EP2247476A1

EP2247476A1 - Method for assisting a user of a vehicle, a control device for a driver assistance system of a vehicle and vehicle having such a control device

Info

Publication number: EP2247476A1
Application number: EP08873020A
Authority: EP
Inventors: Stephan Simon
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2008-02-26
Filing date: 2008-11-11
Publication date: 2010-11-10
Also published as: US8615357B2; DE102008011228A1; US20110010094A1; WO2009106162A1

Abstract

The invention relates to a method for assisting a user of a vehicle (2), in which vehicle state variables (v, a, q, ?, n) are sensed or determined by means of sensors (16) of the vehicle (2), and a camera (12) of the vehicle (2) senses a sensed area (14) of a road scene (1) at least in front of the vehicle (2) and outputs image signals (S12). The image signals (S12) are used to determine whether a further vehicle (7, 8, 9) which is outputting flashing signals is located in the sensed area (14). As a function of the determined vehicle state variables (v, a, q, ?, n) of the vehicle (2) and as a function of the determination whether other vehicles (7, 8, 9) indicate a change of direction, information signals, in particular warning signals, can be output to the user and/or an automatic driver assistance control process can be carried out during which control signals for interventions into a vehicle control process for a longitudinal control process and/or lateral control process, in particular an inter-vehicle distance control process, are output. In this context it is possible to determine respectively different possible control interventions and carry them out. Furthermore, a corresponding control device and the vehicle which is enabled thereby are provided.

Description

Description title

Method for assisting a user of a vehicle, control device for a driver assistance system of a vehicle and vehicle having such a control device

State of the art

Driver assistance systems are used to determine the driving condition and the traffic situation of one's own vehicle and to indicate to the driver dangerous situations and advantageous interventions in the driving state and, if necessary, to intervene automatically in the driving state.

In this case, sensors of the vehicle for measuring one's own driving condition such as speed, acceleration, etc., and advantageously also environmental sensors for detecting the environment of the vehicle, in particular for determining other road users and possibly the road used.

In particular sensors for distance measurement and video cameras can be used as environmental sensors. In this case, at least one camera integrated in the vehicle detects an environment of the ego vehicle. Thus, it is possible to detect color tooth marks and traffic signs. Furthermore, pedestrians, other vehicles and other objects can be recorded and partially classified.

DE 102 38 215 A1 shows a method and a device for driver information and / or reaction when leaving the traffic lane. Here, the lane is based on the type of limiting lane marking and / or the type of traffic on the side lane detected by an image sensor. Depending on the detected situation, a warning signal can be output in each case or a vehicle intervention can take place in response.

Furthermore, distance control systems are known in which the distance to a vehicle in front is determined and kept constant by automatic vehicle interventions.

With such detections of the traffic condition by detecting other road users and road markings early reactions are already possible. For more complex traffic situations such as B. in ausscherenden vehicles and subsequent dangerous situations, such methods alone are often not sufficient; furthermore, driving dynamics interventions already predefined by the driver, such a desired acceleration of the vehicle, lead to an increase in the identified risk of danger.

Disclosure of the invention

According to the invention, at least one camera of the vehicle according to the invention detects a driving scene at least in front of the vehicle. Vehicles are detected in the detected street scene, with the determined vehicles being checked as to whether they emit a flashing light. Advantageously, it is further determined whether the detected vehicles output a brake light. Thus, if appropriate, together with measurement signals from other environmental sensors, the traffic situation can be determined.

Furthermore, according to the invention driving state variables of the own vehicle, in particular speed, longitudinal and lateral acceleration and z. As the yaw rate, wheel speed, wheel slip, slip angle, etc. included. Based on the determined current traffic situation and on the basis of the direction indicators According to the invention, an updated information signal, in particular a warning signal, can be output and / or a driver assistance function can be activated or adapted with automatic intervention in the driving state.

According to the invention, a hazard warning light can advantageously be differentiated between the output of a direction change direction indicator light by unilateral actuation of the flashing lights and the output by flashing lights actuated on both sides, so that different measures can be taken depending on the result of this differentiation.

Upon detection of a direction change flashing of a preceding vehicle on its own or on an adjacent lane, an intervention in the driving state can be carried out automatically, wherein evasion possibilities on adjacent lanes or lanes can advantageously be determined from the environment sensors.

The method according to the invention can be used in particular in a distance control system, e.g. ACC (Adaptive Cruise Control). In particular, a distance control, e.g. be carried out by a distance control, including the camera images and the possible hazards arising therefrom.

