DE102021001100A1 - Method of operating a vehicle - Google Patents
Method of operating a vehicle Download PDFInfo
- Publication number
- DE102021001100A1 DE102021001100A1 DE102021001100.7A DE102021001100A DE102021001100A1 DE 102021001100 A1 DE102021001100 A1 DE 102021001100A1 DE 102021001100 A DE102021001100 A DE 102021001100A DE 102021001100 A1 DE102021001100 A1 DE 102021001100A1
- Authority
- DE
- Germany
- Prior art keywords
- construction site
- vehicle
- driving
- automated
- automated driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/10—Number of lanes
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- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zum Betrieb eines Fahrzeugs, wobei erfindungsgemäß mittels zumindest einer Kamera zumindest eine dem Fahrzeug in Längsrichtung vorausliegende Umgebung erfasst wird. Zum Erkennen eines Baustellenendes wird in mittels der Kamera erfassten Umgebungsdaten nach für Baustellenenden typischen Verkehrszeichen (V1 bis Vx), Fahrbahnmarkierungen (FM1 bis FMz), Begrenzungsmarkierungen (BM1 bis BMn), Baustellenfahrzeugen, Personen auf der Fahrbahn und Baustellenstrukturen gesucht. Weiterhin wird geprüft, ob alle Bedingungen für einen automatisierten, insbesondere hochautomatisierten oder autonomen Fahrbetrieb des Fahrzeugs erfüllt sind. Bei Erkennen eines Baustellenendes und Erfüllung der Bedingungen für den automatisierten Fahrbetrieb wird bei aktiviertem manuellen Fahrbetrieb eine Fahrerinformation ausgegeben, welche einen Hinweis auf eine Verfügbarkeit des automatisierten Fahrbetriebs umfasst, und/oder der automatisierte Fahrbetrieb wird spätestens bei Erreichen des Baustellenendes automatisch aktiviert.The invention relates to a method for operating a vehicle, wherein according to the invention at least one environment lying ahead of the vehicle in the longitudinal direction is recorded by means of at least one camera. To recognize the end of a construction site, the camera searches for traffic signs (V1 to Vx), lane markings (FM1 to FMz), boundary markings (BM1 to BMn), construction site vehicles, people on the lane and construction site structures that are typical for the end of a construction site. It is also checked whether all conditions for automated, in particular highly automated or autonomous driving operation of the vehicle are met. When the end of the construction site is recognized and the conditions for automated driving are met, when manual driving is activated, driver information is output which includes an indication of the availability of automated driving, and / or automated driving is automatically activated at the latest when the end of the construction site is reached.
Description
Die Erfindung betrifft ein Verfahren zum Betrieb eines Fahrzeugs.The invention relates to a method for operating a vehicle.
Aus der
- - Empfangen einer Position zumindest eines ersten Verkehrszeichens, das eine Reduzierung einer maximal zulässigen Höchstgeschwindigkeit auf einem Straßenabschnitt anzeigt, der durch ein erstes Fahrzeug befahren wird, wobei das erste Verkehrszeichen mittels einer am ersten Fahrzeug angebrachten Kamera erkannt wird;
- - Empfangen einer Position zumindest eines zweiten Verkehrszeichens, das eine Reduzierung der maximal zulässigen Höchstgeschwindigkeit eines Fahrzeugs auf dem aktuellen Straßenabschnitt aufhebt, der durch das erste Fahrzeug befahren wird, wobei das zweite Verkehrszeichen mittels der am ersten Fahrzeug angebrachten Kamera erkannt wird;
- - Ermitteln einer ersten Hypothese der Position einer Straßenbaustelle aus der ersten Position des ersten Verkehrszeichens und der ersten Position des zweiten Verkehrszeichens; und
- - Ermitteln einer wahrscheinlichen Position der Straßenbaustelle durch Vergleichen der ersten Hypothese der Position der Straßenbaustelle mit einer zweiten Hypothese, die durch ein zweites Fahrzeug ermittelt wurde.
