DE102019004481A1 - Method and arrangement for controlling a sophisticated driver assistance system - Google Patents

Abstract

A method (500) and a control arrangement (300) for controlling a driver assistance system ADAS (150) of a vehicle (100), the ADAS (150) being set up to monitor a vehicle environment in an upcoming direction of travel of the vehicle (100). The method (500) comprises determining (501) that the vehicle (100) is approaching an intersection (400) at which the traffic is regulated with at least one traffic light (120, 220, 240); predicting (502) an upcoming direction of travel of the vehicle (100) after the intersection (400) before the vehicle (100) passes the intersection (400); the identification (503) of the traffic light (120) regulating the traffic in the predicted (502) coming direction of travel; receiving (504) information from a transmitter (130) associated with the identified (503) traffic light (120); and activation (505) of at least one human / machine interface (310) of the ADAS (150) of the vehicle (100) on the basis of the received (504) information.

Description

TECHNICAL AREA

This description describes a method and a control arrangement. In particular, a method and a control arrangement are described for controlling a highly developed driver assistance system for a vehicle, which is set up to monitor a vehicle environment in an upcoming direction of travel of the vehicle.

BACKGROUND

In vehicles, especially heavy goods vehicles, such as trucks with / without trailers, buses, vehicle combinations, truck trains, etc., there are several blind spots in the area surrounding the vehicle, which make it difficult for the driver to recognize other road users in the area surrounding the vehicle.

A further restriction on the view of drivers can occur e.g. in the dark, cloudy sky in combination with heavy rain, hail, snow, thunderstorm, fog, smoke, pollution or similar weather conditions.

In such situations with limited visibility, the driver may not recognize relevant circumstances such as obstacles, vulnerable road users, traffic signs, street signs, etc.

A known solution to overcome these problems is the provision of a so-called advanced driver assistance system (ADAS), which supports the driver in recognizing various dangers in traffic by means of sensors around the vehicle to issue a warning via a human / machine interface , such as a display device, a loudspeaker, etc. This allows the driver to draw attention to the detected possible dangerous situation.

Unnecessary / unnecessary activations of a safety system provided in the vehicle, however, reduce the driver's confidence in the system and can also cause a high level of stress on the driver's attention. This in turn can lead to a driver being distracted and resulting in accidents. Another driver reaction may be to take the ADAS out of service, which of course can create a traffic hazard.

The document DE 102016012054 shows a method for improving pedestrian safety at intersections such that the crossing vehicle receives information about different phases of traffic lights via its own cameras and / or traffic light phases from an external server and for detecting the presence of a pedestrian in the vicinity of the street.

The problem with the solution proposed in this document is that information can overload the driver, which can reduce his confidence in the system, and can distract the driver from the real dangers in traffic.

The document US 2017032197 shows a system that activates cameras on the vehicle to monitor the status of traffic light signals and to detect obstacles on the road in front of the vehicle. Automatic brake actuation of the vehicle is activated if braking is required.

A problem with this solution is that the driver is constantly presented with a wide variety of information, which can distract him / her.

The document US 20160318490 shows a method in which the phases of traffic lights are detected with a camera and, if the system considers it necessary, a warning is given to the driver or, for example, safety measures are activated, such as acceleration, braking, turning, etc ,

The detection of traffic light signals in front of the vehicle generally does not pose a major traffic hazard. However, the document does not offer a solution to the problem of assisting the driver in identifying possible problems or dangers that are not really visible.

The document DE 102015210146 shows a method for avoiding collisions between two vehicles at a traffic light by detecting the traffic light signal phases (by means of information transmitted by the traffic lights) and depending on how the traffic light phases are changing, a safety system is activated, for example in the form of braking each one Vehicles.

This solution too is more focused on the detection of obstacles that are recognizable for the driver anyway and not on assisting him / her in the detection of obstacles or other road users that are not recognizable for the user, i.e. that are in a blind spot for the driver.

The aim should be to not warn drivers in non-dangerous situations, for example if the driver is aware of the potential danger anyway, although it is still possible to warn the driver if an actual danger and / or a danger unknown to the driver occurs.

SUMMARY

It is therefore an object of this invention to solve at least some of the above problems and to improve traffic safety, especially when entering an intersection.

According to a first variant of the invention, this aim is achieved by a method carried out in a vehicle for controlling (operating) a highly developed driver assistance system, which is set up to monitor the vehicle environment in an upcoming vehicle direction of the vehicle. The method comprises the steps of determining that the vehicle is approaching an intersection at which at least one traffic light regulates the traffic. Furthermore, the method also includes the prediction of an upcoming direction of travel of the vehicle after the intersection before the vehicle passes the intersection. Furthermore, the method comprises the identification of the traffic light regulating the traffic in the predicted coming direction of travel. The method also includes receiving information from a transmitter (sender) linked to the identified traffic light. Finally, the method comprises the activation of at least one human / machine interface of the driver assistance system of the vehicle on the basis of the information received.

According to a second variant of the invention, the goal is achieved by a control arrangement in a vehicle. The control arrangement is set up to control a highly developed driver assistance system of a vehicle, which is set up to monitor the vehicle surroundings in an upcoming direction of travel of the vehicle. The control arrangement is designed to determine that the vehicle is approaching an intersection at which the traffic is regulated by at least one traffic light. Furthermore, the control arrangement is set up to predict an upcoming direction of travel of the vehicle after the intersection before the vehicle passes the intersection. The control arrangement is also set up to identify the traffic light that regulates the traffic in the predicted coming direction of travel. Furthermore, the control arrangement is set up to receive information from a transmitter which is linked to the identified traffic light. Finally, the control arrangement is set up to activate at least one human / machine interface of the driver assistance system of the vehicle on the basis of the information received.

According to the variants mentioned, a human / machine interface can be activated using information relating to the next phase change of the traffic light to green in order to output information from the driver assistance system, in order to draw the driver's attention to a problem (obstacle), e.g. a blind spot for the driver, which includes a possible danger. This can prevent an accident. Outputting information when it is relevant to the current traffic situation and the predicted movement of the vehicle while avoiding the output of otherwise irrelevant information improves traffic safety, while avoiding the driver losing interest in information from the driver assistance system.

