EP2017807B1 - Procédé de détermination automatique des limitations de vitesse sur une route et système associé - Google Patents

Procédé de détermination automatique des limitations de vitesse sur une route et système associé Download PDF

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Publication number
EP2017807B1
EP2017807B1 EP08160548A EP08160548A EP2017807B1 EP 2017807 B1 EP2017807 B1 EP 2017807B1 EP 08160548 A EP08160548 A EP 08160548A EP 08160548 A EP08160548 A EP 08160548A EP 2017807 B1 EP2017807 B1 EP 2017807B1
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Prior art keywords
index
speed limit
information
confidence
road
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German (de)
English (en)
French (fr)
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EP2017807A1 (fr
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Benazouz Bradai
Anne Herbin-Sahler
Jean-Philippe Lauffenburger
Michel Basset
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Valeo Vision SAS
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Valeo Vision SAS
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    • 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
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • 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

Definitions

  • the present invention relates to a method for determining speed limits on a road taken by a motor vehicle, and a system for implementing this method.
  • the main purpose of the invention is to propose a solution for automatically determining, in all circumstances, information relating to a speed limit that applies to a road taken, or about to be borrowed, by a motor vehicle. The information thus determined is then exploitable in different applications equipping the vehicle in question.
  • the information relating to a speed limit is used in the context of a driving assistance system by explicitly indicating to the driver what is the maximum speed allowed, for example when this last is in excess of this maximum speed.
  • the first type of solution lies in the exploitation of information from a navigation system.
  • These navigation systems are increasingly equipped vehicles for guiding the driver from a starting point (corresponding to the current position of his vehicle) to an end point (selected by the driver). They combine mapping information with vehicle position information, given by a GPS system, and often make it possible to know in advance the characteristics of the road.
  • information associated with the characteristics of the road lies in the speed limitation associated with this route.
  • Other information such as indication of the presence of intersections, motorway exit ... are also available through such a system.
  • the driver selects a so-called guiding option to go from point A to point B, the path that the vehicle is likely to take is known in advance, and knowledge of the speed limits that will be in force. on this journey can be widely anticipated, up to ten kilometers in advance.
  • a second type of solution for automatically determining a speed limitation in force lies in the exploitation of information from an image processing system.
  • Such a system involves at least one camera and image processing software applications.
  • the camera takes an image of the road scene, and image processing is used to detect the speed limit signs and to recognize the characters written in these signs.
  • This system displays the speed limit of the detected panel, with a certain confidence index.
  • a system known as "Speed Limit Support” is such a driver assistance system that informs the driver of the speed limit of the road taken to help him not to exceed said speed; it is intended to complement the manual speed limiter, already marketed on certain vehicles.
  • this type of system has a certain number of malfunctions under certain traffic conditions, especially in the presence of motorway exits, during the night or when the vehicle is moving at high speed, as well as in cases where there are specific speeds for different vehicle categories. In such cases, the proper operation of character recognition algorithms on speed limit signs is not guaranteed.
  • such systems are unable to detect the speed limitation signs actually in force, various panels for the various lanes present being identified, without being able to effectively realize the association between each panel and the corresponding road. It adds to this the fact that the range of such systems is only a few tens of meters; therefore, in the presence of obstacles in front of the vehicle or in the presence of several turns consecutive, speed limit signs are not detected by such systems.
  • the document DE19938266 discloses a method and system for detecting speed limitations to supplement the results from optical vision with map data.
  • the object of the invention proposes a solution to the problems that have just been exposed.
  • the invention proposes the combination of the two previously mentioned systems, namely the navigation system and the system associating camera and image processing applications, in proposing to merge these two sources of information. This gives a system for determining the speed limit in force much more reliable than the systems of the prior art. This in particular avoids the risk of confusion due to misinformation or misinterpretation of this information.
  • a particular example of implementation of the invention thus offers the advantage of being able to propose a degraded mode of operation, useful in the event of failure of one of the two systems, based on the other system, not failing; such a degraded mode is not available in the state of the art.
  • the invention thus makes it possible to obtain information relating to a speed limit in force on a road taken or about to be taken by a motor vehicle, said information resulting from the merging of the information provided by the two systems. distinct.
