DE102018132355A1 - Procedure for determining traffic signs - Google Patents

Abstract

The invention includes a method for determining a speed limit, steps of scanning a speed-relevant traffic sign; determining a position of the traffic sign; determining a speed profile of a motor vehicle in the area of the position; and determining the speed limit at the position based on the speed history.

Description

The invention relates to a method for determining a speed-relevant traffic sign. In particular, the invention relates to a method for determining a speed limit, to which the traffic sign indicates.

A permissible maximum speed on a route can be displayed using a traffic sign. The traffic sign can be recognized by means of a camera mounted in or on a motor vehicle. A recognized traffic sign can be displayed on a screen in the motor vehicle or used for automatically controlling the vehicle speed.

The detection of a traffic sign can be problematic if the captured image data cannot be clearly assigned to a stored pattern, for example because the traffic sign does not correspond to the expected proportions or colors or because the view is obstructed.

One object of the present invention is to provide an improved technique for determining a speed limit to which a traffic sign indicates. The invention achieves the object by means of the subject matter of the independent claims. Sub-claims reflect preferred embodiments.

According to one aspect of the invention, a first method for determining a speed limit comprises steps of scanning a speed-relevant traffic sign; determining a position of the traffic sign; determining a speed profile of a motor vehicle in the area of the position; and determining the speed limit at the position based on the speed history.

A speed limit is also called speed limit, maximum speed limit or speed limit and describes the maximum speed that a road user can take when driving on a road. A traffic sign is speed-relevant if it causes a speed limit to be applied. If the speed limit is indicated by a traffic sign in the area of the driveway, it usually applies from its position.

A general speed limit can be assigned to a route based on an assigned road class. For example, in Germany a general speed limit on driveways within a closed town is 50 km / h. In addition, the speed-relevant traffic sign can indicate a road class. In Germany, for example, you can enter a closed town with the sign 310 , leaving with the sign 311 the road traffic regulations (see in particular Appendix 1 to §40 StVO). A route-related speed limit can change a general one up or down. For example, by means of a street sign with one of the signs 274 or 274.1 be advised of a route-related speed limit. The speed limit can apply on a section of the route until another speed limit begins or until the current speed limit is lifted, for example by means of one of the signs 274.2 , 278 or 282 .

Automatic detection and evaluation of a speed-relevant traffic sign can be made difficult by various influences. For example, different signs for a speed-relevant traffic sign can be defined in different countries. Signs with the same meaning can differ in their sizes or colors. An additional traffic sign can only apply to a traffic sign under certain conditions. For example, a speed limit in Germany with a traffic sign with the additional sign 1053-35 can only apply if the assigned route is wet. Other conditions, for example with regard to a time or the type of a motor vehicle, are also possible.

If a traffic sign cannot be automatically recognized by a first device, it can still be recognized and followed by a human driver of a motor vehicle or a second device on board the second motor vehicle. It is proposed to determine a speed limit that exists in the area of a speed-relevant traffic sign by observing one or more motor vehicles in this area. In particular, a deceleration or acceleration process of the motor vehicle in the area of the traffic sign can be observed and evaluated.

Variants can be distinguished depending on whether the traffic sign has been recognized or not. Detection reliability can be determined for this. Detection is usually present when the detection reliability exceeds a predetermined threshold value.

In a first variant, the speed-relevant traffic sign can be recognized and the recognized speed limit can be checked for plausibility on the basis of the speed curve. The recognized value of the speed limit according to the traffic sign can be compared with the speed limit determined on the basis of the speed curve. If the two values differ less than a given measure, the recognized value can be confirmed. Such use of two sources of information, particularly in the case of a new or changed traffic sign, can contribute to increased reliability for the specific value of the speed limit.

In a second variant, the speed limit cannot be detected with sufficient certainty on the basis of the traffic sign. In this case, a value for the speed limit can be determined on the basis of a speed observed on the motor vehicle.