Further advantages and features will become clearer from the subsequent description of details.

list of figures

• 1 erläutert ein Beispiel für ein mit einem Ausführungsbeispiel der Erfindung ausgerüstetes Fahrzeug, welches sich einer Kreuzung nähert;
• 2 erläutert ein Beispiel für ein mit einem Ausführungsbeispiel der Erfindung ausgerüstetes Fahrzeug, welches sich einer Kreuzung nähert, in Darstellung von oben;
• 3 erläutert ein Beispiel für ein mit einem Ausführungsbeispiel der Erfindung ausgerüstetes Fahrzeug aus Sicht von innerhalb des Fahrzeuges bei Annäherung an eine Kreuzung;
• 4 erläutert ein Beispiel für ein sich einer Kreuzung näherndes Fahrzeug aus Sicht von oben gemäß einem Ausführungsbeispiel;
• 5 zeigt ein Flussdiagramm zur Erläuterung einer Ausführungsform des Verfahrens; und
• 6 erläutert ein System gemäß einem Ausführungsbeispiel.

Embodiments of the invention will now be described in more detail with reference to the accompanying figures:

• 1 explains an example of a vehicle equipped with an embodiment of the invention approaching an intersection;
• 2 explains an example of a vehicle equipped with an embodiment of the invention approaching an intersection, shown from above;
• 3 explains an example of a vehicle equipped with an exemplary embodiment of the invention from the point of view from inside the vehicle when approaching an intersection;
• 4 explains an example of a vehicle approaching an intersection from the top view according to an embodiment;
• 5 shows a flowchart to explain an embodiment of the method; and
• 6 explains a system according to an embodiment.

DESCRIPTION OF DETAILS

Exemplary embodiments of the invention described here are a method, a control arrangement and a system which can be used in the embodiments described below. The embodiments can in different forms can be realized and are not limited to those shown here; rather, these illustrative examples are given for the purpose of clear and complete disclosure.

Further objectives and features can emerge from the following description of details, taking into account the accompanying figures. However, the figures only serve the purpose of explanation and do not restrict the exemplary embodiments shown; in this respect reference is made to the appended claims. Also, the figures are not necessarily to scale unless specifically emphasized; they are only intended to explain the structures and processes described here in principle.

1 shows a scenario with a vehicle 100 which is in one direction 105 on a street 110a moves and approaches an intersection where there is a traffic light 120 is arranged to regulate traffic.

With the vehicle 100 can be a device for transportation in the broadest sense, such as a truck, a passenger car, a motorcycle, a train, a combination vehicle, a trailer, a bus, a bicycle, a train, a tram, an airplane , a watercraft, an unmanned underwater vehicle / underwater drone, a cable transport, an aerial cableway, a drone, a service robot, a spacecraft or similar manned or unmanned devices for the conveyance on e.g. wheels, rails, in air, in / on water , in the room etc.

The traffic lights 120 can also be referred to as traffic signal generator, traffic light, traffic signal mast, signal generator, stop light and / or traffic control signal generator. The traffic lights 120 can regulate traffic at an intersection, at a train / street intersection, at a bridge, at a ferry, at the entrance to a parking lot or car park etc. which is set up, for example, for dynamic signal output for controlling traffic flow.

The vehicle 100 can, for example, be controlled by a driver or drive driverless (ie autonomously) depending on the surroundings. For the sake of simplicity and clarity of presentation, the vehicle is 100 but described below as occupied by a driver.

The traffic lights 120 can be a transmitter 130 exhibit or be associated with it. The traffic lights 120 may be connected to a central server in some embodiments.

The vehicle 100 can be a communication device 140 have, which is set up for wireless communication with the transmitter 130 the traffic light 120 , This enables communication between the traffic lights 120 and the vehicle 100 such as the time remaining until the traffic light switches 120 from red to green; or also regarding the time remaining until the traffic light 120 switches from green to red as examples.

Communication between the transmitter 120 and the communication device 140 can take place via a wireless interface, such as vehicle-to-vehicle communication (V2V), or communication from vehicle-to-infrastructure (V2I). Sometimes the general term “vehicle-to-everything” (V2X) is used. Communication can be based, for example, on special short-range communication (DSRC). DSRC works in the 5.9 GHz band with a bandwidth of 75 MHz and has a range of approximately 1000 m in typical exemplary embodiments.

Wireless communication can take place in accordance with any IEEE standard for wireless vehicle communication, such as the special operation in accordance with IEEE 802.11 for vehicle networks, referred to as wireless access in vehicular environments (WAVE), IEEE 802.11p is an extension to 802.11 LAN (wireless network) ) with medium access level (MAC) and physical access level (PHY).

Such a wireless communication interface can have or are at least based on known communication technologies, such as Wi-Fi, wireless local area networks (WLAN), ultra-mobile broadband (UMB), Bluetooth (BT), identification on radio frequency basis (RFID), etc.

Communication can also take place via a wireless interface with or at least on the basis of radio communication technologies, such as 3GPP LTE, LTE-Advanced, E-UTRAN, UMTS, GSM, GSM / EDGE, WCDMA, multiple access with time division (TDMA), networks or similar, to mention only a few possibilities for wireless communication with a network.

Thus, from the traffic light 120 to the vehicle 100 Information is given, such as the current signal status (green / yellow / red), the lighting sequence plans for the traffic lights 120 , remaining times in the green / red state. Extraordinary information can also be given, such as emergency priority rules and / or variations regarding the time sequence. The predictive information can be various application devices in the vehicle 100 be made accessible, such as a so-called red light time count, a speed control / adaptation to a "green wave", an estimate for the remaining journey time, etc., each of these application facilities can determine whether the forecast is suitable for the respective purpose is.

This can reduce driver stress and improve road safety. Fuel utilization can also be improved and emissions can be reduced by switching off the engine of the vehicle 100 if the remaining time in the red state is greater than a threshold value; and / or by lowering the vehicle speed to arrive at the traffic lights 120 when switching to green.