- - Receiving a position of at least one first traffic sign, which indicates a reduction in a maximum permissible maximum speed on a road section which is traveled by a first vehicle, the first traffic sign being recognized by means of a camera attached to the first vehicle;
- - Receiving a position of at least one second traffic sign that cancels a reduction in the maximum permissible maximum speed of a vehicle on the current section of road that is being traveled on by the first vehicle, the second traffic sign being recognized by means of the camera attached to the first vehicle;
- Determining a first hypothesis of the position of a road construction site from the first position of the first traffic sign and the first position of the second traffic sign; and
- - Determining a probable position of the road construction site by comparing the first hypothesis of the position of the road construction site with a second hypothesis that was determined by a second vehicle.
Der Erfindung liegt die Aufgabe zu Grunde, ein neuartiges Verfahren zum Betrieb eines Fahrzeugs anzugeben.The invention is based on the object of specifying a novel method for operating a vehicle.
Die Aufgabe wird erfindungsgemäß gelöst durch ein Verfahren, welches die im 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 refinements of the invention are the subject matter of the subclaims.
In dem Verfahren zum Betrieb eines Fahrzeugs wird erfindungsgemäß mittels zumindest einer Kamera zumindest eine dem Fahrzeug in Längsrichtung vorausliegende Umgebung erfasst. Zum Erkennen eines Baustellenendes wird in mittels der Kamera erfassten Umgebungsdaten nach für Baustellenenden typischen Verkehrszeichen, Fahrbahnmarkierungen, Begrenzungsmarkierungen, Baustellenfahrzeugen, Personen auf der Fahrbahn und Baustellenstrukturen gesucht. Zusätzlich wird geprüft, ob alle Bedingungen für einen automatisierten, insbesondere hochautomatisierten oder autonomen Fahrbetrieb des Fahrzeugs erfüllt sind. Bei Erkennen eines Baustellenendes und Erfüllung der Bedingungen für den automatisierten Fahrbetrieb wird bei aktiviertem manuellen Fahrbetrieb eine Fahrerinformation ausgegeben, welche einen Hinweis auf eine Verfügbarkeit des automatisierten Fahrbetriebs umfasst, und/oder der automatisierte Fahrbetrieb wird spätestens bei Erreichen des Baustellenendes automatisch aktiviert.In the method for operating a vehicle, according to the invention, at least one environment lying ahead of the vehicle in the longitudinal direction is recorded by means of at least one camera. To identify the end of a construction site, the camera searches for traffic signs, lane markings, boundary markings, construction site vehicles, people on the lane and construction site structures that are typical for the end of construction sites. In addition, it is checked whether all conditions for an automated, in particular highly automated or autonomous driving operation of the vehicle are met. When the end of the construction site is recognized and the conditions for automated driving are met, when manual driving is activated, driver information is output which includes an indication of the availability of automated driving, and / or automated driving is automatically activated at the latest when the end of the construction site is reached.
Das Verfahren ermöglicht eine kundenerlebbare proaktive Funktion sowie eine Erhöhung eines Komforts für einen Fahrer eines Fahrzeugs. Weiterhin wird eine erhöhte Verfügbarkeit des automatisierten Fahrmodus sowie eine erhöhte Kundenakzeptanz desselben erreicht.The method enables a proactive function that can be experienced by the customer and an increase in comfort for a driver of a vehicle. Furthermore, increased availability of the automated driving mode and increased customer acceptance of the same are achieved.
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:
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1 schematisch ein mittels einer Kamera erfasstes Bild einer Fahrzeugumgebung.
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1 schematically an image of a vehicle environment captured by means of a camera.