Provision can be made for the traffic sign to be scanned by a first motor vehicle and for the speed limit in relation to the speed profile of a second motor vehicle to be determined in the region of the position. The first motor vehicle can observe the speed profile of the second motor vehicle, for example by means of a laser sensor, a radar sensor or a lidar sensor. A local speed limit for the first motor vehicle can thus be determined locally.

The speed limit of the first motor vehicle can further preferably be determined on the basis of several speed profiles of motor vehicles in the area of the position. The greater the number of speed limit determinations based on speed profiles, the higher the statistical certainty that the specific speed limit is correct.

Furthermore, speed profiles can be offset against one another, for example in order to determine an average speed profile of observed motor vehicles, on the basis of the average to carry out the determination of the speed limit.

It can be provided that the speed limit is determined with respect to a speed which the observed motor vehicle has at a point which is a predetermined distance before or after the position of the traffic sign. In particular when the applicable speed limit is lowered, a change in speed and thus the reaching of the new permissible maximum speed by the observed motor vehicle can take a certain time period and / or distance. Fluctuations in the driven speed can also occur when braking or accelerating too strongly, which can only be normalized after a certain period of time and / or distance traveled. Such delays or fluctuations relevant to time or distance can be neglected if the speed limit is determined on the basis of a speed which is observed, for example, 100 m, 50 m or 20 m in the direction of travel after the traffic sign.

A traffic situation that is present when the traffic sign is recorded in the area of the position can be recorded and the speed limit can be checked for plausibility on the basis of the recorded traffic situation. The traffic situation can reduce a physically or sensibly drivable top speed of the observed motor vehicle. The traffic situation can include, for example, a traffic jam, slow or slow-moving traffic, a construction site, an accident or a danger zone. In addition, a local weather, such as precipitation, a temperature, existing road conditions such as wetness, slippery or ice and / or a condition of a surface of the driveway can be recorded. In this way, it can be recognized when the observed motor vehicle cannot exhaust a valid speed limit due to the traffic situation. If the motor vehicle does not change its speed in the area of the position due to such an influence, it can be assumed that the speed limit applicable by the traffic sign is above the speed traveled. The determination of an incorrect speed limit on the basis of a speed curve influenced by the traffic situation can thus be avoided.

According to a second aspect of the invention, a method for determining a speed limit at a position of a speed-relevant traffic sign comprises steps of receiving speed profiles of a plurality of motor vehicles in the region of the position; and determining the speed limit at the position based on the determined speed profiles.

The second method can be carried out on the part of a body, the body being remote from the above-mentioned first and / or second motor vehicles. The position is called an external position and can be implemented, for example, by a server or a service, optionally in a cloud, and can be designed to store certain speed limits for different positions and keep them ready for a query. The external body can be at least temporarily in communication with one of the motor vehicles. The connection can be made using a cellular network and / or the Internet.

According to a further aspect of the invention, a device for determining a speed limit comprises a detection device which is set up to scan a speed-relevant traffic sign; a Communication device for wireless communication; an interface for sampling a speed signal; a positioning device and a processing device. The positioning device is set up to determine a position of the speed-relevant traffic sign and the processing device is set up to determine a speed curve of a motor vehicle in the area of the position and to determine a speed limit at the position on the basis of the speed curve. A first motor vehicle can comprise the device, wherein the speed profile can relate to the first or a second motor vehicle in the area of the first.

The processing device can be set up to carry out a method described here in whole or in part. For this purpose, the processing device can comprise a programmable microcomputer or microcontroller and the method can be in the form of a computer program product with program code means. The computer program product can also be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the device or vice versa.

In yet another aspect, a motor vehicle includes a speed limit determining device described herein.

According to yet another aspect of the invention, a device for determining a speed limit at a position comprises a communication device for receiving a speed profile of a motor vehicle in the area of the position of a speed-relevant traffic sign; and a processing device configured to determine a speed limit at the position on the basis of a plurality of received speed profiles of motor vehicles in the region of the position. The processing device can be designed according to a processing device described herein.

According to yet another aspect of the invention, a system for determining a speed limit comprises a motor vehicle described herein and a device described herein. The external location is at least temporarily in communication with the motor vehicle.

• 1 ein System,
• 2 ein Ablaufdiagramm eines beispielhaften Verfahrens zur Bestimmung eines Tempolimits,
• 3 ein Ablaufdiagramm eines Verfahrens zur Bestimmung eines Tempolimits mittels einer externen Stelle, und
• 4 ein Diagramm mit beispielhaften Geschwindigkeitsverläufen

illustriert. The invention will now be described in more detail with reference to the accompanying drawings, in which:

• 1 a system,
• 2nd 1 shows a flowchart of an exemplary method for determining a speed limit,
• 3rd a flowchart of a method for determining a speed limit by means of an external body, and
• 4th a diagram with exemplary speed profiles

illustrated.

1 shows a system 100 which is a first motor vehicle 105 , a second motor vehicle 130 and an external body 135 includes. There is also a speed-relevant traffic sign 155 in one position 160 shown, which shows an example of a speed limit of 70 km / h. On board the first motor vehicle 105 is a determination device 110 provided a detection device 115 , a positioning device 117 , a communication device 120 for wireless communication, one interface 128 and a processing device 125 includes.

The detection device 115 is preferably set up to the traffic sign 155 to detect and optically scan, and may further be set to a value for the speed limit to which the traffic sign 155 indicates to recognize. For this purpose, the detection device 115 comprise a camera or another optical sensor, in particular designed to detect visible and / or infrared light, around image data of the traffic sign 155 to raise, furthermore, the detection device 115 Part of another system on board the first motor vehicle 105 be, for example a lane departure warning system. The detection device 115 is preferably set up to an area in the direction of travel of the first motor vehicle 105 forward and / or to capture a lateral environment to another, second motor vehicle 130 and / or the traffic sign 155 to feel.

The processing facility 125 is set up the position 160 of the traffic sign 155 to determine. For this purpose, a position of the first motor vehicle 105 by means of an on-board positioning device 117 be determined. The positioning device 117 can be part of another system on board the motor vehicle 105 be and determine a position of the motor vehicle, for example by means of a signal from a satellite-based navigation system such as GPS, GLONASS or GALILEO. A relative position of the traffic sign 155 to the first motor vehicle 105 can by means of the detection device 115 be determined and to determine an absolute position 160 of the traffic sign 155 be used. For this purpose, the detection device 115 for example include a laser sensor, a radar sensor or a lidar sensor.

Furthermore, the processing device 125 preferably set up a speed curve of a motor vehicle 105 , 130 in the area of position 160 to determine. The processing device can 125 over the interface 128 a speed signal of the first motor vehicle 105 scan, taking the interface 128 with a device for measuring the speed of the first motor vehicle 105 connected is.

The processing facility 125 can further preferably be set up for a speed profile of a second motor vehicle 130 to determine. at a speed of the second motor vehicle 130 in the area of position 160 of the traffic sign 155 capture. A position and / or a speed profile of the second motor vehicle can be used for this 130 by means of the detection device 115 be determined.

The processing facility 125 is particularly preferably set up on the basis of the determined speed profile by the traffic sign 165 to determine the displayed speed limit. A certain speed curve and / or a certain speed limit can be processed locally or by means of the communication device 120 for further processing at the external location 135 be transmitted.

The external body 135 usually comprises a processing device 140 using a communication device 145 and an optional data storage device 150 can be connected. The communication device 145 is preferably designed to communicate with the communication device 115 of the motor vehicle 105 to establish a communication link to one or more speed profiles of one or more motor vehicles 105 , 130 to recieve. Optionally, a certain speed limit of a recognized traffic sign can also be used 155 be received. A received speed profile can be in the data storage device 150 stored and ready for a later determination of the speed limit.