The interface can be used for several independent traffic lights 120 be set up for the vehicle 100 can be relevant. In order to give the driver (if any) correct information, it is important to know in which direction the vehicle is going 100 drives, ie whether it drives straight or turns right or left. In many cases, it may still be beneficial to be able to make multiple intersections in front of the vehicle 100 in the coming direction of travel of the vehicle 100 to be considered in order to give better speed recommendations or to improve the time estimate for arrival.

To determine which way the vehicle 100 can strike, for example, navigation information from a navigation device of the vehicle 100 be extracted; or it can be a position of the vehicle 100 are determined or are determined in which lane the vehicle is 100 is; and / or sensor information can be used, for example by detecting arrows on the road and / or with respect to the traffic light 120 , or the direction of travel of the vehicle in front, each as an example.

So the vehicle can 100 a sensor in some embodiments 145 have to detect the coming vehicle direction of the vehicle 100 ,

The sensor 145 can in the direction of travel 105 of the vehicle 100 be facing forward. In the illustrated embodiment, the forward-facing sensor can 145 at the front of the vehicle 100 behind the windshield of the vehicle 100 be arranged.

The sensor 145 can have, for example: a camera, a stereo camera, an infrared camera, a video camera, radar, lidar, an ultrasound device, a time-of-flight camera, or a similar device, depending on the exemplary embodiment. The sensor 145 can be set up to detect the direction of the lane, for example by detecting an arrow indicating the direction of travel on the lane, but the sensor can 145 on the other hand, it can also be provided for various other purposes.

The sensor 145 has or is connected to a control arrangement which is set up for image recognition / computer visual analysis or object recognition. The process of detecting the driver's driving intent can thus be automated. Image processing can be understood as the unraveling of symbolic information from image data using models that are formed on the basis of geometric data, physical data, statistical data or on the basis of learning theory data.

The image data of the sensor 145 can be of any kind, such as images in the conventional sense, video sequences, views from multiple cameras, or multidimensional data from a scanner.

The determination of the direction of travel can be based on one or more algorithms that are used independently or in combination with one another, depending on the traffic situation. These algorithms can also be used with other algorithms that are not mentioned here.

Based on the data from the sensor 145 or another device, such as a high-precision position determination (GPS or the like) and a map, can be detected in which lane the vehicle 100 moves. The one with the camera / sensor 145 Information obtained can be compared with information regarding the traffic light 120 leading lanes to determine which traffic light 120 refers to the lane. The closer the vehicle 100 the traffic light 120 comes, the higher the probability that the current lane shows which direction the vehicle is 100 will take when it crosses the intersection. In order to improve the reliability of the look-ahead, the type of lines that separate the lanes can be determined and used. If the line between the lanes indicates that a lane change is not permitted, then it is very likely that the direction of the lane currently being used indicates the direction that the vehicle is in 100 when passing the traffic lights 120 will take.

A route that the vehicle 100 will follow, can be extracted, for example from a navigation function of the vehicle 100 according to the direction that the navigation device will recommend. This information can also be verified by comparing the recommended direction of travel with the determined lane on which the vehicle is located 100 is currently located.

Furthermore, information about the current traffic situation can be obtained, for example local severe weather / road work warnings, which are given by various traffic information services. It can thus be determined, taking into account the determined geographical position of the vehicle 100 whether the vehicle 100 approaches a section of road where at least one of the lanes is partially or completely blocked, for example due to road work, an accident, etc. In such a case relating to the lane in which the vehicle is 100 currently, or if it is in a parallel lane, the reliability of the look-ahead can be considered less and the directional look-ahead can be suspended until the vehicle 100 has passed the local fault location, taking into account whether the vehicle 100 the lane changes or not. The information obtained can also be verified by comparing the proposed direction with the detected lane in accordance with the determination of the vehicle position with the navigation device.

The geographic position of the vehicle 100 can be determined and using map data of the determined geographical position it can be detected whether one of the lanes allows only restricted use, for example a bus lane. This data can be combined with other map data to improve the reliability of the statement. Driving the vehicle 100 in a lane with restricted access and is allowed to do so, for example if the vehicle 100 is a bus, a taxi, an ambulance or the like, which are allowed to drive in the bus lane, then it can be considered likely that the vehicle 100 will follow the direction of this lane. It is the vehicle 100 on the other hand, if you are unable to drive in the lane with restricted access, a check can be carried out to determine whether this lane is in front of the traffic light 120 ends. If not, then it is unlikely to be used and can be removed from the prediction, but if it ends there, it cannot be removed as a possible lane.

A direction indicator can also be used to determine the intention of the driver of the vehicle 100 , All or some of these different criteria can be combined in order to make an improved, ie more reliable, prediction of the desired direction of travel.

The different methods described above can be used in any possible combination. This enables a more precise prediction to be made with regard to the direction of the vehicle 100 and thus more likely to be traffic lights 120 which are not relevant to the driver / vehicle 100 have to be filtered out and do not have to be shown.

Furthermore, the vehicle points 100 a highly developed driver assistance system based on (ADAS; Advanced Driver-Assistance System) 150.

The driver assistance system 150 is a system to support the driver in the driving process. With a safe human / machine interface, such as a display device, vehicle safety can be improved.

A large number of traffic accidents are unfortunately the result of driver errors, such as the failure to recognize another approaching vehicle or an obstacle in good time. The driver assistance system 150 is set up to automate, adapt and improve the safety and driving style of the vehicle 100 , The driver is alerted to avoid potential problems; alternatively and / or additionally, the driver assistance system 150 the control of the vehicle 100 take over to avoid a foreseen accident. Examples of adaptation features of highly developed driver assistance systems 150 In addition to those already mentioned, the cruise control, automated braking in front of a detected obstacle, consideration of navigation system / traffic warnings, lane change warnings, automatic lane centering, or the display of the content of blind spots. However, the continuous presentation of such information to the driver can greatly increase his cognitive load and dull him / her in relation to information from the driver assistance system 150 due to the constant influx of essentially irrelevant warnings.