The invention is based on the idea that a conventional driver assistance system via the environmental sensors or environmental sensors of the

Although the vehicle can recognize the dangers occurring in a lane change of a front vehicle, as soon as the lane change is completed or is initiated. However, if the danger occurring in this case, in particular the risk of collision, is detected, the signal output to the driver or else an automatic control intervention or control intervention may possibly take place relatively late. Thus, the lane change of an object is not reliably detected until it is already in progress and the measuring significant sizes differ significantly from the case of normal onward travel.

According to the invention, therefore, the flashing signals of the other vehicles are detected, which already indicate the intention of a lane change and thus are usually output before the actual lane change or at the beginning of the lane change.

Between earliest possible video-based detection of lane change intent and earliest possible geometry-based detection of lane departure

Lane changes can be several seconds, which can be used according to the invention of a driver assistance function for engaging in a vehicle system, in particular a brake system, engine management system or steering system and optionally in addition to the display of information signals and / or warning signals to the driver.

In this case, it is recognized that the flashing signals emitted by the further, in particular preceding vehicles clearly differ in their flashing frequency and pulse duration from further possibly occurring light effects, in particular from the actuation of brake lights and

Reflecting light on vehicles or other objects. In this case, it is advantageous according to the invention that the flashing frequency and pulse duration in the vehicles encountered on the roads differ only slightly from a given standard and thus limit values for the flashing frequency and pulse duration for determining a flashing operation can be predetermined. Thus also sun reflexes on the disc of an object and other light reflections can be excluded.

Furthermore, brake lights of preceding vehicles can also be detected in addition, and thus the blinking and braking signals determined current and probable driving behavior of these vehicles are taken into account. As a result of the detection and determination, automatic braking operations of the own vehicle or ego vehicle, furthermore also interventions into the engine management system, in particular the prevention or limitation of an acceleration in the event of a detected possible collision, if necessary also steering interventions can be output. Furthermore, target braking can be initiated on detected obstacles, such as a jam end. According to the invention, wireless signals, for example radio signals or infrared signals for use by traffic control systems and / or for the direct information of further vehicles, can also be output by the ego vehicle.

According to the invention is particularly advantageously recognized that the differentiation between a direction change flashing and a hazard warning is possible with surprisingly little effort in which is checked whether in the two lateral regions of the detected preceding vehicle in which the two flashing lights are present with high probability a synchronous or simultaneous flashing be checked. Thus, according to the invention, depending on the detection whether there is no flashing signal, a direction change flashing signal or a hazard warning signal, different output signals for different information to the user and / or different vehicle interventions are carried out.

Furthermore, a driving route can be determined on which the own vehicle or ego vehicle will subsequently be at the current or planned speed, and compared with the determined current and prospective driving conditions of the preceding vehicles, so that depending on this comparison the control signals and information signals are output.

Ego position information, eg from a GPS as well as street map information can also be used. Here, for example, a Determined change of direction also a turning operation on a determined, in the appropriate direction turning road assigned.

Brief description of the drawings

Fig. 1 is a street scene with a vehicle according to the invention in

Top view;

FIG. 2 shows the image acquired by the camera of the vehicle in FIG. 1; FIG. 3 shows an illustration of an image detection for detecting a vehicle in FIG. 2 and its relevant subregions;

4 shows a block diagram of a detection and control device according to the invention.

Embodiment of the invention

FIG. 1 shows a road scene 1 in which a vehicle 2 according to the invention travels on the middle lane 3b of a three-lane roadway 3 at the speed v2. The roadway further includes a right lane 3a and a left lane 3c separated from the middle lane by dotted lane markers 4a and 4b, and separated from the outside right peripheral lanes 6a, b by continuous lane markers 5a, b are.

Alternatively to the road scene 1 shown z. B. the right lane 3a also form the hard shoulder, in which case the lane marker 4a would be continuous. In the surrounding areas 6a, b, e.g. Traffic signs 11, stationary vehicles, as well as other objects 39 such as houses and trees may be present. On the left of the left surrounding area 6b, in particular, an oncoming lane may be arranged, which will not be considered further here.

In the illustrated road scene 1, the vehicle 2 drives at a speed of v2. In front of him another vehicle 7 is driving at a speed v7. Diagonally in front of him on the left lane 3c another vehicle 8 is driving at the speed v8, on the right lane 3a corresponding to another vehicle 9 at the speed v9; if the right lane 3a is formed as a hard shoulder, it will generally be at a speed v9 = 0 or will also travel at a low speed v9 in a stop or start operation. Behind the vehicle 2 drives another vehicle 10 at the speed v10 on the same lane 3b.

The vehicle 2 according to the invention has a camera 12 which, with a detection area 14, essentially detects the road scene 1 in front of the vehicle 2, in particular the lanes 3a, b, c and possibly also the surrounding areas 6a, b. Furthermore, the vehicle 2 advantageously has one or more further environmental sensors 15, in particular a distance sensor 15, for. As a radar sensor, lidar sensor, range video sensor, PMD (photonic mixer) sensor and / or ultrasonic sensor that detect the street scene 1 or parts of the street scene 1, and optionally a sensor for the Fahrbahnbeschaffen-. The environment sensors 15 may also detect the street scene 1 outside the detection area 14, e.g. also to the side of the vehicle 2 and towards the rear.

