only part of the eye is struck by sunlight.

In an advantageous development, the method according to the invention comprises transforming eye coordinates of the eye position and sun coordinates of the sun position into a vehicle-fixed coordinate system, which is defined in particular based on the orientation of the vehicle and / or the inclination of the road surface and / or the inclination of the vehicle relative to the road surface , The eye position is detected, for example, in a vehicle-related coordinate system as eye coordinates, preferably in the form of pixel coordinates as a result of an image processing step. Due to the extent of a human eye, the eye may e.g. represented by a set of points whose coordinates are the eye coordinates. The eye position can be calculated from the eye coordinates, in particular by means of interpolation. On the other hand, the vehicle position and the position of the sun are preferably recorded in geographical coordinates. A transformation of eye coordinates and solar coordinates into a vehicle-fixed coordinate system ensures an easier calculation of geometric relationships between the sun and an eye. Preferably, the vehicle-related coordinate system is aligned with fixed points of the body so that it is decoupled from movement of the vehicle due to the suspension or suspension.

In an advantageous development, the method according to the invention comprises the definition of tolerance values for eye coordinates, wherein the tolerance values correspond to inaccuracies when detecting the eye position. Inaccuracies in detecting the eye position may result, for example, from an image recognition method used, movement of the head and / or eyes of the driver, or due to the detected seating position of the driver. In particular, a tolerance radius for the eye position is defined by which the eye is modeled as a sphere or circular disc. The less accurate the eye position can be detected, the greater the tolerance values or the tolerance radius should be selected so that an impact probability can be determined correctly. Inaccuracies with respect to the geometry of shading objects can also be taken into account as tolerance values or tolerance radii for the eye position.

• - Einlesen von Geometriedaten von Abschattungsobjekten, insbesondere aus einem Speichermedium;
• - Projizieren der Geometriedaten von Abschattungsobjekten in eine Projektionsebene und Erzeugen einer Abschattungsfläche aus der Projektion, sowie
• - Projizieren der Augenposition in die Projektionsebene und Erzeugen einer insbesondere kreisförmigen Augenfläche aus der Projektion, wobei die Projektionsebene vorzugsweise senkrecht zu einer Geraden zwischen Sonnenkoordinaten und Augenkoordinaten verläuft;
• - Bestimmen des Abschattungsgrads als Überdeckungsgrad der Augenfläche mit der Abschattungsfläche.

In an advantageous development, the method according to the invention comprises the following steps:

• - reading geometry data from shading objects, in particular from a storage medium;
• Projecting the geometric data of shading objects into a projection plane and generating a shading surface from the projection, as well as
• Projecting the eye position into the projection plane and producing a particularly circular eye surface from the projection, wherein the projection plane is preferably perpendicular to a straight line between solar coordinates and eye coordinates;
• - Determining the degree of shading as the degree of coverage of the eye area with the shading area.

The geometry data are preferably stored as map data in a storage medium. In particular, geometric data of the outer contours of shading objects, such as terrain forms, buildings or plantings are projected. An eye surface is preferably generated from a tolerance radius and the eye position as a circle center. A shading surface is produced, for example, as an overlapping surface from a superimposition of the projection surfaces of the individual shading objects, in particular in the form of a polygonal surface. In particular, the projection surface is perpendicular to the connecting line between the sun and an eye. Preferably, only such shading objects are projected, which are located in the driver's field of vision. The field of view is determined in particular on the basis of the vehicle position and can be defined for example by a predetermined angular range, for example the front half field from the driver's point of view, in particular a 180 ° angle around the driver's line of sight. In particular, the inclination of the vehicle to the horizontal in the determination of the field of view can be considered. The field of view of the driver can also be extended to areas and possibly existing shading objects, which are visible to the driver via mirrors, such as the interior rearview mirror or exterior rearview mirror are. In particular, a concealment calculation is performed for the shading objects in the field of view. For example, the described projection steps can be dispensed with if the sun is outside the field of vision of the driver, in particular below the horizon. The impact probability is then 0.

In an advantageous development, the method according to the invention comprises the reading of geometric data of the vehicle, which relate to opaque parts of the vehicle, preferably the front area, in particular to the vehicle body and / or the vehicle interior, for example comprising an exterior rearview mirror, an interior rearview mirror, a sun visor, a dashboard, a side door, a front roof area, an A-pillar and / or a passenger seat. In this way, a shading of the driver or an eye of the driver by the vehicle itself can be taken into account in the determination of the impact probability.

• - Messen einer Sonnenintensität mittels mindestens eines optischen Sensors und/oder Abfragen von Wetterdaten, insbesondere über eine Funkverbindung,
• - Ermitteln, aufgrund der gemessenen Sonnenintensität und/oder der Wetterdaten, ob die Sonnenintensität unterhalb eines vorgegebenen Mindestwertes liegt, und gegebenenfalls
• - Festlegen, dass eine Blendungswahrscheinlichkeit Null beträgt.

In an advantageous development, the method according to the invention comprises the following steps:

• Measuring a solar intensity by means of at least one optical sensor and / or querying weather data, in particular via a radio link,
• Determine, based on the measured sun intensity and / or the weather data, whether the sun intensity is below a predetermined minimum value, and if necessary
• - Specify that a glare probability is zero.

By measuring the solar intensity, for example by means of a photocell, it can be determined whether the sun shines at all or sufficiently strong. For example, an intensity difference measurement can be carried out by means of two optical sensors, one of which is illuminated on a shaded, diffused light and one is mounted on a spot of the vehicle illuminated directly in the sunshine. Alternatively, an absolute intensity measurement can be carried out by means of an optical sensor, wherein if a predetermined minimum intensity value, for example 120 W / m 2, is exceeded, it is concluded that there is sunshine. Alternatively or additionally, if the weather data transmitted to the vehicle indicates sufficient cloud cover, sunshine may be ruled out. In this way, a glare of the driver can be ruled out from the outset, so that it is possible to dispense with a computation-intensive determination of an impact probability.

In an advantageous embodiment of the method according to the invention, the future vehicle position is estimated based on available route guidance data, learned route data, a detected current lane or a detected position of a direction indicator of the vehicle. Route guidance data in the form of future vehicle positions may be provided based on an activated route guidance for the vehicle, in particular by a navigation system. Future vehicle positions may also be estimated, in particular calculated, on the basis of a set or non-set turn signal, a detected current driving lane, for example a turning lane, or a more frequently traveled route learned by the vehicle. For example, a vehicle position, and preferably a vehicle location, may be estimated for a few seconds in advance. In particular, the estimation is based on read-in map data that includes the course of the road and, in particular, information about the roadway inclination.

In an advantageous development of the method according to the invention, a first impact probability is compared with a second impact probability, wherein the glare probability is greater than zero if a second impact probability is greater than a first impact probability. In particular, the greater the glare probability based on a future vehicle position compared to the first impact probability, the greater the glare probability. For example, the glare probability is 0 if both the first and second impact probability are 0 or if both the first and second impact probability are 1.

In an advantageous development of the method according to the invention, future vehicle positions are estimated for prediction time intervals from 1 s to 30 s, in particular cyclically, preferably at regular time intervals, for example from 200 ms to 1 s, with the associated second impact probabilities being stored. Thus, a prediction for the glare probability for a few seconds into the future can be made, in particular by comparing a first impact probability, which relates to the current vehicle position, with the stored second impact probabilities, which relate to different future vehicle positions. For example, in a cycle, second impact probabilities are calculated and stored at intervals of 500 ms for an interval of 10 s, ie a total of 20 values of second impact probabilities. Preferably, in pairs, the first Impact probability compared with every second impact probability, which in each case a glare probability is determined, which is stored. For example, if at least one glare probability determined for a prediction time interval is greater than 0, there is a danger of future glare for the driver. However, other, in particular stricter criteria for determining a future glare of the driver may also be provided, for example a predefined minimum value of a glare probability or a minimum number of glare probabilities greater than 0 within a time interval.

In an advantageous development of the method according to the invention, the method is carried out for both eyes of the driver, in particular separately. In particular, different eye positions are correct for both eyes and the impact probabilities are calculated accordingly. As a result, the accuracy of the method is increased because a glare of the driver is also possible if the sun appears only in the field of view of one of the two eyes.

In an advantageous development of the method according to the invention, with a glare probability which is greater than a defined minimum value, an audible or visual warning signal is output to the driver and / or an anti-dazzle name is performed, such as driving a sun visor or darkening a vehicle window , For example, a sun visor can be automatically positioned, in particular to be folded downwards or sideways by a motor. For example, due to a warning, the driver can put on sunglasses in a timely manner, manually fold down a sun visor, or adjust his or her line of vision so that the sun is less or less dazzling. By a timely warning signal or a glare countermeasure name, an actual glare of the driver can be avoided from the outset. Road safety is thereby increased. In particular, no warning signal is output when the last warning signal is less than a predetermined time interval ago.

According to a more general idea of the invention, it would also be conceivable, in the event that a glare probability for the future no longer exists, to issue an all-clear signal to the driver or to undo a glare countermeasure, i. in particular, fold back a sun visor. In particular, the second impact probability would have to be lower than the first impact probability.

The object mentioned at the outset is also achieved, in particular, by a computer-readable memory with instructions for implementing the method according to the invention described, when the instructions are executed on at least one arithmetic unit.

• - eine Positionserfassungseinrichtung zum Erfassen einer Fahrzeugposition, insbesondere einen GPS-Empfänger, und vorzugsweise einen Kompass, mindestens einen Lagesensor und/oder einen Neigungssensor,
• - mindestens eine Recheneinheit;
• - mindestens einen beschriebenen erfindungsgemäßen computerlesbaren Speicher.

In particular, the object mentioned at the outset is solved by a system for predicting the dazzling probability of the driver of a vehicle by the sun, the system comprising:

• a position detection device for detecting a vehicle position, in particular a GPS receiver, and preferably a compass, at least one position sensor and / or a tilt sensor,
• - At least one arithmetic unit;
• at least one described computer-readable memory according to the invention.

In particular, the system is adapted to carry out the described method according to the invention and preferably implements some or all of the device-related features which have been described in connection with the method. The system has similar advantages as already described in relation to the method according to the invention.

An arithmetic unit may be a CPU or a GPU. A GPU is particularly suitable for the efficient, in particular real-time capable processing of geometry data, in particular for a concealment calculation of 3-dimensional shading objects and their projection. A computing unit is preferably provided within the vehicle. However, a computing unit can also be provided in an external data center, with data being transmitted between the vehicle and the data center via a radio link.

The vehicle position can be detected by means of a, preferably electromagnetic compass. Additional position sensors, in particular inclination sensors, can detect the vehicle position more accurately, for example an inclination relative to the road surface, in particular also in the transverse direction of the vehicle. As a result, the direction of sunlight incidence on the driver can be taken into account and an impact probability can be determined more accurately. In particular, the field of vision of the driver can be determined based on the vehicle position.

In an advantageous development of the system according to the invention, a computer-readable memory comprises geometry data of shading objects and / or travel route data, preferably geometric data of the vehicle, which is based on Obtain lightproof parts of the vehicle. Geometry data of shading objects, in particular of terrain forms and buildings, are read from a memory with map data. Preferably, the geometric data of the vehicle in the form of a vehicle-specific 3D model of the vehicle body and / or the vehicle interior are stored on an in-vehicle memory. Alternatively, geometry data of the vehicle may also be stored on an external memory and transmitted to the vehicle by means of a radio link.

