DE102017213981A1 - A method of assisting a user of a vehicle by visualizing a vehicle target position history - Google Patents

Abstract

A means of locomotion, a device and a method for assisting a user of a vehicle (1) by visualizing a vehicle target position course (9) are proposed. The method comprises the steps of: determining (100) a first position (1) of a traffic signal system (10) on the travel path of the vehicle (1) determining (200) a shift time / shift prognosis of a traffic signal system (10) at a first position (11 ) - determining (300) a second position of the vehicle (1) - determining (400) a Fahrzeugollpositionsverlaufsverlaufs (9) of the vehicle (1) for passing the traffic signal system (10) in a predefined relationship to the switching time of the traffic signal system (10) - contact analog visualization ( 500) of a vehicle target position history (9) for the user.

Description

State of the art

The invention relates to a method and a device for assisting a user of a vehicle by visualization of a vehicle target position course. In particular, the present invention relates to the most comfortable possible visualization of the vehicle target position course in cooperation with a so-called traffic light assistance system.

Previously known, although not yet used nationwide, traffic light assistance systems are already able to create switching forecasts for traffic lights. These determined gearshift forecasts are used to determine an optimal speed, which allows the user to drive at a speed that is as constant as possible, and thereby to pass the traffic light system in the "green" switching state.

There are numerous approaches to determining the shift forecasts, although no universally valid standard has yet been established.

• - Mit einer Kamera wird eine Folge von Bildern einer Fahrzeugumgebung aufgenommen.
• - Aus den aufgenommenen Bildern wird ein wahrscheinliches Vorhandensein einer Ampel detektiert bzw. erkannt, also mindestens ein potentieller Ampelzustand.
• - Der detektierte aktuelle Ampelzustand (R; Y; G) wird klassifiziert.
• - Die Klassifikation des aktuellen Ampelzustands wird unter Berücksichtigung mindestens eines Ampelzustands plausibilisiert, der aus einem vorangegangenen Bild der Bildfolge klassifiziert wurde.

In the DE 10 2012 108 863 A1 For example, a method and a device for detecting a state of a traffic light by means of a camera are described. The method comprises the following steps:

• - A camera takes a series of pictures of a vehicle environment.
• - From the recorded images, a probable presence of a traffic light is detected or detected, so at least one potential traffic light state.
• The detected current traffic light state (R; Y; G) is classified.
• The classification of the current traffic light state is plausibility checked, taking into account at least one traffic light state, which was classified from a previous image of the image sequence.

• - Übertragen eines aktuellen Schaltzustands von mehreren Ampeln an einen Server;
• - Berechnen der Schaltprognose für die mehreren Ampeln durch den Server anhand der aktuellen Schaltzustände;
• - Übertragen der Schaltprognose für eine bestimmte Ampel durch den Server an wenigstens ein sich der Ampel näherndes Kraftfahrzeug über eine Mobilfunkverbindung.

In the DE 10 2014 006 551 A1 A method for generating a shift forecast for a traffic light is proposed with the following steps:

• - transmitting a current switching state of several traffic lights to a server;
• - Calculating the shift forecast for the multiple traffic lights by the server based on the current switching states;
• - Transmission of the shift forecast for a particular traffic light by the server to at least one of the traffic light approaching motor vehicle via a cellular phone connection.

Based on the generated forecast, further information can be determined. Thus, for example, an optimal speed can be determined, which allows a ride on "green wave". For determining the optimum speed, in addition to the shift prognosis, further data can also be used, such as, for example, the observance of the maximum speed allowed on the current track or the traffic situation ahead. This determined optimum speed can already be displayed to the user on a display device.

The DE 10 2014 003 781 A1 discloses a driver assistance system for a vehicle, comprising a receiver for wirelessly receiving data transmitted by a transmitter relating to a phase of a traffic light located along the travel path of the motor vehicle, an evaluation unit for evaluating the received data and a display area for outputting information derived from the received data , wherein the evaluation unit is designed to fade in or hide the information derived from the received data as a function of the current driving situation.

