EP2715699A1 - Driver assistance system and method for operating a driver assistance system - Google Patents

Driver assistance system and method for operating a driver assistance system

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Publication number
EP2715699A1
EP2715699A1 EP12714996.1A EP12714996A EP2715699A1 EP 2715699 A1 EP2715699 A1 EP 2715699A1 EP 12714996 A EP12714996 A EP 12714996A EP 2715699 A1 EP2715699 A1 EP 2715699A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
data structure
driver assistance
assistance system
vehicle environment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12714996.1A
Other languages
German (de)
French (fr)
Other versions
EP2715699B1 (en
Inventor
Michael Huelsen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
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Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2715699A1 publication Critical patent/EP2715699A1/en
Application granted granted Critical
Publication of EP2715699B1 publication Critical patent/EP2715699B1/en
Revoked legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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

Definitions

  • the invention relates to a driver assistance system for a vehicle and to a method for operating a driver assistance system of a vehicle.
  • driver assistance systems for vehicles as such are known.
  • known driver assistance systems include a distance sensor for measuring a distance between the vehicle and other vehicles in the vicinity or in the vicinity of the vehicle. Depending on the corresponding distance between the vehicle and the other vehicles, for example, a warning signal is output to the driver. It can also be provided that the vehicle is braked autonomously in order to prevent a possible collision.
  • the known driver assistance systems are generally not applicable.
  • One reason for this is, in particular, that the known driver assistance systems usually can detect only a few vehicles at the same time and have no knowledge of traffic rules, according to which a driver of the vehicle has to be guided in traffic. Such a crossing situation has here too much complexity.
  • the object underlying the invention can therefore be seen to provide a driver assistance system which can support a driver even in complex traffic situations.
  • the object underlying the invention can also be seen in providing a corresponding method for operating a driver assistance system of a vehicle.
  • the object underlying the invention can also be seen in providing a corresponding memory device for a driver assistance system.
  • a driver assistance system for a vehicle comprises a detection device for detecting a vehicle environment and a position determination device for determining a vehicle position relative to the vehicle surroundings. Furthermore, a database is provided which has an ontological data structure with implemented traffic rules.
  • a link is provided, which links the detected vehicle environment and the vehicle position with the ontological data structure, so that a linked data structure is formed, in particular an ontological linked data structure.
  • the linker applies the implemented axioms and / or rules to the linked data structure. This means, in particular, that the linker is designed for a logical conclusion from the linked data structure.
  • the linker is further configured to store the linked data structure. By means of an evaluator, the linked data structure is evaluated in order, for example, to be able to make a statement about a possible collision.
  • a method for operating a driver assistance system of a vehicle is provided.
  • a vehicle environment and a vehicle position relative to the vehicle environment are detected.
  • the recorded vehicle environment and the vehicle position are recorded with an ontolo- "
  • linked in which traffic rules are implemented, so that a linked data structure is formed, in particular an ontological linked data structure.
  • the linked data structure is then evaluated.
  • a memory device in which a database with an ontological data structure is stored, wherein traffic rules are implemented in the ontological data structure.
  • the invention thus encompasses the idea of linking an image of a real or current situation, that is to say the vehicle environment and the relative vehicle position, to an ontological data structure in which traffic rules are implemented.
  • a linked data structure is formed in an advantageous manner, which maps the real situation within the framework of its ontological data structure.
  • traffic rules are also implemented in the ontological data structure, it is advantageously possible to assess how to better assess, for example, the current situation with regard to permissible and non-permissible vehicle maneuvers.
  • the driver assistance system recognizes that the vehicle must grant priority to another vehicle.
  • the driver assistance system advantageously recognizes, in particular in complex traffic situations, for example intersection situations, with a plurality of vehicles, which vehicle must grant priority to which vehicle.
  • a display device comprising, for example, a warning light.
  • the driver can also be informed acoustically whether he has priority or not.
  • a display device may in particular comprise a screen or a display in English.
  • a haptic message to the driver for example, can be provided.
  • traffic rules in particular refer to rules which the driver must follow in order to be able to participate in road traffic in accordance with the law.
  • traffic regulations include in particular the Road Traffic Act (StVO).
  • An ontological data structure in the sense of the present invention comprises in particular a data structure in which the data are classified or categorized and are linked by relations with each other in advance or by the use of rules and / or axioms. In this respect, it is preferably a heavyweight ontology, ie an ontology with extensive use of axioms and / or rules.
  • the ontological data structure abstracts in particular elements of road traffic such as roads, lanes, lanes, traffic lights, traffic signs, intersection topologies and abstracts these preferably by relations by means of rules and / or axioms with each other.
  • Axioms and / or rules can be for example right of way rules.
  • Axioms are, in particular, statements that are always true, thus providing knowledge in an advantageous manner.
  • Rules on the other hand, are not always true, but are only executed at a specific time.
  • the individual elements or data are preferably hierarchically structured or classified, so that insofar a classification hierarchy is formed.
  • traffic signs may be a generic term for a right of way traffic sign and / or for a priority road traffic sign.
  • a moving object is detected by means of the detection device and, for example, classified as a vehicle if certain rules and / or axioms are met.
  • a rule or axiom may be, for example, as follows: If the object is associated with a lane then it is a vehicle.
  • rules and / or axioms are additionally stored as background knowledge in the database, which are applied in particular by the linker to the acquired data, in particular to form new relations and / or to further classify the data.
  • This classification may be, for example, a new classification or according to its hierarchy.
  • linking in the sense of the present invention is meant in particular a linking of data corresponding to the detected vehicle environment and / or the relative vehicle position with data of the ontological data structure.
  • Detecting a vehicle environment in the sense of the present invention comprises, in particular, detecting a direction in which a detected further vehicle drives or intends to drive. For example, a flashing light the other vehicle to be monitored, with a flashing usually indicates the direction in which wants to drive the other vehicle.
  • detection can also include detection of a single element or multiple elements or all elements of the vehicle environment, which are then classified as corresponding objects such as vehicle, lane, traffic sign and further preferably provided with attributes such as position and / or speed.
  • the current traffic situation can be stored so that it can then be used for later evaluations or evaluations of current traffic situations. Also potential future traffic situations can be calculated and stored in particular.
  • a traffic situation comprises in particular a road topology such as, for example, an intersection topology, preferably one or more vehicles, for example signaling systems, in particular traffic signs.
  • the linker is set up to extract elements of the road traffic and, for example, further vehicles, traffic signs, traffic signals and / or roadways with, for example, one or more lanes from the detected vehicle environment and to link them to the ontological data structure, in particular to the elements of the data structure.
  • a filter for filtering elements of the detected vehicle environment is formed between the detection device and the linker. This makes it possible in an advantageous manner that only certain elements of the current situation are linked to the ontological data structure, which consumes less computing power. For example, although the detection device detects all passable areas of the environment, the filter then filters out, for example, the passable areas which, in the current situation, can not be reached directly by, for example, detected vehicles. This means, in particular, that only the recorded passable areas are linked to the ontological data structure, which can be reached directly by detected vehicles in the current situation. "
  • the implemented traffic rules and / or the underlying axioms and / or rules are formulated such that only those elements of the traffic situation that are attributed to detected vehicles are considered.
  • right-of-way rules can for example only consider lane / lane pairs to which vehicles are assigned, so that priority relationships are observed only between vehicle pairs and not for all lane / lane pairs.
  • the detection device comprises a
  • GPS sensor and / or a radar sensor and / or a camera for example a video camera or a stereo video camera, and / or a lidar sensor and / or ultrasound sensors and / or a so-called photonic mixer device (PMD) sensor, ie in particular an infrared sensor for measuring a distance, or so-called Time of Flight (TOF) sensors.
  • PMD photonic mixer device
  • TOF Time of Flight
  • the invention comprises sensory detection. It is also preferable to use navigation data of a navigation system for detecting the vehicle environment.
  • sensory detection also means that additional sensor data are also acquired or used by external sources, such as other vehicles and / or signal systems, in order to define or determine the vehicle environment.
  • data corresponding to the vehicle environment is detected, which may change over time.
  • sensors of the vehicle sensor system such as, for example, a rain sensor and / or a temperature sensor for detecting the vehicle surroundings can also be used.
  • an angle between two lanes is detected.
  • an action is performed depending on the evaluated linked data structure.
  • the vehicle is autonomously braked or accelerated and / or steered.
  • an optical and / or acoustic and / or haptic warning signal is output.
  • a belt tightening system can be activated.
  • an airbag system can also be activated.
  • further driver assistance systems are activated, so that they can then execute collision-reducing measures, for example in the event of a collision.
  • a driver assistance system in the sense of the present invention can be, for example, an active or to be a passive system. In particular, it is a comfort system or a security system.
  • the detected vehicle environment and / or the relative vehicle position are checked for consistency or validity with respect to the ontological data structure.
  • a testing device is provided for this purpose, which can be integrated, for example, in the linker. This makes it possible in an advantageous manner to detect an error in the detection or position determination.
