DE102020001673A1 - Process for recognizing mirror images - Google Patents
Process for recognizing mirror images Download PDFInfo
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- DE102020001673A1 DE102020001673A1 DE102020001673.1A DE102020001673A DE102020001673A1 DE 102020001673 A1 DE102020001673 A1 DE 102020001673A1 DE 102020001673 A DE102020001673 A DE 102020001673A DE 102020001673 A1 DE102020001673 A1 DE 102020001673A1
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- Prior art keywords
- vehicle
- mirror
- basis
- determined
- mirror images
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007613 environmental effect Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 10
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Erkennung von Spiegelbildern in erfassten Signalen einer Umgebungssensorik (2) eines Fahrzeuges (1). Erfindungsgemäß ist vorgesehen, dass- anhand eines ermittelten Fahrbahnverlaufes, anhand erfasster Umgebungsobjekte, anhand dem Fahrzeug (1) vorliegender Informationen einer Fahrzeug-zu-Infrastrukturkommunikation und/oder anhand ermittelter Wetterinformationen eine Spiegelwahrscheinlichkeit für Umgebungsobjekte des Fahrzeuges (1) bestimmt wird und- im Fall einer ermittelten Spiegelwahrscheinlichkeit diese für eine Erkennung von Spiegelbildern in einer zentral verfügbaren Karte hinterlegt wirdThe invention relates to a method for recognizing mirror images in recorded signals from an environmental sensor system (2) of a vehicle (1). According to the invention it is provided that a mirror probability for surrounding objects of the vehicle (1) is determined on the basis of a determined course of the road, on the basis of detected objects in the surroundings, on the basis of the vehicle-to-infrastructure communication information available from the vehicle (1) and / or on the basis of determined weather information and a determined mirror probability, this is stored in a centrally available map for the detection of mirror images
Description
Die Erfindung betrifft ein Verfahren zur Erkennung von Spiegelbildern in erfassten Signalen einer Umgebungssensorik eines Fahrzeuges.The invention relates to a method for recognizing mirror images in recorded signals of an environmental sensor system of a vehicle.
Aus der
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Erkennung von Spiegelbildern anzugeben.The invention is based on the object of specifying a method for recognizing mirror images which is improved over the prior art.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren gelöst, welches die in Anspruch 1 angegebenen Merkmale aufweist.The object is achieved according to the invention by a method which has the features specified in claim 1.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the subclaims.
Ein Verfahren zur Erkennung von Spiegelbildern in erfassten Signalen einer Umgebungssensorik eines Fahrzeuges sieht erfindungsgemäß vor, dass anhand eines ermittelten Fahrbahnverlaufes, anhand erfasster Umgebungsobjekte, anhand dem Fahrzeug vorliegender Informationen einer Fahrzeug-zu-Infrastrukturkommunikation und/oder anhand ermittelter Wetterinformationen eine Spiegelwahrscheinlichkeit für Umgebungsobjekte des Fahrzeuges bestimmt wird. Zudem wird im Fall einer ermittelten Spiegelwahrscheinlichkeit diese für eine Erkennung von Spiegelbildern in einer zentral verfügbaren Karte hinterlegt.According to the invention, a method for recognizing mirror images in acquired signals from an environmental sensor system of a vehicle provides that a mirror probability for objects in the vicinity of the vehicle is based on an ascertained course of the roadway, on the basis of acquired environmental objects, on the basis of information from vehicle-to-infrastructure communication and / or on the basis of ascertained weather information is determined. In addition, if a mirror probability is determined, this is stored in a centrally available map for the detection of mirror images.
Durch die Ermittlung möglicher Reflexionsflächen und der mit diesen verknüpften Spiegelwahrscheinlichkeiten wird eine Erkennung von sogenannten Geisterzielen, d. h. Spiegelbildern, ermöglicht. Hierdurch kann eine Systemverfügbarkeit und eine Systemsicherheit einer automatisierten Fahrfunktion des Fahrzeuges erhöht werden. Parameter zur Ermittlung der Spiegelwahrscheinlichkeiten müssen aufgrund der Speicherung in der zentralen Karte nicht global für eine Lebensdauer des Fahrzeuges ermittelt werden, sondern können dynamisch, z. B. an bauliche Veränderungen und/oder an vorherrschende Wetterbedingungen, angepasst werden.By determining possible reflection surfaces and the mirror probabilities associated with them, detection of so-called ghost targets, i. H. Mirror images, made possible. As a result, system availability and system security of an automated driving function of the vehicle can be increased. Parameters for determining the mirror probabilities do not have to be determined globally for the life of the vehicle due to the storage in the central map, but can be dynamic, e.g. B. to structural changes and / or to prevailing weather conditions.