In the known methods and systems, the user gets a speed suggestion displayed. However, there is the problem that the user has to turn his eyes off the current traffic situation and turn to a display in order to capture this speed proposal. Furthermore, the user must then turn his gaze to the speedometer to determine its actual speed. Afterwards, the user must determine for himself whether he has to accelerate or decelerate in order to realize the speed proposal. In the further course, the user must constantly check his actual speed and also check whether in the meantime the speed suggestion has been updated. The user's gaze wanders constantly between two different displays and the traffic happening back and forth. The support of such traffic light assistance systems accordingly demands an increased level of attention from the user since he has to evaluate several information sources simultaneously.

Disclosure of the invention

The invention is therefore based on the object of specifying a method and system that provides the user support, but at the same time does not unnecessarily increase the level of additional attention.

• - Ermitteln einer Schaltzeit/Schaltprognose einer Lichtsignalanlage an einer ersten Position
• - Ermitteln einer zweiten Position des Fahrzeugs
• - Ermitteln eines Fahrzeugsollpositionsverlaufs des Fahrzeugs zum Passieren der Lichtsignalanlage in vordefinierter Beziehung zur Schaltzeit der Lichtsignalanlage und kontaktanaloges Visualisieren eines Fahrzeugsollpositionsverlaufes für den Anwender
• - kontaktanaloges Visualisieren eines Fahrzeugsollpositionsverlaufes für den Anwender.

To solve this problem, a method of the type mentioned is provided with the following steps:

• - Determining a switching time / shift forecast of a traffic signal system at a first position
• - Determining a second position of the vehicle
• Determining a vehicle target position course of the vehicle for passing the traffic signal system in predefined relationship to the switching time of the traffic signal system and contact-analogue visualization of a vehicle target position course for the user
• - Contact analogue visualization of a vehicle target position course for the user.

The invention is thus based on the recognition that it does not make sense to assist the user with useful information, while at the same time distracting his attention from the traffic situation.

Compared to conventional driver assistance systems, in particular traffic light assistants, the assistance information, here a calculated desired vehicle position course, is visualized according to the invention as a contact analogue. Display elements can be superimposed on the user's current view in such a way that they appear to him as a component of his view of the environment, and he is not forced to turn his gaze, and thus the attention, away from the traffic and to other display elements.

In the method according to the invention, a switching time or switching prognosis of a traffic signal system at a first position is determined in a first step. For this purpose, it is necessary to clearly identify the decisive for the direction of travel of the vehicle traffic lights. First, depending on the current vehicle position and the direction of travel or distance, the closest to the vehicle light signal system is determined. In order to determine the traffic signal which is most likely to be passed by the vehicle on its route next to it, e.g. also be resorted to information of an active route guidance or learned routes. If its signal is not decisive for the travel of the vehicle, e.g. because it only displays signals valid for other directions of travel or other road users, the next traffic light system is determined along the route. If a first traffic light system along the travel path of the vehicle is determined whose signals are decisive for the travel path of the vehicle, the traffic light system must be uniquely identified. This can be done by a variety of methods. It would be conceivable, e.g. a wireless identification based on an emitted from the traffic signal identification signal. Also an optical identification e.g. Based on an attached to the traffic signal identification element, which can be detected by a camera located in the vehicle is feasible, as well as an identification of the position of the traffic signal system, which are determined based on the current vehicle position and the direction of travel of the vehicle by an in-vehicle navigation system can. If there are several traffic lights at one location, e.g. because multiple light signals for different directions or road users are mounted on a mast, based on the information about the direction of travel or on the basis of information on a predefined route, the decisive for the route light signal system can be clearly identified.

Based on the determined identification information of the traffic signal system, the switching time or a switching prognosis of the traffic signal system can be determined in a second step. There are already numerous known approaches to this. Thus, there is a possibility that the traffic signal wirelessly transmits information about their switching times. This information can then be received by the vehicle via a transceiver unit. Another possibility is wireless interrogation, e.g. learned or stored, switching times or switching time forecasts based on the identification information of the traffic signal system via a control center, e.g. a backend server. But also other possibilities, such. the determination of a shift prognosis with the aid of a camera located in the vehicle or wirelessly received data from preceding road users should not be ruled out.