A particularly dangerous situation in urban traffic is turning to the right (or to the left in left-hand traffic) because of obstacles (moments of danger) 160 , eg vulnerable road users, such as cyclists or pedestrians, the way of the vehicle 100 could cross. Especially heavy duty vehicles 100 such as trucks, buses, etc. have only a limited view on the right side of the vehicle 100 , He also has to Drivers keep an eye on the surrounding traffic situation while turning to avoid accidents, which makes it even more difficult for the driver to keep an eye on the most relevant direction at all times. Advanced driver assistance systems 150 are set up, obstacles (moments of danger) 160 to detect and the detected obstacle 160 present on a human / machine interface, such as a display device.

In some embodiments, information from the traffic light 120 the upcoming phase change to green and a vehicle safety system, such as a side camera, can be activated a suitable number of seconds before the traffic light phase change, thus giving the driver information about possible dangers before making the turn. A human / machine interface can also be activated and only present information to the driver if the information is relevant to traffic safety depending on the traffic situation.

2 explains a scenario in which the vehicle 100 in the direction of travel 105 approaching an intersection where different lanes 110a . 110b . 110c are given for different directions after the intersection. At the intersection shown is a direction of travel 110a intended for turning right, one lane 110b is intended for driving straight ahead, and one lane 110c is intended for turning left.

The lanes 110a . 110b . 110c are through road markings 250a . 250b divided. A first road marking 250a lies between the two lanes 110a . 110b while a second road marking 250b between the lanes 110b . 110c lies.

There is a traffic light at this intersection 120 the lane 110a assigned to turning right, a traffic light 220 is the lane 110b assigned for driving straight after the intersection and a traffic light 240 is the lane 110c assigned for turning left. In some embodiments, these traffic lights 120 . 220 . 240 not be correlated with one another, ie they can switch between different traffic light phases, such as typically red, yellow / orange, green. In other embodiments, at least some of the traffic lights 120 . 220 . 240 be correlated with each other. In some embodiments, one of the lanes can also be used 110a . 110b . 110c be assigned to a certain type of traffic or vehicle, such as buses, taxis, ambulances, etc. The lanes 110a . 110b . 110c regulating traffic lights 120 . 220 . 240 can have different shapes so that they are easier to distinguish from traffic lights for normal / private traffic. The traffic lights 120 . 220 . 240 can present letters, text, arrows or bars or white or colored light.

The traffic lights 120 . 220 . 240 can have one or more transmitters / receivers 130 . 210 . 230 have or be associated with them. Thus, multiple traffic lights 120 . 220 . 240 with one or more transmitters / receivers 130 . 210 . 230 for communication with nearby vehicles 100 be set up.

In some embodiments, the traffic lights can be wired or wireless 120 . 220 . 240 be connected to a central server.

This enables information to be coordinated and / or communicated with the central server.

Information regarding the time of the traffic lights remaining in the green phase 120 . 220 . 240 or on the other hand also the time remaining in the red phase before the traffic lights are switched 120 . 220 . 240 Green can be used for nearby vehicles 100 be communicated.

However, it is important to determine which of the traffic lights 120 . 220 . 240 for the respective vehicle 100 is relevant.

In some embodiments, the geographic position of the vehicle 100 can be determined and by using a detailed map (representation) of the street can be determined in which lane 110a . 110b . 110c the vehicle itself 100 located. It can then be assumed that the vehicle will travel in a direction which is the lane 110a . 110b . 110c in which it is located. The probability of this direction of travel can be increased the shorter the distance to the traffic lights 120 . 220 . 240 is.

In some exemplary embodiments, a sensor can be used, possibly in combination with the determination of the geographical position 145 of the vehicle 100 , such as a camera, a sign on the lane you are traveling on 110a . 110b . 110c , usually an arrow, was detected, and this information can be used to predict the coming direction of travel of the vehicle 100 , The sensor can also or on the other hand 145 Detect directional signs from street signs or the direction of a vehicle in front as examples.

Furthermore, the direction indicator of the vehicle 100 are used to determine the intention of the driver of the vehicle 100 ,

3 shows an example of how the scenario according 1 and or 2 a driver (if available) of the vehicle 100 , which is an intersection and a traffic light 120 approaches, represents.

The traffic lights 120 can in some embodiments by the sensor 145 of the vehicle 100 can be detected. Furthermore, or on the other hand, the traffic light 120 can also be detected by receiving wireless signals from a transmitter 130 be emitted by the traffic light 120 is linked, and by the recipient 140 in the vehicle 100 be received.

The vehicle also has 100 a controller 300 which is set up to support the driver of the vehicle 100 when gaining information from the driver assistance system 150 then when the information is classified as relevant for traffic safety. It is found that the vehicle 100 Probably turning right, a hazard can arise if there is an obstacle 160 in the blind spot on the right side of the vehicle 100 located. The information or a warning can be output to a human / machine interface 310 , The human / machine interface 310 can have a display device, a loudspeaker, a touch device, etc. When in 3 illustrated embodiment is a bicycle 160 through a sensor of the driver assistance system 150 detected and an image of such is on the human / machine interface 310 shown, possibly in combination with an acoustic warning signal, a tactile signal or a tactile signal in the steering wheel, driver's seat or the like.

The geographic position of the vehicle 100 can with a position unit 320 in the vehicle 100 which can be connected to a satellite navigation system, such as the Navigation Signal Timing and Ranging (Navstar) Global Positioning System (GPS), Differential GPS (DGPS), Galileo, GLONASS, or the like.

The geographic position of the location unit 320 (and thus also the vehicle 100 ) can be output continuously according to predefined or adjustable time intervals, depending on the embodiment.