  • a confidence index is assigned at least to the navigation system, the confidence index then intervenes in the fusion of the information.
  • the information relating to the speed limits provided by at least one of the two systems is extrapolated to consider other speed limits as being likely to be in force on the road considered; we then associate each of these other speed limits with a weighting coefficient, called mass of belief, involved in the merging of all the information then available. relating to the speed likely to be actually in effect, merging information ensuring the final determination of the speed limit sought.
  • the present invention relates to any motor vehicle equipped with the automatic determination system of a speed limit in force on a road taken, or about to be borrowed, by the motor vehicle considered, with its main characteristics and possibly its complementary feature.
  • the geographical positioning system may for example be a system comprising a network of satellites for geodetic positioning of receivers with which they communicate, such as for example the GPS network.
  • the data receiver is in this case a receiver or GPS antenna.
  • FIG. 1 schematically shows the various elements involved in an exemplary implementation of the method according to the invention within a motor vehicle, to obtain a speed limitation 153 in force on a borrowed road, or about to be borrowed by a motor vehicle.
  • the vehicle in question carries a first system 101, said navigation system, allowing in particular an estimation of the authorized speed at a given location, and in particular involving mapping data 111 and a GPS antenna 112 placed on the vehicle and able to receive data. precise location information.
  • the first system 101 also makes use of on-board sensors 113 of the vehicle in question, of the type of speed sensor, gyroscope, etc. These different sensors are capable of delivering various information making it possible in particular to check the coherence between the route. actually followed by the vehicle, and the course provided by the navigation system.
  • the navigation system 101 provides a first set of information 151 on the desired speed limit at a location, particularly near the instantaneous position of the vehicle.
  • the first set of information 151 comprises at least a likely speed limitation corresponding to the speed limitation established by the navigation system 101, associated with a first confidence index IC1.
  • the type of road can be a discriminating criterion on speed limits because the speed limits at the base are already defined by type of road. Consequently, this criterion can have a greater weight than for the guidance mode, and therefore have a coefficient of 3 for the type of road and a coefficient 1 for the guidance mode.
  • Table 1 below gives an example of assigning values to the various criteria involved.
  • the abbreviation "SL” in Table 1 below indicates the speed limit considered.
  • determination of the first confidence index other parameters may be taken into account, in particular the accuracy of the digitization of the map, the date of update of this map, the state of the road traffic. ..
  • the state of the road traffic can be obtained for example through the traffic information in real time.
  • Real-time traffic information also known as "RDS / TMC” (for "Radio Data System / Traffic Message Channel”
  • RDS / TMC for "Radio Data System / Traffic Message Channel”
  • the information relating to road traffic can also be transmitted by the mobile telephone networks and thus be picked up on a reception terminal associated with the navigation system. It is also possible to obtain the information via an access device to a global or global computer network (such as the Internet), connected to or integrated into the navigation system.
  • the vehicle also carries a second system 102, said image processing system, which is also able to estimate the speed limit on a road taken or about to be taken by the vehicle.
  • the system 102 notably uses a camera 121 capturing images of the road about to be taken by the vehicle, and a set of image processing applications 122 whose algorithms make it possible in particular to identify limitation panels. located in the vicinity of the road, that is to say visible from the vehicle, and to interpret the figures shown on these panels to deduce the speed in effect on the road in question.
  • the algorithms used may for example involve shape recognition applications to recognize the round shapes of the speed limitation panels, associated with a color discrimination allowing to retain only the panels having a red outline, and recognition algorithms of character to identify the figures represented, individually or as a whole.
  • the image processing system 102 makes it possible to obtain a second set of information 152 comprising at least one probable speed limitation at the considered location.
  • the probable speed limitation is associated with a second confidence index IC2.
  • a third confidence index IC3 is advantageously associated with the desired speed limitation 153. It makes it possible to present a level of reliability of the information obtained at the output of the fusion system 154. It is then used freely according to the examples of implementation. for example, if the third confidence index is below a threshold value, it is expected to choose the use of a degraded operating mode in which no information on a current speed limit is provided to the driver. The speed limiting results provided by the system according to the invention are then not exploited.
  • the third confidence index is equal to the average of the first confidence index and the second confidence index.
  • the speed limit associated with the best confidence index or the weighted average of the two probable and probable speed limits can be directly determined as the desired speed limit, the weighting coefficients then corresponding to the respective confidence indices.