• - mindestens eine Bilderfassungseinrichtung, insbesondere zwei Stereokameras, zur Erfassung mindestens eines Auges des Fahrers,
• - mindestens einen optischen Sensor zur Erfassung der Sonnenintensität und/oder - mindestens einen Positionssensor zur Erfassung der Stellung einer Sonnenblende.

In an advantageous development, the system according to the invention further comprises:

• at least one image capture device, in particular two stereo cameras, for detecting at least one eye of the driver,
• at least one optical sensor for detecting the solar intensity and / or at least one position sensor for detecting the position of a sun visor.

Preferably, an image capture device is directed from the front to the head of the driver, in particular above the windshield mounted. Preferably, a stereo camera is mounted on each side of the right and left of the sun visor, wherein the camera axes are aligned in the direction of the head of the driver and located in particular in the vehicle-fixed coordinate system. It is advantageous if each of the two cameras are mounted so that in every possible position of the sun visor, the head of the driver is visible to the camera, so is not covered by the sun visor.

An optical sensor comprises in particular a photocell. Optical sensors can be provided for a differential intensity measurement front and side to capture sunlight from both front and side, especially on the driver's side. For example, depending on an optical sensor in the upper middle region of the windshield and laterally, preferably left and right, provided on the vehicle. Lateral optical sensors, for example, integrated on both sides in the bottom of the exterior rearview mirror to detect diffused ambient light. For an absolute intensity measurement, only a single optical sensor can be provided.

The object stated in the introduction is moreover achieved in particular by a vehicle having a described system according to the invention for predicting the dazzling probability of the driver of a vehicle by the sun.

Further advantageous developments of the invention will become apparent from the dependent claims.

• 1 eine Prinzipskizze zur Erläuterung der Funktionsweise der Vorhersage der Blendungswahrscheinlichkeit durch eine Ausführungsform des erfindungsgemäßen Verfahrens, Systems, computerlesbaren Speichers oder Fahrzeugs;
• 2 eine schematische Darstellung einer Draufsicht auf eine Ausführungsform eines erfindungsgemäßen Fahrzeugs mit einem erfindungsgemäßen System zur Vorhersage der Blendungswahrscheinlichkeit;
• 3 eine graphische Illustration der Berechnung eines Abschattungsgrads zur Bestimmung einer Auftreffwahrscheinlichkeit für Sonnenlicht auf ein Auge des Fahrers gemäß einer Ausführungsform des erfindungsgemäßen Verfahrens;
• 4 eine graphische Darstellung von eingelesenen Geometriedaten, die sich auf lichtundurchlässige Teile der Fahrzeugkarosserie und des Fahrzeuginnenraums eines Fahrzeugs beziehen, gemäß einer Ausführungsform des erfindungsgemäßen Verfahrens;
• 5 ein Ablaufschema einer Ausführungsform des erfindungsgemäßen Verfahrens.
• 6 eine schematische Darstellung einer Ausführungsform eines erfindungsgemäßen Systems.

Embodiments of the invention are explained below with reference to the drawings. Hereby show:

• 1 a schematic diagram for explaining the operation of the probability of glare prediction by an embodiment of the inventive method, system, computer readable memory or vehicle;
• 2 a schematic representation of a plan view of an embodiment of a vehicle according to the invention with a system according to the invention for predicting the glare probability;
• 3 a graphical illustration of the calculation of a Abschattungsgrads for determining a probability of impact of sunlight on an eye of the driver according to an embodiment of the method according to the invention;
• 4 a graphical representation of read geometry data relating to opaque parts of the vehicle body and the vehicle interior of a vehicle, according to an embodiment of the method according to the invention;
• 5 a flow diagram of an embodiment of the method according to the invention.
• 6 a schematic representation of an embodiment of a system according to the invention.

In the following description of the invention, the same reference numerals are used for the same and like elements.