The processing facility 140 the external body 135 is further preferably arranged to set a speed limit at the position 160 based on one or more received speed profiles in the area of the position 160 to determine. A certain or a received speed limit can be stored in the data storage device 150 are stored and / or by means of the communication device 145 to a motor vehicle 105 be transmitted.

2nd shows a flow diagram of an exemplary method 200 , in particular using a determination device 110 a motor vehicle 105 can be executed. The specified sequence of the steps can be varied in further embodiments, as a person skilled in the art can easily recognize. Not all of the embodiments described herein are shown in the present flowchart.

In one step 205 can be a speed-relevant traffic sign 155 by means of the detection device 115 of the motor vehicle 105 detected and optically scanned and the displayed speed limit can be recognized by means of image processing methods. A key figure that indicates the uniqueness of the speed limit 160 has been recognized, can be determined and the speed limit can be regarded as recognized if the indicator exceeds a predetermined threshold. Here, on the one hand, one on the traffic sign 155 displayed numerical value can be recognized, or it can be a traffic sign 155 can be recognized, which implicitly indicates a speed limit, for example a town sign, which indicates a road class and thus an assigned speed limit and its area of effect.

Alternatively, it can be determined that a value for the speed limit could not be detected with sufficient certainty. For example, insufficient image data may have been recorded for an evaluation or a recognized traffic sign 155 can be assigned an additional character that concretizes the scope and / or amount, but could not be recognized. Furthermore, a traffic sign 155 abroad have a different shape and are therefore not recognized with sufficient certainty.

In one step 210 can the position 160 of the traffic sign 155 are detected, a position of the motor vehicle 105 and a distance of the traffic sign 155 to the motor vehicle 105 recorded, and from it the absolute position 160 of the traffic sign 155 can be determined.

In one step 215 can a speed curve of the motor vehicle 105 in a certain area around the position 160 of the traffic sign 155 be determined, taking over the interface 128 a speed signal of the motor vehicle 105 provided. In addition, a speed profile can also be in the range of the position 160 located second motor vehicle 130 can be determined, for example by known way a relative speed of the motor vehicle 130 by means of the detection device 115 is recorded.

In an optional step 220 can be a traffic situation in the area of the position of the traffic sign 155 that when capturing the traffic sign 155 is present. A traffic situation can describe a current situation, such as, for example, a traffic situation, weather, road layout, a danger spot, a road condition or a traffic sign. The recorded traffic situation can be used to plausibility check a certain speed limit.

In one step 225 can be based on the recorded speed curve at the position 160 applicable speed limit can be determined. The speed limit can be determined as the speed that the observed motor vehicle is in the position range 160 occupies. In case of braking, the speed can be in the range of the position 160 be determined in the case of accelerating the speed in an area which is at a predetermined distance after the position 160 lies.

The speed limit can be merged or plausibility checked, in particular on the basis of several recorded speed profiles. For example, an average speed curve can be formed and the speed limit can be determined based on this curve. Alternatively, several speed limits can be determined on the basis of individual speed profiles and combined to an average value, which is the applicable speed limit at the position 160 can be determined.

Could the traffic sign in the crotch 205 can be detected with sufficient certainty, this value can be carried out in one step 230 be compared with the speed limit taken from the speed curve or made plausible. It can be determined that in step 225 certain speed limit in a predetermined measure with that in step 205 from the detection device 115 recognized speed limit matches and the recognized speed limit can be confirmed. In another embodiment, if a speed limit in step 205 could not be determined with sufficient certainty in the step 230 that in step 225 certain speed limit are adopted as a value for the speed limit.

Furthermore, in step 230 that in step 225 certain speed limit based on the in step 220 recorded traffic situation are checked for plausibility. For example, the position may change 160 of the traffic sign 155 in the area of a disturbed traffic situation, such as a traffic jam. Taking into account the traffic situation, it can be determined that a certain speed limit is based on an unrepresentative speed curve. If this is the case, the certain speed limit can be rejected.