  • An intermediate value of speed limitation is then obtained; the desired speed limit is then the regulation speed limit that comes closest to the intermediate speed limit, 90 km / h in the illustrated example.
  • a step 300 is added, relative to the first embodiment, in the flow of the process.
  • the added step 300 consists, for each of the two systems, in enriching the sets of information 151 and 152 with other, respectively probable or probable, complementary speed limits, from the speed limitation obtained at the output of each of the two embedded systems.
  • the likely speed limitation initially determined is supplemented by the two regulatory speed limits which directly border the speed limit initially determined.
  • the speed limit 80 km / h has been determined as likely the first set of information 151 is then supplemented by the speed limits 70 km / h and 90 km / h.
  • Other examples of implementation take into account the presence of particular characteristics of the road taken, considering for example the presence or the absence of a motorway exit (in order to avoid for example, that the process of determination does not confuse the speed limitation of the deceleration band, detected by the image processing system, with that of the taxiway on which the vehicle is moving), the possible presence of intersections, of particular geographical characteristics ( very uneven ).
  • Table 2 below gives an example indicating which additional likely speed limitations, also called focal elements, complete the first set of information 151 for each likely speed limitation that was determined by the first system 101.
  • Table 2 Probable speed limits Number of Complementary Probable Speed Limitations Additional likelihood velocities (focal elements) 5 2 10, 999 10 3 5, 20, 999 20 3 10, 30, 999 30 3 20, 45, 999 45 3 30, 50, 999 50 6 45, 60, 90, 110, 130, 999 60 3 50, 70, 999 70 3 60, 80, 999 80 3 70, 90, 999 90 4 50, 80, 100, 999 100 3 90, 110, 999 110 6 50, 90, 100, 120, 130, 999 120 3 110, 130, 999 130 5 50, 90, 110, 120, 999 999 0 x
  • Each of the speed limits present in the information set 151 is then assigned an index, designated as belief mass M, which corresponds, for each of the speed limits considered, to a probability that said speed limit considered is the speed limitation sought.
  • belief mass M an index, designated as belief mass M, which corresponds, for each of the speed limits considered, to a probability that said speed limit considered is the speed limitation sought.
  • the most important mass of belief is attributed to the likely speed limitation given by the navigation system 101, the additional likely speed limitations adopting lower belief masses, determined in particular according to the characteristics of the road available by the system. navigation (for example, if the road is identified as a motorway, the belief masses of the focal elements will be more important for the high speed limit values); the sum of the belief masses attributed for the first set of information is then 100%.
  • the initially determined probable speed limit is supplemented by regulatory speed limits with which the pattern recognition algorithm could have confused at least one of the present numbers. on the panel.
  • the second set of information 152 is then supplemented by the speed limits 60 km / h and 80 km / h, the risk of confusion between 9 and 6 on the one hand, and between 9 and 8 on the other hand, being important.
  • exemplary embodiments take into account the continuity over several successive images of the presence of the information relating to the presence of a given speed limitation to determine the focal elements: if between several images detecting the speed limitation 90 km / h appear one or more isolated images on which appears another speed limitation, then this other speed limit will belong to the focal elements.
  • each of the speed limits present in the information set 152 is assigned an index, designated as belief mass M, which corresponds, for each of the speed limits considered, to a probability that said speed limit considered to be the speed limit sought.
  • belief mass M an index assigned to each of the speed limits considered, to a probability that said speed limit considered to be the speed limit sought.
  • the determination of confidence indices, and / or belief masses, and their intervention in the fusion of knowledge from the two systems depend on the merger strategy chosen.
  • various methods extracted from the so-called belief theory can be used in the data fusion system 154.
  • one of the methods known under the name of "conjunctive combination" of Dempster-Shafer, associated with a so-called Dempster-Shafer equation gives particularly convincing results.
  • Other methods, based on Bayesian theories, or fuzzy logic set theory can also be used in the data fusion system 154. These methods appear in a step 301 shown in FIG. figure 3 .
  • the speed limit in force can for example be displayed on a screen.
  • Embodiments may also be provided where the established effective speed limit is compared to the vehicle speed. According to certain embodiments, if the speed of the vehicle is greater than the speed limit in force established, the system alerts the driver, either by a display on a screen, or acoustically or haptically (vibrator under the seat for example) or by hardening the accelerator pedal. According to an alternative embodiment, the system can automatically reduce the speed of the vehicle (by intervening at the speed regulator for example), when the speed of the vehicle is greater than the speed in effect determined by the method according to the present invention.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Ac Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP08160548A 2007-07-20 2008-07-16 Procédé de détermination automatique des limitations de vitesse sur une route et système associé Active EP2017807B1 (fr)