The 1 shows a schematic diagram, not to scale, in which a vehicle according to the invention 1 from a current vehicle position P1 that are in a shadow area 51 the roadway 5 is in a future vehicle position P2 that are in a solar area 52 the roadway 5 is moving. The sun 2 emitted sunbeams 21 be through a shading object 4 in the form of a building 41 partially shaded, leaving the shaded area shaded 51 arises. The future route A of the vehicle 1 is indicated by arrows. The vehicle 1 will turn right in this case. Currently, in the vehicle position P1 , hits the vehicle 1 , and thus the driver no direct sunlight, as the sun's rays 21 from the building 41 not be let through. As a result, the driver is not currently struck by sunlight.

In the future, namely as soon as the driver the shadow area 51 leaves and the vehicle is in the solar area 52 Moves, but there is a risk that the driver suddenly from the sun 2 blinded. At the latest after the turn, that is in the vehicle position P2 , the sun shines 2 The driver from the front of the face, so he will be dazzled. The method and system according to the invention allows a prediction of the glare probability of the driver, by means of which he can be warned in good time or a suitable anti-glare name can be initiated.

The vehicle 1 has a system according to the invention 6 on, with which the vehicle position P1 is detected and the position of the sun based on the vehicle position P1 and the current time is determined. The first impact probability W1 here is 0, since the sun 2 completely obscured by the building 41. The future vehicle position P2 is here due to the, for example, by an activated navigation system known route A estimated. The second impact probability W2 here is 1, since the sun 2 from the front through the windscreen 11 unhindered on the eyes 3 of the driver will hit. By comparing the second impact probability W2 with the first impact probability W1, the glare probability is determined to be 1 in the case, since in the present case it is certain that the driver will be blinded in the future, namely at the latest after the turn. Preferably, at regular intervals, for example from 200 milliseconds to 1 second, for a current vehicle position P1 several future vehicle positions P2 within a process cycle, and associated second impact probabilities W2 are calculated and stored, for example, for a prediction interval of 1 to 30 seconds in advance. By an inventive method for predicting the glare probability, the driver can be warned in time, for example by an audible or visual warning signal, in particular a voice output such as "Attention, sun!". This allows the driver to adjust to the glare, so that it is not surprised and the risk of accidents decreases.

2 shows a vehicle according to the invention 1 with a system according to the invention 6 (not fully illustrated, see 6 ) for predicting the glare probability. The vehicle 1 includes a translucent front screen 11 and side windows 20 , It also includes vehicle 1 following opaque parts: two outside rearview mirrors 12 with integrated optical sensors 66 in the form of photocells at the bottom, a dashboard 15 , two sun visors 14 with image capture devices positioned laterally therefrom 62 in the form of stereo cameras, an interior rearview mirror 13 , an A-pillar 18 and a front roof area 17 , Approximately parallel sunbeams 21 become of shading objects 4 in the form of the building 41 and the vehicle 1 , especially its front area, partially shaded, leaving only part of the sun's rays 21 on the eyes 3 the driver hits.

By means of optical sensors 66 For example, it can be determined by a difference intensity measurement, whether the sun 2 currently seems at all. If the sun 2 does not seem strong enough, glare from the driver can be ruled out from the outset.

The vehicle position is determined by means of a position detection device 61 , eg in the form of a GPS receiver, detected by the geographical coordinates of the vehicle. The vehicle situation is determined by means of a compass 63 and optionally by at least one additionally provided position sensor 64 and / or tilt sensor 65 detected. From this is the direction of sunlight on the vehicle 1 determined. The position of the eyes 3 the driver is using the image capture devices 62 by image processing techniques, especially facial and eye detection, relative to the vehicle 1 detected. The solar coordinates of the position of the sun calculated by means of known formulas and the eye coordinates of the detected eye position are preferably transformed into a vehicle-fixed coordinate system. When the vehicle 1 currently or in the future is located in a tunnel, which can be determined, for example, from imported map data containing information on road sections in tunnels, glare can also be excluded in advance. However, if sunshine can not be safely excluded in advance, the shading degree calculation described below is performed.

