EP2715699B1 - Système d'assistance au conducteur et procédé de fonctionnement d'un système d'assistance au conducteur - Google Patents

Système d'assistance au conducteur et procédé de fonctionnement d'un système d'assistance au conducteur Download PDF

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Publication number
EP2715699B1
EP2715699B1 EP12714996.1A EP12714996A EP2715699B1 EP 2715699 B1 EP2715699 B1 EP 2715699B1 EP 12714996 A EP12714996 A EP 12714996A EP 2715699 B1 EP2715699 B1 EP 2715699B1
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Prior art keywords
vehicle
data structure
driver assistance
assistance system
traffic
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Revoked
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EP12714996.1A
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German (de)
English (en)
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EP2715699A1 (fr
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Michael Huelsen
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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 publication DE 10 2005 020 429 A1 shows a method and apparatus for assisting the driver to cross traffic intersections.
  • the publication US2011 / 0040796 A1 shows a machine based method for retrieving information from an ontological database.
  • 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 detected vehicle environment and the vehicle position with an ontological Data structure 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, knowledge is advantageously available in order, for example, to be able to better assess the current situation with regard to permissible and impermissible 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.
  • 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 drivable areas of the environment, the filter then filters out, for example, the passable areas that can not be reached directly from, for example, registered vehicles in the current situation. 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, so in particular an infrared sensor for measuring a distance, or so-called Time of Flight (TOF) sensors.
  • PMD photonic mixer device
  • Detecting in the sense of the invention comprises in particular 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 carry out 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. 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 111.
  • 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 further advantageously made possible for the driver assistance system 101 to give a driver, for example, hints 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.
  • a filter may be formed between the detection device 103 and the linker 109, which filters certain elements from the data in accordance with 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. So less data must be processed, which significantly reduces a computational effort and virtually allows 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 a 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 lanes 403, 405, 407, 409 and 411.
  • the lanes 403, 405, 407, 409 and 411 associated traffic signs are symbolically drawn.
  • 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 right of way 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 411 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 are likely to 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 in Fig. 4 shown crossing situation and is due to the link with the ontological data structure with the implemented traffic rules in a position to make statements, for example, which vehicle must 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 another intersection 501 with four intersecting lanes 503, 505, 507 and 509.
  • a vehicle 511 On the lane 505 is a vehicle 511, which is located away from 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 511 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 such that a generic term traffic signs is formed in the data structure, in which case a hierarchization into a sub-term Vortexgefurren workss Mary and another sub-term Vorfahrts Non goish is provided, in which the traffic signs 413 and 415 are classified or classified accordingly.
  • 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 priority to the vehicle 513. 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 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 are implemented in an ontological data structure, a processing of the detected traffic situation taking into account the traffic rules can be carried out by the ontological data structure without this additional external algorithms must be used.
  • an ontology is in particular a formalization or a description of a knowledge base.

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

Claims (8)

  1. Système (101) d'assistance au conducteur d'un véhicule, le système comprenant :
    un dispositif de saisie (103) qui saisit l'environnement du véhicule,
    un dispositif (105) de détermination de position qui détermine la position du véhicule par rapport à l'environnement du véhicule,
    caractérisé par
    une base de données (107, 303) qui présente une structure ontologique de données dans laquelle des règles de trafic sont incorporées,
    un dispositif de conjugaison (109) qui conjugue l'environnement du véhicule qui a été saisi et la position du véhicule avec la structure ontologique de données pour former une structure conjuguée de données et
    un dispositif d'évaluation (109) qui évalue la structure conjuguée de données.
  2. Système (101) d'assistance au conducteur selon la revendication 1, dans lequel un filtre qui filtre des éléments de l'environnement du véhicule qui a été saisi est formé entre le dispositif de saisie et le dispositif de conjugaison.
  3. Système (101) d'assistance au conducteur selon l'une des revendications précédentes, dans lequel un dispositif de vérification qui vérifie la cohérence de l'environnement du véhicule qui a été saisi et/ou la position relative du véhicule par rapport à la structure ontologique de données est formé.
  4. Système (101) d'assistance au conducteur dans lequel le dispositif de saisie (103) comporte un capteur GPS, un capteur radar, une caméra vidéo stéréo, un capteur lidar, un capteur d'ultrasons, un capteur PMD et/ou une caméra.
  5. Procédé de conduite d'un système (101) d'assistance au conducteur d'un véhicule, le procédé comportant les étapes suivantes :
    saisir l'environnement (201) du véhicule et
    saisir la position du véhicule par rapport à l'environnement (203) du véhicule,
    caractérisé par les étapes supplémentaires qui consistent à :
    conjuguer l'environnement du véhicule qui a été saisi et la position du véhicule avec une structure ontologique de données dans laquelle des règles de trafic sont mises en oeuvre pour former une structure conjuguée (205) de données et
    évaluer (207) la structure conjuguée de données.
  6. Procédé selon la revendication 5, dans lequel des éléments de l'environnement du véhicule qui a été saisi sont filtrés et en ce que l'environnement saisi et filtré du véhicule est conjugué à la structure ontologique de données.
  7. Procédé selon les revendications 5 ou 6, dans lequel la cohérence de l'environnement du véhicule qui a été saisi et/ou la position relative du véhicule par rapport à la structure ontologique de données est vérifiée.
  8. Ensemble de mémoire (301) pour système (101) d'assistance au conducteur, caractérisé par une base de données (107, 303) qui comprend une structure ontologique de données dans laquelle des règles de trafic sont incorporées.
EP12714996.1A 2011-05-31 2012-04-02 Système d'assistance au conducteur et procédé de fonctionnement d'un système d'assistance au conducteur Revoked EP2715699B1 (fr)

Applications Claiming Priority (2)

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DE102011076763A DE102011076763A1 (de) 2011-05-31 2011-05-31 Fahrerassistenzsystem und Verfahren zum Betreiben eines Fahrerassistenzsystems
PCT/EP2012/055963 WO2012163573A1 (fr) 2011-05-31 2012-04-02 Système d'assistance au conducteur et procédé de fonctionnement d'un système d'assistance au conducteur

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EP2715699A1 EP2715699A1 (fr) 2014-04-09
EP2715699B1 true EP2715699B1 (fr) 2015-01-28

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US (1) US9378643B2 (fr)
EP (1) EP2715699B1 (fr)
JP (1) JP5932984B2 (fr)
CN (1) CN103843044B (fr)
DE (1) DE102011076763A1 (fr)
WO (1) WO2012163573A1 (fr)

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US9378643B2 (en) 2016-06-28
CN103843044B (zh) 2017-01-18
CN103843044A (zh) 2014-06-04
JP2014517399A (ja) 2014-07-17
DE102011076763A1 (de) 2012-12-06
WO2012163573A1 (fr) 2012-12-06
US20140200798A1 (en) 2014-07-17
EP2715699A1 (fr) 2014-04-09

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