In a third step, the position of the vehicle, the second position, is determined. With the help of this and the information about the first position of the traffic signal system as well as its switching time / prognosis, a time-dependent positionable vehicle target position of the vehicle for passing the traffic signal in the evaluation unit can now be calculated in a fourth step. For this purpose, first the current distance, preferably the path difference along the road, between the vehicle and the traffic signal system is determined. Depending on the distance of the vehicle to the traffic signal system, a speed is determined which the vehicle would have to drive in order to pass the traffic light system when the green signal is present, depending on the determined switching time / prognosis. From this ascertained speed, a time-dependent, spatially variable vehicle target position is determined which the vehicle must at least assume in order to pass the traffic light system when the signal is green. The determined time-dependent mobile Vehicle target position is visualized as vehicle target position course contact-analogous for the user, eg via a head-up display or a so-called data goggles. Both the determination of the minimum speed for passing through the traffic signal system and the subsequent determination of the time-dependent, mobile vehicle target position of the vehicle are continuously updated and visualized. Thus, the user is constantly displayed the time-dependent mobile position of the vehicle, which his vehicle should at least occupy, in order to pass the traffic light system when the signal is green. In addition, any necessary accelerations and / or delays can be visualized in the display. At a minimum, such required operations should be considered in the visualization of the vehicle target position history.

The visualization of the desired position course is dependent, inter alia, on the current status of the traffic light system, the switching time / prognosis, the difference between the first and second position, as well as further influencing parameters, such as e.g. the maximum allowed maximum speed and the current traffic situation. Possible resulting scenarios are e.g. a visualization of the desired position course to pass the traffic light system before the end of the green phase. Another possible scenario is the approach of the vehicle to a traffic light during the red phase to pass it to green when switching. This enables the most uniform, efficient and energy-saving driving possible, as well as avoiding unnecessary acceleration and deceleration. One goal should be to visualize the user with the best possible approach strategy to the traffic light system.

The dependent claims show preferred developments of the invention.

The possibility of visualization of the vehicle target position course should not be limited in any way. From the variety of possibilities, only a few examples will be presented here. Any other possibility of visualization is also conceivable. Thus, one form of visualization might include a contact-analogous insertion of a marker, e.g. a line, a stylized ego vehicle, an arrow, or any other suitable graphical representation. This graphical representation can be projected to the user, for example via a head-up display in his field of view. Thus, the user's view of the environment is enriched with the visualization of the vehicle target position course. This method is also known by the term "augmented reality". This has the advantage that the user does not have to avert his gaze from the traffic situation ahead of him, but at the same time is also supplied with all the necessary information that is necessary in order to pass the traffic light system as efficiently as possible. This not only brings energy and time advantages but can also contribute to increased traffic safety.

Furthermore, it is also possible that the visualization of the vehicle target position course takes place via conventional display devices. Thus, the vehicle target position course can also be superimposed on a forward traffic event recorded by a camera located in the vehicle, which is reproduced on a monitor. Conceivable here would be useful to use a monitor in the center console of the dashboard or the display device (instrument cluster) of a digital speedometer, but also any other suitable monitor is conceivable. It is also entirely possible to dispense with a method with augmented reality and to visualize the vehicle target position course, for example by means of a display in a digital road map of a navigation system.

It is also proposed, in addition to determining the current vehicle position and to determine the state of motion of the vehicle. Information about the state of motion makes it possible to display the vehicle target position history only when it makes sense. For example, if the vehicle is at rest, does not move, visualization of the desired vehicle position course can be dispensed with. The same applies if the vehicle is currently moving so slowly that reaching a minimum speed for passing the traffic signal system with a green signal would only be associated with a disproportionately high acceleration.

• - die Lichtsignalanlage während der Grün-Phase auch bei maximal erlaubter Höchstgeschwindigkeit nicht mehr erreicht werden kann
• - die Geschwindigkeit des Fahrzeugs so stark verringert werden müsste, dass das Fahrzeug ein Verkehrshindernis für andere Verkehrsteilnehmer darstellen würde
• - eine nicht vorhersagbare Verkehrssituation vorliegt.

If no reasonably feasible approach strategy results from the determined data, this can be presented to the user by a message, eg in the form of a message, as a display of a special symbol, a color or any other suitable hint. Such a case exists, for example, if:

• - The light signal system during the green phase can not be reached even at maximum speed limit
• - the speed of the vehicle would have to be reduced so much that the vehicle would constitute a traffic obstacle for other road users
• - there is an unpredictable traffic situation.