  • a vehicle is to be located in a traffic lane that can only be driven in the opposite direction.
  • this linkage of the vehicle with the traffic lane in the opposite direction is defined as not possible or as faulty.
  • a detection or position determination can thus be repeated, for example, or, for example, an error message of the sensors is generated or, for example, a corresponding action of the driver assistance systems can be executed.
  • the evaluator is integrated in the linker.
  • a processor can be provided, in which the evaluator and / or the linker and / or the filter are integrated.
  • a processor can be used, in which the evaluator and / or the linker and / or the filter are integrated in software. The processor is therefore set up to calculate and perform the corresponding links, evaluations and filter actions.
  • FIG. 2 is a flowchart of a method for operating a driver assistance system.
  • Fig. 4 is a crossing situation and Fig. 5 shows another crossing situation.
  • FIG. 1 shows a driver assistance system 101 for a vehicle (not shown).
  • the driver assistance system 101 comprises a detection device 103 for detecting a vehicle environment and a position determination device 105 for determining a vehicle position relative to the vehicle surroundings.
  • the vehicle speed is also determined.
  • a database 107 is formed, which has an ontological data structure with implemented traffic rules.
  • the driver assistance system 101 further includes a linker 109, which is configured to associate data corresponding to the detected vehicle environment and the relative vehicle position with the ontological data structure to obtain a linked data structure.
  • This linked data structure is evaluated by means of an evaluator 11 1.
  • the driver assistance system 101 is therefore advantageously able to detect a current or real vehicle situation, in particular to detect it by sensors, and to map the data corresponding to this vehicle situation to an ontological data structure. Since the ontological data structure has implemented traffic rules, it is furthermore advantageously made possible for the driver assistance system 101 to provide a driver with instructions or suggestions for a driving maneuver even in complex intersection situations with a plurality of traffic signs and / or traffic light systems.
  • the position-determining device 105 and the detection device 103 are integrally formed as a sensor. This means, in particular, that such a sensor has both functionalities.
  • user inputs are detected by means of an input device, not shown, wherein the user inputs may include, for example, requests to the driver assistance system 101, which vehicle has against which priority.
  • the evaluator also makes inquiries about, for example, the linker to the database.
  • Linker 109 is formed, which filters certain elements from the data according to the detected vehicle environment. Only the filtered data is then linked to the ontological data structure.
  • the filtering has the advantage that data relevant for a particular vehicle situation are thus used for the linkage. For example, in the traffic rules, elements of a vehicle environment, such as lanes and / or lanes, which have no further connection to vehicles, are not relevant to judgment about a possible collision. In other words, less data has to be processed, which considerably reduces computational effort and virtually enables real-time processing.
  • FIG. 2 shows a flowchart of a method for operating a driver assistance system of a vehicle.
  • a vehicle environment is detected, in particular detected by sensors.
  • a vehicle position relative to the detected vehicle environment is detected or determined.
  • the corresponding data of the detected vehicle environment and the relative vehicle position are then linked in a step 205 with an ontological data structure, comprising implemented traffic rules, so that a linked data structure is formed.
  • this linked data structure is evaluated in order, for example, to provide the driver with hints or suggestions for a specific driving maneuver, in particular in a crossing situation.
  • FIG. 3 shows a memory device 301 in which a database 303 is stored.
  • the database 303 comprises an ontological data structure with implemented axioms and / or rules, in particular traffic rules. These axioms and / or rules (in particular traffic rules) stored or implemented in the database are moreover executed in particular by the linker 109, the results being stored in particular.
  • FIG. 4 shows an intersection 401 with 5 intersecting roadways 403, 405, 407, 409 and 411.
  • traffic lanes assigned to the roadways 403, 405, 407, 409 and 411 are shown symbolically.
  • reference numeral 413 denotes a priority road traffic sign. This means in particular that the traffic sign 413 identifies the corresponding roadway as a priority road.
  • Reference numeral 415 denotes a priority sign traffic sign. This means, in particular, that the traffic sign 415 indicates to a driver that he must give priority to vehicles coming from other lanes with the right of way or vehicles coming from the right on equal lanes.
  • a traffic sign 417 is still located, which indicates a speed limit.
  • Vehicles on the lanes 403, 405, 407, 409 and 41 1 are marked with a circle with the reference numeral 419, wherein in the circle 419 in each case a number 1 to 6 for better distinctness of the individual vehicles is located.
  • the arrows with the reference numeral 421 indicate an exemplary course of the route of the corresponding vehicles 419.
  • the arrows with the reference numeral 423 indicate the lanes on the lanes 403, 405, 407, 409 and 411 and their permitted route course, which the vehicles should drive ,
  • intersection 401 may additionally or instead of the traffic signs 413, 415 and 417 have traffic lights.
  • the intersection topology and traffic situation shown here, in particular the number and arrangement of the vehicles, should also be understood as exemplary only. For example, intersection topologies with more or less than 5 lanes can also be provided.
  • the driver assistance system 101 includes the intersection situation shown in FIG. 4 and, due to the link with the ontological data structure with the implemented traffic rules, is able to make statements, for example, about which vehicle has to give priority to which vehicle. Depending on this, then, for example, a warning or accident-avoiding action can be carried out, for example the vehicle can be braked autonomously if the driver does not observe a corresponding warning signal.
  • FIG. 5 shows a further intersection 501 with four intersecting roadways 503, 505, 507 and 509.
  • On the roadway 505 is a vehicle 511, which is located at the intersection 501.
  • On the roadway 507 is another vehicle 513 which approaches the intersection 501.
  • On the roadway 509 is another vehicle 515, which also approaches the intersection 501.
  • the link by a relation with the reference numeral 517 links the two lanes 503 and 505 and includes the information that the lane 503 is located to the right of the lane 505 in the direction of the intersection 501.
  • the link 519 links the two lanes 503 and 505 and includes the information that the lane 505 is located to the left of the lane 503 in the direction of the intersection 501.
  • the relations with the reference numerals 517 and 519 exist in the form in pairs between all adjacent lanes 503, 505, 507 and 509.
  • the traffic sign 415 is linked to the roadway 509 or intersection 501, which is indicated by an arrow with the reference numeral 525.
  • the link 525 thus includes, in particular, the information that the traffic sign 415 belongs to the lane 509 and is relevant for the intersection 501.
  • a link 527 is provided between the vehicle 513 and the roadway 507, which in particular includes the information that the vehicle 513 is located on the roadway 507.
  • Another link 529 between the vehicle 513 and the intersection 501 includes the information that the vehicle 513 is approaching the intersection 501.
  • the link to reference numeral 533 indicates that the corresponding vehicle 51 1 is away from the intersection 501.
  • Yet another link 531 between the lane 503 and the intersection 501 comprises, in particular, the information that the lane 503 is connected to the intersection 503.
  • the traffic signs 413 and 415 are structured ontologically in such a way that a generic term traffic signs is formed in the data structure, wherein then a hierarchization into a sub-term Vortexgefurren workss Lake and a further sub-term Vorfahrts Non wishess Lake is provided into which the traffic signs 413 and 415 are classified accordingly become.
  • the link 521 between the vehicles 513 and 515 includes the information that the vehicle 513 has the right of way in front of the vehicle 515.
  • the link 523 between the vehicles 515 and 513 includes the information that the vehicle 515 must give the vehicle 513 priority.
  • This information is generated in particular by the linker and the ontological data structure and preferably stored or stored in the ontological data structure.
  • the above explained examples and traffic situations as well as intersection topologies should be understood as exemplary only. For example, more or fewer lanes than those shown there may occur. In particular, a number of vehicles can be quite another.
  • the invention is insofar usable in all variants with arbitrary complexity.
  • the invention therefore in particular includes the idea of providing information to a driver assistance system by means of a link, in particular also traffic rules, so that a real traffic situation can be assessed, for example at an intersection, inter alia with regard to the traffic rules, but in particular also with regard to Who is driving where, what is the signaling system phase, ie in particular current, situational information, for example, to give hints or suggestions for legally compliant maneuvers or to steer and / or brake the vehicle autonomously in case of danger.
  • traffic rules in particular are implemented in an ontological data structure, a
  • cytology is in particular a formalization or a description of a knowledge base.

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  • Traffic Control Systems (AREA)

Abstract

The invention relates to a driver assistance system (101) for a vehicle, comprising: - a capture device (103) for capturing a vehicle environment, - a position-finding device (105) for finding a vehicle position relative to the vehicle environment, - a database (107, 303) having an ontological data structure in which traffic rules are implemented, - a combinational logic unit (109) for logically combining the captured vehicle environment and the vehicle position with the ontological data structure in order to form a logically combined data structure, and - an evaluator (109) for evaluating the logically combined data structure. The invention also relates to a method for operating a driver assistance system (101) for a vehicle.