The vehicle 2 generally also has one or more eigenvessel sensors 16, which in particular have their own vehicle speed v2, also wheel speeds n, the longitudinal acceleration a, a yaw rate ω about the vertical axis, and optionally also the pitch rate about the transverse axis and Roll rate around the longitudinal axis and accelerations, eg a lateral acceleration q detect. Furthermore, the vehicle 2, for example, a position-determining device 17, for example, a GPS receiver 17 with appropriate control device, possibly also have a stored or received via remote data transmission digital card 18. The vehicle 2 furthermore has, in a manner known per se, one or more driving dynamics control systems, for example a brake control system such as ABS and / or a driving dynamics program such as ESP, as well as optionally engine management control systems. Accordingly, a plurality of control devices may be provided in the vehicle 2.

Furthermore, the vehicle 2 has a longitudinal control and optionally also a transverse control, in particular a distance control system, for. B. an adaptive distance control system such. B. ACC, which performs a regulation of the distance d to the vehicle in front 7.

FIG. 2 shows the image 22 taken by the camera 12, in which the lanes 3a, 3b, 3c, the vehicles 7, 8, 9, and the lane markings 4a, 4b are detected.

According to the invention, an object recognition algorithm is carried out, in which the vehicles 7, 8, 9 are recognized as objects in the image 22. Such recognition algorithms are known as such; In particular, they contain an edge detection in order to detect the detected vehicles as a surface, in particular an area with a rectangular shape. This is done especially in the dynamic picture. Here, the vehicles 7, 8, 9 or their chassis area as each substantially rectangular object that moves uniformly detected and recognized. In FIGS. 2 and 3, dashed areas K7, K8, K9 are thus placed on the vehicles 7, 8, 9.

The vehicles 7, 8, 9 have, in a manner known per se, on their rear side or rear side, a left and right brake light 32a, 32b and a left flashing light 33 and a right flashing light 34. Optionally, in the oblique detection of the vehicles 8, 9 in the image 22, a side of the vehicle provided flashing light 33a and 34a are detected. Furthermore, the rear lights 36 of the vehicles in Figure 22 are detected. According to the invention, the surfaces K7, K8, K9 are subdivided into subregions in order to be able to locate the light sources 32a, 32b, 33, 34 and thus to be able to determine their signal output. This is in Fig. 3 for the vehicle 7 with the lower central portion K7-1, the lower left portion K7-2 for the left flashing light 33 and the left brake light 32a and the lower right portion K7-3 for the right flashing light 34 and the right brake light 32b is shown. In addition, z. B. an upper middle portion K7-4 for a possibly existing third brake light 32c are formed. Here, the attached portions may overlap each other to detect the relevant light sources with high certainty, furthermore, unlike in FIG. 3, the middle portion K7-1 may be wider than the outer portions. In particular, the taillights 36 may be located both in the lower central portion K7-1 and the lower outer portions K7-2 and K7-3. Furthermore, different light signals can also be generated by a common light source, as shown in Fig. 2 in the vehicle 7, where the flashing lights 33 and 34 each together with a rear light 36 as a light source, for. As pear or LED array are formed. If a vehicle, for example the vehicle 9, is detected obliquely or perspectivally, its left front or side flashing light 33a provided on the vehicle can therefore be slightly to the left of the flashing light 33 and thus in a further subarea or in extension of the left lower subarea be recorded.

Accurate detection of the individual light sources 32a, 32b, 33, 34 and, if appropriate, their differentiation from one another and from the taillights 36 takes place subsequently in the object detection or image processing.

Advantageously, other objects in the image 22 can be detected, in particular the lane markings 4a, 4b and 5a, 5b, possibly also objects 11 next to the roadway 3, and used for the inventive method. The signal recording, object detection and object tracking is described in more detail in the block diagram of FIG. 4. Here, in block 26, the object detection and object tracking with the detection algorithm, including the signals S12, S15, S16 of the camera 12, the environmental sensors 15 and intrinsic state sensors 16, possibly also position signals S17 of the GPS receiver 17 and map data S18 of the digital Card 18, to be used. In block 27, a detection of the light signals of the detected in block 26 objects 7, 8, 9 is performed. In particular, a spatial and a temporal / frequency-related, possibly also a spectral analysis and evaluation are carried out.

