DE3619824A1 - System for indicating the currently valid maximum speed, or the maximum speed which is safe for the environmental conditions, for road vehicles - Google Patents

System for indicating the currently valid maximum speed, or the maximum speed which is safe for the environmental conditions, for road vehicles

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Publication number
DE3619824A1
DE3619824A1 DE19863619824 DE3619824A DE3619824A1 DE 3619824 A1 DE3619824 A1 DE 3619824A1 DE 19863619824 DE19863619824 DE 19863619824 DE 3619824 A DE3619824 A DE 3619824A DE 3619824 A1 DE3619824 A1 DE 3619824A1
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Prior art keywords
maximum speed
signal
output signal
speed
road
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DE19863619824
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German (de)
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DE3619824C2 (en
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Ernst D Prof Dr Ing Dickmanns
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Dickmanns ernst D profdr-Ing
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Dickmanns ernst D profdr-Ing
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/54—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating speed outside of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/0875—Registering performance data using magnetic data carriers
    • G07C5/0891—Video recorder in combination with video camera
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/21—Optical features of instruments using cameras

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Indicating Measured Values (AREA)
  • Instrument Panels (AREA)
  • Traffic Control Systems (AREA)

Abstract

The system comprises an image sensor which is attached to the vehicle and whose image data are processed by an information-processing device. The said device determines from the image data (using background knowledge) a maximum acceptable speed value which is indicated in a display instrument together with the instantaneous speed. When the indicated maximum speed is exceeded, a warning signal is emitted. The signal from the information-processing device can also be adapted according to the respective environmental conditions by an adaptation circuit. <IMAGE>

Description

Die Erfindung betrifft ein System zum Anzeigen der aktuell gültigen oder nach den Umgebungsbedingungen sicheren Höchstgeschwindigkeit für Straßenfahrzeuge, wie sie im Oberbegriff des Patentanspruches 1 näher angegeben ist.The invention relates to a system for displaying the currently valid or according to the environmental conditions safe maximum speed for road vehicles, such as they specified in the preamble of claim 1 is.

Ein System dieser Art ist beispielsweise aus dem Vortrag von E.D. Dickmanns und A. Zapp, gehalten auf der AFCET Konferenz "Automatique 85 - the tools for tomorrow", Toulouse, Oktober 1985, bekannt. Dieses System dient zum Führen eines Fahrzeuges auf der Fahrbahn. Es ist in der Lage, aufgrund der aus Bilddaten ermittelten Krümmung der Straße die Fahrzeuggeschwindigkeit selbsttätig zu steuern. Dieses System ist jedoch nicht in der Lage, andere Beschrän­ kungen der Geschwindigkeit, die z.B. durch Ortsdurchfahrten, Verkehrsschilder usw. gegeben sind, zu erfassen, zur Fahr­ zeugsteuerung zu verwerten oder dem Fahrer anzuzeigen.A system of this type is, for example, from the Lecture by E.D. Dickmanns and A. Zapp, held at the AFCET conference "Automatique 85 - the tools for tomorrow", Toulouse, October 1985. This system is used for Driving a vehicle on the road. It is in the Position, based on the curvature of the Road to control the vehicle speed automatically. However, this system is not capable of other restrictions speed, e.g. through town crossings, Traffic signs etc. are given to grasp for driving use tool control or display it to the driver.

Aufgabe der Erfindung ist daher, ein System anzugeben, mit dem auch Geschwindigkeitsbeschränkungen, die beispiels­ weise durch Verkehrsschilder gegeben werden, erfaßt, und im Fahrzeugraum für die Dauer ihrer Gültigkeit angezeigt werden. Weiterhin sollen auch andere Umweltbedingungen wie z.B. Feuchtigkeit, Temperatur (Eisbildung), Sichtbarkeits­ grenzen der Fahrbahn aufgrund von Nebel oder Verdeckungen und die Oberflächenbeschaffenheit der Straße zur Ermittlung und Anzeige einer maximal zulässigen oder einer bei gegebenen Umweltbedingungen sicheren Fahrzeuggeschwindigkeit, insbe­ sondere auch in Kurvenbereichen, herangezogen werden können.The object of the invention is therefore to provide a system with the also speed limits, for example be given by road signs, recorded, and displayed in the vehicle compartment for the duration of their validity will. Other environmental conditions such as e.g. Moisture, temperature (ice formation), visibility limit the roadway due to fog or occlusions and the surface condition of the road to determine and display a maximum allowable or a given Environmental conditions safe vehicle speed, esp especially in curve areas.

