EP1327968A2 - Véhicule avec moyens pour reconnaissance d'image - Google Patents

Véhicule avec moyens pour reconnaissance d'image Download PDF

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Publication number
EP1327968A2
EP1327968A2 EP02027235A EP02027235A EP1327968A2 EP 1327968 A2 EP1327968 A2 EP 1327968A2 EP 02027235 A EP02027235 A EP 02027235A EP 02027235 A EP02027235 A EP 02027235A EP 1327968 A2 EP1327968 A2 EP 1327968A2
Authority
EP
European Patent Office
Prior art keywords
signal
motor vehicle
lane
processing
vehicle according
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.)
Granted
Application number
EP02027235A
Other languages
German (de)
English (en)
Other versions
EP1327968B1 (fr
EP1327968A3 (fr
Inventor
Torsten Gollweski
Manfred Hofbauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
Original Assignee
Audi AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Audi AG filed Critical Audi AG
Publication of EP1327968A2 publication Critical patent/EP1327968A2/fr
Publication of EP1327968A3 publication Critical patent/EP1327968A3/fr
Application granted granted Critical
Publication of EP1327968B1 publication Critical patent/EP1327968B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • 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
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on 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
    • G08G1/096708—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
    • G08G1/096725—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 generates an automatic action on the vehicle control
    • 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
    • G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
    • 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