Description

Beschreibung Titel  Description title
Fahrerassistenzsystem und Verfahren zum Betreiben eines Fahrerassistenzsys- tems  Driver assistance system and method for operating a driver assistance system
Die Erfindung betrifft ein Fahrerassistenzsystem für ein Fahrzeug und ein Verfahren zum Betreiben eines Fahrerassistenzsystems eines Fahrzeugs. The invention relates to a driver assistance system for a vehicle and to a method for operating a driver assistance system of a vehicle.
Stand der Technik State of the art
Fahrerassistenzsysteme für Fahrzeuge als solche sind bekannt. Üblicherweise umfassen bekannte Fahrerassistenzsysteme einen Abstandssensor zum Messen eines Abstands zwischen dem Fahrzeug und weiteren Fahrzeugen im Umfeld bzw. in der näheren Umgebung des Fahrzeugs. Abhängig von dem entsprechenden Abstand zwischen dem Fahrzeug und den weiteren Fahrzeugen wird beispielsweise ein Warnsignal an den Fahrer ausgegeben. Es kann auch vorgesehen sein, dass das Fahrzeug autonom gebremst wird, um eine mögliche Kollision zu verhindern. Driver assistance systems for vehicles as such are known. Conventionally, known driver assistance systems include a distance sensor for measuring a distance between the vehicle and other vehicles in the vicinity or in the vicinity of the vehicle. Depending on the corresponding distance between the vehicle and the other vehicles, for example, a warning signal is output to the driver. It can also be provided that the vehicle is braked autonomously in order to prevent a possible collision.
Insbesondere an Kreuzungen mit mehreren sich kreuzenden Fahrbahnen, Verkehrszeichen, Lichtsignalanlagen und mehreren in unterschiedlichen Richtungen abbiegenden Fahrzeugen sind die bekannten Fahrerassistenzsysteme in der Regel nicht einsetzbar. Ein Grund dafür liegt insbesondere darin, dass die bekannten Fahrerassistenzsysteme üblicherweise nur wenige Fahrzeuge gleichzeitig erfassen können und keine Kenntnis über Verkehrsregeln aufweisen, nach denen sich ein Fahrer des Fahrzeugs im Straßenverkehr zu richten hat. Eine solche Kreuzungssituation weist hier insofern eine zu hohe Komplexität auf. In particular, at intersections with several intersecting roadways, traffic signs, traffic lights and several vehicles turning in different directions, the known driver assistance systems are generally not applicable. One reason for this is, in particular, that the known driver assistance systems usually can detect only a few vehicles at the same time and have no knowledge of traffic rules, according to which a driver of the vehicle has to be guided in traffic. Such a crossing situation has here too much complexity.
Offenbarung der Erfindung Λ Disclosure of the invention Λ
Die der Erfindung zugrunde liegende Aufgabe kann daher darin gesehen werden, ein Fahrerassistenzsystem zu schaffen, welches auch in komplexen Verkehrssituationen einen Fahrer unterstützen kann. The object underlying the invention can therefore be seen to provide a driver assistance system which can support a driver even in complex traffic situations.
Die der Erfindung zugrunde liegende Aufgabe kann auch darin gesehen werden, ein entsprechendes Verfahren zum Betreiben eines Fahrerassistenzsystems eines Fahrzeugs anzugeben. The object underlying the invention can also be seen in providing a corresponding method for operating a driver assistance system of a vehicle.
Die der Erfindung zugrunde liegende Aufgabe kann auch darin gesehen werden, eine entsprechende Speichervorrichtung für ein Fahrerassistenzsystem anzugeben. The object underlying the invention can also be seen in providing a corresponding memory device for a driver assistance system.
Diese Aufgaben werden mittels des jeweiligen Gegenstands der unabhängigen Ansprüche gelöst. Vorteilhafte Ausgestaltungen sind Gegenstand von jeweils abhängigen Unteransprüchen. These objects are achieved by means of the subject matter of the independent claims. Advantageous embodiments are the subject of each dependent subclaims.
Nach einem Aspekt wird ein Fahrerassistenzsystem für ein Fahrzeug bereitgestellt. Das Fahrerassistenzsystem umfasst eine Erfassungseinrichtung zum Erfassen eines Fahrzeugumfelds und eine Positionsbestimmungseinrichtung zum Bestimmen einer Fahrzeugposition relativ zu dem Fahrzeugumfeld. Ferner ist eine Datenbank vorgesehen, welche eine ontologische Datenstruktur mit implementierten Verkehrsregeln aufweist. Darüber hinaus ist ein Verknüpfer vorgesehen, welcher das erfasste Fahrzeugumfeld und die Fahrzeugposition mit der on- tologischen Datenstruktur verknüpft, so dass eine verknüpfte Datenstruktur gebildet ist, insbesondere eine ontologische verknüpfte Datenstruktur. Insbesondere wendet der Verknüpfer die implementierten Axiome und/oder Regeln auf die verknüpfte Datenstruktur an. Das heißt also insbesondere, dass der Verknüpfer für eine logische Schlussfolgerung aus der verknüpften Datenstruktur ausgebildet ist. Vorzugsweise ist der Verknüpfer ferner eingerichtet, die verknüpfte Datenstruktur abzuspeichern. Mittels eines Auswerters wird die verknüpfte Datenstruktur ausgewertet, um beispielsweise eine Aussage über eine mögliche Kollision treffen zu können. In one aspect, a driver assistance system for a vehicle is provided. The driver assistance system comprises a detection device for detecting a vehicle environment and a position determination device for determining a vehicle position relative to the vehicle surroundings. Furthermore, a database is provided which has an ontological data structure with implemented traffic rules. In addition, a link is provided, which links the detected vehicle environment and the vehicle position with the ontological data structure, so that a linked data structure is formed, in particular an ontological linked data structure. In particular, the linker applies the implemented axioms and / or rules to the linked data structure. This means, in particular, that the linker is designed for a logical conclusion from the linked data structure. Preferably, the linker is further configured to store the linked data structure. By means of an evaluator, the linked data structure is evaluated in order, for example, to be able to make a statement about a possible collision.
Gemäß einen weiteren Aspekt wird ein Verfahren zum Betreiben eines Fahrerassistenzsystems eines Fahrzeugs bereitgestellt. Hierbei werden ein Fahrzeugumfeld und eine Fahrzeugposition relativ zu dem Fahrzeugumfeld erfasst. Ferner werden das erfasste Fahrzeugumfeld und die Fahrzeugposition mit einer ontolo- „ According to a further aspect, a method for operating a driver assistance system of a vehicle is provided. Here, a vehicle environment and a vehicle position relative to the vehicle environment are detected. Furthermore, the recorded vehicle environment and the vehicle position are recorded with an ontolo- "
gischen Datenstruktur verknüpft, in welcher Verkehrsregeln implementiert sind, so dass eine verknüpfte Datenstruktur gebildet wird, insbesondere eine ontologi- sche verknüpfte Datenstruktur. Die verknüpfte Datenstruktur wird anschließend ausgewertet. linked in which traffic rules are implemented, so that a linked data structure is formed, in particular an ontological linked data structure. The linked data structure is then evaluated.
Nach einem anderen Aspekt wird eine Speichervorrichtung angegeben, in welcher eine Datenbank mit einer ontologischen Datenstruktur abgespeichert ist, wobei in der ontologischen Datenstruktur Verkehrsregeln implementiert sind. According to another aspect, a memory device is specified, in which a database with an ontological data structure is stored, wherein traffic rules are implemented in the ontological data structure.
Die Erfindung umfasst also insbesondere den Gedanken, ein Abbild einer realen bzw. aktuellen Situation, also das Fahrzeugumfeld und der dazu relativen Fahrzeugposition, mit einer ontologischen Datenstruktur zu verknüpfen, in welcher Verkehrsregeln implementiert sind. Dadurch wird in vorteilhafter Weise eine verknüpfte Datenstruktur gebildet, welche im Rahmen ihrer ontologischen Datenstruktur die reale Situation abbildet. Da in der ontologischen Datenstruktur ferner Verkehrsregeln implementiert sind, steht in vorteilhafter Weise Wssen zur Verfügung, um beispielsweise die aktuelle Situation in Bezug auf zulässige und nicht zulässige Fahrzeugmanöver besser einschätzen zu können. So erkennt das Fahrerassistenzsystem beispielsweise, dass das Fahrzeug einem weiteren Fahrzeug die Vorfahrt gewähren muss. Weiterhin erkennt das Fahrerassistenzsystem in vorteilhafter Weise insbesondere in komplexen Verkehrssituationen, beispielsweise Kreuzungssituationen, mit mehreren Fahrzeugen, welches Fahrzeug welchem Fahrzeug die Vorfahrt gewähren muss. In particular, the invention thus encompasses the idea of linking an image of a real or current situation, that is to say the vehicle environment and the relative vehicle position, to an ontological data structure in which traffic rules are implemented. As a result, a linked data structure is formed in an advantageous manner, which maps the real situation within the framework of its ontological data structure. Since traffic rules are also implemented in the ontological data structure, it is advantageously possible to assess how to better assess, for example, the current situation with regard to permissible and non-permissible vehicle maneuvers. For example, the driver assistance system recognizes that the vehicle must grant priority to another vehicle. Furthermore, the driver assistance system advantageously recognizes, in particular in complex traffic situations, for example intersection situations, with a plurality of vehicles, which vehicle must grant priority to which vehicle.
Diese Erkenntnisse können dann beispielsweise dem Fahrer mitgeteilt, insbesondere optisch mitgeteilt, werden, vorzugsweise mittels einer Anzeigeeinrichtung umfassend beispielsweise eine Warnleuchte. Insbesondere kann dem Fahrer auch akustisch mitgeteilt werden, ob er Vorfahrt hat oder nicht. Eine Anzeigeeinrichtung kann insbesondere einen Bildschirm bzw. auf englisch ein Display umfassen. Auch eine haptische Mitteilung an den Fahrer kann beispielsweise vorgesehen sein. These findings can then, for example, be communicated to the driver, in particular visually informed, preferably by means of a display device comprising, for example, a warning light. In particular, the driver can also be informed acoustically whether he has priority or not. A display device may in particular comprise a screen or a display in English. A haptic message to the driver, for example, can be provided.
Mit Verkehrsregeln im Sinne der vorliegenden Erfindung sind insbesondere Regeln bezeichnet, die der Fahrer befolgen muss, um gesetzeskonform am Straßenverkehr teilnehmen zu können. In Deutschland beispielsweise umfassen Verkehrsregeln insbesondere die Straßenverkehrsordnung (StVO). Eine ontologische Datenstruktur im Sinne der vorliegenden Erfindung umfasst insbesondere eine Datenstruktur, in der die Daten klassifiziert bzw. kategorisiert vorliegen und durch Relationen untereinander vorab oder durch den Einsatz von Regeln und/oder Axiomen verknüpft sind. Es handelt sich insofern vorzugsweise um eine heavyweight-Ontologie, also eine Ontologie mit umfangreicher Nutzung von Axiomen und/oder Regeln. Die ontologische Datenstruktur bildet insbesondere Elemente des Straßenverkehrs wie beispielsweise Straßen, Fahrbahnen, Fahrspuren, Lichtsignalanlagen, Verkehrszeichen, Kreuzungstopologien abstrakt ab und verknüpft diese vorzugsweise durch Relationen mittels Regeln und/oder Axiomen untereinander. Axiome und/oder Regeln können beispielsweise Vorfahrtsregeln sein. Axiome sind insbesondere Aussagen, die immer wahr sind, so dass dadurch in vorteilhafter Weise Wissen zur Verfügung gestellt wird. Regeln hingegen sind nicht immer wahr, sondern werden nur zu einem bestimmten Zeitpunkt ausgeführt. Die einzelnen Elemente bzw. Daten sind vorzugsweise hierarchisch strukturiert bzw. klassifiziert, so dass insofern eine Klassifizierungshierarchie gebildet ist. So kann insbesondere Verkehrszeichen einen Oberbegriff für ein Vorfahrtgewährenverkehrszeichen und/oder für ein Vorfahrtsstraßenverkehrszeichen sein. In the sense of the present invention, traffic rules in particular refer to rules which the driver must follow in order to be able to participate in road traffic in accordance with the law. In Germany, for example, traffic regulations include in particular the Road Traffic Act (StVO). An ontological data structure in the sense of the present invention comprises in particular a data structure in which the data are classified or categorized and are linked by relations with each other in advance or by the use of rules and / or axioms. In this respect, it is preferably a heavyweight ontology, ie an ontology with extensive use of axioms and / or rules. The ontological data structure abstracts in particular elements of road traffic such as roads, lanes, lanes, traffic lights, traffic signs, intersection topologies and abstracts these preferably by relations by means of rules and / or axioms with each other. Axioms and / or rules can be for example right of way rules. Axioms are, in particular, statements that are always true, thus providing knowledge in an advantageous manner. Rules, on the other hand, are not always true, but are only executed at a specific time. The individual elements or data are preferably hierarchically structured or classified, so that insofar a classification hierarchy is formed. In particular, traffic signs may be a generic term for a right of way traffic sign and / or for a priority road traffic sign.
Erfindungsgemäß wird also beispielsweise ein bewegtes Objekt mittels der Erfassungseinrichtung erfasst und beispielsweise als ein Fahrzeug klassifiziert, wenn bestimmte Regeln und/oder Axiome erfüllt sind. Eine solche Regel oder ein solches Axiom kann beispielsweise wie folgt lauten: Wenn das Objekt einer Fahrspur zugeordnet ist, dann ist es ein Fahrzeug. Allgemein gesprochen sind Regeln und/oder Axiome zusätzlich als Hintergrundwissen in der Datenbank gespeichert, die insbesondere durch den Verknüpfer auf die erfassten Daten angewandt werden, um insbesondere neue Relationen zu bilden und/oder die Daten weiter zu klassifizieren. Diese Klassifizierung kann beispielsweise eine neue Klassifizierung oder entsprechend ihrer Hierarchie sein. According to the invention, for example, a moving object is detected by means of the detection device and, for example, classified as a vehicle if certain rules and / or axioms are met. Such a rule or axiom may be, for example, as follows: If the object is associated with a lane then it is a vehicle. Generally speaking, rules and / or axioms are additionally stored as background knowledge in the database, which are applied in particular by the linker to the acquired data, in particular to form new relations and / or to further classify the data. This classification may be, for example, a new classification or according to its hierarchy.
Mit Verknüpfen im Sinne der vorliegenden Erfindung ist insbesondere ein Verknüpfen von Daten entsprechend dem erfassten Fahrzeugumfeld und/oder der relativen Fahrzeugposition mit Daten der ontologischen Datenstruktur gemeint. By linking in the sense of the present invention is meant in particular a linking of data corresponding to the detected vehicle environment and / or the relative vehicle position with data of the ontological data structure.
Ein Erfassen eines Fahrzeugumfelds im Sinne der vorliegenden Erfindung umfasst insbesondere ein Erfassen einer Richtung, in welche ein erfasstes weiteres Fahrzeug fährt oder zu fahren beabsichtigt. Beispielsweise kann ein Blinklicht des weiteren Fahrzeugs überwacht werden, wobei ein Blinken in der Regel die Richtung anzeigt, in die das weitere Fahrzeug fahren will. Ein Erfassen kann insbesondere auch ein Erfassen eines einzelnen Elements oder mehrerer Elemente oder sämtliche Elemente des Fahrzeugumfelds umfassen, die dann als entsprechende Objekte wie beispielsweise Fahrzeug, Fahrspur, Verkehrszeichen klassifiziert werden und ferner vorzugsweise mit Attributen wie Position und/oder Geschwindigkeit versehen werden. Detecting a vehicle environment in the sense of the present invention comprises, in particular, detecting a direction in which a detected further vehicle drives or intends to drive. For example, a flashing light the other vehicle to be monitored, with a flashing usually indicates the direction in which wants to drive the other vehicle. In particular, detection can also include detection of a single element or multiple elements or all elements of the vehicle environment, which are then classified as corresponding objects such as vehicle, lane, traffic sign and further preferably provided with attributes such as position and / or speed.
Gemäß einer Ausführungsform kann die aktuelle Verkehrssituation abgespeichert werden, so dass diese für spätere Bewertungen bzw. Auswertungen dann aktueller Verkehrssituationen verwendet werden kann. Auch können potentielle zukünftige Verkehrssituationen berechnet und insbesondere abgespeichert werden. According to one embodiment, the current traffic situation can be stored so that it can then be used for later evaluations or evaluations of current traffic situations. Also potential future traffic situations can be calculated and stored in particular.
Eine Verkehrssituation umfasst insbesondere eine Straßentopologie wie beispielsweise eine Kreuzungstopologie, vorzugweise eine oder mehrere Fahrzeuge, beispielsweise Signalanlagen, insbesondere Verkehrszeichen. A traffic situation comprises in particular a road topology such as, for example, an intersection topology, preferably one or more vehicles, for example signaling systems, in particular traffic signs.
Nach einer Ausführungsform ist der Verknüpfer eingerichtet, Elemente des Straßenverkehrs sowie beispielsweise weitere Fahrzeuge, Verkehrszeichen, Lichtsignalanlagen und/oder Fahrbahnen mit beispielsweise einer oder mehreren Fahrspuren aus dem erfassten Fahrzeugumfeld zu extrahieren und mit der ontologischen Datenstruktur, insbesondere mit den Elementen der Datenstruktur zu verknüpfen. According to one embodiment, the linker is set up to extract elements of the road traffic and, for example, further vehicles, traffic signs, traffic signals and / or roadways with, for example, one or more lanes from the detected vehicle environment and to link them to the ontological data structure, in particular to the elements of the data structure.
Gemäß einer anderen Ausführungsform ist ein Filter zum Filtern von Elementen des erfassten Fahrzeugumfelds zwischen der Erfassungseinrichtung und dem Verknüpfer gebildet. Dadurch ist es in vorteilhafter Weise ermöglicht, dass nur bestimmte Elemente der aktuellen Situation mit der ontologischen Datenstruktur verknüpft werden, was weniger Rechenleistung verbraucht. Beispielsweise er- fasst zwar die Erfassungseinrichtung sämtliche befahrbaren Flächen der Umgebung, der Filter filtert allerdings dann beispielsweise die befahrbaren Flächen heraus, die in der aktuellen Situation nicht direkt von beispielsweise erfassten Fahrzeugen erreicht werden können. Das heißt also insbesondere, dass nur die erfassten befahrbaren Flächen mit der ontologischen Datenstruktur verknüpft werden, die durch erfasste Fahrzeuge in der aktuellen Situation direkt erreicht werden können. „ According to another embodiment, a filter for filtering elements of the detected vehicle environment is formed between the detection device and the linker. This makes it possible in an advantageous manner that only certain elements of the current situation are linked to the ontological data structure, which consumes less computing power. For example, although the detection device detects all passable areas of the environment, the filter then filters out, for example, the passable areas which, in the current situation, can not be reached directly by, for example, detected vehicles. This means, in particular, that only the recorded passable areas are linked to the ontological data structure, which can be reached directly by detected vehicles in the current situation. "
Nach einer Ausführungsform sind die implementierten Verkehrsregeln und/oder die zugrunde liegenden Axiome und/oder Regeln derart formuliert, dass nur solche Elemente der Verkehrssituation betrachtet werden, die erkannten Fahrzeu- gen zugeordnet werden. Insbesondere können Vorfahrtsregeln beispielsweise nur Fahrbahn/-spur-Paare beachten, denen Fahrzeuge zugeordnet sind, so dass Vorfahrtsrelationen nur zwischen Fahrzeugpaaren beachtet werden und nicht für alle Fahrbahn/-spur-Paare. In einer weiteren Ausführungsform umfasst die Erfassungseinrichtung einenAccording to one embodiment, the implemented traffic rules and / or the underlying axioms and / or rules are formulated such that only those elements of the traffic situation that are attributed to detected vehicles are considered. In particular, right-of-way rules can for example only consider lane / lane pairs to which vehicles are assigned, so that priority relationships are observed only between vehicle pairs and not for all lane / lane pairs. In a further embodiment, the detection device comprises a
GPS-Sensor und/oder einen Radarsensor und/oder eine Kamera, beispielsweise eine Videokamera oder eine Stereovideokamera, und/oder ein Lidarsensor und/oder Ultraschallsensoren und/oder ein sogenannter Photonik Mixer Device (PMD)-Sensor, also insbesondere ein Infrarotsensor zum Messen eines Abstan- des, oder sogenannte Time of Flight (TOF)-Sensoren. Ein Erfassen im Sinne derGPS sensor and / or a radar sensor and / or a camera, for example a video camera or a stereo video camera, and / or a lidar sensor and / or ultrasound sensors and / or a so-called photonic mixer device (PMD) sensor, ie in particular an infrared sensor for measuring a distance, or so-called Time of Flight (TOF) sensors. A grasping in the sense of
Erfindung umfasst insbesondere ein sensorisches Erfassen. Es können vorzugsweise auch Navigationsdaten eines Navigationssystems zum Erfassen des Fahrzeugsumfelds verwendet werden. Insbesondere ist mit sensorischem Erfassen auch gemeint, dass weitere Sensordaten auch von externen Quellen wie beispielsweise anderen Fahrzeugen und/oder Signalanlagen erfasst bzw. verwendet werden, um das Fahrzeugumfeld zu definieren bzw. zu bestimmen. Es werden also insbesondere Daten entsprechend dem Fahrzeugumfeld erfasst, welche sich im Laufe der Zeit ändern können. Insbesondere können auch Sensoren der Fahrzeugsensorik wie beispielsweise einen Regensensor und/oder einen Temperatursensor zum Erfassen des Fahrzeugumfelds verwendet werden. Vorzugsweise wird auch ein Winkel zwischen zwei Fahrbahnen erfasst. In particular, the invention comprises sensory detection. It is also preferable to use navigation data of a navigation system for detecting the vehicle environment. In particular, sensory detection also means that additional sensor data are also acquired or used by external sources, such as other vehicles and / or signal systems, in order to define or determine the vehicle environment. Thus, in particular, data corresponding to the vehicle environment is detected, which may change over time. In particular, sensors of the vehicle sensor system such as, for example, a rain sensor and / or a temperature sensor for detecting the vehicle surroundings can also be used. Preferably, an angle between two lanes is detected.
Nach einer anderen Ausführungsform kann vorgesehen sein, dass abhängig von der ausgewerteten verknüpften Datenstruktur eine Aktion durchgeführt wird. Ins- besondere kann vorgesehen sein, dass das Fahrzeug autonom gebremst oder beschleunigt und/oder gelenkt wird. Vorzugsweise wird ein optisches und/oder akustisches und/oder haptisches Warnsignal ausgegeben. Insbesondere kann ein Gurtstraffungssystem aktiviert werden. Es kann beispielsweise auch ein Air- bagsystem aktiviert werden. Vorzugsweise werden also weitere Fahrerassistenz- Systeme aktiviert, so dass diese dann beispielsweise im Fall einer Kollision kolli- sionsschweremindernde Maßnahmen ausführen können. Ein Fahrerassistenzsystem im Sinne der vorliegenden Erfindung kann beispielweise ein aktives oder ein passives System sein. Insbesondere ist es ein Komfortsystem oder ein Sicherheitssystem. According to another embodiment, it may be provided that an action is performed depending on the evaluated linked data structure. In particular, it can be provided that the vehicle is autonomously braked or accelerated and / or steered. Preferably, an optical and / or acoustic and / or haptic warning signal is output. In particular, a belt tightening system can be activated. For example, an airbag system can also be activated. Preferably, therefore, further driver assistance systems are activated, so that they can then execute collision-reducing measures, for example in the event of a collision. A driver assistance system in the sense of the present invention can be, for example, an active or to be a passive system. In particular, it is a comfort system or a security system.
In einer weiteren Ausführungsform werden das erfasste Fahrzeugumfeld und/oder die relative Fahrzeugposition auf Konsistenz bzw. auf Gültigkeit in Bezug auf die ontologische Datenstruktur geprüft. Vorzugsweise ist hierfür eine Prüfeinrichtung vorgesehen, welche beispielsweise in dem Verknüpfer integriert sein kann. Dadurch ist es in vorteilhafter Weise ermöglicht, ein Fehler in der Erfassung oder Positionsbestimmung zu erkennen. Beispielweise soll sich gemäß der Erfassungseinrichtung ein Fahrzeug auf einer nur in entgegen gesetzter Richtung befahrbaren Fahrspur befinden. Diese Verknüpfung Fahrzeug mit entgegengesetzt befahrbarer Fahrspur ist aber gemäß der ontologischen Datenstruktur als nicht möglich bzw. als fehlerhaft definiert. Eine Erfassung bzw. Positionsbestimmung kann somit beispielsweise wiederholt oder beispielsweise eine Fehlermeldung der Sensoren erzeugt oder beispielsweise eine entsprechende Aktion der Fahrerassistenzsysteme ausgeführt werden. In a further embodiment, the detected vehicle environment and / or the relative vehicle position are checked for consistency or validity with respect to the ontological data structure. Preferably, a testing device is provided for this purpose, which can be integrated, for example, in the linker. This makes it possible in an advantageous manner to detect an error in the detection or position determination. For example, according to the detection device, a vehicle is to be located in a traffic lane that can only be driven in the opposite direction. However, according to the ontological data structure, this linkage of the vehicle with the traffic lane in the opposite direction is defined as not possible or as faulty. A detection or position determination can thus be repeated, for example, or, for example, an error message of the sensors is generated or, for example, a corresponding action of the driver assistance systems can be executed.
In einer anderen Ausführungsform ist der Auswerter in den Verknüpfer integriert. Vorzugsweise kann ein Prozessor vorgesehen sein, in welchem der Auswerter und/oder der Verknüpfer und/oder der Filter integriert sind. Vorzugsweise kann ein Prozessor vorgehen sein, in welchem der Auswerter und/oder der Verknüpfer und/oder der Filter in Software integriert sind. Der Prozessor ist insofern dafür eingerichtet, die entsprechenden Verknüpfungen, Auswertungen und Filteraktionen zu berechnen und durchzuführen. In another embodiment, the evaluator is integrated in the linker. Preferably, a processor can be provided, in which the evaluator and / or the linker and / or the filter are integrated. Preferably, a processor can be used, in which the evaluator and / or the linker and / or the filter are integrated in software. The processor is therefore set up to calculate and perform the corresponding links, evaluations and filter actions.
Die Erfindung wird im Folgenden anhand von bevorzugten Ausführungsbeispielen unter Bezugnahme auf Figuren näher erläutert. Hierbei zeigen The invention will be explained below with reference to preferred embodiments with reference to figures. Show here
Fig. 1 ein Fahrerassistenzsystem, 1 a driver assistance system,
Fig. 2 ein Ablaufdiagramm eines Verfahrens zum Betreiben eines Fahrerassistenzsystems, 2 is a flowchart of a method for operating a driver assistance system.