Diese Aufgabe wird mit einem System nach dem Oberbegriff des Patentanspruches 1 gelöst, das erfindungsgemäß die im Kennzeichenteil dieses Anspruches angegebenen Merkmale auf­ weist.This task is done with a system according to the generic term of claim 1 solved, the invention according to the Characteristic part of this claim specified features points.

Weitere, vorteilhafte Ausgestaltungen der Erfindung folgen aus den Unteransprüchen. Further advantageous refinements of the invention follow from the subclaims.  

Gemäß der Erfindung werden das ermittelte Höchst­ geschwindkeitssignal und das Momentangeschwindigskeits­ signal des Fahrzeuges in einer gemeinsamen Anzeigeein­ richtung und insbesondere auf der gleichen Skala angezeigt, so daß der Fahrer leicht ermitteln kann, ob er sich im sicheren Fahrbereich befindet oder ob er die nach den gege­ benen Umweltbedingungen zulässige Höchstgeschwindigkeit überschreitet. Dabei wird vorteilhafterweise das Ausgangs­ signals der Informationsverarbeitungseinrichtung noch nach Maßgabe von Umweltbedingungen wie z.B. Temperatur, Luftfeuchtigkeit, Straßenoberflächenbeschaffenheit, Straßen­ nässe usw. korrigiert, so daß die von dem Bildsensor und von der Informationsverarbeitungseinrichtung gelieferten Daten an die jeweiligen Umgebungsbedingungen angepaßt werden.According to the invention, the maximum determined speed signal and the instantaneous speed signal of the vehicle in a common display direction and in particular on the same scale, so that the driver can easily determine whether he is in safe driving area or whether it is the opposite permissible maximum speed exceeds. The output is advantageously signals of the information processing device still according to environmental conditions such as Temperature, Humidity, road surface texture, roads wet, etc. corrected so that from the image sensor and supplied by the information processing device Data can be adapted to the respective environmental conditions.

Nach einer vorteilhaften Ausgestaltung der Erfindung ist weiter vorgesehen, die Momentangeschwindigkeit des Fahrzeuges mit der ermittelten zulässigen Höchstgeschwindig­ keit zu vergleichen und nach Maßgabe dieses Vergleiches ein Warnsignal abzugeben.According to an advantageous embodiment of the invention is also provided, the instantaneous speed of the Vehicle with the determined permissible maximum speed to compare and according to this comparison give a warning signal.

Im folgenden wird die Erfindung anhand von Ausführungs­ beispielen und der Figuren beschrieben und näher erläutert.In the following the invention based on execution examples and the figures described and explained in more detail.

Es zeigen:Show it:

Fig. 1 ein Beispiel für eine Szene, die sich dem Fahrer eines Fahrzeugs bietet und in der Informationen enthalten sind, aus denen eine höchstzulässige Geschwindigkeit abgeleitet wird; FIG. 1 shows an example of a scene that is presented to the driver of a vehicle and contained in the information that a maximum permitted speed is derived;

Fig. 2 zeigt schematisch ein Anordnungsbeispiel für das erfindungsgemäße System; Fig. 2 shows schematically an arrangement example for the system according to the invention;

Fig. 3 zeigt ein Blockschaltbild des erfindungs­ gemäßen Systems; Fig. 3 shows a block diagram of the system according to the Invention;

Fig. 4 zeigt ein erstes Ausführungsbeispiel für eine in dem System verwendete Anzeigeeinrichtung; Fig. 4 shows a first embodiment of a display device used in the system;

Fig. 5 zeigt ein zweites Ausführungsbeispiel einer solchen Anzeigeeinrichtung. Fig. 5 shows a second embodiment of such a display device.