If no feasible approach strategy can be determined, the visualization of a vehicle target position course remains for the user.

• - Schaltung von Grün nach Gelb
• - Schaltung von Grün nach Rot
• - Schaltung von Gelb nach Rot
• - Schaltung von Rot nach Rot-Gelb
• - Schaltung von Rot-Gelb nach Grün
• - Schaltung von Rot nach Grün
• - Schaltung von Rot nach Aus
• - Schaltung von Aus nach Rot

Since the determination of the vehicle target position course is primarily dependent on the distance of the vehicle to the traffic signal system and the time until it reaches the same, all signal changes of the traffic signal system are important for determining the desired vehicle position course. Thus, at least the following signal changes or their switching times should be considered for the determination of the vehicle target position course:

• - switching from green to yellow
• - switching from green to red
• - Circuit from yellow to red
• - switching from red to red-yellow
• - Circuit from red-yellow to green
• - switching from red to green
• - switching from red to off
• - Switch from off to red

The determination of the distance from the vehicle and traffic lights can be done via different ways. One possibility, for example, is to use an on-vehicle positioning system, e.g. a satellite-based navigation system to determine the current position of the vehicle. With this absolute position and the determined position of the traffic signal system, the distance between the two elements can be determined relative to each other, preferably along the course of the road to the traffic signal. However, it is also conceivable to determine not the absolute position of the vehicle, but directly a distance between the vehicle and the determined position of the traffic signal system. For example, an in-vehicle camera, a range finder, or other suitable sensors and systems may be used. Even with this determined relative position, or the distance thus determined, a desired vehicle position course can be determined.

Since the vehicle moves in many different environmental scenarios, an optimal presentation can not always be guaranteed. It is therefore proposed to further improve the method according to the invention in that the visualization of the vehicle target position course is adapted to the various environmental scenarios occurring. Already in many vehicles, numerous sensors are installed, which can capture these scenarios. Brightness sensors and rain sensors are only a selection here. In order to ensure optimum visibility at all times, the visualization of the vehicle target position course can be made in e.g. Color, brightness, contrast, size and other attributes are adapted to the prevailing environmental scenario.

The method according to the invention can be further improved in that, in addition to the determined vehicle target position course, also other data, such as e.g. the calculated speed for reaching and holding the vehicle target position or the display of the time until the next signal change of the preceding traffic signals is additionally displayed. Even the display of information independent of a traffic light assistance system is possible. This includes e.g. a color or otherwise visually adapted representation of the desired position course or other superimposed data, such. the calculated setpoint speed, as a function of the difference between actual and setpoint speed. Such a representation could, for example, also take the form of an arrow, which also provides information about the probability of passing the traffic light system during the green phase through its color design. Through such adjustments of the presentation, the user could be informed about how great is his latitude in following the visualization, without endangering the achievement of the goal, the passing of the traffic signal system during the green phase.

The method according to the invention can be further improved in such a way that it is signaled to the user that he should deviate from the proposed and visualized vehicle target position course due to driving too fast or too slow. This signaling may, for example, be done visually via the visualization, e.g. by an additional overlay, a color change or other suitable representations. Also, the signaling via an acoustic signal or haptic feedback to the user, e.g. by a vibration of the steering wheel, possible.

According to a second aspect of the present invention, an apparatus for assisting a user of a vehicle is proposed. The device comprises a data input, an evaluation unit and a data output, which may each be provided in the form of an electronic control unit, but also combined in one or more control units. A transmitting / receiving unit is provided for converting wirelessly received signals of a traffic signal system, a control center, a satellite network and / or other vehicles. A display device is used to visualize the vehicle target position course, for example in the form of a head-up display or in the form of another display device, for example in the form of a monitor. Furthermore, the device according to the invention may comprise an optical sensor, for example in the form of a camera, via which the traffic ahead and / or a traffic signal system detects and / or their signal can be made plausible. In addition, the device may include a distance measurement sensor.