In the spatial analysis or differentiation, the detected objects 7, 8, 9 are each divided into subareas, z. B. K7-1 to K7-4, spatially resolved. This allows the detected light sources or signal sources already the respective lateral position, i. left or right, be assigned so that z. B. the detected flashing lights 33, 34 and the brake lights 32 a, b, further optionally also the taillights 36, each a lateral region of the respective objects 7, 8, 9 are assigned. According to the invention, advantageously only a differentiation in the left, middle and right is carried out initially, since the exact position of the different light sources at different heights, eg, at the various vehicle types, is different. B. in a lower region of the bumper or may be further up next to the disc. Furthermore, advantageously, due to the relative spatial arrangement, no differentiation is made according to the nature of the light sources, i. no distinction between flashing light, brake light and tail light, since it is recognized according to the invention that they can be implemented in different types of vehicles in a bulb or in the same LED array.

In addition, a color differentiation can be done to the red tail lights 36 and red brake lights 32 a, b of the orange or yellow Flashing lights 33, 34 to distinguish.

Furthermore, symmetry properties such as the same height above the roadway 3 or the same distance to the vehicle center of the two opposing brake lights 32a, 32b as well as the two opposite flashing lights 33, 34 are used to secure a possibly present brake light and / or flashing light.

According to the invention, it is further recognized that the flashing lights 33, 34 and optionally 33a, 34a due to their temporal behavior of the

Brake lights 32a, b and rear lights 36 can be distinguished. According to the invention, therefore, the temporal behavior of the determined signal lights 32a, b, 33, 34 and taillights 36 is evaluated or examined, so that flashing of the flashing lights 33, 34 can be reliably detected and thus these flashing lights 33, 34, 33a, 34a of the brake lights 32 a, b and rear lights 36 can be distinguished. This study is combined with the subdivision of surfaces K7, K8, K9 into their subareas.

In this case, the direction indication left or right, i. the direction flashing signal S33 of the left flashing light 33 or the flashing signal S34 of the right flashing light 34 are discriminated from each other by considering the different subregions K7-2 and K7-3 in the area K7 of the detected object 7. Since the flashing frequency and the pulse duration are constant for a flashing light and also standardized in predetermined limits, the invention checks whether a constant flashing frequency and a constant pulse duration of an object 7, 8, 9 in one of its lower outer portions as a flashing signal of a flashing light 33, 34th can be recognized.

According to the invention, the flashing signals can thus also be distinguished from other time-variable light phenomena, for example light reflections on the pane of an object or on the lane 3 or other objects. those that do not have a constant blinking frequency and pulse duration.

A lighting of the brake lights 32a, 32b and optionally 32c is detected as a brake signal S32, which does not change with a constant blinking frequency and pulse duration, but should change with longer object tracking. In this case, a change in intensity or variable pulse train can be assigned to a brake signal S32, since in newer vehicles often the brake pressure and thus the braking effect by the intensity and / or frequency of the pulse sequence are displayed, the pulse sequences at frequencies z. B. in the range below a tenth of a second and thus be issued clearly below the flashing frequency. According to the invention, the brake signal S32 determined for a detected vehicle can thus contain not only the indication "braking effect on / off", but optionally also a signal value with an indication of range, which can be used according to the invention.

Furthermore, it is recognized according to the invention that even a blinking of only one single flashing light 33 or 34 as direction indication and thus directional flashing signal S33 or S34 can be differentiated from a common flashing of both flashing lights 33, 34. If a synchronous flashing of both side flashing lights 33, 34 is detected, a warning flashing signal S35 is decided in block 27. Thus, the flashing signals "lane change to the right", "lane change to the left" and a hazard warning light can be differentiated from each other.

In the block 28 of FIG. 4, a driver assistance function is subsequently carried out from the detected objects 7, 8, 9 or the surfaces K7, K8, K9 and the detected light signals S32, S33, S34 of the objects 7, 8, 9. In this case, it is possible to intervene directly in the driving behavior or the driving dynamics of the vehicle 2 via control signals S1 which influence the braking behavior and / or engine management. The driver assistance function can be a longitudinal and transverse control or a lane including distance control, eg. B. ACC, to comply with the distance d include. Furthermore, according to the invention, the output of user information signals S2 to the driver of the vehicle 2, as will be described below. The user information signals S2 may be optical, acoustic and / or haptic signals.

The blocks 26, 27, 28 thus also form a control device for carrying out the method according to the invention or a control device for a driver assistance system of a vehicle 2 according to the invention.