Fig. 1 zeigt eine Szene, an der sich einige typische Wirkungsabläufe darstellen lassen. Es ist ein Einzelbild aus einer 50 Hz oder auch 60 Hz Fernsehbildfolge, deren Inhalt sich ständig und gemäß der Fahrgeschwindigkeit stetig ändert. Die Straße 1 ist vor dem Fahrzeug 4 zunächst nach rechts, später nach links gekrümmt und verläuft durch hügeliges Gelände. Zum Vergleich ist in Bild 1 eine ebene gerade Straße gestrichelt angedeutet. Die Krümmungswerte können in an sich bekannter Weise (vgl. dazu die Literaturhinweise 1 und 2) aus einer Vermessung des Straßenbegrenzungsverlaufs in der Bildfolge numerisch ermittelt werden. Die Informationsverarbeitungseinheit erkennt anhand einer eingespeicher­ ten Wissensbasis über Straßenverkehrssysteme, daß es sich z.B. um eine Bundesstraße handelt; damit gilt generell die Höchstgeschwindigkeit 100 km/h in der Bundesrepublik Deutsch­ land. Im vorliegenden Fall zeigt ein rundes Verkehrsschild 2 vorne rechts mit der Zahl 80 auf weißem Grund in rotem Kreis mit genormtem Durchmesser an, daß ab hier die Maximal­ geschwindigkeit auf 80 km/h durch die Straßenverkehrsbehörde begrenzt ist. FIG. 1 shows a scene, some typical effect processes can be displayed on the. It is a single picture from a 50 Hz or 60 Hz television picture sequence, the content of which changes constantly and according to the driving speed. Road 1 is curved in front of vehicle 4, first to the right, later to the left, and runs through hilly terrain. For comparison, a flat, straight road is indicated by dashed lines in Figure 1 . The curvature values can be determined numerically in a manner known per se (cf. literature references 1 and 2) from a measurement of the course of the road boundary in the image sequence. The information processing unit recognizes from a stored knowledge base about road traffic systems that it is, for example, a federal highway; this means that the maximum speed in the Federal Republic of Germany is 100 km / h. In the present case, a round traffic sign 2 front right with the number 80 on a white background in a red circle with a standardized diameter indicates that from here the maximum speed is limited to 80 km / h by the road traffic authority.

Weiter vorne taucht ein Ortsrandschild 3 (rechteckig mit schwarzer Schrift auf gelbem Grund) auf, das gemäß der geltenden gesetzlichen Regelung die erlaubte Maximalge­ schwindigkeit auf 50 km/h begrenzt.Further ahead there appears a local border sign 3 (rectangular with black lettering on a yellow background), which limits the maximum speed allowed to 50 km / h in accordance with the applicable legal regulations.

Noch weiter vorne verschwinden plötzlich die Straßen­ konturen durch Sichtbehinderung; hier ist es angezeigt, die Geschwindigkeit soweit zu drosseln, daß das Fahrzeug auf Sichtweite sicher zum Anhalten gebracht werden kann.The streets suddenly disappear even further ahead contours due to visual impairment; here it is shown the Throttle speed so far that the vehicle is on Visibility can be stopped safely.

Wenn es feucht ist und Temperaturen nahe dem Gefrier­ punkt herrschen, kann der maximale Reibungskoeffizient zwischen Reifen und Straße wesentlich kleiner sein als in trockenem Zustand. Hierdurch ergibt sich für die gleiche Straßenkrümmung eine kleinere sichere Fahrgeschwindigkeit.When it is damp and temperatures are close to freezing point, the maximum coefficient of friction can between tires and road be significantly smaller than in dry condition. This results in the same Road curvature a smaller safe driving speed.

Alle diese Effekte erfaßt das vorliegende System über die Auswertung der Bildsensordaten und bringt sie dem Fahrer über eine Anzeige mit eventueller Warnfunktion zur Anschau­ ung. The present system covers all of these effects the evaluation of the image sensor data and brings it to the driver via a display with a possible warning function for viewing ung.  

Diese Anzeige ist mit der bekannten Tachometeranzeige integriert, um dem Fahrer die Ablesung zu erleichtern.This display is with the well-known speedometer display integrated to make reading easier for the driver.

Fig. 2 zeigt eine mögliche typische Installations­ art in einem PKW 4. Das System kann beim Einbau durch Parameter in der Informationsverarbeitungseinheit 5 darauf eingestellt werden, ob es in einem PKW oder LKW, für den gelegentlich andere Regeln gelten, eingebaut wird. Fig. 2 shows a possible typical installation type in a car 4th During installation, the system can be set by parameters in the information processing unit 5 to determine whether it is installed in a car or truck, for which other rules occasionally apply.

Fig. 3 zeigt ein Blockschaltbild mit dem Zusammen­ wirken der Systemkomponenten. Fig. 3 shows a block diagram with the interaction of the system components.