Positioning using satellite navigation is based on distance measurements and triangulation with a number of satellites 330a . 330b . 330c . 330d , In the illustrated embodiment, there are four satellites 330a . 330b . 330c . 330d intended. More than four satellites 330a . 330b . 330c . 330d can be used to improve precision or to create redundancy. The satellites 330a . 330b . 330c . 330d continuously transmit information about time and date (for example in coded form), identity (regarding the respective transmitting satellites 330a . 330b . 330c . 330d) , Status and where the satellites are 330a . 330b . 330c . 330d at the given time. GPS satellites 330a . 330b . 330c . 330d send information encoded with different encodings, for example but not necessarily based on Code Division Multiple Access (CDMA). This enables the information of individual satellites to be distinguished 330a . 330b . 330c . 330d to differentiate from other information based on one for the respective satellite 330a . 330b . 330c . 330d parked code. Such information can then be transmitted for reception by the correspondingly configured position unit in the vehicle 100 ,

According to some exemplary embodiments, a distance measurement can include a measurement with regard to the time differences that are required for the signal emitted by the respective satellite, the position unit 320 to reach. Since the radio signals propagate at the speed of light, the distance to the respective satellites results 330a . 330b . 330c . 330d from a measurement of the signal propagation time.

The positions of the satellites 330a . 330b . 330c . 330d are known because they are continuously monitored by approximately 15 to 30 ground stations located primarily along and near the earth's equator. The geographic position, ie length and latitude, of the vehicle 100 can be calculated by determining the distances to at least three satellites 330a . 330b . 330c . 330d using triangulation. In some embodiments, the height can also be determined with signals from four satellites 330a . 330b . 330c . 330d ,

After determining the geographic position of the position unit 320 (if necessary also in another way) the relevant lane 110a . 110b . 110c of the vehicle 100 are determined using the determined geographical position of the vehicle 100 with respect to a map of the environment, which is in a database 340 of the vehicle 100 or outside the vehicle 100 is present.

The position of the vehicle 100 On the other hand or in addition, it can also be determined with transponders that are positioned at known points along the route and with a sensor in the vehicle that is coordinated for this purpose 100 To recognize the transponder so as to determine the position; or also by detection and recognition of WiFi networks (WiFi networks along the route can be mapped in connection with respective geographic positions in a database); by receiving Bluetooth location signals associated with a geographic location, or other specific wireless signals using triangulation of signals emitted by multiple fixed base stations with known geographic locations.

The vehicle 100 can furthermore have a navigation device in which the driver or another person determines the destination of the vehicle 100 can register. In some embodiments, it can be assumed that the vehicle 100 will move in a direction that leads to the destination in the navigation system, especially when approaching the intersection. Furthermore, or on the other hand, such information can also be used in combination with other indicators, for example the determination of the lane 110a . 110b . 110c to improve the forecast.

It can be said that it is very likely that the vehicle 100 turn right and then either the human / machine interface 310 activated or, on the other hand, the entire driver assistance system 150 , This ensures that the driver only receives relevant / critical information from the driver assistance system 150 is supplied, thereby increasing the driver's confidence in the system 150 is promoted.

4 shows an intersection 400 from above. The vehicle 100 runs in the direction of travel 105 in the lane 110 and approaches the intersection 400 and the traffic light 120 , which regulates the traffic in at least one direction after the intersection. The crossroad 400 can be, for example, a road connection, a roundabout or the like.

In the scenario shown, the vehicle bends 100 turn right after the intersection. Immediately after the intersection, a pedestrian can cross the street on a pedestrian crossing. However, the pedestrian crossing can be completely or partially covered, for example by parked vehicles, etc.

In some embodiments, a sensor external to the vehicle may be used 410 be arranged to monitor the pedestrian crossing and to send information via a wireless transceiver 420 , The information can be obtained from the vehicle 100 about the recipient 140 and the driver of the vehicle 100 on the human / machine interface 310 be issued.

According to some exemplary embodiments, no information is output if no pedestrian is detected on or near the pedestrian crossing.

An advantage of using a sensor 410 , which is arranged externally with respect to the vehicle, for obtaining relevant information, forwarding to the vehicle 100 and if relevant, output to the driver of the vehicle 100 is that relevant information can be displayed to the driver even if it is from the vehicle in the given situation 100 is not possible, possibly also with detection by a sensor 145 at the vehicle 100 to see the situation sufficiently.

sensors 410 which are arranged externally in relation to the vehicle can thus assist the driver in recognizing an object relevant to traffic on or near a road 110 , e.g. in a situation with reduced visibility, at dusk, at night, in rain, in fog, in snow or other weather conditions and / or when an obstacle obstructs the driver / sensor's view on or in the vehicle. This improves traffic safety.

5 explains an example of a method 500 according to an embodiment. The flowchart in 5 shows the procedure 500 for use in a vehicle 100 to control a driver assistance system 150 of the vehicle 100 , the driver assistance system 150 is set up to monitor a vehicle environment in an upcoming direction of travel of the vehicle 100 ,

The driver assistance system 150 The procedure can control correctly 500 the steps 501 - 509 exhibit. Some of these steps 501 - 509 can also be carried out alone in modified exemplary embodiments, like the steps 506 - 509 ,

You can also follow the steps described 501 - 509 are carried out in a slightly different sequence of times than the numbers given. The procedure 500 can have the following steps:

step 501 contains the provision that the vehicle 100 an intersection 400 approaching through at least one traffic light 120 . 220 . 240 with regard to traffic.

It can be stated that the vehicle 100 the intersection 400 approaches based on a data input from a sensor 145 of the vehicle 100 , The sensor 145 can for example a Front camera on the vehicle 100 have, which together with an image processing device in the control arrangement 300 the traffic lights 120 . 220 . 240 and / or other objects are detected.

In some embodiments, it can be determined that the vehicle 100 the intersection 400 approaches a position unit based on entered data 320 that is set up to determine its position based on signals from satellites 330a . 330b . 330c . 330d a satellite navigation system can be received.