Definitions

  • the invention relates to a motor vehicle.
  • a suitable Detection system e.g. a GPS (Global Positioning System) or DGPS (Differential Global Positioning System) the actual position of a vehicle too capture and with in a vehicle-mounted storage means in the form of "digital road maps" comparable data to compare This way, a deviation from the permissible target distance to to capture. If such an impermissible deviation is determined, then For example, a warning signal issued or via the engine control unit the vehicle will be switched off.
  • GPS Global Positioning System
  • DGPS Different Global Positioning System
  • the invention is based on the problem to provide a motor vehicle, the a reliable determination of any wrong drive, be it when driving on a highway or, for example, the wrong retraction in one One-way street, captured.
  • a motor vehicle an image pickup means for taking pictures of the images with the Motor vehicle or road to travel and with Processing and evaluation means for determining a possible in the Picture visible road sign, its contents and its Assignment to the used or driven lane as well as to the Issue at least one recognizable to the driver action triggering signal depending on the determination result are formed, provided.
  • the processing and evaluation are preferably continuously Pictures taken of the used or to be driven lane and evaluated to recognize any signs shown in them.
  • the processing and evaluation are also able to Control content, ie the relevant for the driver or traffic Information to determine and the road sign of a particular lane so as to recognize whether it is for the driver or to be driven Roadway is or not.
  • a signal can be output via which then triggers a suitable, recognizable by the driver action is, for example, the impending or already given Indicates dangerous situation.
  • the entire situation recording is done so vehicle internally.
  • the processing and evaluation have for example, via a suitable computing device, the one can perform appropriate image analysis for traffic sign detection.
  • the processing and evaluation means for Recognition of a sign prohibiting the entrance and to issue a Signal with recognized assignment of the sign to the traffic lane be educated.
  • the simplest Form of invention design is about the processing and Analysis means analyzed the image to see if in it a "driveway "prohibited" sign is shown next to its assignment to be used or checked roadway.
  • the signal is output, because then there is a risk of incorrect entry. For example, if a "driveway However, it is a parallel lane and not assigned to the traffic, so omits the signal output, since then the There is no danger of wrong-way driving.
  • the processing and evaluation means for detecting one the beginning of a highway or other roadway with a excellent direction indicating sign and to issue a Signal when detected assignment of the sign to be driven or to driving lane and in the presence of at least one other an evaluation of the or subsequently taken pictures resulting information about the used or to be driven roadway be educated.
  • analyze the Processing and evaluation means a recorded image to for example, if a beginning "highway" sign shown and whether this is the traffic or road to be traveled is assigned. Is both the Case, it can be assumed that the driver is the right lane For example, has chosen to drive on the highway. nevertheless Of course, it can still happen that the driver wrongly switched from the right lane to a wrong lane.
  • the curvature of the curves in the Image or in a roadway shown below be determined and taken into account.
  • the processing and evaluation means are trained accordingly to get out of the captured image suitable data transformation the curve curvature of the traveled Track lane.
  • the curve curvature in shape an optionally signed value, where this part of the processing and evaluation with a corresponding setpoint is compared.
  • the signaling is in this case then dependent on the comparison result. So for example, a "Start highway" sign detected and the busy lane assigned and capture the processing and evaluation that the Road turns into a right turn, as is usually the case Highway entrances is the case, since the driveway then in the threading track of Highway passes, so a signal would not be required.
  • the processing and evaluation means a two parallel lanes bordering and separating Lane marking is recorded and checked, whether these are below is overrun, which would mean an illegal lane change.
  • the processing and evaluation means for determining a Ausfädelspur leading off a highway and, where appropriate one on a motorway leading Einfädelspur as another road-related information, depending on the or if necessary, a new signal output takes place are formed.
  • the Processing and output means or their image analysis vorpeldes Means is capable of this invention embodiment, certain Determine lanes, as they are typical of highways. At a Motorway exit branches off from the actual right freeway lane Departure trail, which then merges into the motorway exit.
  • These characteristic tracking can be detected by the image processing means be, for example, by detecting the location of the green area or the guardrail (which must be in the left picture area at the threading track) or by detecting the position of the parallel to Einfädelspur Motorways, etc.
  • a signal output can be omitted.
  • a Ausfädelspur detected so is immediately the signal output and the corresponding alarm are triggered.
  • the processing and evaluation means for determining Target lane data based on image acquisition and comparison the target lane data with actual data representing the current position of the Vehicle, in particular by means of a GP or DGP system recorded data and to output a signal if missing Match the data are formed.
  • the actual position of the Vehicle specifying data in addition to already described data processing also a consideration of recorded via external detection systems, the actual position of the Vehicle specifying data.
  • an audible and / or an optical warning signal be issued.
  • a warning sound can be generated or There is a voice output such that the driver on the Hazardous situation, e.g. by an announcement "Attention, it it could be the wrong lane "or something like that conceivable to output optical flashing signals that are as conspicuous and for the driver are recognizable, for example in the form of a red warning light (an optional signal to be subsequently given would then be for example, a green light), of course, too acoustic and optical signals are given simultaneously.
  • the driver may manually and / or aurally, e.g.
  • voice input which can suppress the warning signal
  • corresponding means e.g. a button or switch or equivalent Voice input option are provided. So for example, a However, the driver is definitely sure that he will give the warning signal On the right lane, he can suppress the warning signal about this.
  • Fig. 1 shows the relevant components of a not shown in detail Motor vehicle, for the situation analysis of the invention and Evaluation and subsequent possible driver warning are required.
  • an image pickup means 1 in the form of a camera, for example, in the upper area of the windshield is arranged looking forward, continuous pictures of the road are taken.
