DE102018220690A1 - Method for classifying a behavior of a road user - Google Patents

Abstract

The invention relates to a method (42) for classifying a behavior of a road user (18) before crossing a roadway (22) of a vehicle (14), the method (42) comprising at least a first step (46), in which a step Sensor signal detecting road users (18) is read in, a second step (50), in which the sensor signal is evaluated and is determined on the basis of whether there is a probability based on an action pattern of the road user (18) that the road user (18) drives the vehicle ( 14) and a third step (54), in which an error message is output if the probability falls below a specified value.

Description

The present invention relates to a method for classifying a behavior of a road user before crossing a roadway of a vehicle and a device for performing the method.

Various approaches are known to avoid personal injury with vehicles, which is particularly important with regard to autonomous driving. These approaches involve, for example, a collision with a pedestrian or cyclist to protect them from serious injuries using suitable protective measures. Approaches are also known in which a pedestrian in front of the vehicle is recognized and braking is initiated accordingly.

State of the art

The DE 10 2014 201 159 A1 discloses a method for classifying behavior of a pedestrian when crossing a lane of a vehicle. A behavior of the pedestrian is predicted based on a speed and a direction of movement.

The background of the invention is that in some systems, in order to increase the reaction time for braking, an intention to cross the lane is already predicted. In such systems, a pedestrian standing too close to the vehicle's lane can already cause the vehicle to brake incorrectly. Such incorrect braking is undesirable.

The object of the invention is therefore to provide a method with which a more accurate forecast of a cross-intention of a road user can be given at an early stage, so that incorrect braking can be minimized.

Disclosure of the invention

The object is achieved by a method for classifying a behavior of a road user with the features according to claim 1. With regard to a device for performing the method, reference is made to claim 7. The dependent claims, which refer back in each case, represent advantageous developments of the invention.

The method according to the invention for classifying a behavior of a road user before crossing a roadway of a vehicle, the method comprising at least a first step in which a sensor signal detecting the road user is read in, a second step in which the sensor signal is evaluated and determined on the basis thereof, whether, based on an action pattern of the road user, there is a probability that the road user has perceived the vehicle, and a third step in which an error message is output if the probability falls below a specified value.

A road user in the sense of the invention is any person who moves in the traffic area. The road user can thus e.g. be a pedestrian, cyclist, motorcyclist, or motorist. A roadway is understood to be a predetermined path that a vehicle will travel. The carriageway can thus also be a track or the intended route that a vehicle will travel on an unpaved road.

The method has the advantage that a statement about the further behavior of the road user can be given earlier. The accuracy of the prediction is also improved. As a result, incorrect braking, which is carried out solely on the basis of the fact that the road user is on a collision course with the vehicle, can be reduced. In addition, the driver is supported by such a method, so that overall traffic safety is improved. In addition, the method can be used in particular in autonomously driving vehicles and increases traffic safety in such a vehicle.

In a preferred embodiment of the invention, a sequence of gaze directions, a head movement, a posture and / or facial expressions is used as the action pattern. In the sense of the invention, the gaze direction sequence is understood to be the eye movements registered over a predetermined period of time. On the basis of these eye movements, it can be registered whether the vehicle was at least temporarily fixed by the road user in the determined period. Such a fixation would have a high probability that the road user noticed the vehicle.

However, it is also possible that the road user only registered the vehicle from the corner of his eye. Therefore, based on a head posture or head movement, a probability can be determined whether the road user could have seen the vehicle from the corner of his eye at all.

It is also possible that the road user only heard the vehicle. Based on a posture or a movement of the The body can therefore anticipate an intended change of direction or a stop. This in turn allows conclusions to be drawn about how the vehicle is perceived.

The probability can be determined on the basis of each of these action patterns. It is particularly preferred that the probability is determined from a combination of all of these action patterns. This can increase the accuracy of the prediction. In particular, the prediction can be additionally improved using artificial intelligence, which makes the prediction more precise based on many example situations.

In a further preferred embodiment of the invention, an optical signal is registered as the sensor signal. In this context, an optical signal is understood to be any method known from the prior art for optically detecting the road user. The prediction can be improved by an optical signal.

The sensor signal is advantageously generated by means of a camera. The advantage of a camera is that it can be economically integrated into the sensor system. Cameras are also available in all versions on the market.

The sensor signal is preferably generated by means of radar and / or lidar and / or another suitable measuring / sensor principle. A sensor signal using lidar has the advantage that it offers sharp images with a high resolution. In contrast, a sensor signal using radar has the advantage that it is particularly useful in bad weather conditions, e.g. Fog, rain or snow gives good results. In addition, a sensor signal using radar has the advantage that it has a long range. Alternatively, ultrasound and / or infrared sensors are also conceivable.