These exemplary embodiments can be combined with other exemplary embodiments. This can be used to determine that the vehicle 100 the intersection 400 approaches based on data entered by both one or more sensors 145 of the vehicle 100 and data of the position unit 320 ,

step 502 includes before the vehicle 100 the crossroad 400 happens, the prediction of an upcoming direction of travel of the vehicle 100 after the intersection 400 ,

The coming direction of travel of the vehicle 100 after the intersection 400 can be predicted based on inputs from the sensor 145 of the vehicle 100 ,

In some embodiments, the coming direction of travel of the vehicle 100 after the intersection 400 are predicted based on data from the position unit 320 that is set up to determine its position based on signals from satellites 330a . 330b . 330c . 330d a satellite navigation system can be received.

Here, too, exemplary embodiments can be combined with one another. The coming direction of travel of the vehicle 100 after the intersection 400 can then be predicted based on inputs from one or more sensors 145 on or in the vehicle 100 and the input from the position unit 320 , A more reliable prediction can thus be made in some exemplary embodiments.

The forecast 502 the coming (future) direction of travel of the vehicle 100 after the intersection 400 can be regarded as the more reliable the closer the vehicle is 100 at the traffic light 120 is.

The forecast 502 the coming direction of travel of the vehicle 100 after the intersection 400 can also be considered reliable if the line 250a . 250b between the lanes 110a . 110b . 110c indicates that changing lanes is prohibited.

The forecast 502 the coming direction of travel of the vehicle 100 after the intersection 400 can also be based on obtaining information regarding a restricted use permission of the current lane, for example due to an obstacle, due to road works or an accident. The forecast 502 can be classified as less reliable if the information obtained indicates that the current lane for the vehicle 100 is not permitted, for example if the lane is only permitted for buses.

step 503 contains the identification of the traffic light 120 corresponding to that in step 502 made prediction of the coming direction of travel of the vehicle 100 ,

Identification of the traffic light 120 can be done in different ways, for example by identifying the traffic light 120 with a forward-facing sensor 145 at the vehicle 100 , by extracting an identification of the traffic light 120 from a database, by receiving an identification signal from the traffic light 120 , Etc.

step 504 involves receiving information from a broadcaster 130 that with the step 503 identified traffic light 120 is linked.

The transmitter 130 can in some embodiments in the traffic light 120 be integrated. On the other hand, the transmitter can 130 also externally in relation to the traffic light 120 be arranged and communicate with it via a wired or wireless communication path.

step 505 includes the activation of at least one human / machine interface 310 , i.e. an acoustic signal, a voice message, a tactile signal, a message on a display device etc. of the driver assistance system 150 of the vehicle 100 corresponding to that in step 504 received information.

The human / machine interface 310 can be a period of time before the traffic light 120 a phase change between green / yellow / red is activated.

The driver's attention is drawn to a potentially dangerous traffic situation. In this way, a possible accident can be avoided without the driver being overwhelmed with unnecessary information.

In some embodiments, increased warnings may be issued when the driver of the vehicle 100 not on the information given regarding the obstacle 160 responds, for example by added vibrations and / or acoustic signals to increase the driver's attention and / or by performing an automatic braking of the vehicle 100 , which in turn improves traffic safety.

A typical example is the activation of the output of a sensor that is set up to detect unprotected road users on the right side of the vehicle 100 if for the vehicle 100 a turn to the right is predicted or the corresponding on the left in left-hand traffic.

step 506 can in some embodiments of the method 500 be executed, the activation in step 505 of the driver assistance system 150 also an activation in step 505 a sensor arranged externally with respect to the vehicle 410 includes. step 506 involves receiving information from a transmitter 420 that with the sensor 410 , which is arranged externally with respect to the vehicle, is linked via a wireless communication interface.

This allows information regarding, for example, an obstacle 160 on that in step 502 predicted route of the vehicle 100 won and issued for the driver, so that an accident can be avoided.

step 507 can in some embodiments of the method 500 be carried out. step 507 includes the output of information from the step 505 activated driver assistance system 150 to the driver of the vehicle 100 ,

The driver of the vehicle 100 information can preferably only be given if by the step 505 activated driver assistance system 150 in the according step 502 predicted coming direction of travel of the vehicle 100 an obstacle 160 has been detected.

The according to step 507 Output information may include information associated with the sensor externally disposed with respect to the vehicle 410 won.

step 508 is preferably performed in some embodiments, according to step 504 Information from the transmitter 130 have been received when the vehicle 100 is about to change its direction of travel. step 508 includes the determination that the vehicle 100 the change of direction has completed.

step 509 is preferably performed in some embodiments when step 508 has been carried out and includes the deactivation of the driver assistance system 150 of the vehicle 100 or a human / machine interface 310 the same when changing the direction of travel in step 508 has been recognized as complete.

This prevents the driver from being distracted by irrelevant or redundant information, so that he can concentrate fully on the current driving situation, which in turn improves traffic safety.

6 explains an embodiment of a system 600 for driver assistance. The system 600 is set up to carry out at least some of the procedural steps 501 - 509 the procedure described above 500 ,

The system 600 has a tax arrangement 300 to control the sophisticated driver assistance system 150 of the vehicle 100 , The tax arrangement 300 is set up to control the sophisticated driver assistance system 150 of the vehicle 100 , the driver assistance system 150 is set up, the vehicle environment in a coming (future) direction of travel of the vehicle 100 to monitor. The tax arrangement 300 is in the vehicle 100 arranged. The tax arrangement 300 is set up to determine that the vehicle is 100 an intersection 400 approaches, at which traffic through at least one traffic light 120 . 220 . 240 is regulated. Furthermore, the control arrangement 300 set up before the vehicle 100 the crossroad 400 happens, an upcoming (future) direction of travel of the vehicle 100 after the intersection 400 predict. Furthermore, the control arrangement 300 set up the traffic light 120 identify which regulates the traffic with respect to the predicted coming direction of travel. The tax arrangement 300 is still set up via a with the identified traffic light 120 linked transmitter 130 Receive information. Finally, the control arrangement 300 further set up, based on the information received, at least one human / machine interface 310 of the driver assistance system 150 of the vehicle 100 to activate.