This will be a virtual projection plane e defined perpendicular to a connecting line between the solar coordinates and the eye coordinates, ie perpendicular to the sun's rays 21 , runs. From the vehicle position, the field of vision of the driver can be determined that here as the front half-field in front of the vehicle 1 Is accepted. Thus, for example, is the building 41 in the driver's field of vision and represents a shading object 4 The said opaque parts of the vehicle also provide exemplary shading objects 4 dar. Optional position sensors 67 on the sun visors 14 capture, for example, the set rotation angle, and above the current position of the sun visors 14 so the sun visors 14 if necessary, namely in the lowered or laterally folded state, additionally as shading objects 4 considered can be. Geometry data of the shading objects 4 be in the case of the building 41 as map data containing building information and in the case of the vehicle 1 as a stored 3D model of the geometry of the vehicle body or of the vehicle interior from one or several computer-readable memories 69 read. From the geometry data of the shading objects 4 becomes a shading area 42 generated.

3 shows a graphical illustration of the calculation of a Abschattungsgrads for determining an impact probability W1, W2 for sunlight on an eye 3 the driver according to an embodiment of the method according to the invention. The two eye positions are here by means of a tolerance radius 32 modeled as spherical and are projected into the projection plane e as circular eye surfaces 31 dar. The tolerance radius 32 The greater the inaccuracies of the calculation methods on which the method according to the invention is based, the greater the inaccuracies of the calculation of the vehicle position, the position of the sun and the eye position, and the less accurate the underlying geometry data of shading objects 4 are. Consequently, the eye areas 31 typically larger than the actual area of the eyes 3 , in particular of the pupils. In the present case, the degree of shading for the eye shown on the left is 0, since the eye area 31 and the shading area 42 do not cover. The degree of shading for the eye shown on the right, however, assumes a value between 0 and 1, here for example about 0.6, since the eye area 31 hatched areas shown in hatched 43 with the shading area 42 geometrically covered. The shading area 42 For example, results from an A-pillar 18 and a stepped building 41 , as in 2 indicated. The degree of shading corresponds to the proportion of the sunlight shaded by shading objects and correlates, is in particular directly proportional, preferably identical, with an impact probability W1 or W2. If the eye area 31 completely from the shading area 42 is covered, no sunlight hits the corresponding eye 3 on. With partial overlap, sunlight may hit the eye 3 on. If the eye area 31 not at all from the shading area 42 is covered, the sunlight hits the corresponding eye safely 3 on.

4 shows a representation of in a computer-readable memory 69 read geometry data that relates to opaque parts of the vehicle body and the vehicle interior of a vehicle 1 refer, in particular as in 2 shown schematically. The opaque surfaces can be represented geometrically, for example, approximately in the form of a triangulation, whereby eg NURBS or another surface parameterization could also be used. This includes the 3D model of the vehicle underlying the geometry data 1 the passenger seat 19, the side doors 16 , the exterior rearview mirror 12 , the dashboard 15 , the sun visors 14 , the interior rearview mirror 13 , the front roof area 17 and the A-pillars 18. Of course, additional or fewer vehicle components may be considered. Preferably, only the front of the vehicle 1 considered in the modeling. The rear area could be modeled in addition, although the sun from the rear over the mirror 12 . 13 should be considered.