Der Bildsensor 6 ist auf einer Einheit 7 zur Blick­ richtungssteuerung montiert, um durch automatisches Nachführen der Blickrichtung auf das momentan zu analy­ sierende Objekt die Abbildungsunschärfen durch die Bewe­ gung zu reduzieren und damit die Bildfolgendeutung zu erleichtern. Die Blickrichtungsstabilisierung kann durch Bewegungssensoren 12, die Inertialsensorsignale erzeugen (z.B. Wendekreisel), unterstützt werden.The image sensor 6 is mounted on a unit 7 for viewing direction control in order to reduce the image blurring due to the movement by automatic tracking of the viewing direction of the object currently to be analyzed and thus to facilitate the interpretation of the image sequence. The direction of view stabilization can be supported by motion sensors 12 which generate inertial sensor signals (eg turning gyroscope).

Die Bilddatensignale des Bildsensors (6), beispiels­ weise einer Videokamera, werden zur Informationsverarbei­ tungseinheit (IE) übertragen, dort digitalisiert und anschließend durch beispielsweise parallel arbeitende Prozessoren analysiert. Einige dieser Prozessoren ermitteln die Straßenkrümmung in einer gewissen Vorausschau, wobei der Arbeitsbereich geschwindigkeitsabhängig ist; ein anderer hat die Aufgabe, Verkehrsschilder zu entdecken und selbst, oder unter Zuhilferufen von weiteren Prozessoren, diese auf Relevanz zu prüfen und ggf. ihre Information zu lesen. Weitere Prozessoren ermitteln die absolute Sicht­ weite auf der Straße. Zusätzlich können Sensoren wie z.B. Temperaturfühler 8, Schlupf- und Drehbeschleunigungsmeß­ geräte 9 an den Fahrzeugachsen, Meßgeräte 10 für Luftfeuch­ tigkeit, Geräte 11 zur Bestimmung der Oberflächenbeschaffen­ heit der Straße durch Reflexionsmessungen usw. vorgesehen sein, deren Daten einer Anpassungsschaltung 13 zugeführt werden, die das Signal der Informationsverarbeitungsein­ richtung 5 entsprechend den eingegebenen Sensorsignalen verändert und anpaßt. Hieraus wird die zulässige Maximal­ geschwindigkeit am Ort des Fahrzeugs V maxz bestimmt (evtl. mit glatten Übergangsfunktionen) und der Anzeigeneinheit zugeleitet. In Abhängigkeit von den Umgebungsbedingungen und dem Straßenzustand (Reibungskoeffizient infolge Feuchte, Temperatur) kann das Signal angepaßt werden.The image data signals from the image sensor ( 6 ), for example a video camera, are transmitted to the information processing unit (IE), digitized there and then analyzed by processors working in parallel, for example. Some of these processors determine the curvature of the road in a certain foresight, the working range being speed-dependent; another has the task of discovering traffic signs and checking them for relevance yourself or with the help of additional processors and, if necessary, reading their information. Additional processors determine the absolute visibility on the road. In addition, sensors such as temperature sensors 8 , slip and rotational acceleration devices 9 on the vehicle axles, measuring devices 10 for atmospheric humidity, devices 11 for determining the surface properties of the road by reflection measurements, etc. can be provided, the data of which are fed to an adaptation circuit 13 that Signal of the Informationsververarbeitungein direction 5 changes and adapts according to the input sensor signals. From this, the permissible maximum speed at the location of the vehicle V maxz is determined (possibly with smooth transition functions) and sent to the display unit. The signal can be adjusted depending on the ambient conditions and the road conditions (coefficient of friction due to humidity, temperature).