Fig. 3 eine Speichervorrichtung 3 shows a storage device
Fig. 4 eine Kreuzungssituation und Fig. 5 eine weitere Kreuzungssituation. Fig. 4 is a crossing situation and Fig. 5 shows another crossing situation.
Im Folgenden werden für gleiche Merkmale gleiche Bezugszeichen verwendet. Hereinafter, like reference numerals are used for like features.
Fig. 1 zeigt ein Fahrerassistenzsystem 101 für ein Fahrzeug (nicht gezeigt). Das Fahrerassistenzsystem 101 umfasst eine Erfassungseinrichtung 103 zum Erfassen eines Fahrzeugsumfelds und eine Positionsbestimmungseinrichtung 105 zum Bestimmen einer Fahrzeugposition relativ zu dem Fahrzeugumfeld. Vorzugsweise wird auch die Fahrzeuggeschwindigkeit bestimmt. Ferner ist eine Datenbank 107 gebildet, welche eine ontologische Datenstruktur mit implementierten Verkehrsregeln aufweist. FIG. 1 shows a driver assistance system 101 for a vehicle (not shown). The driver assistance system 101 comprises a detection device 103 for detecting a vehicle environment and a position determination device 105 for determining a vehicle position relative to the vehicle surroundings. Preferably, the vehicle speed is also determined. Furthermore, a database 107 is formed, which has an ontological data structure with implemented traffic rules.
Das Fahrerassistenzsystem 101 umfasst ferner einen Verknüpfer 109, welcher eingerichtet ist, Daten entsprechend dem erfassten Fahrzeugumfeld und der relativen Fahrzeugposition mit der ontologischen Datenstruktur verknüpft, um eine verknüpfte Datenstruktur zu erhalten. Diese verknüpfte Datenstruktur wird mittels eines Auswerters 11 1 ausgewertet. The driver assistance system 101 further includes a linker 109, which is configured to associate data corresponding to the detected vehicle environment and the relative vehicle position with the ontological data structure to obtain a linked data structure. This linked data structure is evaluated by means of an evaluator 11 1.
Das Fahrerassistenzsystem 101 ist somit in vorteilhafter Weise in der Lage, eine aktuelle bzw. reale Fahrzeugsituation zu erfassen, insbesondere sensorisch zu erfassen, und die dieser Fahrzeugsituation entsprechenden Daten auf eine ontologische Datenstruktur abzubilden. Da die ontologische Datenstruktur Verkehrsregeln implementiert hat, ist es weiterhin in vorteilhafter Weise ermöglicht, dass das Fahrerassistenzsystem 101 einem Fahrer beispielsweise Hinweise oder Anregungen für ein Fahrmanöver auch in komplexen Kreuzungssituationen mit mehreren Verkehrszeichen und/oder Lichtsignalanlagen geben kann. The driver assistance system 101 is therefore advantageously able to detect a current or real vehicle situation, in particular to detect it by sensors, and to map the data corresponding to this vehicle situation to an ontological data structure. Since the ontological data structure has implemented traffic rules, it is furthermore advantageously made possible for the driver assistance system 101 to provide a driver with instructions or suggestions for a driving maneuver even in complex intersection situations with a plurality of traffic signs and / or traffic light systems.
In einer nicht gezeigten Ausführungsform kann vorgesehen sein, dass die Positionsbestimmungseinrichtung 105 und die Erfassungseinrichtung 103 integral als ein Sensor gebildet sind. Das heißt also insbesondere, dass ein solcher Sensor beide Funktionalitäten aufweist. In an embodiment, not shown, it may be provided that the position-determining device 105 and the detection device 103 are integrally formed as a sensor. This means, in particular, that such a sensor has both functionalities.
Es kann beispielsweise auch vorgesehen sein, dass Nutzereingaben mittels einer nicht gezeigten Eingabeeinrichtung erfasst werden, wobei die Nutzereingaben beispielsweise Anfragen an das Fahrerassistenzsystem 101 umfassen können, welches Fahrzeug gegenüber welchem Vorfahrt hat. Λ It can also be provided, for example, that user inputs are detected by means of an input device, not shown, wherein the user inputs may include, for example, requests to the driver assistance system 101, which vehicle has against which priority. Λ
Weiterhin ist vorzugsweise vorgesehen, dass der Auswerter auch Anfragen über beispielsweise den Verknüpfer an die Datenbank stellt. Furthermore, it is preferably provided that the evaluator also makes inquiries about, for example, the linker to the database.
In einem nicht gezeigten Ausführungsbeispiel kann vorzugsweise vorgesehen sein, dass ein Filter zwischen der Erfassungseinrichtung 103 und dem In an embodiment, not shown, it may preferably be provided that a filter between the detection device 103 and the
Verknüpfer 109 gebildet ist, der bestimmte Elemente aus den Daten entsprechend dem erfassten Fahrzeugumfeld filtert. Erst die gefilterten Daten werden dann mit der ontologischen Datenstruktur verknüpft. Das Filtern weist insbesondere den Vorteil auf, dass so nur für eine bestimmte Fahrzeugsituation relevante Daten für die Verknüpfung verwendet werden. Beispielsweise sind in den Verkehrsregeln Elemente eines Fahrzeugumfelds wie zum Beispiel Fahrbahnen und/oder -spuren, welche keine weitere Verbindung zu Fahrzeugen aufweisen, für eine Beurteilung über eine mögliche Kollision nicht relevant. Es müssen also weniger Daten verarbeitet werden, was einen Rechenaufwand erheblich redu- ziert und quasi eine Echtzeitverarbeitung ermöglicht.  Linker 109 is formed, which filters certain elements from the data according to the detected vehicle environment. Only the filtered data is then linked to the ontological data structure. In particular, the filtering has the advantage that data relevant for a particular vehicle situation are thus used for the linkage. For example, in the traffic rules, elements of a vehicle environment, such as lanes and / or lanes, which have no further connection to vehicles, are not relevant to judgment about a possible collision. In other words, less data has to be processed, which considerably reduces computational effort and virtually enables real-time processing.
Fig. 2 zeigt ein Ablaufdiagramm eines Verfahrens zum Betreiben eines Fahrerassistenzsystems eines Fahrzeugs. In einem Schritt 201 wird ein Fahrzeugumfeld erfasst, insbesondere sensorisch erfasst. In einem Schritt 203 wird eine Fahrzeugposition relativ zu dem erfassten Fahrzeugumfeld erfasst bzw. bestimmt. Die entsprechenden Daten des erfassten Fahrzeugumfelds und der relativen Fahrzeugposition werden dann in einem Schritt 205 mit einer ontologischen Datenstruktur, aufweisend implementierte Verkehrsregeln, verknüpft, so dass eine verknüpfte Datenstruktur gebildet wird. In einem Schritt 207 wird diese ver- knüpfte Datenstruktur ausgewertet, um beispielsweise einem Fahrer Hinweise oder Anregungen für ein bestimmtes Fahrmanöver insbesondere in einer Kreuzungssituation zur Verfügung zu stellen. FIG. 2 shows a flowchart of a method for operating a driver assistance system of a vehicle. In a step 201, a vehicle environment is detected, in particular detected by sensors. In a step 203, a vehicle position relative to the detected vehicle environment is detected or determined. The corresponding data of the detected vehicle environment and the relative vehicle position are then linked in a step 205 with an ontological data structure, comprising implemented traffic rules, so that a linked data structure is formed. In a step 207, this linked data structure is evaluated in order, for example, to provide the driver with hints or suggestions for a specific driving maneuver, in particular in a crossing situation.