In addition, it can be provided that a speed curve is only determined if a detected traffic situation corresponds to a predetermined criterion, for example an undisturbed traffic flow or a predetermined weather. The determination of a representative speed curve and thus the determination of a realistic speed limit can be improved.

In one step 235 a signal containing the speed limit can be output. The signal can be used, for example, to inform the driver of the first motor vehicle 105 to inform about the determined speed limit by means of an interaction device. The determined speed limit can also be a speed control of the first motor vehicle 105 be taken as a basis. For this purpose, it can be provided that a confirmation of the determined speed limit by a driver of the first motor vehicle is determined via the interaction device.

The steps 225 and 230 can in the processing facility 125 on board the motor vehicle 105 be performed. Alternatively, it can be provided that the steps 205-215 and optional step 220 acquired data via the communication device 120 to the external body 135 be transmitted. The steps 225 and 230 can from the external body 135 be carried out and a certain speed limit can be given to the motor vehicle 105 transmitted in the data storage device 150 stored and / or stored in a digital map.

3rd shows a flow diagram of an exemplary method 300 that in particular using the external body 135 can be executed. In one step 305 can have a variety of speed gradients at the position 160 of a traffic sign 155 as in step 215 of the procedure 200 described, determined and to the external body 135 be transmitted.

The external body 135 can receive, save and save speed profiles in one step 310 based on the transmitted speed profiles, a speed limit for the position 160 of the traffic sign 155 determine and this speed limit of position 160 assigned and kept available for retrieval.

A motor vehicle 105 , 130 can in one step 315 a position 160 of a traffic sign 155 determine, or the motor vehicle 105 , 130 can determine its own position. The position of the motor vehicle 105 , 130 lie on any section of a route. The car 105 , 130 can make an inquiry regarding a applicable speed limit at a location 160 of a traffic sign 155 or his own position to the external body 135 to transfer. The request includes the position 160 or the position of the motor vehicle 105 , 130 and an indication of a direction of travel of the motor vehicle 105 , 130 . The external body 135 can be at the submitted position 160 Determine the applicable speed limit and this in a response to the request to the motor vehicle 105 , 130 to transfer.

In one step 320 can the, to the motor vehicle 105 transmitted response trigger a signal that includes the speed limit. This signal can be used to output the received speed limit via an interaction device, or a driver assistance system can ensure compliance with the received speed limit.

4th shows an example of a diagram 400 with a first and a second speed curve 405 , 410 a motor vehicle 105 or 130 in the area of a traffic sign 155 . A section of a route is plotted on the x-axis, on which there is a speed-relevant traffic sign 155 in one position 160 located. A speed of the motor vehicle is on the y-axis 105 , 130 proposed.

In a first embodiment, the first speed curve shows 405 that the motor vehicle 105 , 130 at a distance from the position 160 a constant first speed 415 having. In the further course there is a delay to a second speed 420 in the direction of travel before the position 160 of the traffic sign 155 shown, the second speed 420 after the traffic sign 155 is maintained. The one in the speed curve 405 represented delay before the position 405 can indicate that a driver of the motor vehicle 105 , 130 The traffic sign 155 perceived, which indicates a reduced speed limit, the driver recognized a value for the speed limit and the speed of the motor vehicle 105 , 130 before the position 160 has adjusted to the speed limit.

In a second exemplary embodiment, the second speed profile shows 410 an acceleration of the motor vehicle 105 , 130 from a second speed 420 at first speed 415 . The acceleration only takes place from the position 160 instead of suggesting a cancellation and / or an increase in a previous speed limit at the position 160 points out.

