Classifications

• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/164—Centralised systems, e.g. external to vehicles
• • 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
  • G08G1/01—Detecting movement of traffic to be counted or controlled
  • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
  • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
  • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
• • 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
  • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
  • G08G1/0125—Traffic data processing
  • G08G1/0133—Traffic data processing for classifying traffic situation

Definitions

• the invention relates to a data processing system and a method for providing at least one driver assistance function.
• a data processing system With the aid of at least one image acquisition unit of a vehicle, at least one image of the surroundings of the vehicle is generated.
• driver assistance information of at least one driver assistance information is generated, by means of which a driver assistance function is provided in the vehicle.
• driver assistance systems for increasing comfort and driving safety for motor vehicles.
• Such driver assistance systems relate in particular to warning systems which warn the driver against the unintentional departure from a lane (Lane Departure Warning-LDW) or assist the driver in keeping their own lane while driving (Lane Keeping Support-LKS).
• driver assistance systems for longitudinal guidance of the vehicle (ACC) for controlling the light emitted by the headlights of the vehicle, for traffic sign recognition and compliance with the traffic regulations specified by the traffic signs, blind spot warning systems distance warning systems with Auffahrwarnfunktion or with brake function and brake assistance systems and overtake assistance systems known.
• known driver assistance systems usually use a vehicle camera arranged in or on the vehicle. An advantageous arrangement of the cameras is behind the windscreen in the area of the inside mirror. Other positions are possible.
• Known vehicle cameras are preferably designed as video cameras for recording a plurality of images in succession as an image sequence. With the aid of such a camera, images of a detection area in front of the vehicle are detected with at least one area of the roadway and image data corresponding to the images are generated. These image data are then processed by means of suitable algorithms for object recognition and object classification as well as for tracking objects over several images (tracking). Objects that are classified and further processed as relevant objects are, in particular, the objects relevant to the respective driver assistance function, such as oncoming and preceding vehicles, lane markings, obstacles on roadways, pedestrians on and / or next to roadways, traffic signs, traffic lights and lamps.
• the document WO 2008/019907 A1 discloses a method and a device for driver assistance by generating track information for supporting or replacing track information of a video-based lane information device.
• a reliability parameter of the determined lane information is determined and, in addition, lane information of at least one further vehicle, which is transmitted via a vehicle-vehicle communication device, is determined.
• a light control system for a motor vehicle is known. With the help of a microprocessor, at least one image is processed to headlights of oncoming vehicles and Taillights of vehicles ahead to detect and to determine a control signal for driving the headlights of the vehicle.
• the object of the invention is to provide a data processing system and a method for providing at least one driver assistance function, in which only small resources for providing the driver assistance function in the vehicle are required.
• the processing effort for providing the driver assistance function in the vehicle can be considerably reduced.
• further information originating from the vehicle and other information not originating from the vehicle can be taken into account in a simple manner.
• the driver assistance functions provided in the vehicle can be expanded and restricted in a simple manner by transferring from the stationary processing unit only desired and / or only agreed driver assistance information with the aid of the driver assistance data to the vehicle.
• simply constructed image acquisition units for example, simply constructed cameras, and simply constructed transmitting units for sending the image data to the stationary receiving unit can be installed in the vehicle.
• the camera and the transmitting unit or a transmitting unit for transmitting the image data and a receiving unit for receiving the driver assistance data requires little space in the vehicle and these components can be installed in a plurality of vehicles at a relatively low cost ,
• a position-dependent driver assistance function in particular a consideration of country-specific features of the country in which the vehicle is currently located, possible.
• This lan of the specific peculiarities relate in particular to country-specific traffic signs and / or country-specific traffic guidance facilities.
• the vehicle position can be determined by the vehicle and transmitted to the stationary receiving unit or determined by the location of the stationary receiving unit.
• an image acquisition system in the vehicle, which captures a plurality of images, each with an image of a region of the surroundings of the vehicle as image sequence, and generates corresponding image data for each acquired image of the image. Furthermore, a vehicle-end unit is provided, which transmits at least part of the image data of the images to the stationary receiving unit.
• the image acquisition system generates compressed image data that has been compressed, for example, by the JPG compression method or an MP4 compression method. Furthermore, it is possible for only the image data of a section of the image recorded with the aid of the image acquisition system to be transmitted to the stationary receiving unit and processed by the stationary processing unit.
• the stationary units are at least in their operation at a specific geographical location. In particular, when processing the image data and generating the driver assistance data, the stationary units remain at their respective geographical location.
• the image acquisition system can record 10 to 30 images per second and their image data then to the stationary receiving unit transfer.
• the transmission between the vehicle and a stationary receiving unit located in the transmission range of the vehicle preferably takes place with the aid of a radio data transmission, for example with known WLAN or mobile data transmission links.
• a radio data transmission for example with known WLAN or mobile data transmission links.
• optical radio links such as laser transmission, can be used.
• a vehicle receiving unit which receives driver assistance data transmitted by the stationary transmitting unit. Both the data sent from the vehicle to the stationary receiving unit and the data sent from the stationary transmitting unit to the vehicle receiving unit are provided with a subscriber identifier of the vehicle or with a vehicle identifier to ensure the assignment of this data to the vehicle from which the processed image data originated , Furthermore, it is advantageous to provide a processing unit arranged in the vehicle, which processes the received driver assistance data and outputs information to the driver via a human-machine interface (HMI). Alternatively or additionally, the processing unit may control at least one vehicle system of the vehicle depending on the received driver assistance data.
• HMI human-machine interface
• This vehicle system may in particular comprise a lighting system, a braking system, a steering system, a drive system, a safety system and / or a warning system.
• the assistance system can actively intervene in the guidance of the vehicle and possibly avoid dangerous situations or reduce the risk.
• the stationary processing unit detects and classifies images of objects in the images during processing of the received image data and generates the driver assistance data depending on the classified objects.
• the classification of Images of objects can be used to draw conclusions about the traffic situation and hazards as well as relevant information.
• the stationary processing unit may determine the image position of a classified object and / or the relative position of the classified object to the vehicle and / or the position of the classified object in a vehicle-independent coordinate system, such as the world coordinate system. This will further clarify the traffic situation and identify specific hazards.
• the image acquisition system comprises at least one stereo camera.
• the images of the individual cameras of the stereo camera can then be transmitted as image data of a pair of images from the vehicle end unit to the stationary receiving unit and on to the stationary processing unit.
• the stationary processing unit can then determine the images of the same object in the images of each image pair, determine their image position and, based on the image positions, determine the distance of the object to the stereo camera and thus to the vehicle. As a result, the distance of the vehicle to objects can be determined relatively accurately.
• the stationary receiving unit can receive additional data with further information from the vehicle.
• This additional information may include in particular the current position of the vehicle, the speed of the vehicle, information on the weather conditions on the vehicle, information on the visibility conditions in the area of the vehicle and information on settings and / or operating conditions of the vehicle, such as set light distributions from the headlights of the vehicle and / or with the help of Vehicle sensors determined information, such as detected lane markers, determined distances to objects, in particular to other vehicles include.
• Vehicle sensors determined information such as detected lane markers, determined distances to objects, in particular to other vehicles include.
• Figure 1 is a schematic overview of a system for driver assistance according to a first embodiment of the invention
• FIG. 2 is a block diagram of a driver assistance system according to a second embodiment of the invention.
• Figure 3 is a schematic representation of the process for data transmission of a driver assistance system according to the invention.
• FIG. 1 is a schematic overview of a driver assistance system 10 according to a first embodiment of the invention shown.
• a vehicle 12 located on a lane 14 of a lane 16 has a camera 20 disposed on the inside of the windshield of the vehicle 12 between an interior mirror 18 of the vehicle 12 and the windshield for capturing images of a portion of the lane 16 in front of the vehicle 12.
• the outer viewing beams of the camera 20 are shown schematically by solid lines 22 and 24.
• the oval area drawn between the sight beams 22, 24 indicates schematically the detection range of the camera 20 present in the respective distance.
• the vehicle 12 further has a transmitting / receiving unit 26 for transmitting image data generated by means of the camera 20. The image data is transmitted to a stationary transmitting / receiving unit 30a.
• the image data is preferably transmitted between the transmitting / receiving unit 26 of the vehicle 12 and the respective stationary transmitting / receiving unit 30a to 30c in compressed form.
• the transceivers 26, 30a to 30c are also referred to as transceivers.
• the image data received by the stationary transmitting / receiving units 30a to 30c are transmitted to a stationary processing unit in a data center 40 and there preferably unpacked into a transformation module 42 of the stationary processing unit and supplied to different modules 44, 46 for parallel and / or sequential generation of driver assistance functions ,
• images of objects relevant for the driver assistance systems can be detected in the images, which are then classified and then traced, if necessary, over a plurality of successively recorded images.
• driver assistance data are generated in an output module with the driver assistance information required to provide a driver assistance function in the vehicle 12 and transmitted to at least one stationary transmitting / receiving unit 30a to 30c, which is in transmission range to the vehicle 12.
• the driver assistance data is then transmitted from this transmission / reception unit 30a to 30c to the vehicle 12.
• a control unit processes the driver assistance data and supplies the driver assistance information to a control unit for controlling a vehicle component depending on the driver assistance function to be implemented and / or outputs corresponding information to the driver of the vehicle 12 on a display unit or via a loudspeaker.
• FIG. 2 shows a block diagram of a driver assistance system according to a second embodiment of the invention. Elements having the same structure or the same function have the same reference numerals.
• the camera 20 of the vehicle 12 is designed as a stereo camera in the second embodiment of the invention, wherein the individual cameras of the camera system 20 each generate a single image at the time of recording, wherein the simultaneously recorded images are then further processed as a pair of images.
• the image data of the captured images are transmitted from the camera system 20 to a transformation module 52, which compresses the image data and adds additional data with additional information.
• the image data receive a time stamp generated by a time stamp module 54.
• the additional information data includes, in particular, vehicle data such as the activation of a direction indicator, adjustments to the headlights, the activation of rear and brake lights, information about the activation of the brakes and other vehicle data, which are preferably provided via a vehicle bus.
• vehicle data such as the activation of a direction indicator, adjustments to the headlights, the activation of rear and brake lights, information about the activation of the brakes and other vehicle data, which are preferably provided via a vehicle bus.
• the position data from a position determination module 58, which is preferably part of a navigation system of the vehicle 12, transmitted to the transformation module 52.
• the additional data, ie the time stamp, the vehicle data and the position data are transmitted as additional data together with the image data to the transmitting / receiving unit 26 of the vehicle and transmitted there via a radio data connection to the communication network 30 to the transmitting / receiving unit 30c. From the transmitting / receiving unit 30c, the received data is transmitted to the data center 40.
• an additional memory element 49 is provided in the data center 40, in which the image data can be temporarily stored.
• the stored image data is deleted after a preset time of, for example, one day, unless there is a request to permanently store the data. This is particularly useful when images of an accident have been detected with the help of the vehicle camera 20, which should be stored for later evaluation.
• the evaluation of the transmitted image data and the generation of the driver assistance information as well as the transmission of the generated driver assistance information by corresponding driver assistance data to the transmitting / receiving unit 26 of the vehicle 12 take place in the same way as described in connection with FIG.
• the received driver assistance data are supplied to a control unit 60 which generates the vehicle assistance information corresponding to the driver assistance information for output via an output unit of the vehicle 12 and supplies it to the module 56. Additionally or alternatively, the control unit 60 may generate control data for vehicle modules, for example for activating the brake system 62 for activating the steering system 64, for activating the belt tensioning drives 66 and for activating the headrest drives 68.
• FIG. 3 illustrates the process for generating and transmitting data between the vehicle 12 and the stationary processing unit of the data center 40.
• step S 10 the camera 20 generates image data which is compressed in step S 12.
• step S 14 vehicle data
• step S 16 position data
• step S 18 the data for generating a time stamp
• step S 20 the data of further data sources in the vehicle 12 are determined.
• step S22 the compressed image data and the additional data determined in steps S 14 to S 20 are transformed.
• transforming the image data in step S 12 a part of the image data generated by the camera 20 may be selected and prepared for transmission.
• the image data is transmitted together with the additional data in step S24 from the transmission / reception unit 26 of the vehicle 12 to the stationary transmission / reception unit 30c, which receives the transmitted data in step S30.
• the received image data and preferably the transmitted additional data are then processed by the stationary processing unit 40 in step S32, the image data being unpacked in step S34 and analyzed in step S36 together with the additional data.
• the image data or information determined from the image data and, if necessary, the transmitted additional information are supplied to modules for generating driver assistance information.
• these modules generate driver assistance information.
• the modules comprise at least one module for lane recognition, traffic sign recognition, light control, object detection, object verification and so-called night vision, in which objects that are not clearly visible to a vehicle driver are highlighted by appropriate projection onto the windshield.
• driver assistance data are generated with the driver assistance information, which are then transmitted in step S40 with the aid of the stationary transmission unit 30c to the transmission / reception unit 26 of the vehicle 12.
• step S42 the transceiver unit 26 of the vehicle 12 receives the driver assistance data and supplies it to an information, warning and action module of the vehicle 12, which processes the driver assistance data in step S44 and, in step S46, corresponding information about a man-machine Output interface (HMI) to the driver and additionally or alternatively in step S48 initiated an action of a vehicle component, such as activation of the braking system of the vehicle or the steering system of the vehicle or a safety device of the vehicle and / or the light system of the vehicle.
• HMI man-machine Output interface
• the vehicle components required for the described driver assistance system according to the invention are simply constructed components requiring little space, which can be easily installed in new vehicles and retrofitted in existing vehicles due to the relatively small space requirement.
• the updating of the modules for generating the required driver assistance information can also be managed and updated centrally in the data center 40. This also allows easier on-demand access to these functions. Also region-specific, in particular country-specific, data, in particular for traffic sign recognition and lane detection can be stored centrally in the stationary processing unit 40 and depending on the Position of the vehicle 12 are used to generate the driver assistance information.
• each of the stationary transceiver units 30a to 30c may comprise a stationary processing unit 40 for processing the image data transmitted by the vehicle 12 or may be connected to such a processing unit 40.
• vehicle components 20, 26 can be used in any country without a country-specific adaptation of software and / or hardware in the vehicle.
• the consideration of country-specific features is made by a selection or configuration of the software modules in the data center 40. There then takes place an evaluation of images of traffic signs, lanes and other objects for object recognition. On this basis, for example, a support of the light control and / or other currently known driver assistance functions can be provided.
• the specified system is also easily expandable to future applications.
• the transformation of the image information acquired with the aid of the camera 20, preferably into compressed image data, is achieved by a speaking electronics, preferably a microprocessor, carried out and transmitted to the transmitting / receiving unit 26, which then optionally sends these data together with additional data to the stationary transmitting / receiving unit 30a to 30c.
• the driver assistance function is derived and evaluated depending on the modality. Based on this, driver assistance information is generated, which is transmitted from the data center 40 in the form of data to the stationary transceiver unit 30a to 30c and transmitted from this to the transceiver unit 26 of the vehicle 12.
• At least one imaging sensor 20, ie at least one mono camera, is provided in the vehicle 12.
• the driver assistance function generated with the aid of the generated driver assistance data can in particular comprise general information for the driver and / or warning or action information.
• the driver assistance function generated with the aid of the generated driver assistance data can in particular comprise general information for the driver and / or warning or action information.
• the images transmitted to the stationary processing unit 40 can be stored at least for a limited time with the aid of suitable memories.
• HiI Fe the stored images are performed checks of the driver assistance information generated from the images, for example, to review complaints from drivers about incorrect driver assistance information.
• module updates and module extensions for generating the driver assistance information from the supplied image data can be performed centrally in the data center 40.
• the driver assistance information generated in the data center 40 from the transmitted image data and / or the driver assistance information transmitted to the vehicle can be limited depending on the driver assistance functions, software licenses and / or software modules enabled for the vehicle 12. Such an activation can emerge, for example, from a customer identifier and / or a vehicle identifier.
• the respective driver assistance function can also be limited in space, for example limited to one country.
• a module traffic sign recognition Germany can be booked by a driver or customer, in which case corresponding driver assistance information is generated by the computer center 40 based on the image data transmitted to the data center 40 and transmitted to the vehicle 12.
• the driver is given an optical and / or acoustic information about the detected traffic signs. Additionally or alternatively, the transmitted driver assistance information can be further processed, for example, supplied to a system for generating a warning function in case of speeding over or to a cruise control for limiting the speed.
• both mono cameras and stereo cameras can be used, which capture color images or gray step images.
• these cameras comprise at least one CMOS image capture sensor or one CCD image capture sensor.

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• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Traffic Control Systems (AREA)

Applications Claiming Priority (2)

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• 2009
  • 2009-04-06 DE DE102009016580A patent/DE102009016580A1/de active Pending
• 2010
  • 2010-03-31 EP EP10719923A patent/EP2417594A1/de not_active Withdrawn
  • 2010-03-31 JP JP2012503981A patent/JP2012523053A/ja active Pending
  • 2010-03-31 CN CN2010800145640A patent/CN102378999A/zh active Pending
  • 2010-03-31 WO PCT/EP2010/054381 patent/WO2010115831A1/de not_active Ceased
  • 2010-03-31 US US13/263,225 patent/US20120133738A1/en not_active Abandoned

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