Wird beispielsweise von der Videokamera ein Verkehrs­ schild erfaßt, das die Höchstgeschwindigkeit auf 80 km/h begrenzt (vgl. Bild 1), so wird bei im übrigen guten Straßenverhältnissen dieser Wert als Höchstgeschwindigkeits­ wert solange angezeigt, bis das Aufhebungsschild erfaßt wird oder aufgrund anderer Daten wie z.B. die Erfassung eines Ortsschildes eine andere Höchstgeschwindigkeit ermittelt wird. Ergibt die Auswertung zusätzlicher Meßwerte wie z.B. Temperatur und Feuchtigkeit oder auch die Messung der Straßenkrümmung, daß die vom Verkehrsschild festgelegte Höchstgeschwindigkeit für eine sichere Fahrweise zu hoch ist, so wird von der Informationsverarbeitungseinheit 6 stattdessen die bei den jeweiligen Bedingungen gerade noch sichere Höchstgeschwindigkeit ermittelt und dem Fahrer in der Anzeigevorrichtung (17) zur Anschauung gebracht.If, for example, the video camera detects a traffic sign that limits the maximum speed to 80 km / h (see Fig. 1 ), this value is displayed as the maximum speed value in otherwise good road conditions until the suspension sign is detected or based on other data How, for example, the detection of a place name is another top speed. If the evaluation of additional measured values such as temperature and humidity or the measurement of the curvature of the road reveals that the maximum speed specified by the traffic sign is too high for a safe driving style, the information processing unit 6 instead determines the maximum safe speed under the respective conditions and the Drivers brought to the display in the display device ( 17 ).

Das System ist vorzugsweise mit einer Warnfunktion versehen, d.h. wenn die Momentangeschwindigkeit die ermittel­ te Höchstgeschwindigkeit überschreitet, so wird ein optisches oder akustisches Warnsignal erzeugt. Hierzu werden das die Momentangeschwindigkeit angebende Ausgangssignal eines Tachometers 14 und das die Höchstgeschwindigkeit angebende Ausgangssignal der Anpassungsschaltung 13 einer Warnschal­ tung 15, die eine Subtraktionsschaltung oder ein Komparator sein kann, zugeführt; mit dem Ausgangssignal dieser Warn­ schaltung 15 wird ein Alarmsignalgeber 16 betätigt. Das Alarm­ signal kann wiederum von dem Maß der Überschreitung der Höchstgeschwindigkeit abhängig sein. Nach einer besonderen Ausführungsform wird entsprechend der Differenz zwischen Momentangeschwindigkeit und ermittelter Höchstgeschwindig­ keit die Frequenz einer Blinkanzeige oder die Tonhöhe einer akustischen Anzeige verändert. Der Alarmsignalgeber kann in der Anzeigevorrichtung integriert sein.The system is preferably provided with a warning function, ie if the instantaneous speed exceeds the determined maximum speed, an optical or acoustic warning signal is generated. For this purpose, the output signal indicating the instantaneous speed of a tachometer 14 and the output signal indicating the maximum speed of the adaptation circuit 13 are fed to a warning circuit 15 , which can be a subtraction circuit or a comparator; with the output signal of this warning circuit 15 , an alarm signal generator 16 is actuated. The alarm signal can in turn depend on the extent to which the maximum speed has been exceeded. According to a special embodiment, the frequency of a flashing indicator or the pitch of an acoustic indicator is changed according to the difference between the instantaneous speed and the determined maximum speed. The alarm signal generator can be integrated in the display device.

Fig. 4 zeigt ein erstes Ausführungsbeispiel der Anzeige­ einheit 17. Die Skala 21 und der Zeiger 22 entsprechen den bekannten Tachometergeräten. Die Höchstgeschwindigkeit wird ebenfalls mit einer mechanischen Drehverstellanzeige eines Zeigers 23, d.h. mit einer analogen Darstellung angezeigt. Der Tragarm (Zeiger) 23 wird durch ein Verstell­ system koaxial mit dem Zeiger 22 unabhängig verstellt gemäß dem ermittelten Wert V maxz . Er trägt ein gut sichtbar einge­ färbtes Feld 24 mit einem Gegenzeigersymbol, das bei gefahrener Geschwindigkeit V maxz der Tachonadel 22 genau gegenübersteht. Fig. 4 shows a first embodiment of the display unit 17th The scale 21 and the pointer 22 correspond to the known tachometer devices. The maximum speed is also displayed with a mechanical rotary adjustment display of a pointer 23 , ie with an analog display. The support arm (pointer) 23 is adjusted by an adjustment system coaxially with the pointer 22 independently according to the determined value V maxz . He carries a clearly visible colored field 24 with a counter pointer symbol which is exactly opposite the speedometer needle 22 when the speed V maxz is being driven.