The speed limit may be based in particular on a predetermined distance after the position 160 from the motor vehicle 105 , 130 constant speed 415 , 420 be determined. A speed curve 405 , 410 can also have a constant speed 415 , 420 display with a change of zero, which may indicate that an existing speed limit has been maintained, which is displayed repeatedly as a reminder to the driver.

Reference symbol list

100

system

105

first motor vehicle

110

Determination device

115

Detection device

117

Positioning device

120

Communication device

125

Processing device

128

interface

130

second motor vehicle

135

external body

140

Processing device

145

Communication device

150

Data storage device

155

Traffic sign

160

Position traffic sign

200

Procedure

205

Capture and scan traffic sign

210

Determine position

215

Capture speed history

220

Capture traffic situation

225

Determine speed limit

230

Checking speed limit

235

Output signal

300

Procedure

305

Determine speed profiles

310

Determine / assign speed limit at position

315

Traffic sign / request speed limit

320

Receive response / signal output

400

diagram

405

first speed curve

410

second speed curve

415

first speed

420

second speed

Claims (12)

A method (200) for determining a speed limit, the method comprising the following steps: - scanning (205) a speed-relevant traffic sign (155); - determining (210) a position (160) of the traffic sign (155); - determining (215) a speed profile (405, 410) of a motor vehicle (105, 130) in the region of the position (160); and - determining (225) the speed limit at position (160) based on the speed profile (405, 410). Method (200) according to Claim 1 , a value for the speed limit, to which the traffic sign (155) indicates, is recognized and the determined speed limit is checked for plausibility on the basis of the speed curve (405, 410). Method (200) according to Claim 1 , the speed limit being determined on the basis of the speed curve (405, 410) only if a value for the speed limit to which the traffic sign (155) indicates could not be detected with a predetermined certainty. Method (200) according to one of the preceding claims, wherein the traffic sign (155) is scanned by a first motor vehicle (105) and the speed limit with respect to the speed profile (405, 410) of a second motor vehicle (130) is determined in the region of the position (160) . Method (200) according to Claim 4 , wherein the speed limit on the part of the first motor vehicle (105) is determined on the basis of a plurality of speed profiles (405, 410) of motor vehicles (105, 130) in the region of the position (160). Method (200) according to one of the preceding claims, wherein the speed limit is determined with respect to a speed (415, 420) to which the speed curve (405, 410) indicates at a position which is a predetermined distance after the position (160). Method (200) according to one of the preceding claims, wherein a traffic situation is detected which is present when the traffic sign (155) is detected in the area of the position (160) and the speed limit is determined on the basis of the detected traffic situation. A method (300) for determining a speed limit at a position (160), the method comprising the following steps: - Receiving (310) speed profiles (405, 410) of a large number of motor vehicles (105, 130) in the area of the position (160) of a speed-relevant traffic sign (155); and - Determining (310) a speed limit at position (160) on the basis of the determined speed profiles (405, 410). Device (110) for determining a speed limit, the device (110) comprising the following elements, - A detection device (115) which is set up to scan a speed-relevant traffic sign (155); - a communication device (120) for wireless communication; - an interface (128) for sampling a speed signal; - a processing device (125), the processing device (125) being set up to - determine a position (160) of the speed-relevant traffic sign (155); - to determine a speed curve (405, 410) of a motor vehicle (105, 130) in the region of the position (160), and - To determine a speed limit at position (160) based on the speed curve (405, 410). Motor vehicle (105) comprising a device (110) according to Claim 10 . A device (135) for determining a speed limit, comprising: - a communication device (145) for receiving a speed profile (405, 410) of a motor vehicle (105, 130) in the area of the position (160) of a speed-relevant traffic sign (155); and - A processing device (140) which is set up to determine a speed limit at the position (160) on the basis of a plurality of received speed profiles (405, 410) from motor vehicles (105, 130) in the region of the position (160). System (100) for determining a speed limit, comprising - a motor vehicle (105) according to Claim 11 ; and - a device (135) according to Claim 12 .

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