5 shows a flowchart of an embodiment of the method according to the invention. After detecting the current vehicle position P1 and the eye position determines the sun's intensity. Only if the sun's intensity exceeds a minimum value, the sun's position is determined. Otherwise, there is no glare, since the sun does not shine or not strong enough. A first impact probability W1 can assume values equal to or greater than 0 and less than or equal to 1, depending on the degree of shading. If the first impact probability W1 is 1, the sun is currently already fully in the driver's field of vision. A future sudden glare is then excluded. If the first impact probability W1 assumes a value greater than 0, there may be a risk of future glare. Then a future vehicle position P2 estimated. At least one second impact probability W2 is determined based on the estimated future vehicle position P2 determined depending on the degree of shading. If the second impact probability W2 assumes a value greater than 0, there is a risk of future glare, so that the glare probability is greater than 0. Consequently, a warning signal is issued to the driver or a dazzling countermeasure name is initiated. On the other hand, if the impact probability W2 is 0, there is no sunlight on the eye at the predicted time 3 Impact of the driver, so that future glare is excluded. Accordingly, no warning signal is issued or a glare countermeasure name is initiated. The procedure is repeated cyclically.

6 shows a system according to the invention 6 that in a vehicle according to the invention 1 is integrated to predict the driver's dazzling likelihood by the sun 2 to ensure. The system 6 also includes a position detection device 61 , Image capture devices 62 , especially 2 stereo cameras, a compass 63 , in particular an electromagnetic compass, a position sensor 64 , a tilt sensor 65 , optical sensors 66 , in particular photocells, at least one position sensor 67 for sun visors 14 and at least one computer readable storage 69 , An arithmetic unit 68 is here as at least one in-vehicle CPU or GPU provided. The named components of the system 6 are signal-conducting connected to each other, preferably via an in-vehicle communication system, such as a bus system.

It should be noted at this point that all aspects of the invention described above taken alone and in any combination, in particular the details shown in the drawings, as essential for the invention claimed. The same applies to the described method steps. Variations thereof are familiar to the person skilled in the art.

LIST OF REFERENCE NUMBERS

1

vehicle

2

Sun

3

eye

4

Abschattungsobjekt

5

road surface

6

system

11

windscreen

12

Door mirrors

13

Interior rearview mirror

14

lens hood

15

dashboard

16

side door

17

front roof area

18

A column

19

passenger seat

20

side window

21

sunbeam

31

Eye area

32

tolerance radius

41

building

42

Abschattungsfläche

43

Coverage area

51

shadow area

52

sunbathing area

61

Position detection device

62

Image capture device

63

compass

64

position sensor

65

tilt sensor

66

optical sensor

67

position sensor

68

computer unit

69

computer readable storage

A

vehicle route

e

projection plane

P1

current vehicle position

P2

future vehicle position

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 19620779 C1 [0004]
• DE 10338764 A1 [0005]

Claims (19)