As an intervention in the driving state, in particular the vehicle 2 can be braked automatically when dangerous situations are detected. Furthermore, interventions in the engine management to prevent, reduce or increase an acceleration are possible. Also are executed automatically

Intervention in the steering of the vehicle possible, this can also automatically a change of the lane of 3b to 3a or 3c are introduced, in particular by electric or hydraulic actuators. Furthermore, 2 external output signals S3, in particular warning signals can be output from the vehicle, for. B. to the rear vehicle 10, optionally also to the other vehicles 7, 8, 9th

Situations recognizable according to the invention are in particular:

An intended lane change of one of the vehicles 8 or 9 traveling in front of the vehicle 2 is detected by an adjacent lane 3a or 3c on its own lane 3b. This can be done on detection of the operation of the right flashing light 34 of the vehicle 8 on the left adjacent lane 3c or the operation of the left flashing light 33 of the vehicle 9 on the right adjacent lane 3a. In this case, it is recognized that a possible collision of the vehicle 2 with the lane changing vehicle 8 or 9 may take place, if the vehicle concerned by the affected. fenden vehicle is actually performed 8 or 9 displayed lane change. In this case, the following reactions can be carried out:

1. The output of a user information signal S2 to the user, e.g. as an optical, acoustic or haptic signal to alert him to the eventual need for an intervention or even an automatic intervention in the vehicle control system already made or subsequently initiated.

2. Automatic braking of the vehicle 2 or initiation of a braking routine of the vehicle dynamics system. Here, e.g. a braking operation can be initiated with an appropriate braking effect.

3. Influencing the acceleration of the vehicle dynamics system. In this case, in particular, an acceleration entered by the driver or carried out automatically or planned by the driving dynamics system can be reduced or completely changed. This measure is based on the finding that the driver of the vehicle 8 or 9 indicating the planned lane change did not take into account the acceleration 2, which had previously not yet been performed by the vehicle 2, but was planned in his lane change.

4. Calculation of alternative vehicle behavior or other measures. Here, e.g. On the basis of the sensor signals S15 of the environment sensors 15, it is possible to check whether the own vehicle has an alternative possibility if the vehicle 8 or 9 actually engages on its own traffic lane 3b. Furthermore, a possible braking behavior can be taken into account by measuring the distance to the rear of the rear vehicle 10, since a collision could possibly take place here when a rapid braking is initiated.

5. Output of a warning signal S3 to the relevant vehicle 8 or 9, the indicates the lane change recognized as dangerous. This can be achieved by an acoustic signal output, eg horns, an optical signal output, for example, actuation of a flare horn forward or in the presence of a data connection, for. B. radio connection to the vehicle 8 or 9, by issuing a corresponding warning signal or blockade signal. Thus, an automatic back warning from the vehicle 2 to the dangerous vehicle 8 or 9 or its driver, in particular when the evaluation of the position and movement data of the vehicle 2 and the vehicle 8, 9 results in that with the displayed lane change of the vehicle 8 or 9 a significant risk of collision is connected.

6. Automatic warning or advice to other road users, especially the rear vehicle 10, possibly also other vehicles, especially to the other, non-flashing vehicle 9 and 8, if this would also be affected in the displayed lane change, if it is detected that Another road user must also react or react to the traffic situation that has occurred or is imminent. Thus, if the vehicle 8 indicates a lane change to the right and in a thereby forced lane change of the own vehicle 2 to the right the other vehicle 9 could be drawn into a possible collision, this determined hazard situation can be displayed to the other vehicle 9 as warning signals S3. In particular, according to the invention the following vehicle 10, a possibly imminent braking intervention, in particular an emergency braking be displayed, in particular by pressing the rear brake lights of the own vehicle. 2

If in the front vehicle 7, which is located on the lane 3b in front of the own vehicle 2, by lane flashing a flashing light 33 or 34, a lane change is detected, the following reactions are possible and depending on the determined distance d to the vehicle 7 and the determined speeds v2 and v7 offered or automatically be performed:

1. earlier acceleration of the own vehicle 2, in particular via the longitudinal and transverse control system, e.g. ACC system, if at the same time by the evaluation of the position and movement data of the vehicle 7 and the own vehicle 2 and the course of the lane markings 4a and 4b can be predicted with high probability that the other vehicle 7 as the path-time Function determined own driving tube 39 will have left the intended driving movement.

2. Output of a user information signal Sa to offer the user the choice either to continue to follow the flashing vehicle 7 as the target object or to remain on the previous lane 3b. This can be done, in particular, if an automatic distance control or column travel is currently being carried out.

3. Braking the vehicle 2 or its driving dynamics system when it is detected or it is likely that the vehicle 7 announces the lane change, because in front of him an obstacle, e.g. a slow moving object is located. Here, if appropriate, the recognition of a further object in front of the front vehicle 7 can be supplemented if the beams of a radar sensor 15 z. For example, by reflecting on the road surface 3 next to or below the front vehicle 7 indicate a larger obstacle and / or a larger obstacle, e.g. a truck, due to its size can be detected by the camera 12 or another camera in front of the smaller vehicle 7.

4. Deceleration of the own vehicle 2 or deceleration via the vehicle dynamics system, if it is recognized that there is a high possibility or even certainty that the front vehicle 7 will have its speed v7 before the intended lane change or an intended turning off will decrease.

Case 4 may occur, in particular, when the traffic on the adjacent lane 3a or 3c rolls more slowly or a sufficiently large gap for the vehicle 7 will open later. In principle, an evaluation of this traffic on the neighboring lane 3a or 3c via the environmental sensors 15 of the vehicle 2 is possible.

In the case 4, detection of the presence or absence of an adjacent lane 3a or 3c may also be made, e.g. by recognizing the presence or absence of lane markers 4a or 4b, or recognizing a lane mark 5a or 5b that does not allow for a lane change, or by recognizing traffic signs 11 or other standing objects 38, e.g. Trees, so that the vehicle 7 is likely to turn, stop or turn around. In particular, this case can also be obtained by using the digital map 18 and possibly the navigation data S17 of the GPS system 17, i. Own position information, to be closed.

According to the invention, in block 27, in addition to the hazard warning signal S35 of the further vehicle 7, 8 or 9, in principle also other hazard warning lights of commercial vehicles, eg police, emergency, rescue, fire, towing, clearing vehicles, heavy transporters and / or construction site vehicles recognized become. According to the invention, they can be differentiated from the hazard warning lights of a vehicle 7, 8, 9, since the hazard warning lights of such commercial vehicles are, for example, particularly bright, possibly also colored, eg blue or orange. Furthermore, if appropriate, a deviation of the blinking frequency and / or pulse duration from the predetermined values of a normal vehicle 7, 8, 9 can be detected. Optionally, by evaluating the image of FIGS. 2 and 3, it can also be recognized whether the luminaires do not light symmetrically on the sides of the recognized vehicle, but, for example, at least one further luminaire is arranged on the vehicle roof. Pane warning lights, which are parked on the roadway 3 or on the roadway edge or surrounding area 6a or 6b, as well as construction site warning lights can also be detected according to the invention, even if they are not assigned to a recognized vehicle.

Upon detection of a hazard warning signal S35 in a vehicle 7, 8, or 9 or else one of the other warning lights mentioned, the following reactions are possible according to the invention:

1. Automatic activation of your own hazard warning lights by a control signal S1, i. synchronous activation of the own flashing lights 33, 34 of the own vehicle 2 for the warning of the further, in particular following traffic. This can e.g. be carried out whenever additionally brake lights 32a, b of a front vehicle 7, 8, 9 are detected and / or the hazard warning signals S35 of several vehicles 7, 8, 9 are determined.

2. Influencing the engine management, in particular influencing, preferably preventing acceleration of the vehicle 2 or its

Driving dynamics control system.

3. Braking the vehicle 2.

4. Initiate a target braking on the detected obstacle, such as the front vehicle 7. This can in particular when detecting a high differential speed of v2 - v7, ie if the difference speed v2 - v7 a predetermined or determined from the environmental conditions threshold, in particular the determined Distance d takes into account, exceeds, and takes place automatically, since an accident or congestion can be assumed here. 5. Output of an external output signal S3, for example a radio signal or infrared signal, for use by traffic control systems.

If brake lights 32 a, b are detected at the preceding vehicle 7, the following reactions are still possible:

1. Determining the relevance of the determined object 7, 8, 9 for their own onward journey. Thus, the determined own drive hose is compared with the determined travel path of the object. In this case, in particular, the probability with which the object 7, 8, 9 is or will be located in its own driving tube can be determined.

2. Influencing the acceleration of the distance control system, in particular prevention or limitation of acceleration.

3. Braking the distance control system or own vehicle 2. 4. Initiate target braking, e.g. on a braking vehicle.

5. Automatic or automatic activation of your own hazard warning lights, i. the own flashing lights 33, 34 at the front and back, to warn of subsequent traffic, e.g. if, due to a large number of flashing brake lights, a stronger influence on the subsequent traffic is to be expected.

In the block diagram of Fig. 4, the blocks 26 and 27 can be formed by separate devices, or even a common control device.

According to the invention, the detected directional flashing signal S33, S34 or S35 or even the brake signal S32 can be used to detect an object that has not yet been detected. In this case, the blocks 26 and 27 form a common block.

According to the invention, in particular in addition to or as part of the driver assistance function of the block 28, a per se known vehicle dynamics control with the signals S15, S16 of the environmental sensors 15 and eigenstate sensors 16 and the position signals S17 and map data S18 performed, which will not be discussed here.

Claims

claims

A method of supporting a user of a vehicle (2), wherein a camera (12) of the vehicle (2) detects a detection area (14) of a road scene (1) at least in front of the vehicle (2) and outputs image signals (S12), Driving state variables (v, a, q, ω, n) are detected or determined, which describe a driving state of the vehicle (2), is determined from the image signals (S12), whether in the detection area (14) another vehicle (7, 8, 9) which outputs flashing signals (S33, S34, S35) if a vehicle (7, 8, 9) is detected, the flashing signals (S33, S34,

S35), it is determined from the flashing signals (S33, S34, S35) whether the flashing vehicle (7, 8, 9) indicates a change of direction as a function of the driving state variables (v, a, q, ω, n) of the vehicle ( 2) and depending on the determination of whether further vehicles (7, 8, 9) indicate a change of direction, at least one output signal (S1, S2, S3) is output.

2. The method according to claim 1, characterized in that an automatic driver assistance control is performed, being output as output signals control signals (S1) for interventions in a vehicle control for a longitudinal and / or transverse control.

3. The method according to claim 2, characterized in that the vehicle (2) a distance (d) to at least one front vehicle

(7) and the driver assistance control comprises a distance control method for setting the distance (d).

4. The method according to any one of the preceding claims, characterized in that as output signals information signals (S2) to a user interface, in particular a visual display device and / or an acoustic or haptic output device, are output.

5. The method according to claim 4, characterized in that the information signals (S2) indicate at least one determined further possible intervention in the driving state of the vehicle as a prompt.

6. The method of claim 4 or 5, characterized in that when detecting a dangerous situation as information signals (S2) warning signals are output.

7. The method according to any one of the preceding claims, characterized in that as output signals external output signals (S3) to external receivers, for. B. to other vehicles (7, 8, 9, 10) and / or a traffic control system.

8. The method according to any one of the preceding claims, characterized in that a driving tube (39) is determined, which reflects the expected path-time function of the own vehicle (2) in its current driving condition, and it is determined whether a direction change indicating Vehicle (8, 9) will occur at its change of direction in the determined travel path (39), and depending on this determination, the control signal (S1) and / or an output signal (S1, S2, S3) is output.

9. Method according to claim 8, characterized in that it is further determined whether a vehicle (2) currently located in the ascertained driving route (39) and indicating a change in direction is deflected out of the ascertained directional route (39) after the indicated change of direction. will emerge, and in response to this determination, the output signal (S1, S2, S3) is output, in particular a control signal (S1) for an engine management to increase the acceleration and / or an information signal (S2) for indicating an acceleration to be performed.

10. The method according to any one of the preceding claims, characterized in that it is determined whether in a detected vehicle (7, 8, 9 both side flashing lights (33, 34) synchronously flashing or only one of the side flashing lights (33, 34) flashes, in which

- Detecting a synchronous flashing of both side flashing lights (33, 34) detects a hazard warning flashing and a hazard warning light signal (S35) is output, and

- When only one side flashing light (33, 34) is detected, a directional flashing indicative of a change in direction is recognized and a direction flashing signal (S33, S34) is output, and the output signal (S1, S2, S3) is determined as a function of the determination of the flashing state is issued.

11. The method according to any one of the preceding claims, characterized in that further from the image signals (S12) also brake signals and / or flashing signals are determined in image areas in which no vehicle is detected, and subsequently the determined brake signals and / or flashing one or more Vehicles (7, 8, 9) are assigned.

12. The method according to any one of the preceding claims, characterized characterized in that the one or more further vehicles (7, 8, 9) from the image signals (S12) by a pattern recognition method, in particular by means of segmentation and edge extraction, are determined.

13. The method according to claim 12, characterized in that the one or more further vehicles (7, 8, 9) in the captured image (12) as geometric areas, in particular surfaces (K7, K8, K9) are determined, wherein in the geometric areas (K7, K8, K9) TeN areas (K7-1, K7-2, K7-3, K7-4) are formed, which have a high

Probability for the presence of a brake light (32a, 32b) o- the flashing light (33, 34) is assigned.

14. The method according to any one of the preceding claims, characterized in that in the captured image brake lights (32a, b), flashing lights

(33, 34) and rear lights (36) are differentiated by their spectral composition or color.

15. The method according to any one of the preceding claims, characterized in that in the captured image light sources by their temporal

Signal behavior as brake lights (32a, b), flashing lights (33, 34) and rear lights (36) are differentiated.

16. The method according to claim 15, characterized in that a light source as a flashing light (33, 34) is detected if it has a time-periodic signal behavior with a constant pulse duration and pulse frequency within predetermined values.

17. The method according to claim 15 or 16, characterized in that a light source as a brake light (32a, 32b) is detected when a time-varying signal behavior with unperiodic signal change or a fast-pulsed signal behavior with higher frequency as a predetermined blinking pulse rate.

18. The method according to claim 17, characterized in that a detected braking pulse frequency or a variable signal strength of the detected brake light (32 a, 32 b) a different braking effect of the detected vehicle (7, 8, 9) is assigned.

19. The method according to any one of the preceding claims, characterized in that in a detected direction change flashing map data signals (S17) and / or position data (S18) are used for a determination of whether a high probability of a turning operation of the flashing vehicle is present.

20. The method according to any one of the preceding claims, characterized in that in the event that on the one hand a brake light (32a, 32b) or a directional flashing of a flashing light (33, 34) of another vehicle (8, 9) is detected and on the other a high probability of a collision with this further vehicle (8, 9) is determined, a braking process of the own vehicle (2) is determined and an output signal (S1, S2, S3) is output, in particular a control signal (S1) for an automatic braking intervention and / or an information signal (S2) for display to the driver.

21. The method according to claim 20, characterized in that expected changes in the driving behavior of detected vehicles

(7, 8, 9) in direction changes or braking processes of other detected vehicles (7,8,9) are determined and in the case that on the one hand a brake light (32a, 32b) or a direction flashing a flashing light (33, 34) of a Further vehicle (8, 9) is detected and on the other hand it is determined that there is a high probability that a third vehicle (7) due to the driving state change of the other vehicle (8, 9) its driving Change state and thereby a high probability of a collision with the third vehicle (7) or another object is present, a braking operation of the own vehicle (2) is determined and an output signal (S1, S2, S3) is output, in particular a control signal (S1) for an automatic brake intervention and / or an information signal (S2) for display to the driver.

22. The method according to claim 20 or 21, characterized in that a target braking to another vehicle (7, 8, 9) or another object is determined and for this target braking, the output signal (S1, S2, S3) is output.

23. The method according to any one of the preceding claims, characterized in that in the case that on the one hand, a brake light (32a, 32b) or a directional flashing of a flashing light (33, 34) of another vehicle (8, 9) is detected and on the other a high probability of a collision with this further vehicle (8, 9) is determined, an alternative possibility for the vehicle (2) by a change from its lane (3b) to an adjacent lane

(3a, 3c) is determined and an output signal (S1, S2, S3) is output, in particular an information signal (S2) for display to the driver and / or a control signal (S1) for an automatic lane change.

24. The method according to claim 23, characterized in that expected changes in the driving behavior of detected vehicles (7, 8, 9) in direction changes or braking operations of other detected vehicles (7,8,9) are determined and in the case that on the one hand a brake light (32a, 32b) or a directional flashing of a flashing light (33, 34) of another vehicle (8, 9) is detected and on the other hand it is determined that a high probability There is a possibility that a third vehicle (7) will change its driving state due to the change in driving state of the further vehicle (8, 9) and thus there is a high probability of collision with the third vehicle (7) or another object, an alternative for this Vehicle (2) by a change from its lane (3b) to an adjacent lane (3a, 3c) is determined and the output signal (S1, S2, S3) is output.

25. The method according to any one of the preceding claims, characterized in that the driving state variables (v, a, q, ω, n) of sensors (16) of the vehicle (2) are detected or determined from the image signals (S12) of the camera ( 12) are determined.

26. Control device (26, 27, 28) for a driver assistance system of a

Vehicle (2), the at least one image signals (S12) from a camera (12) of the vehicle (2) and the other signals (S16), the driving state variables (v, a, q, ω, n) of the vehicle (2) describe, wherein the control device (26, 27, 28) from the image signals (S12) determines whether in the detection area (14) another vehicle (7, 8, 9) is located, the flashing signals (S33, S34, S35 ), wherein the control means (26, 27, 28), in the case that it detects a vehicle (7, 8, 9), the flashing signals (S33, S34, S35) outputs from the flashing signals (S33, S34, S35 ) determines whether the flashing

Vehicle (7, 8, 9) indicating a change of direction, and wherein the control means (26, 27, 28) in dependence of the driving state variables (v, a, q, ω, n) of the vehicle (2) and in dependence on the determination of whether Further vehicles (7, 8, 9) indicate a change of direction, output at least one output signal (S1, S2, S3).

27. Control device according to claim 26, characterized in that it describes the signals (S16), the driving state variables (v, a, q, ω, n) of the vehicle (2), from intrinsic-state sensors (16) of the vehicle (2). receives.

28. Control device according to claim 26 or 27, characterized in that it further receives signals (S15) from environmental sensors (15) of the vehicle (2).

29. Vehicle for performing a method according to one of claims 1 to 25 and / or with a control device according to one of claims 26 to 28, a camera (2) for detecting a detection range (14) of a street scene (1) at least in front of the vehicle ( 2) and intrinsic state sensors (16) for determining driving state variables (v, a, q, ω, n) of the vehicle (2)