  • the Image pickup means 1 are processing and evaluation means 2 downstream, which initially comprise an image processing means 3, in which the images taken with the image pickup means 1 are analyzed.
  • traffic signs 4a, 4b are detected, whether they are in recorded image are present.
  • the image 4a is in shown embodiment to an entry prohibition sign, the shield 4b it is a sign indicating the beginning of a motorway.
  • the Image processing means 3 which have a corresponding computing and Processing device are capable of, from the delivered Image data, the corresponding data indicating a traffic sign analyze and to determine the regulatory content with in one closer storage data stored known comparison data Road signs to compare. That in that case would not be in that shown storage area the data to the shields 4a, 4b deposited with which the analyzed data are compared to a definitive one Shield determination to make.
  • the image processing means for detecting the curvature of a trained roadway as indicated by the symbol 5, the one after on the left and a curved lane to the right, is indicated.
  • a curvature of the Image data analyzed road descriptive value or the like can be determined, which then describes the curvature. For example, can one Right curvature a value of "+1" and a left curvature a value of Be assigned "-1".
  • the image processing means 3 are for analyzing and recognizing a Ausfädelspur and a Einfädelspur trained on a highway, as indicated by the symbols 6.
  • the symbol 6a shows the possibility the detection of a Ausfädelspur
  • the symbol 6b shows the possibility of Detection of a threading track based on the recorded images.
  • the information and analysis results are calculated by the Image processing means 3 to an evaluation device 7, which is also part the processing and evaluation means 2 is given, in which a Situation analysis and evaluation of the given determination and evaluation Analysis results done. Results in consideration of the delivered Parameter that a wrong course is present, so is about the Evaluation device 7 outputs a signal to trigger a for the driver recognizable action serves. This can, for example, a audible warning 8 or an optical warning 9 or both be issued together, which the driver unmistakably on the indicate a given or imminent danger situation. Besides there is a possibility that the signal to a control unit 10, the Operation of the motor vehicle engine 11 controls are given.
  • the Control unit can, for example, the engine 11 completely when signaling switch off or throttle, so that only a slow ride with the Possibility of a vehicle application or the like is given.
  • Fig. 2 shows in the form of a schematic diagram of a typical roadway guide in Area of a motorway exit and exit. Shown is fragmentary one Highway 12, from which a Ausfädelspur 13 in a motorway exit 14 passes, which in turn opens into a federal highway 15 or the like. On the other side leads from the main road 15, a motorway entrance 16 in a threading 17, then retracted on the highway 12 can be. In the example shown, the uphill and downhill are over corresponding structural islands 18 at least partially separated.
  • a motor vehicle 19 travels the federal highway 15.
  • Am Motor vehicle 19 is the windshield side, the image pickup means 1, such as it is known from Fig. 1, is provided. It takes the ones lying in front of him Roadway up.
  • the motor vehicle 1 erroneously moves to the left in FIG take the exit 14.
  • This driving situation is indicated by the dashed Arrow I shown.
  • This entrance is forbidden, as the prohibition sign 4a, which in the shown example is on the left lane edge, clearly shows.
  • This Prohibition sign 4a is visible in the captured image and is about the Image processing means 3 detected and used by the motor vehicle 19 Roadway, so assigned to the motorway exit 14, so that the Evaluation 7 immediately detects a wrong-way and the or Signals for issuing the warning signals, etc. outputs.
  • the motor vehicle 19 travels as shown by the dashed line Arrow II indicated correctly in the designated highway entrance 16 a.
  • the beginning of the highway is over here on the right side of the road arranged road sign 4b displayed.
  • This road sign 4b will also recorded and the image processing means 3 detected.
  • Moves the motor vehicle 19 continues and takes the driver Lane, as indicated by the dashed arrow IIa, so describes the driveway 16 is a right turn.
  • These Curve curvature is also detected via the image processing means 3 and together with the detected road sign and its assignment given to the evaluation 7, in the context of the situation analysis and evaluation recognizes that the correct lane is being used. to last safety is as soon as the Einfädelspur 17 in the taken picture is recognizable, this also recognized by the image processing means 3, so that definitely ensures that the correct driveway is chosen.
  • the lane runs after turning off the Bundes pieces 15 is essentially straightforward and then goes into the Right-hand bend of the motorway exit 16 via. But there is also the Possibility that the lane first describes a slight left turn and then turns into the right-hander. This left turn would over the processing means 3 also recognized and evaluated, with a Left turn but for a highway entrance in and of itself is unusual and may be an indication of a possible wrong-way drive, although before the Shield 4b has been broken. Either can already in this case a signal be issued to give a warning signal, which after detection the next right turn either canceled or by gift a release signal is changed, but at the latest when the Threading track 17 was definitely recognized. There is also the possibility of that To suppress signal upon detection of the slight left turn and first to wait for the further course of the drive until the possibility to detect the Ausfädelspur 13 or the Einfädelspur 17 is given, which then finally allows a situation assessment.
  • the lane detection according to the invention can also be supported in that the evaluation device 7 has actual position data, e.g. above GPS or DGPS are recorded, these being with of the Image processing means 3 given data can be compared and can thus enter into the analysis and evaluation result.
  • actual position data e.g. above GPS or DGPS are recorded, these being with of the Image processing means 3 given data can be compared and can thus enter into the analysis and evaluation result.
  • Fig. 3 shows a flowchart for illustrating the test procedure.
  • the image processing means 3 is an image processing such that First, it checks whether in the picture shown a "forbidden entrance" sign is available. If this is the case, then immediately the output of a visual or audible warning or a suitable one Control intervention in vehicle operation. Will not be "entrance forbidden” sign detected, it is checked if a "start highway” sign in the picture is shown. If this is not the case, the control loop returns and analyzes the next captured image in the manner described.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)
EP02027235A 2002-01-11 2002-12-06 Véhicule avec moyens pour reconnaissance d'image Expired - Lifetime EP1327968B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10200785A DE10200785B4 (de) 2002-01-11 2002-01-11 Kraftfahrzeug
DE10200785 2002-01-11