In an advantageous embodiment of the invention, braking of the vehicle is initiated in the event of an error message. The lengthened braking distance of the vehicle due to the driver's reaction time can thereby be reduced. This further improves the safety of the vehicle. In addition, such a method can be used in an autonomously driving vehicle. Alternatively or additionally, a warning signal, in the form of an acoustic signal, can be given to the road user. As a result, the attention of the road user can be forced.

The invention additionally comprises a device for performing the method according to the invention. The device comprises a sensor unit by means of which the road user can be detected, an evaluation unit with which an action pattern of the road user can be evaluated, and an output unit with which an error message can be output. The advantages mentioned for the method can be achieved with such a device.

In addition, the invention comprises a vehicle with the device according to the invention. The advantages mentioned for the device are achieved with the vehicle.

• 1 Ausführungsbeispiel einer Vorrichtung zum Durchführen des erfindungsgemäßen Verfahrens, und
• 2 Ausführungsbeispiel des erfindungsgemäßen Verfahrens.

An embodiment of the invention is shown in the drawing and explained in more detail in the following description. It shows:

• 1 Embodiment of a device for performing the method according to the invention, and
• 2nd Embodiment of the method according to the invention.

1 shows an embodiment of a device 10th to carry out the method according to the invention. The device 10th is in a vehicle 14 arranged, which in 1 is a tram. Using this device 10th becomes a behavior of a road user 18th which in 1 is a pedestrian, classified. This classification takes place especially before crossing a lane 22 of the vehicle 14 instead of. In the 1 is the road 22 the tram track 14 .

The device 10th includes a sensor unit 26 , which can be designed here as a camera. This sensor unit 26 detects the road user 18th . The sensor unit 26 is with an evaluation unit 30th (shown here in dashed lines). With the evaluation unit 30th is an action pattern of the road user 18th evaluable. The evaluation unit 30th is with a dispensing unit 34 (shown here in dashed lines). With the dispenser 34 an error message can be issued. On the basis of the error message, a warning can be issued to a driver or braking can be initiated fully automatically.

In 2nd is an embodiment of the method according to the invention 42 shown. In a first step 46 is via the sensor unit 26 a road user 18th recorded which intends the lane 22 of the vehicle 14 to cross. The data of the sensor unit 26 are then connected to the evaluation unit 30th transmitted. The evaluation unit determines on the basis of the sensor data 30th in a second step 50 whether based on an action pattern of the road user 18th there is a likelihood that the road user 18th the vehicle 14 perceived.

As an action pattern, it is checked, for example, whether the road user 18th head in the direction of the vehicle 14 has turned, a direct eye contact in the direction of the vehicle 14 the road user has taken place 18th is distracted by a cell phone, for example, and / or an intended stop can be registered. On the basis of this action pattern, a probability is determined whether the road user is driving the vehicle 14 perceived.

It is then checked whether the probability is below a predetermined value. If the value is above the predetermined value, the procedure is 42 restarted. If the value is below the predetermined value, in a third step 54 issued an error message. Optionally, in an optional step following the third step 58 a warning is issued to the driver and / or automatic braking of the vehicle 14 be initiated.

By a vehicle 14 which such a device 10th has according to the inventive method 42 works, safety for road users 18th can be increased and unnecessary braking can be avoided.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• DE 102014201159 A1 [0003]

Claims (8)

Method (42) for classifying a behavior of a road user (18) before crossing a roadway (22) of a vehicle (14), the method (42) at least: - a first step (46), in which a sensor signal detecting the road user (18) is read in, - a second step (50), in which the sensor signal is evaluated and determined on the basis of whether there is a probability, based on an action pattern of the road user (18), that the road user (18) has perceived the vehicle (14), and - A third step (54), in which an error message is issued if the probability falls below a specified value. Method (42) according to Claim 1 , characterized in that a sequence of gaze directions, a head movement, a posture and / or facial expressions is used as the pattern of action. Method (42) according to Claim 1 or 2nd , characterized in that an optical signal is registered as the sensor signal. Method (42) according to Claim 3 , characterized in that the sensor signal is generated by a camera. Method (42) according to one of the preceding claims, characterized in that the sensor signal is generated by means of radar and / or lidar and / or another suitable measuring / sensor principle. Method (42) according to one of the preceding claims, characterized in that braking of the vehicle (14) is initiated in the event of an error message. Device (10) for performing the method (42) according to one of the preceding claims, comprising: - a sensor unit (26), by means of which the road user (18) can be detected, - an evaluation unit (30) with which an action pattern of the road user (18) can be evaluated, and - An output unit (34) with which an error message can be output. Vehicle (14) comprising a device (10) according to Claim 7 .

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