In some embodiments, the control arrangement is 300 set up via the human / machine interface 310 Information about the activated driver assistance system 150 to the driver of the vehicle 100 to give.

In further exemplary embodiments, the control arrangement is 300 set up only then Information to the driver of the vehicle 100 to give when coming in the predicted direction of travel of the vehicle 100 thanks to the activated driver assistance system 150 an obstacle 160 is detected.

The control arrangement can also be used in some exemplary embodiments 300 continue to be set up by the transmitter 130 about the recipient 140 Receive information when the vehicle 100 the direction of travel will change. The tax arrangement 300 may still be set up to determine that the vehicle 100 the direction change has completed. Furthermore, the control arrangement 300 be set up, the driver assistance system 150 of the vehicle 100 Deactivate when it is determined that the change of direction has been completed.

In some embodiments, the control arrangement 300 on the other hand, a sensor arranged externally with respect to the vehicle 410 to activate. The tax arrangement 300 can still be set up via the receiver 140 Information from a transmitter 420 to receive, with the sensor arranged externally to the vehicle 410 is linked. The control arrangement can also 300 be set up via the output device 310 to output the information with the sensor arranged externally to the vehicle 410 won.

In some embodiments, the control arrangement 300 be set up, the driver assistance system 150 a period of time before the phase of the traffic light changes 120 to activate between green / red.

The tax arrangement 300 may still be set up to determine that the vehicle 100 at an intersection 400 approaches based on inputs from a sensor 145 of the vehicle 100 , The control arrangement can also 300 be set up before the vehicle 100 the crossroad 400 happens, an upcoming / predicted direction of travel of the vehicle 100 after the intersection 400 based on the input from the sensor 145 predict.

The tax arrangement 300 In some embodiments, it may be configured to determine that the vehicle is 100 the intersection 400 approaches, and predict before the vehicle 100 the crossroad 400 happens what the future direction of travel of the vehicle 100 after the intersection 400 will be based on the input from a position unit 320 which is configured to determine the position of the position device 320 based on signals from satellites 330a . 330b . 330c . 330d a satellite navigation system can be received.

The system 600 can also be a traffic light 120 include.

Furthermore, the system 600 a transmitter 130 include the one with the traffic light 120 interacts.

The system 600 can still be a recipient 140 have, which is set up to receive information from the transmitter 130 ,

The tax arrangement 300 can be a receiving circuit 610 have, which is set up to receive signals from the receiver 140 and / or from the sensor 145 , wired or wireless.

The tax arrangement 300 can also be a processor circuit 620 which is configured to execute at least some of the calculations of the control unit 300 , The processor circuit 620 can be set up information from the traffic light 120 to get the traffic at the intersection 400 regulates.

Such a processor circuit 620 may include one or more processor units, such as a central processor (CPU), a processing unit, a processing circuit, an application-specific integrated circuit (ASIC), a microprocessor, or other processing logic that can interpret and execute commands. The term “processor circuit” used here can thus mean a processor device with a plurality of processor circuits, such as one or more of the aforementioned.

The tax arrangement 300 may still have memory in some embodiments 625 exhibit. The optional memory 625 can have a physical device that is used to store data or programs, ie sequences of commands, be it temporary or permanent. According to some embodiments, the memory contains 625 integrated circuits with silicon-based transistors. The memory 625 may have, for example: a memory card, a flash memory, a USB memory, a hard disk or another volatile or non-volatile memory unit for storing data, such as a ROM (read-only memory), a PROM (programmable read-only memory), an EPROM (erasable PROM), an EEPROM (electronically erasable PROM), etc., depending on the embodiment.

Furthermore, the control arrangement 300 a signal transmitter 630 exhibit. The signal transmitter 630 can be configured to transmit a control signal to a display device via a wired or wireless interface or a human / machine interface 310 which in turn provides information to the driver of the vehicle 100 can give.

In other embodiments, the system 600 have additional units for performing the method 500 according to the procedural steps 501 - 509 ,

Some embodiments can be a vehicle 100 have with at least part of the system 600 how the control arrangement 300 and the recipient 140 , In some embodiments, the vehicle can 100 a sensor 145 exhibit.

The above-mentioned computer program product can be provided, for example, in the form of a data carrier which comprises a computer program code for performing at least some of the above-mentioned steps in combination with one or more processor circuits 620 the control arrangement 200 , The data carrier can be, for example: a hard disk, a CD-ROM disk, a memory stick, an optical storage device, a magnetic storage device or another suitable medium, such as a disk or a tape, which holds machine-readable data. The computer program product can also be provided as computer program code on a server and on the control arrangement 200 downloaded, for example over the Internet or an intranet connection.

The terms used to describe the exemplary embodiments shown in the figures are intended to describe the method described 500 do not restrict; this also applies to the control arrangement 200 , the computer program, the system 600 and / or the vehicle 100 , Various modifications, substitutions and / or changes can be made without departing from the scope of embodiments of the invention as defined in the claims.

The expression “and / or” used here includes any and all combinations of one or more of the objects mentioned. The term "or" as used here is to be understood in the sense of a mathematical OR, i.e. in the inclusive sense, not in the sense of an exclusive OR (XOR), unless otherwise stated. Furthermore, the articles “a”, “a” and “the / the / that” are to be understood as “at least one”, ie they also include several objects of the same type, unless otherwise specified. The terms "including", "having", "containing" and / or "comprehensive" relate to the existence of the identified characteristics, actions, sizes, steps, activities, elements and / or components, but do not exclude that additional characteristics, Actions, sizes, steps, activities, elements, connections and / or groups thereof are present. A single unit, such as a processor, can perform the functions of various units mentioned in the claims. The mere fact that certain features or measures are mentioned in mutually different dependent claims does not mean that a combination of these features cannot be used advantageously. A computer program can be stored / distributed on a suitable medium, such as an optical storage medium or a solid-state storage medium, provided together or as part of other hardware, but can also be distributed in other forms, such as via the Internet or another communication system, be it wired or wireless.