Publications (3)

Publication Number Publication Date
EP1327968A2 true EP1327968A2 (fr) 2003-07-16
EP1327968A3 EP1327968A3 (fr) 2003-12-10
EP1327968B1 EP1327968B1 (fr) 2005-08-24

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EP02027235A Expired - Lifetime EP1327968B1 (fr) 2002-01-11 2002-12-06 Véhicule avec moyens pour reconnaissance d'image

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EP (1) EP1327968B1 (fr)
DE (2) DE10200785B4 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8370755B2 (en) 2007-12-27 2013-02-05 Core Wireless Licensing S.A.R.L. User interface controlled by environmental cues
WO2015032707A1 (fr) * 2013-09-06 2015-03-12 Robert Bosch Gmbh Procédé et dispositif de commande et de détection pour plausibiliser la circulation d'un véhicule à moteur à contre-sens
WO2015032704A1 (fr) * 2013-09-06 2015-03-12 Robert Bosch Gmbh Procédé et dispositif de détection et de commande servant à la détermination de la plausibilité d'une circulation dans le mauvais sens d'un véhicule automobile
WO2015032705A1 (fr) * 2013-09-06 2015-03-12 Robert Bosch Gmbh Procédé et dispositif de commande et de détection permettant de déterminer la plausibilité d'une circulation à contre-sens d'un véhicule automobile
EP2983151A3 (fr) * 2014-08-08 2016-06-01 Suchar, Rudolf Concept de reconnaissance d'une marche a contre-sens
DE102016220947A1 (de) 2016-10-25 2018-06-28 Ford Global Technologies, Llc Fahrerassistenzsystem
US10460184B2 (en) 2017-02-23 2019-10-29 Hyundai Motor Company Image information acquiring apparatus, vehicle, and control method thereof

Families Citing this family (8)

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DE102007048842A1 (de) * 2007-10-11 2008-09-04 Vdo Automotive Ag Fahrerassistenzsystem zur Warnung bei Falschfahrt
DE202008017672U1 (de) * 2008-09-11 2010-04-22 Twachtmann, Heinz-Werner Vorrichtung zur Verhinderung des Fahrens entgegen der vorgeschriebenen Fahrtrichtung
DE102008043761B4 (de) * 2008-11-14 2017-04-27 Robert Bosch Gmbh Verfahren und Steuergerät zum Anpassen eines Fahrzeugassistenzsystems
KR101663511B1 (ko) * 2015-04-30 2016-10-14 엘지전자 주식회사 차량 운전 보조 장치, 차량 운전 보조 장치의 제어 방법 및 차량
DE102015218004A1 (de) 2015-09-18 2017-03-23 Conti Temic Microelectronic Gmbh Fahrerassistenzvorrichtung und Verfahren zur frühzeitigen Vermeidung von Falschfahrten
KR102163317B1 (ko) * 2016-09-22 2020-10-08 엘지전자 주식회사 차량의 제어 방법
US10160459B2 (en) 2017-03-22 2018-12-25 Ford Global Technologies, Llc Vehicle lane direction detection
DE102023203592A1 (de) 2023-04-19 2024-10-24 Volkswagen Aktiengesellschaft Verfahren zur Erkennung des Fahrens eines Fahrzeugs entgegen einer vorgeschriebenen Fahrtrichtung