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FR0705299A FR2919098B1 (fr) 2007-07-20 2007-07-20 Procede de determination automatique des limitations de vitesse sur une route et systeme associe

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EP (1) EP2017807B1 (ja)
JP (1) JP5405775B2 (ja)
AT (1) ATE475959T1 (ja)
DE (1) DE602008001926D1 (ja)
FR (1) FR2919098B1 (ja)

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EP3021302A1 (fr) 2014-11-12 2016-05-18 Valeo Schalter und Sensoren GmbH Détermination automatique d'une limitation de vitesse sur une route
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CN103226895A (zh) * 2012-01-26 2013-07-31 罗伯特·博世有限公司 用于为导航装置提供速度警告信息的方法和数据处理装置
CN103226895B (zh) * 2012-01-26 2017-07-21 罗伯特·博世有限公司 用于为导航装置提供速度警告信息的方法和数据处理装置
EP3021302A1 (fr) 2014-11-12 2016-05-18 Valeo Schalter und Sensoren GmbH Détermination automatique d'une limitation de vitesse sur une route
EP3021303A1 (fr) 2014-11-13 2016-05-18 Valeo Schalter und Sensoren GmbH Détermination automatique d'une limitation de vitesse sur une route à partir d'un système de navigation
DE102018130919A1 (de) 2018-12-05 2020-06-10 Valeo Schalter Und Sensoren Gmbh Verfahren zum Bestimmen einer gegenwärtigen Geschwindigkeitsbeschränkung auf einer Straße in Abhängigkeit von einer ersten Geschwindigkeitsbeschränkungsinformation und einer zweiten Geschwindigkeitsbeschränkungsinformation, Computerprogrammprodukt, elektronische Steuereinheit und elektronisches Fahrzeugführungssystem
FR3136579A1 (fr) * 2022-06-14 2023-12-15 Psa Automobiles Sa Procédé et dispositif de contrôle d’un système d’indication d’une limite de vitesse d’un véhicule en fonction d’une information de pollution de l’air

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US8428307B2 (en) 2013-04-23
ATE475959T1 (de) 2010-08-15
EP2017807A1 (fr) 2009-01-21
FR2919098B1 (fr) 2010-06-11
DE602008001926D1 (de) 2010-09-09
JP2009037613A (ja) 2009-02-19
JP5405775B2 (ja) 2014-02-05
US20090041304A1 (en) 2009-02-12
FR2919098A1 (fr) 2009-01-23

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