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 102016012054 [0007]
• US 2017032197 [0009]
• US 20160318490 [0011]
• DE 102015210146 [0013]

Claims (18)

A method (500) for controlling a sophisticated driver assistance system (150) of a vehicle (100), the driver assistance system (150) being set up to monitor a vehicle environment in an upcoming direction of travel of the vehicle (100), and the method (500) follows Steps: Determining (501) that the vehicle (100) is approaching an intersection (400) whose traffic is regulated by at least one traffic light (120, 220, 240); Predicting (502) an upcoming direction of travel of the vehicle (100) after the intersection (400) before the vehicle (100) passes the intersection (400); Identifying (503) the traffic light (120) that regulates traffic in the predicted (502) coming direction; Receiving (504) information from a transmitter (130) associated with the identified (503) traffic light (120); and Activation (505) of at least one human / machine interface (310) of the driver assistance system (150) of the vehicle (100) in accordance with the received (504) information. Method (500) according to Claim 1 , further comprising the following step: outputting (507) information from the activated (505) driver assistance system (150) to the driver of the vehicle (100). Method (500) according to Claim 2 , wherein: information to the driver of the vehicle (100) is only output (507) if an obstacle (160) is detected by the activated (505) driver assistance system (150) in the predicted (502) coming direction of travel of the vehicle (100) is. The method (500) according to any one of the preceding claims, wherein the information is received (504) from the transmitter (130) when the vehicle (100) will change the direction of travel, and the method (500) further comprises the steps of: Determining (508) that the vehicle (100) has made the change of direction; and Deactivating (509) the driver assistance system (150) of the vehicle (100) when it is determined (508) that the change of direction has been completed. Method (500) according to one of the preceding claims, wherein the activation (505) of the driver assistance system (150) also comprises the activation (505) of an external sensor (410) with respect to the vehicle; and wherein the method (500) further comprises the step of: Receiving (506) information from a transmitter (420) associated with the vehicle external sensor (410); wherein the output (507) information includes information detected by the sensor (410) external to the vehicle. Method (500) according to one of the preceding claims, wherein the activation (505) of the driver assistance system (150) takes place a period before a change in state of the traffic light (120) between green / red. The method (500) according to any one of the preceding claims, wherein the steps: Determining (501) that the vehicle (100) is approaching an intersection (400) whose traffic is regulated by at least one traffic light (120, 220, 240); and Predicting (502) an upcoming direction of travel of the vehicle (100) after the intersection (400) before the vehicle (100) passes the intersection (400); based on an input from a sensor (145) of the vehicle (100). The method (500) according to any one of the preceding claims, wherein the steps: Determining (501) that the vehicle (100) is approaching an intersection (400) whose traffic is regulated by at least one traffic light (120, 220, 240); and Predicting (502) an upcoming direction of travel of the vehicle (100) after the intersection (400) before the vehicle (100) passes the intersection (400); based on an input from a position unit (320), which is configured to determine the position of the position unit (320) based on signals received from satellites (330a, 330b, 330c, 330d) of a satellite navigation system. Control arrangement (300) for controlling a highly developed driver assistance system (150) of a vehicle (100), the driver assistance system (150) being set up to monitor a vehicle environment in an upcoming direction of travel of the vehicle (100), the control arrangement (300) being set up to: Determining that the vehicle (100) is approaching an intersection (400) whose traffic is regulated with at least one traffic light (120, 220, 240); Predicting an upcoming direction of travel of the vehicle (100) after the intersection (400) before the vehicle (100) passes the intersection (400); Identifying the traffic light (120) regulating traffic in the predicted coming direction of travel; Receiving information from a transmitter (130) associated with the identified traffic light (120); and Activation of at least one human / machine interface (310) of the driver assistance system (150) of the vehicle (100) based on the information received. Control arrangement (300) according to Claim 9 , set up to output information of the activated driver assistance system (150) to the driver of the vehicle (100) via the human / machine interface (310). Control arrangement (300) according to Claim 10 , set up to output the information to the driver of the vehicle (100) only when an obstacle (160) is detected by the activated driver assistance system (150) in the predicted coming direction of travel of the vehicle (100). Control arrangement (300) according to one of the Claims 9 to 11 , configured to receive information from the transmitter (130) when the vehicle (100) will change direction of travel via the receiver (140), and wherein the control arrangement (300) is configured to: determine that the vehicle (100) is Has changed the direction of travel; and deactivating the driver assistance system (150) of the vehicle (100) when it is determined that the change of direction has been completed. Control arrangement (300) according to one of the Claims 9 to 12 , configured to: activate a sensor (410) external to the vehicle; and receiving information from a transmitter (420) associated with the sensor (410) external to the vehicle via the receiver (140); and outputting the information detected by the sensor (410) external to the vehicle via the output device (310). Control arrangement (300) according to one of the Claims 9 to 13 , set up to activate the driver assistance system (150) a period of time before the traffic light (120) changes its state green / red. Control arrangement (300) according to one of the Claims 9 to 14 configured to: determine that the vehicle (100) is approaching an intersection (400); and predicting an upcoming direction of travel of the vehicle (100) after the intersection (400) before the vehicle (100) passes the intersection (400); based on an input from a sensor (145) of the vehicle (100). Control arrangement (300) according to one of the Claims 9 to 15 configured to: determine that the vehicle (100) is approaching an intersection (400); and predicting an upcoming direction of travel of the vehicle (100) after the intersection (400) before the vehicle (100) passes the intersection (400); on the basis of an input of a position unit (320), which is set up to determine the position of the position device (320) on the basis of signals from satellites (330a, 330b, 330c, 330d) of a satellite navigation system. Computer program with a program code for executing a method (500) according to one of the Claims 1 to 8th , if the computer program in a control arrangement (300) according to one of the Claims 9 to 16 is performed. A system (600) for a driver assistance system, comprising: a highly developed driver assistance system (150), set up for monitoring an environment of the vehicle (100); a control arrangement (300) according to one of the Claims 9 to 16 ; a traffic light (120); a transmitter (130) associated with the traffic light (120); and a receiver (140) configured to receive information from the transmitter (130).

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