• - eine erste Position einer Lichtsignalanlage
• - eine Schaltzeit einer Lichtsignalanlage an einer ersten Position
• - eine zweite Position des Fahrzeugs
• - eines Fahrzeugsollpositionsverlaufs des Fahrzeugs zum Passieren der Lichtsignalanlage in vordefinierter Beziehung zur Schaltzeit der Lichtsignalanlage
• - kontaktanaloges Visualisieren eines Fahrzeugsollpositionsverlaufes für den Anwender

The evaluation unit is set up to determine, in conjunction with the data input and / or data sources connected thereto, a vehicle target position course by determining the following information:

• - A first position of a traffic signal system
• - A switching time of a traffic signal system at a first position
• a second position of the vehicle
• a vehicle target position course of the vehicle for passing the traffic signal system in a predefined relationship to the switching time of the traffic signal system
• - Contact analogue visualization of a vehicle target position course for the user

Likewise, the evaluation unit for determining the switching time or switching prognosis, the first position of the traffic signal system and / or the second position of the vehicle can be set up. In addition, the evaluation unit can also be set up for determining the distance between the vehicle and the traffic signal system and / or an environmental scenario. Furthermore, the evaluation unit is set up to visualize the determined vehicle target position course in contact-analogous manner in conjunction with the data output and / or display devices connected thereto. The way in which this visualization is carried out corresponds to that which has already been described in connection with the method according to the invention.

According to a third aspect of the present invention, a computer program product is proposed which comprises instructions which, when executed on a programmable evaluation unit of a device according to the second-named aspect of the invention, cause the evaluation unit to carry out the steps of a method according to the first-mentioned aspect of the invention. The computer program product can be designed as a CD, DVD, Blu-ray Disc, flash memory, hard disk, RAM / ROM, cache, etc.

According to a fourth aspect of the present invention, a signal sequence is proposed representing instructions which, when executed on a programmable evaluation unit according to the second-mentioned aspect of the invention, cause the evaluation unit to carry out the steps of the method according to the first-mentioned aspect of the invention. In this way, the information technology provision of the instructions is provided in the event that the storage means required for this purpose are outside the scope of the appended claims.

list of figures

• 1 eine schematische Darstellung eines Fahrzeugs, wobei Komponenten der erfindungsgemäßen Vorrichtung dargestellt sind
• 2 eine schematische Darstellung der augmented reality Visualisierung des Fahrzeugsollpositionsverlaufes
• 3 ein Flussdiagramm veranschaulichend Schritte eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens.

Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings. In the drawings:

• 1 a schematic representation of a vehicle, wherein components of the device according to the invention are shown
• 2 a schematic representation of the augmented reality visualization of the vehicle target position course
• 3 a flowchart illustrating steps of an embodiment of a method according to the invention.

Embodiments of the invention

1 shows components of a vehicle equipped according to the invention 1 as a means of transportation. Wireless signals are from a transceiver unit 2 received so as to determine the first position of the traffic signal system and the second position of the vehicle and to determine information about switching times / forecasts of the traffic signal system. By means of an optical sensor 3 the preceding traffic situation can be recorded. A data input 4 Prepares the received information, if necessary, for the evaluation unit 5 on. It can also be connected to other sensors, not shown, for example, for distance measurement and / or to determine an environmental scenario. The evaluation unit 5 in the form of an electronic control unit evaluates the information of the sensors connected to the data input and receiving units. An electronic data storage 7 is connected to the evaluation unit to hold a computer program code for executing a method according to the invention and to make determinations of the vehicle target position course 9 to enable. A data output 6 is with a display device, here a headup display 8th , as well as the transmitting / receiving unit 2 connected.

2 shows a visualization of the vehicle target position course according to the invention 9 , contact analogue displayed in the user's view of the traffic ahead. The vehicle target position history 9 is, for example, displayed as a mark on the track in the user's view. If the user follows this mark, he can with his vehicle, the traffic signal system 10 at the first position 11 happen at green signal.

3 shows steps of an embodiment of a method according to the invention for supporting a user. In step 100 a first position of a traffic signal system on the travel path of the vehicle is determined. For this traffic signal system will be in step 200 determines a switching time or switching prognosis. In step 300 a second position is determined at which the vehicle is located. The information gathered from the previous steps will be used in step 400 determines a target position of a vehicle that allows the user to pass with his vehicle, the light signal system in predefined relationship to the switching time of the traffic signal system. This target position results in dependence on the time a desired position course, which for the user in step 500 contact analog is visualized.