Beispielsweise wird mittels Anwendung des Verfahrens eine Fahrbahnerkennung mit Begrenzungen einer Fahrbahn, insbesondere in solchen Fahrsituationen verbessert, in denen klassische Ansätze problematisch sind, z. B. v. a. bei nasser Fahrbahn.For example, using the method, a lane detection with delimitations of a lane is improved, especially in those driving situations in which classic approaches are problematic, e.g. B. v. a. on wet roads.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention are explained in more detail below with reference to a drawing.
Dabei zeigt die:
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1 schematisch ein auf einer Fahrbahn mit zwei Fahrspuren fahrendes Fahrzeug.
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1 schematically a vehicle traveling on a roadway with two lanes.
Die einzige Figur zeigt ein Fahrzeug
Bei dem Fahrzeug
Mittels der Umgebungssensorik
Die Sensoren können aufgrund verschiedener Umgebungsbedingungen, beispielsweise durch Nässe, sogenannte Geisterziele erfassen. Diese Geisterziele, d. h. insbesondere Spiegelbilder, können durch die nasse Fahrbahn
Die Frontkamera und/oder eine andere fahrzeugseitige, nach außerhalb des Fahrzeuges
Weiterhin ist es vergleichsweise wichtig einen Verlauf der Fahrbahn
Üblicherweise wird die Fahrbahn
Um den automatisierten Fahrbetrieb des Fahrzeuges
Begrenzungen
Auf Grundlage eines, wie oben beschrieben, ermittelten Verlaufes der Fahrbahn
On the basis of a course of the roadway determined as described above
Insbesondere werden bei der Ermittlung der Spiegelwahrscheinlichkeit erfasste Signale eines Nässesensors, eines Regenlichtsensors und/oder Informationen einer aktuellen Wettervorhersage berücksichtigt.In particular, when determining the mirror probability, detected signals from a moisture sensor, a rain light sensor and / or information from a current weather forecast are taken into account.
Spiegelnde Flächen erzeugen für Sensoren der Umgebungssensorik
Wird nun ein Umgebungsobjekt an einer reflektierenden Fläche eines Umgebungsobjektes, d. h. an einem Umgebungsobjekt mit Spiegelwahrscheinlichkeit, mittels der Umgebungssensorik
Spiegelnde Flächen können auch Begrenzungen
Reflective surfaces can also be
Für die Erkennung von Spiegelbildern, d. h. spiegelnder Flächen, können klassische Algorithmen verwendet werden, wobei maschinelles Lernen, insbesondere neuronale Netze, ebenso verwendet werden können. Dazu wird eine Spiegelklasse eingeführt und eine entsprechende Assoziation zu einem Realobjekt hergestellt.For the detection of mirror images, i. H. of reflective surfaces, classical algorithms can be used, whereby machine learning, in particular neural networks, can also be used. For this purpose, a mirror class is introduced and a corresponding association to a real object is established.
BezugszeichenlisteList of reference symbols
- 11
- Fahrzeugvehicle
- 22
- UmgebungssensorikEnvironmental sensors
- 33
- Begrenzung Limitation
- FF.
- Fahrbahnroadway
- F1F1
- rechte Fahrspurright lane
- F2F2
- linke Fahrspurleft lane
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDED IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturPatent literature cited
- DE 10103870 A1 [0002]DE 10103870 A1 [0002]
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE102020001673.1A DE102020001673A1 (en) | 2020-03-13 | 2020-03-13 | Process for recognizing mirror images |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020001673.1A DE102020001673A1 (en) | 2020-03-13 | 2020-03-13 | Process for recognizing mirror images |
Publications (1)
Publication Number | Publication Date |
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DE102020001673A1 true DE102020001673A1 (en) | 2020-10-15 |
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ID=72613714
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102020001673.1A Withdrawn DE102020001673A1 (en) | 2020-03-13 | 2020-03-13 | Process for recognizing mirror images |
Country Status (1)
Country | Link |
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DE (1) | DE102020001673A1 (en) |
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2020
- 2020-03-13 DE DE102020001673.1A patent/DE102020001673A1/en not_active Withdrawn
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Owner name: DAIMLER AG, DE Free format text: FORMER OWNER: DAIMLER AG, 70372 STUTTGART, DE |
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R230 | Request for early publication | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |