EP3102461A1 - Driver assistance system - Google Patents

Driver assistance system

Info

Publication number
EP3102461A1
EP3102461A1 EP15714401.5A EP15714401A EP3102461A1 EP 3102461 A1 EP3102461 A1 EP 3102461A1 EP 15714401 A EP15714401 A EP 15714401A EP 3102461 A1 EP3102461 A1 EP 3102461A1
Authority
EP
European Patent Office
Prior art keywords
sensor system
high beam
radar
detected
control signal
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.)
Withdrawn
Application number
EP15714401.5A
Other languages
German (de)
French (fr)
Inventor
Thomas Bopp
Frank Gruson
Stefan Hegemann
Peter Van Der Vegte
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.)
Conti Temic Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic 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
Application filed by Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of EP3102461A1 publication Critical patent/EP3102461A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10Controlling the light source
    • H05B47/105Controlling the light source in response to determined parameters
    • H05B47/115Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415Dimming circuits
    • B60Q1/1423Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05BELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10Controlling the light source
    • H05B47/105Controlling the light source in response to determined parameters
    • H05B47/115Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
    • H05B47/125Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30Indexing codes relating to the vehicle environment
    • B60Q2300/31Atmospheric conditions
    • B60Q2300/312Adverse weather
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30Indexing codes relating to the vehicle environment
    • B60Q2300/33Driving situation
    • B60Q2300/336Crossings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40Indexing codes relating to other road users or special conditions
    • B60Q2300/41Indexing codes relating to other road users or special conditions preceding vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40Indexing codes relating to other road users or special conditions
    • B60Q2300/42Indexing codes relating to other road users or special conditions oncoming vehicle
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02BCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40Control techniques providing energy savings, e.g. smart controller or presence detection

Definitions

  • the invention relates to a driver assistance system for high beam control for a vehicle
  • Motor vehicles are increasingly being equipped with driver assistance systems which detect the surroundings with the aid of sensor systems and derive automatic reactions of the vehicle from the traffic situation thus recognized and / or instruct the driver, in particular warn him. A distinction is made between comfort and safety functions.
  • FSRA Fan Speed Range Adaptive Cruise Control
  • the vehicle adjusts the airspeed to the desired speed specified by the driver, if the traffic situation allows it, otherwise the airspeed is automatically adapted to the traffic situation.
  • autonomous light assistance in particular the autonomous control of the high beam, is establishing itself as another important comfort function.
  • the safety functions focus on reducing the braking distance in emergency situations.
  • the spectrum of the corresponding driver assistance functions ranges from a warning, an automatic prefilling of the brake to the reduction of the brake latency (Prefill), an improved brake assistant (BAS +) up to the autonomous emergency braking.
  • the above-mentioned high beam control is realized today with camera sensors that detect the lights of preceding or oncoming vehicles. If there is a risk of dazzling other so identified road users, the high beam is either switched off or adaptively controlled so that no glare occurs.
  • a driver assistance system for high beam control is specified with means for detecting the surroundings.
  • the means comprise at least one radar or lidar sensor system and a camera sensor system for detecting the surroundings in front of a vehicle.
  • a control signal is generated for a high-beam control or warning device when the high beam is active and at the same time a potentially blinded object is detected by at least one sensor system for detecting the surroundings.
  • An object detected by a radar system is, in particular, moving objects which have a relative speed to the vehicle not equal to the vehicle's own speed. It may be e.g. to act in front of or oncoming vehicles or cyclists or pedestrians.
  • the radar sensor Due to its Doppler evaluation, the radar sensor can very quickly and very accurately measure the relative speed of objects. From this and from the known speed of the vehicle, it is then easy to distinguish between moving and stationary objects (stationary objects are, for example, crash barriers, traffic signs, parked vehicles, bushes and trees along the roadside). Of course, a distinction between oncoming and preceding vehicles is possible, which for deactivation of the high beam but usually no fundamental difference plays.
  • the camera system detects the lights of vehicles in front or oncoming traffic. For example, a color camera can be used to safely detect the red taillights and white headlights.
  • the redundant environment detection by various sensor systems increases the probability of detecting a potentially blinded object and thus the probability that no other road user is dazzled.
  • a control signal for high beam control or warning is generated when the high beam is active and at the same time a potentially blinded object is detected by the radar or Lidarsensorsystem and the camera sensor system. This embodiment of the invention prevents a faulty deactivation of the high beam, since the requirements for the detection of a potentially blinded object are very high. Both sensor systems must detect the object so that the control signal for high beam control is output.
  • a further embodiment of the invention is characterized in that a control signal is generated when the high beam is active and a potentially blinded moving object is detected by the radar or lidar sensor system, but not by the camera sensor system.
  • a control signal is generated when the high beam is active and a potentially blinded moving object is detected by the radar or lidar sensor system, but not by the camera sensor system.
  • This case particularly occurs when the lights of an oncoming vehicle are obscured, e.g. in optically separated lanes such as a highway with shrubs in the median strip or by a guardrail which separates the carriageway of the vehicle and the lane of an oncoming vehicle.
  • the potentially blinded object is located on a roundabout in front of the vehicle and has not yet entered the roadway of the vehicle.
  • a camera sensor system can not detect the headlights of the potentially blinded object.
  • a positive embodiment of the invention provides that only in the presence of a further predetermined environment information, a control signal is generated even if only a potentially blinded moving object is detected by the radar or Lidarsensorsystem. In a positive embodiment, the control signal is otherwise generated only if both sensor systems detect a potentially blinded object.
  • An environment information may be, for example, fog, poor visibility, suburban or other similar information that suggests that the camera sensor system has limited visibility or restricted field of view.
  • a further embodiment of the invention provides that at least one
  • Roadside buildings are especially sublime objects such as crash barriers, bushes, construction fence or similar. meant to separate the lanes, e.g. the median strip on a highway.
  • a further embodiment of the invention provides that a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or Lidarsensorsystem, but not of the
  • a preferred embodiment of the invention provides that means for detecting a forward circular traffic are provided. For example, a leading roundabout may be taken from an electronic map if the vehicle is equipped with a GPS system. Alternatively or additionally, a camera system for traffic sign recognition or a radio-based system (c2x) for transmitting this information or a special map for driver assistance systems (E-Horizon) can be provided.
  • a camera system for traffic sign recognition or a radio-based system (c2x) for transmitting this information or a special map for driver assistance systems (E-Horizon) can be provided.
  • a positive embodiment of the invention provides that a control signal is generated when the high beam is active and is detected by the radar or Lidarsensorsystem a potentially blinded object, but not of the Camera sensor system and also a leading roundabout in front of the vehicle is detected. Again, there is a risk of glare of the object, since the headlights for the camera sensor system are not yet detectable when the object is in the roundabout.
  • Driver assistance system a radar or Lidarsensorsystem with controllable range.
  • the data of the radar or lidar sensor system are also used for other driver assistance functions, e.g. Emergency brake assist or adaptive cruise control or similar used.
  • a high sensor range is selected when there are no relevant objects in a range relevant for another driver assistance function. This ensures that the radar or Lidarsensorsystem recognizes oncoming vehicles even at a great distance.
  • a particular embodiment of the invention provides that on the control signal out a warning to the driver with audible, visual or haptic means or a shutdown of the high beam or a reduction in the range of the high beam or shaping the light cone of the high beam such that the potentially blinded Moving object is recessed in the light cone, is performed.
  • An autonomous deactivation of the high beam can also be omitted among cyclists and pedestrians, as they are better visible in the high beam for the driver than at low beam; a rough classification of cyclists and pedestrians against vehicles can be done via the reflection level and the absolute speed.
  • range resolution is inversely proportional to the range