Ist die aktuelle Geschwindigkeit größer als V maxz (z.B. Schwellwert entsprechend der Breite des Feldes 24 nach rechts) so beginnt das Feld 24 frequenz- (und evtl. amplituden-) moduliert zu blinken, um den Fahrer zu warnen; die Anzeigegröße wird proportional zur Geschwin­ digkeitsüberschreitung gesteuert.If the current speed is greater than V maxz (eg threshold value corresponding to the width of field 24 to the right), field 24 begins to flash in a frequency-modulated (and possibly amplitude-modulated) manner in order to warn the driver; the display size is controlled in proportion to the overspeed.

Fig. 5 zeigt eine andere Ausführungsform. Bei ihr wird die Momentangeschwindigkeit mit einem Zeiger 22 ange­ zeigt, die Höchstgeschwindigkeit auf einer nichtmechanischen Leuchtskala mit diskreter Darstellung. Der Skala ist hier ein kreisringförmiges Leuchtfeld 25 unterlegt, dessen einzelne Segmente hellgeschaltet werden können. Durch Ein­ färbung der Lampen (z.B. drei je Segment mit den Farben grün, orange und rot) kann eine weitere Nuancierung der Anzeige bei unsicherem Reibungskoeffizienten Reifen/Straße erreicht werden, indem diese Lampen in Abhängigkeit von den Ausgangssignalen der Sensoren 8-12 betätigt werden. Die Warnfunktion bei Überschreiten von V maxz kann wie bei Variante I durch Blinken realisiert werden. Das Prinzip läßt sich einfach auf lineare Anzeigeninstrumente über­ tragen. Fig. 5 shows another embodiment. It shows the instantaneous speed with a pointer 22 , the maximum speed on a non-mechanical illuminated scale with a discrete display. The scale is underlaid with a circular light field 25 , the individual segments of which can be switched on. By coloring the lamps (e.g. three per segment with the colors green, orange and red), the display can be further shaded if the tire / road friction coefficient is unsafe, by actuating these lamps depending on the output signals of sensors 8-12 . The warning function when V maxz is exceeded can be implemented as with variant I by flashing. The principle can be easily transferred to linear display instruments.

Literaturhinweise:References:

1) Dickmanns, E.D.; Zapp, A.: "Guiding land vehicles along roadways by computer vision". AFCET-Conference "Automatique 85 - The tools for tomorrow", Toulouse, Oct. 1985, Proceedings.1) Dickmanns, E.D .; Zapp, A .: "Guiding land vehicles along roadways by computer vision ". AFCET Conference" Automatique 85 - The tools for tomorrow ", Toulouse, Oct. 1985, Proceedings.

2) Kuhnert, K.D.; Zapp, A.: "Wissensgesteuerte Bildfolgeaus­ wertung zur automatischen Führung von Straßenfahrzeugen in Echtzeit. Proc. 7th DAGM-Symp., Erlangen, in H. Niemann (ed.): Mustererkennung 1985, Informatik-Fachberichte 107, Springer-Verlag, 1985.2) Kuhnert, K.D .; Zapp, A .: "Knowledge-driven image sequence from evaluation for automatic guidance of road vehicles Real time. Proc. 7th DAGM Symp., Erlangen, in H. Niemann (ed.): Pattern recognition 1985, computer science reports 107, Springer publishing house, 1985.

Claims (8)