The steps 300 . 400 and 500 are repeated until the light signal system passes. Subsequently, the method may again by determining a position of a next traffic signal along the travel of the vehicle with step 100 to be started.

Although the aspects and advantageous embodiments of the invention have been described in detail with reference to the embodiments explained in connection with the accompanying drawings, modifications and combinations of features of the illustrated embodiments are possible for the skilled person, without departing from the scope of the present invention, the scope of protection the appended claims are defined.

LIST OF REFERENCE NUMBERS

1

Vehicle / means of transport

2

Transmit / receive unit

3

optical sensor

4

Data input

5

Evaluation unit / electronic control unit

6

Data output

7

electronic data storage

8th

Head-Up Display

9

Vehicle target position curve

10

Traffic signal

11

first position

100 - 500

steps

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 102012108863 A1 [0004]
• DE 102014006551 A1 [0005]
• DE 102014003781 A1 [0007]

Claims (13)

A method of assisting a user of a vehicle (1) by visualizing a vehicle target position history (9), comprising the steps of: Determining (100) a first position (11) of a traffic signal system (10) on the travel path of the vehicle (1) Determining (200) a shift time / shift prognosis of a traffic signal system (10) at a first position (11) Determining (300) a second position of the vehicle (1) - Determining (400) a Fahrzeugollpositionpositionverlaufs of the vehicle (1) for passing the traffic signal system (10) in a predefined relationship to the switching time of the traffic signal system (10) and - Contact analog visualization (500) of a vehicle target position course (9) for the user. Method according to one of the preceding claims, wherein the visualization of the vehicle target position course (9) takes place contact-analogously by means of augmented reality. Method according to one of the preceding claims, wherein the visualization of the vehicle target position course (9) a camera image and / or - Digital map material is displayed overlaid. Method according to one of the preceding claims, wherein the display of the vehicle target position course (9) by an inserted line, a superimposed stylized vehicle or by another suitable graphical representation takes place. Method according to one of the preceding claims, wherein besides the position also the state of motion of the vehicle (1) is determined and taken into account for the determination of the desired vehicle position course (9). Method according to one of the preceding claims, wherein the switching time of the traffic signal system (10) to be determined comprises at least one of the following light signal changes: - switching from green to yellow - switching from green to red - Circuit from yellow to red - switching from red to red-yellow - Circuit from red-yellow to green - switching from red to green - switching from red to off - Switch from off to red. Method according to one of the preceding claims, wherein the second position is an absolute position of the vehicle (1), in particular determined via sensors by a position determining system. Method according to one of the preceding claims, wherein the second position is a relative position of the vehicle (1) to the first position (11), in particular determined by sensors for distance measurement. Method according to one of the preceding claims, wherein the representation of the display of the vehicle target position course (9) in response to different environmental scenarios in color and / or brightness and / or contrast can be adjusted to ensure optimum visibility. Method according to one of the preceding claims, wherein the visualization of the vehicle target position course (9) is also supplemented by displaying a calculated speed for achieving and maintaining a vehicle target position, an indication of the time until the next signal change of the preceding traffic signal system (10) or the display of further parameters. Method according to one of the preceding claims, wherein the user is signaled, he should deviate from the proposed vehicle target position course (9). Device for assisting a user of a vehicle (1), comprising: - a data input (4) - an evaluation unit (5) - a data output (6) - An electronic data memory (7), wherein the evaluation unit (5) is set up: - in connection with the data input (4): ◯ to determine a first position (11) of a traffic signal system (10) ◯ determine a switching time of a traffic signal system (10) at a first position (11) ◯ to determine a second position of the vehicle (1) ◯ determine a vehicle target position course (9) of the vehicle (1) for passing the traffic signal system (10) in a predefined relationship to the switching time of the traffic signal system (10), and - in connection with the data output (6): o Visualize a vehicle target position course (9) in a contact-analog way. Means (1) comprising a device according to Claim 12 ,

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