In der einzigen
Nähert sich das Fahrzeug während eines aktivierten automatisierten, insbesondere hochautomatisierten oder autonomen Fahrbetriebs einer Baustelle
Nähert sich das Fahrzeug bei einer Durchfahrung der Baustelle
Wird ein Baustellenende erkannt und sind die Bedingungen für den automatisierten Fahrbetrieb erfüllt, wird bei aktiviertem manuellen Fahrbetrieb eine Fahrerinformation akustisch, optisch und/oder haptisch ausgegeben, welche einen Hinweis auf eine Verfügbarkeit des automatisierten Fahrbetriebs umfasst. Die optische Ausgabe erfolgt beispielsweise auf einem so genannten Kombiinstrument, einem Head-up-Display und/oder Zentraldisplay. Nach der Ausgabe der Fahrerinformation kann der Fahrer des Fahrzeugs den automatisierten Fahrbetrieb wieder aktivieren.If the end of a construction site is recognized and the conditions for automated driving are met, driver information is output acoustically, visually and / or haptically when manual driving is activated, which includes an indication of the availability of automated driving. The optical output takes place, for example, on a so-called combination instrument, a head-up display and / or central display. After the driver information has been output, the driver of the vehicle can reactivate automated driving.
Alternativ oder zusätzlich wird bei Erkennen des Baustellenendes und Erfüllung der Bedingungen für den automatisierten Fahrbetrieb der automatisierte Fahrbetrieb spätestens bei Erreichen des Baustellenendes automatisch aktiviert bzw. reaktiviert.Alternatively or additionally, when the end of the construction site is recognized and the conditions for automated driving are met, the automated driving is automatically activated or reactivated at the latest when the end of the construction site is reached.
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 102016202973 A1 [0002]DE 102016202973 A1 [0002]
Claims (3)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021001100.7A DE102021001100A1 (en) | 2021-03-02 | 2021-03-02 | Method of operating a vehicle |
PCT/EP2022/051367 WO2022184341A1 (en) | 2021-03-02 | 2022-01-21 | Method for operating a vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021001100.7A DE102021001100A1 (en) | 2021-03-02 | 2021-03-02 | Method of operating a vehicle |
Publications (1)
Publication Number | Publication Date |
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DE102021001100A1 true DE102021001100A1 (en) | 2021-05-20 |
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ID=75683587
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102021001100.7A Pending DE102021001100A1 (en) | 2021-03-02 | 2021-03-02 | Method of operating a vehicle |
Country Status (2)
Country | Link |
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DE (1) | DE102021001100A1 (en) |
WO (1) | WO2022184341A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102023002120A1 (en) | 2023-05-25 | 2024-03-28 | Mercedes-Benz Group AG | Method for detecting road construction sites in the vicinity of a vehicle and method for operating a driver assistance system |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005057251A1 (en) * | 2005-11-29 | 2007-06-06 | Daimlerchrysler Ag | Drive assistance system e.g. lane keeping system, operating method for use in motor vehicle, involves automatically deactivating system by boundary condition during exceedance or falling below of threshold value |
DE102016202973B4 (en) | 2016-02-25 | 2018-05-17 | Bayerische Motoren Werke Aktiengesellschaft | Method for recognizing a road construction site |
DE102017208508A1 (en) * | 2017-05-19 | 2018-11-22 | Bayerische Motoren Werke Aktiengesellschaft | Hands-on detection with distinction of concern only a single hand and both hands on the steering wheel and based on it driver assistance system |
US10642267B2 (en) * | 2017-12-22 | 2020-05-05 | Aptiv Technologies Limited | Automated vehicle system and method for changing from automated-mode to manual-mode near a construction-zone |
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2021
- 2021-03-02 DE DE102021001100.7A patent/DE102021001100A1/en active Pending
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2022
- 2022-01-21 WO PCT/EP2022/051367 patent/WO2022184341A1/en active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102023002120A1 (en) | 2023-05-25 | 2024-03-28 | Mercedes-Benz Group AG | Method for detecting road construction sites in the vicinity of a vehicle and method for operating a driver assistance system |
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WO2022184341A1 (en) | 2022-09-09 |
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Owner name: MERCEDES-BENZ GROUP AG, DE Free format text: FORMER OWNER: DAIMLER AG, STUTTGART, DE |