1. System zum Anzeigen der aktuell gültigen oder nach den Umgebungsbedingungen sicheren Höchstgeschwindigkeit für Straßenfahrzeuge mit
  • a) einem elektronischen Bildsensor (6) zum Erfassen der dem Fahrzeug (4) vorausliegenden Fahrbahn (1), deren Umgebung und von vorgegebenen Verkehrsinforma­ tionszeichen (2, 3) und Verkehrsinformationen;
  • b) einer Informationsverarbeitungseinheit (5) zur Analyse der von dem Bildsensor (6) gelieferten Bilddaten in Echtzeit;
1. System for displaying the currently valid or safe maximum speed for road vehicles with the ambient conditions
  • a) an electronic image sensor ( 6 ) for detecting the vehicle ( 4 ) ahead lane ( 1 ), its surroundings and predetermined traffic information signs ( 2 , 3 ) and traffic information;
  • b) an information processing unit ( 5 ) for analyzing the image data supplied by the image sensor ( 6 ) in real time;
dadurch gekennzeichnet, daß
  • c) der Bildsensor (6) Bilddaten aus unterschiedlichen Blickrichtungen liefert;
  • d) die Informationsverarbeitungseinrichtung (5) aus den Bilddaten Informationen über den Verlauf der Fahrbahn (1), die Sichtbarkeitsgrenzen (18) und über Verkehrs­ informationszeichen (2, 3) extrahiert und aus diesen Informationen einen Höchstgeschwindigkeitswert ermittelt und ein entsprechendes Höchstgeschwindigkeitssignal erzeugt; und
  • e) daß das Höchstgeschwindigkeitssignal und ein Momentan­ geschwindigkeitssignal einer Anzeigeeinrichtung (17) zugeführt werden, die auf der gleichen Skala oder auf unmittelbar benachbarten Skalen die Höchstgeschwindig­ keit und die Momentangeschwindigkeit des Fahrzeugs anzeigt.
 characterized in that
  • c) the image sensor ( 6 ) delivers image data from different viewing directions;
  • d) the information processing device ( 5 ) extracts information about the course of the road ( 1 ), the visibility limits ( 18 ) and traffic information signs ( 2 , 3 ) from the image data and determines a maximum speed value from this information and generates a corresponding maximum speed signal; and
  • e) that the maximum speed signal and a current speed signal are supplied to a display device ( 17 ) which shows the maximum speed and the current speed of the vehicle on the same scale or on immediately adjacent scales.
2. System nach Anspruch 1, dadurch gekennzeichnet, daß das von der Informationsverarbeitungseinrichtung (5) erzeugte Höchstgeschwindigkeitssignal einer Anpassungs­ schaltung (13) zugeführt wird, die dieses Signal nach Maßgabe der Ausgangssignale von Sensoren für die Tempe­ ratur (8), Reibungswerten (9), Feuchtigkeitswerten (10), Straßenoberflächeneigenschaften (11) und Fahrzeugbewe­ gung (12) anpaßt, wobei das Ausgangssignal der Anpassungs­ schaltung der Anzeigeeinrichtung (17) zugeführt wird.2. System according to claim 1, characterized in that the maximum speed signal generated by the information processing device ( 5 ) is fed to an adaptation circuit ( 13 ) which this signal in accordance with the output signals from sensors for the temperature ( 8 ), friction values ( 9 ) , Moisture values ( 10 ), road surface properties ( 11 ) and vehicle movement ( 12 ) adapts, the output signal of the adaption circuit being supplied to the display device ( 17 ). 3. System nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß das Ausgangssignal der Anpassungsschaltung (13) und das Ausgangssignal eines Momentangeschwindigkeitsmeßgerätes einer Warnschaltung (15) zugeführt werden, deren Ausgangs­ signal einen Alarmgeber (16) betätigt.3. System according to claim 1 or 2, characterized in that the output signal of the adaptation circuit ( 13 ) and the output signal of an instantaneous speed measuring device of a warning circuit ( 15 ) are supplied, the output signal actuates an alarm transmitter ( 16 ). 4. System nach Anspruch 3, dadurch gekennzeichnet, daß die Warnschaltung eine Differenzschaltung und/oder einen Komparator umfaßt.4. System according to claim 3, characterized in that the warning circuit comprises a differential circuit and / or a comparator. 5. System nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß mit dem Ausgangssignal der Warnschaltung (15) ein oder mehrere Leuchtanzeigefelder (25) in der Anzeigeeinrichtung angesteuert werden. 5. System according to claim 3 or 4, characterized in that with the output signal of the warning circuit ( 15 ) one or more light display fields ( 25 ) are controlled in the display device. 6. System nach Anspruch 5, dadurch gekennzeichnet, daß mit dem Ausgangssignal der Warnschaltung (15) die Blink­ frequenz eines Leuchtanzeigefeldes (25) gesteuert wird.6. System according to claim 5, characterized in that the flashing frequency of a light display field ( 25 ) is controlled with the output signal of the warning circuit ( 15 ). 7. System nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß mit dem Ausgangssignal der Warnschaltung (15) die Laut­ stärke und/oder die Frequenz eines akustischen Signal­ gebers gesteuert wird.7. System according to claim 3 or 4, characterized in that with the output signal of the warning circuit ( 15 ) the sound strength and / or the frequency of an acoustic signal transmitter is controlled.
DE3619824A 1986-06-12 1986-06-12 Device for displaying the current speed or the maximum speed for road vehicles that is safe according to the ambient conditions Expired - Fee Related DE3619824C2 (en)

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