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DE19934774A1 (de) * 1999-07-23 2001-02-01 Audi Ag Steuerung für ein Fahrzeug zum Vermeiden von Falschfahrten

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DE19829162A1 (de) * 1998-06-30 2000-01-05 Erwin Dietz Verwendung einer elektronischen Kamera und einer mit ihr zusammenarbeitenden Bilderkennungseinrichtung in einem Automobil zum Erkennen von Verkehrszeichen
DE19931161A1 (de) * 1999-07-06 2001-01-11 Volkswagen Ag Verfahren und Einrichtung zum abstandssensitiven, geschwindigkeitsgeregelten Fahrbetrieb bei Kraftfahrzeugen
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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8370755B2 (en) 2007-12-27 2013-02-05 Core Wireless Licensing S.A.R.L. User interface controlled by environmental cues
JP2016532975A (ja) * 2013-09-06 2016-10-20 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 自動車の誤走行の確実性を検査する方法および制御検出装置
US9767686B2 (en) 2013-09-06 2017-09-19 Robert Bosch Gmbh Method and control and detection device for determining the plausibility of a wrong-way travel of a motor vehicle
WO2015032705A1 (fr) * 2013-09-06 2015-03-12 Robert Bosch Gmbh Procédé et dispositif de commande et de détection permettant de déterminer la plausibilité d'une circulation à contre-sens d'un véhicule automobile
CN105518759A (zh) * 2013-09-06 2016-04-20 罗伯特·博世有限公司 用于核查机动车的错误方向行驶的方法以及控制和检测装置
CN105518761A (zh) * 2013-09-06 2016-04-20 罗伯特·博世有限公司 用于对机动车的错误行驶进行可信度检验的方法以及控制和检测装置
CN105518758A (zh) * 2013-09-06 2016-04-20 罗伯特·博世有限公司 用于核查机动车错误方向行驶的方法以及控制和检测装置
WO2015032704A1 (fr) * 2013-09-06 2015-03-12 Robert Bosch Gmbh Procédé et dispositif de détection et de commande servant à la détermination de la plausibilité d'une circulation dans le mauvais sens d'un véhicule automobile
WO2015032707A1 (fr) * 2013-09-06 2015-03-12 Robert Bosch Gmbh Procédé et dispositif de commande et de détection pour plausibiliser la circulation d'un véhicule à moteur à contre-sens
US10395527B2 (en) 2013-09-06 2019-08-27 Robert Bosch Gmbh Method and control and detection device for a plausibility check of a wrong-way driving incident of a motor vehicle
US9786166B2 (en) 2013-09-06 2017-10-10 Robert Bosch Gmbh Method and control and detection unit for checking the plausibility of a wrong-way driving incident of a motor vehicle
CN105518761B (zh) * 2013-09-06 2019-04-05 罗伯特·博世有限公司 用于对机动车的错误行驶进行可信度检验的方法以及控制和检测装置
EP2983151A3 (fr) * 2014-08-08 2016-06-01 Suchar, Rudolf Concept de reconnaissance d'une marche a contre-sens
DE102016220947A1 (de) 2016-10-25 2018-06-28 Ford Global Technologies, Llc Fahrerassistenzsystem
US10394235B2 (en) 2016-10-25 2019-08-27 Ford Global Technologies, Llc Driver assistance system
US10460184B2 (en) 2017-02-23 2019-10-29 Hyundai Motor Company Image information acquiring apparatus, vehicle, and control method thereof

Also Published As

Publication number Publication date
DE10200785B4 (de) 2005-09-29
DE10200785A1 (de) 2003-07-31
EP1327968B1 (fr) 2005-08-24
DE50204015D1 (de) 2005-09-29
EP1327968A3 (fr) 2003-12-10

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