Fig. 3 zeigt eine Speichereinrichtung 301 , in welcher eine Datenbank 303 ge- speichert ist. Die Datenbank 303 umfasst eine ontologische Datenstruktur mit implementierten Axiomen und/oder Regeln, insbesondere Verkehrsregeln. Diese in der Datenbank gespeicherten bzw. implementierten Axiome und/oder Regeln (insbesondere Verkehrsregeln) werden darüber hinaus insbesondere durch den Verknüpfer 109 ausgeführt, wobei die Ergebnisse insbesondere abgespeichert werden. Λ Λ FIG. 3 shows a memory device 301 in which a database 303 is stored. The database 303 comprises an ontological data structure with implemented axioms and / or rules, in particular traffic rules. These axioms and / or rules (in particular traffic rules) stored or implemented in the database are moreover executed in particular by the linker 109, the results being stored in particular. Λ Λ
- 10 -  - 10 -
Fig. 4 zeigt eine Kreuzung 401 mit 5 sich kreuzenden Fahrbahnen 403, 405, 407, 409 und 411. Im Kreuzungsbereich sind den Fahrbahnen 403, 405, 407, 409 und 411 zugeordnete Verkehrszeichen symbolisch eingezeichnet. Hierbei kennzeichnet das Bezugszeichen 413 ein Vorfahrtsstraßenverkehrszeichen. Das heißt also insbesondere, dass das Verkehrszeichen 413 die entsprechende Fahrbahn als Vorfahrtsstraße kennzeichnet. Das Bezugszeichen 415 kennzeichnet ein Vor- fahrtgewährenverkehrszeichen. Das heißt also insbesondere, dass das Verkehrszeichen 415 einem Fahrer anzeigt, dass er Fahrzeugen, welche aus anderen vorfahrtsberechtigten Fahrbahnen kommen, oder Fahrzeugen, welche von rechts aus gleichberechtigten Fahrbahnen kommen, die Vorfahrt gewähren muss. Ferner ist noch ein Verkehrszeichen 417 eingezeichnet, welches eine Geschwindigkeitsbegrenzung anzeigt. FIG. 4 shows an intersection 401 with 5 intersecting roadways 403, 405, 407, 409 and 411. In the intersection area, traffic lanes assigned to the roadways 403, 405, 407, 409 and 411 are shown symbolically. Here, reference numeral 413 denotes a priority road traffic sign. This means in particular that the traffic sign 413 identifies the corresponding roadway as a priority road. Reference numeral 415 denotes a priority sign traffic sign. This means, in particular, that the traffic sign 415 indicates to a driver that he must give priority to vehicles coming from other lanes with the right of way or vehicles coming from the right on equal lanes. Furthermore, a traffic sign 417 is still located, which indicates a speed limit.
Fahrzeuge auf den Fahrbahnen 403, 405, 407, 409 und 41 1 sind mit einem Kreis mit dem Bezugszeichen 419 gekennzeichnet, wobei in dem Kreis 419 jeweils eine Zahl 1 bis 6 zur besseren Unterscheidbarkeit der einzelnen Fahrzeuge eingezeichnet ist. Die Pfeile mit den Bezugszeichen 421 kennzeichnen einen beispielhaften Verlauf der Fahrstrecke der entsprechenden Fahrzeuge 419. Die Pfeile mit dem Bezugszeichen 423 kennzeichnen die sich auf den Fahrbahnen 403, 405, 407, 409 und 411 befindenden Fahrspuren und deren erlaubten Fahrstreckenverlauf, den die Fahrzeuge fahren dürften. Vehicles on the lanes 403, 405, 407, 409 and 41 1 are marked with a circle with the reference numeral 419, wherein in the circle 419 in each case a number 1 to 6 for better distinctness of the individual vehicles is located. The arrows with the reference numeral 421 indicate an exemplary course of the route of the corresponding vehicles 419. The arrows with the reference numeral 423 indicate the lanes on the lanes 403, 405, 407, 409 and 411 and their permitted route course, which the vehicles should drive ,
Obwohl hier nicht explizit eingezeichnet, kann die Kreuzung 401 noch zusätzlich oder anstelle der Verkehrszeichen 413, 415 und 417 Lichtsignalanlagen aufweisen. Auch soll die hier gezeigte Kreuzungstopologie und Verkehrssituation, hier insbesondere die Anzahl und Anordnung der Fahrzeuge, nur als beispielhaft verstanden werden. Beispielsweise können auch Kreuzungstopologien mit mehr oder weniger als 5 Fahrbahnen vorgesehen sein. Although not explicitly shown here, the intersection 401 may additionally or instead of the traffic signs 413, 415 and 417 have traffic lights. The intersection topology and traffic situation shown here, in particular the number and arrangement of the vehicles, should also be understood as exemplary only. For example, intersection topologies with more or less than 5 lanes can also be provided.
Das Fahrerassistenzsystem 101 umfasst die in Fig. 4 gezeigte Kreuzungssituation und ist aufgrund der Verknüpfung mit der ontologischen Datenstruktur mit den implementierten Verkehrsregeln in der Lage, beispielsweise Aussagen darüber zu treffen, welches Fahrzeug welchem Fahrzeug Vorfahrt gewähren muss. Abhängig davon kann dann beispielsweise eine warnende oder unfallvermeidende Aktion ausgeführt werden, beispielsweise das Fahrzeug autonom abgebremst werden, wenn der Fahrer ein entsprechendes Warnsignal nicht beachtet. Fig. 5 zeigt eine weitere Kreuzung 501 mit sich vier kreuzenden Fahrbahnen 503, 505, 507 und 509. Auf der Fahrbahn 505 befindet sich ein Fahrzeug 511 , welches sich von der Kreuzung 501 entfernt. Auf der Fahrbahn 507 befindet sich ein weiteres Fahrzeug 513, welches sich der Kreuzung 501 nähert. Auf der Fahrbahn 509 befindet sich ein anderes Fahrzeug 515, welches sich ebenfalls der Kreuzung 501 nähert. The driver assistance system 101 includes the intersection situation shown in FIG. 4 and, due to the link with the ontological data structure with the implemented traffic rules, is able to make statements, for example, about which vehicle has to give priority to which vehicle. Depending on this, then, for example, a warning or accident-avoiding action can be carried out, for example the vehicle can be braked autonomously if the driver does not observe a corresponding warning signal. FIG. 5 shows a further intersection 501 with four intersecting roadways 503, 505, 507 and 509. On the roadway 505 is a vehicle 511, which is located at the intersection 501. On the roadway 507 is another vehicle 513 which approaches the intersection 501. On the roadway 509 is another vehicle 515, which also approaches the intersection 501.
Eine Verknüpfung dieser einzelnen klassifizierten Elemente durch Relationen untereinander ist in Fig. 5 mit Pfeilen oder Doppelpfeilen mit entsprechenden Bezugszeichen symbolisch dargestellt, welche im Folgenden erläutert werden. Diese Verknüpfungen werden insbesondere in der ontologischen Datenstruktur abgebildet. A linkage of these individual classified elements by relationships with each other is shown symbolically in FIG. 5 by arrows or double arrows with corresponding reference symbols, which are explained below. These links are mapped in particular in the ontological data structure.
Die Verknüpfung durch eine Relation mit dem Bezugszeichen 517 verknüpft die beiden Fahrbahnen 503 und 505 und umfasst die Information, dass sich die Fahrbahn 503 rechts von der Fahrbahn 505 in Richtung der Kreuzung 501 gesehen befindet. Analog verknüpft die Verknüpfung 519 die beiden Fahrbahnen 503 und 505 und umfasst die Information, dass sich die Fahrbahn 505 links der Fahrbahn 503 in Richtung der Kreuzung 501 gesehen befindet. Die Relationen mit den Bezugszeichen 517 und 519 existieren in der Form paarweise zwischen allen nebeneinander angeordneten Fahrbahnen 503, 505, 507 und 509. The link by a relation with the reference numeral 517 links the two lanes 503 and 505 and includes the information that the lane 503 is located to the right of the lane 505 in the direction of the intersection 501. Similarly, the link 519 links the two lanes 503 and 505 and includes the information that the lane 505 is located to the left of the lane 503 in the direction of the intersection 501. The relations with the reference numerals 517 and 519 exist in the form in pairs between all adjacent lanes 503, 505, 507 and 509.
Ferner wird insbesondere das Verkehrszeichen 415 mit der Fahrbahn 509 respektive Kreuzung 501 verknüpft, was mit einem Pfeil mit dem Bezugszeichen 525 gekennzeichnet ist. Die Verknüpfung 525 umfasst also insbesondere die Information, dass das Verkehrszeichen 415 zu der Fahrbahn 509 gehört und relevant für die Kreuzung 501 ist. Furthermore, in particular, the traffic sign 415 is linked to the roadway 509 or intersection 501, which is indicated by an arrow with the reference numeral 525. The link 525 thus includes, in particular, the information that the traffic sign 415 belongs to the lane 509 and is relevant for the intersection 501.
Des Weiteren ist eine Verknüpfung 527 zwischen dem Fahrzeug 513 und der Fahrbahn 507 vorgesehen, welche insbesondere die Information umfasst, dass sich das Fahrzeug 513 auf der Fahrbahn 507 befindet. Eine weitere Verknüpfung 529 zwischen dem Fahrzeug 513 und der Kreuzung 501 umfasst die Information, dass sich das Fahrzeug 513 der Kreuzung 501 nähert. Furthermore, a link 527 is provided between the vehicle 513 and the roadway 507, which in particular includes the information that the vehicle 513 is located on the roadway 507. Another link 529 between the vehicle 513 and the intersection 501 includes the information that the vehicle 513 is approaching the intersection 501.