Method for predicting the glare probability of the driver of a vehicle (1) by the sun (2), comprising the following steps: g) detecting a vehicle position (P1), in particular by means of at least one position detection device (61); h) determining a position of the sun, in particular based on the vehicle position (P1); i) determining a first impact probability (W1) for the impact of sunlight on the driver, based on the vehicle position (P1) and the position of the sun; j) estimating at least one future vehicle position (P2); k) determining at least a second impact probability (W2) for the impact of sunlight on the driver based on a future vehicle position (P2) and a position of the sun; l) determining a glare probability of the driver, based at least on the first impact probability (W1) and at least one second impact probability (W2), the steps being carried out in particular cyclically. Method according to Claim 1 , characterized in that the first and / or second impact probability (W1, W2) is determined based on geometry data of shading objects (4) and / or travel route data, in particular based on, preferably three-dimensional, geometry data of the terrain, of buildings and / or of the vehicle (1). Method according to Claim 1 or 2 characterized by - detecting the eye position of at least one eye (3) of the driver, preferably relative to the vehicle (1), in particular by means of at least one image capture device (62), and - determining an impact probability (W1, W2) for the impact of sunlight on the vehicle Eye (3) of the driver based on the eye position. Method according to one of the preceding claims, characterized in that an impact probability (W1, W2) is determined based on a calculated degree of shading of the driver's eye (3) by shading objects (4). Method according to one of the preceding claims, characterized by transforming eye coordinates of the eye position and solar coordinates of the position of the sun into a vehicle-fixed coordinate system, in particular based on the orientation of the vehicle (1) and / or the inclination of the road surface (5) and / or the inclination of the Vehicle (1) relative to the road surface (5) is defined. Method according to one of the preceding claims, characterized by setting tolerance values for eye coordinates, wherein the tolerance values correspond to inaccuracies in detecting the eye position, in particular the setting of a tolerance radius (32) for the eye position. Method according to one of Claims 4 to 6 characterized by - reading geometry data from shading objects (4), in particular from a storage medium; Projecting the geometric data of shading objects into a projection plane and generating a shading surface from the projection, and projecting the eye position into the projection plane and producing a particularly circular eye surface from the projection, wherein the projection plane (E) is preferably perpendicular to a line between solar coordinates and eye coordinates; - Determining the degree of shading as the degree of coverage of the eye surface (31) with the shading surface (42). Method according to one of Claims 2 to 7 characterized by reading geometry data of the vehicle (1) relating to opaque parts of the vehicle (1), preferably the front area, in particular the vehicle body and / or the vehicle interior, for example comprising an exterior rearview mirror (12), an interior rearview mirror (12) 13), a sun visor (14), a dashboard (15), a side door (16), a front roof area (17), an A pillar (18) and / or a passenger seat (19). Method according to one of the preceding claims, characterized by - measuring a solar intensity by means of at least one optical sensor (66) and / or querying weather data, in particular via a radio link, - determining, based on the measured sun intensity and / or the weather data, whether the sun intensity below a predetermined minimum value, and optionally - specify that a glare probability is zero. Method according to one of the preceding claims, characterized in that the future vehicle position (P2) based on available route guidance data, learned route data, a detected current lane or a detected position of a direction indicator of the vehicle (1) is estimated. Method according to one of the preceding claims, characterized in that a first impact probability (W1) is compared with a second impact probability (W2), wherein the glare probability is greater than zero if a second impact probability (W2) is greater than a first impact probability (W1) , Method according to one of the preceding claims, characterized in that future vehicle positions (P2) are estimated for prediction time intervals of 1 s to 30 s, in particular cyclically, preferably at regular time intervals, for example from 200 ms to 1 s, the associated second impact probabilities (W2 ) get saved. Process according to one of the preceding claims, characterized in that the method for both eyes (3) of the driver, especially separately, is performed. Method according to one of the preceding claims, characterized in that at a glare probability that is greater than a predetermined minimum value, a, preferably audible or visual, warning signal is output to the driver and / or a glare countermeasure name is performed, such as the driving of a sun visor (14) or the darkening of a vehicle window (11, 20). A computer readable memory (69) having instructions for implementing the method of any one of the preceding claims when the instructions are executed on at least one computing unit (68). System (6) for predicting the dazzling probability of the driver of a vehicle (1) by the sun (2), in particular for carrying out the method according to one of Claims 1 to 14 wherein the system comprises: - a position detection device (61) for detecting a vehicle position, in particular a GPS receiver, and preferably a compass (63), at least one position sensor (64) and / or a tilt sensor (65), - at least one Arithmetic unit (68); at least one computer readable memory (69) according to Claim 15 , System (6) according to Claim 16 , characterized in that a computer readable memory (69) comprises geometry data of shading objects (4) and / or travel route data, preferably geometric data of the vehicle (1) relating to opaque parts of the vehicle (1). System (6) according to Claim 16 or 17 , characterized in that the system further comprises: - at least one image capture device (62), in particular two stereo cameras, for detecting at least one eye (3) of the driver, - at least one optical sensor (66) for detecting the solar intensity and / or at least one position sensor (67) for detecting the position of a sun visor (14). Vehicle (1), characterized by a system for predicting the glare probability of the driver of a vehicle (1) by the sun (2) according to any one of Claims 16 to 18 ,

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