Die Verknüpfung mit dem Bezugszeichen 533 kennzeichnet, dass das entsprechende Fahrzeug 51 1 sich von der Kreuzung 501 entfernt. Noch eine andere Verknüpfung 531 zwischen der Fahrbahn 503 und der Kreuzung 501 umfasst insbesondere die Information, dass die Fahrbahn 503 mit der Kreuzung 503 verbunden ist. Die Verkehrszeichen 413 und 415 werden ontologisch derart strukturiert, dass ein Oberbegriff Verkehrszeichen in der Datenstruktur gebildet ist, wobei dann eine Hierarchisierung in einen Unterbegriff Vorfahrtgewährenverkehrszeichen und einen weiteren Unterbegriff Vorfahrtsstraßenverkehrszeichen vorgesehen ist, in welche die Verkehrszeichen 413 und 415 entsprechend klassifiziert bzw. einge- ordnet werden. The link to reference numeral 533 indicates that the corresponding vehicle 51 1 is away from the intersection 501. Yet another link 531 between the lane 503 and the intersection 501 comprises, in particular, the information that the lane 503 is connected to the intersection 503. The traffic signs 413 and 415 are structured ontologically in such a way that a generic term traffic signs is formed in the data structure, wherein then a hierarchization into a sub-term Vorfahrtgewährenverkehrszeichen and a further sub-term Vorfahrtsstraßenverkehrszeichen is provided into which the traffic signs 413 and 415 are classified accordingly become.
Die Verknüpfung bzw. Relation 521 zwischen den Fahrzeugen 513 und 515 umfasst die Information, dass das Fahrzeug 513 Vorfahrt vor dem Fahrzeug 515 hat. Die Verknüpfung 523 zwischen den Fahrzeugen 515 und 513 umfasst die In- formation, dass das Fahrzeug 515 dem Fahrzeug 513 Vorfahrt gewähren muss.The link 521 between the vehicles 513 and 515 includes the information that the vehicle 513 has the right of way in front of the vehicle 515. The link 523 between the vehicles 515 and 513 includes the information that the vehicle 515 must give the vehicle 513 priority.
Diese Information wird insbesondere durch den Verknüpfer und die ontologische Datenstruktur erzeugt und vorzugsweise in der ontologischen Datenstruktur abgelegt bzw. abgespeichert. Die obigen erläuterten Beispiele und Verkehrssituationen sowie Kreuzungstopo- logien sollen lediglich als beispielhaft verstanden werden. Es können beispielsweise mehr oder weniger als die dort gezeigten Fahrbahnen auftreten. Insbesondere kann auch eine Fahrzeuganzahl eine ganz andere sein. Die Erfindung ist insofern in sämtlichen Varianten mit beliebiger Komplexität verwendbar. This information is generated in particular by the linker and the ontological data structure and preferably stored or stored in the ontological data structure. The above explained examples and traffic situations as well as intersection topologies should be understood as exemplary only. For example, more or fewer lanes than those shown there may occur. In particular, a number of vehicles can be quite another. The invention is insofar usable in all variants with arbitrary complexity.
Zusammenfassend umfasst also die Erfindung insbesondere den Gedanken, einem Fahrerassistenzsystem mittels eines Verknüpfers Informationen, insbesondere auch Verkehrsregeln, zur Verfügung zu stellen, so dass eine reale Verkehrssituation beispielsweise an einer Kreuzung unter anderem im Hinblick auf die Verkehrsregeln beurteilt werden kann, aber insbesondere auch im Hinblick auf wer fährt wo lang, was ist die Signalanlagenphase, also insbesondere aktuelle, situative Informationen, um beispielsweise Hinweise oder Anregungen für gesetzeskonforme Fahrmanöver zu geben oder um im Gefahrenfall autonom das Fahrzeug zu lenken und/oder zu bremsen. Dadurch, dass insbesondere Ver- kehrsregeln in einer ontologischen Datenstruktur implementiert sind, kann eineIn summary, the invention therefore in particular includes the idea of providing information to a driver assistance system by means of a link, in particular also traffic rules, so that a real traffic situation can be assessed, for example at an intersection, inter alia with regard to the traffic rules, but in particular also with regard to Who is driving where, what is the signaling system phase, ie in particular current, situational information, for example, to give hints or suggestions for legally compliant maneuvers or to steer and / or brake the vehicle autonomously in case of danger. Because traffic rules in particular are implemented in an ontological data structure, a
Verarbeitung der erfassten Verkehrssituation unter Berücksichtigung der Verkehrsregeln durch die ontologische Datenstruktur erfolgen, ohne dass hierbei weitere externe Algorithmen verwendet werden müssen. Hierbei ist eine Cytologie insbesondere eine Formalisierung bzw. dient einer Beschreibung einer Wissensbasis. Processing of the detected traffic situation taking into account the traffic rules by the ontological data structure done without this additional external algorithms must be used. In this case, a cytology is in particular a formalization or a description of a knowledge base.

Claims

Ansprüche claims
1. Fahrerassistenzsystem (101) für ein Fahrzeug, umfassend: A driver assistance system (101) for a vehicle, comprising:
- eine Erfassungseinrichtung (103) zum Erfassen eines Fahrzeugumfelds, a detection device (103) for detecting a vehicle environment,
- eine Positionsbestimmungseinrichtung (105) zum Bestimmen einer Fahrzeugposition relativ zu dem Fahrzeugumfeld, a position determination device (105) for determining a vehicle position relative to the vehicle environment,
- eine Datenbank (107, 303) mit einer ontologischen Datenstruktur, in der Verkehrsregeln implementiert sind,  a database (107, 303) with an ontological data structure in which traffic rules are implemented,
- einen Verknüpfer (109) zum Verknüpfen des erfassten Fahrzeugumfelds und der Fahrzeugposition mit der ontologischen Datenstruktur, um eine verknüpfte Datenstruktur zu bilden, und  a linker (109) for linking the detected vehicle environment and the vehicle position to the ontological data structure to form a linked data structure, and
- einen Auswerter (109) zum Auswerten der verknüpften Datenstruktur.  - An evaluator (109) for evaluating the linked data structure.
Fahrerassistenzsystem (101) nach Anspruch 1 , wobei ein Filter zum Filtern von Elementen des erfassten Fahrzeugumfelds zwischen der Erfassungseinrichtung und dem Verknüpfer gebildet ist. The driver assistance system (101) of claim 1, wherein a filter for filtering elements of the detected vehicle environment is formed between the detection device and the linker.
Fahrerassistenzsystem (101) nach einem der vorherigen Ansprüche, wobei eine Prüfeinrichtung zum Prüfen des erfassten Fahrzeugumfelds und/oder der relativen Fahrzeugposition auf Konsistenz mit der ontologischen Datenstruktur gebildet ist. Driver assistance system (101) according to one of the preceding claims, wherein a test device for testing the detected vehicle environment and / or the relative vehicle position is formed on consistency with the ontological data structure.
Fahrerassistenzsystem (101) nach einem der vorherigen Ansprüche, wobei die Erfassungseinrichtung (103) einen GPS-Sensor, einen Radarsensor, eine Stereovideokamera, einen Lidarsensor, einen Ultraschallsensor, einen PM D-Sensor und/oder eine Kamera umfasst. Driver assistance system (101) according to any one of the preceding claims, wherein the detection means (103) comprises a GPS sensor, a radar sensor, a stereo video camera, a Lidarsensor, an ultrasonic sensor, a PM D sensor and / or a camera.
Verfahren zum Betreiben eines Fahrerassistenzsystems (101) eines Fahrzeugs, umfassend die folgenden Schritte: Method for operating a driver assistance system (101) of a vehicle, comprising the following steps:
- Erfassen eines Fahrzeugumfelds (201),  Detecting a vehicle environment (201),
- Erfassen einer Fahrzeugposition relativ zu dem Fahrzeugumfeld (203) und - Verknüpfen des erfassten Fahrzeugumfelds und der Fahrzeugposition mit einer ontologischen Datenstruktur, in welcher Verkehrsregeln implementiert sind, um eine verknüpfte Datenstruktur zu bilden (205) und- Detecting a vehicle position relative to the vehicle environment (203) and - linking the detected vehicle environment and the vehicle position with an ontological data structure in which traffic rules are implemented to form a linked data structure (205) and
- Auswerten der verknüpften Datenstruktur (207). - Evaluate the linked data structure (207).
6. Verfahren nach Anspruch 5, wobei Elemente aus dem erfassten Fahrzeugumfeld gefiltert werden und das gefilterte erfasste Fahrzeugumfeld mit der ontologischen Datenstruktur verknüpft wird. 6. The method of claim 5, wherein elements from the detected vehicle environment are filtered and the filtered detected vehicle environment is linked to the ontological data structure.
7. Verfahren nach Anspruch 5 oder 6, wobei das erfasste Fahrzeugumfeld und/oder die relative Fahrzeugposition auf Konsistenz in Bezug auf die ontologische Datenstruktur geprüft werden. The method of claim 5 or 6, wherein the detected vehicle environment and / or vehicle relative position are checked for consistency with respect to the ontological data structure.
8. Speichervorrichtung (301) für ein Fahrerassistenzsystem (101), mit einer Datenbank (107, 303) umfassend eine ontologische Datenstruktur, in der Verkehrsregeln implementiert sind. 8. A memory device (301) for a driver assistance system (101), comprising a database (107, 303) comprising an ontological data structure in which traffic rules are implemented.
EP12714996.1A 2011-05-31 2012-04-02 Driver assistance system and method for operating a driver assistance system Revoked EP2715699B1 (en)

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