Abstract

Disclosed is a driver assistance system for controlling a high beam, comprising environment detecting means. At least one radar or lidar sensor system as well as a camera sensor system are provided for detecting the environment in front of the a vehicle. A control signal for a high beam controller or warning device is generated when the high beam is active and at least one sensor system for detecting the environment simultaneously detects a potentially dazzled object.

Description

Fahrerassistenzsvstem  Fahrerassistenzsvstem
Die Erfindung bezieht sich auf ein Fahrerassistenzsystem zur Fernlichtsteuerung für ein Fahrzeug The invention relates to a driver assistance system for high beam control for a vehicle
Kraftfahrzeuge werden zunehmend mit Fahrerassistenzsystemen ausgerüstet, welche mit Hilfe von Sensorsystemen die Umgebung erfassen und aus der so erkannten Verkehrssituation automatische Reaktionen des Fahrzeugs ableiten und/oder den Fahrer instruieren, insbesondere warnen. Dabei unterscheidet man zwischen Komfort- und Sicherheitsfunktionen. Motor vehicles are increasingly being equipped with driver assistance systems which detect the surroundings with the aid of sensor systems and derive automatic reactions of the vehicle from the traffic situation thus recognized and / or instruct the driver, in particular warn him. A distinction is made between comfort and safety functions.
Im Bereich der Komfortfunktionen spielt momentan FSRA (Füll Speed Range Adaptive Cruise Control) die wichtigste Rolle. Das Fahrzeug regelt die Eigengeschwindigkeit auf die vom Fahrer vorgegebene Wunschgeschwindigkeit ein, sofern die Verkehrssituation dies zulässt, andernfalls wird die Eigengeschwindigkeit automatisch an die Verkehrssituation angepasst. Als weitere wichtige Komfortfunktion etabliert sich momentan die autonome Lichtassistenz, insbesondere die autonome Ansteuerung des Fernlichts. In terms of comfort functions, FSRA (Füll Speed Range Adaptive Cruise Control) is currently playing the most important role. The vehicle adjusts the airspeed to the desired speed specified by the driver, if the traffic situation allows it, otherwise the airspeed is automatically adapted to the traffic situation. At the moment autonomous light assistance, in particular the autonomous control of the high beam, is establishing itself as another important comfort function.
Bei den Sicherheitsfunktionen steht die Reduzierung des Bremsweges in Notsituationen im Mittelpunkt. Das Spektrum der entsprechenden Fahrerassistenzfunktionen reicht von einer Warnung, einem automatischen Vorfüllen der Bremse zur Reduktion der Bremslatenz (Prefill), einem verbesserten Bremsassistenten (BAS+) bis hin zur autonomen Notbremsung. The safety functions focus on reducing the braking distance in emergency situations. The spectrum of the corresponding driver assistance functions ranges from a warning, an automatic prefilling of the brake to the reduction of the brake latency (Prefill), an improved brake assistant (BAS +) up to the autonomous emergency braking.
Die oben erwähnte Fernlichtsteuerung wird heute mit Kamerasensoren realisiert, die die Lichter von vorausfahrenden oder entgegenkommenden Fahrzeugen erkennen. Besteht die Gefahr eine Blendung anderer so erkannter Verkehrsteilnehmer, wird das Fernlicht entweder ausgeschaltet oder adaptiv so gesteuert, dass keine Blendung eintritt. The above-mentioned high beam control is realized today with camera sensors that detect the lights of preceding or oncoming vehicles. If there is a risk of dazzling other so identified road users, the high beam is either switched off or adaptively controlled so that no glare occurs.
Es ist Aufgabe dieser Erfindung, ein verbessertes Fahrerassistenzsystem zur Fernlichtsteuerung anzugeben, das andere Verkehrsteilnehmer zuverlässig erkennt und deren Blendung verhindert. Diese Aufgabe wird grundsätzlich mit Hilfe der Merkmale der unabhängigen Ansprüche gelöst. It is an object of this invention to provide an improved driver assistance system for high beam control that reliably detects other road users and prevents their dazzling. This object is achieved in principle with the aid of the features of the independent claims.
Erfindungsgemäß wird ein Fahrerassistenzsystem zur Fernlichtsteuerung mit Mitteln zur Umfelderfassung angegeben. Die Mittel umfassen zumindest ein Radar- oder Lidarsensorsystem und ein Kamerasensorsystem zur Erfassung der Umgebung vor einem Fahrzeug. Es wird ein Steuersignal für eine Fernlichtsteuerung oder Warneinrichtung erzeugt, wenn das Fernlicht aktiv ist und gleichzeitig zumindest von einem Sensorsystem zur Umfelderfassung ein potentiell geblendetes Objekt detektiert wird. According to the invention, a driver assistance system for high beam control is specified with means for detecting the surroundings. The means comprise at least one radar or lidar sensor system and a camera sensor system for detecting the surroundings in front of a vehicle. A control signal is generated for a high-beam control or warning device when the high beam is active and at the same time a potentially blinded object is detected by at least one sensor system for detecting the surroundings.
Bei einem von einem Radarsystem detektierten Objekt handelt es sich insbesondere um bewegte Objekte, die eine Relativgeschwindigkeit zum Fahrzeug ungleich der Eigengeschwindigkeit des Fahrzeugs aufweisen. Es kann es sich Z.B. um vorausfahrende oder entgegenkommende Fahrzeuge oder Fahrradfahrer oder um Fußgänger handeln. An object detected by a radar system is, in particular, moving objects which have a relative speed to the vehicle not equal to the vehicle's own speed. It may be e.g. to act in front of or oncoming vehicles or cyclists or pedestrians.
Der Radarsensor kann auf Grund seiner Dopplerauswertung sehr schnell und sehr genau die Relativgeschwindigkeit von Objekten messen. Daraus und aus der bekannten Fahrzeugeigengeschwindigkeit kann dann leicht zwischen bewegten und stehenden Objekten unterschieden werden (stehende Objekte sind z. B. Leitplanken, Verkehrsschilder, parkende Fahrzeuge, Büsche und Bäume am Straßenrand). Natürlich ist auch eine Unterscheidung zwischen entgegenkommenden und vorausfahrenden Fahrzeugen möglich, was für eine Deaktivierung des Fernlichts aber meist keinen grundsätzlichen Unterschied spielt. Due to its Doppler evaluation, the radar sensor can very quickly and very accurately measure the relative speed of objects. From this and from the known speed of the vehicle, it is then easy to distinguish between moving and stationary objects (stationary objects are, for example, crash barriers, traffic signs, parked vehicles, bushes and trees along the roadside). Of course, a distinction between oncoming and preceding vehicles is possible, which for deactivation of the high beam but usually no fundamental difference plays.
Das Kamerasystem erkennt die Lichter von vorausfahrenden oder entgegenkommenden Fahrzeugen. Z. B. kann eine Farbkamera benutzt werden um die roten Rücklichter und weißen Frontscheinwerfer sicher zu erkennen. Durch die redundante Umgebungserfassung durch verschiedenartige Sensorsysteme wird die Wahrscheinlichkeit der Detektion eines potentiell geblendeten Objekts erhöht und damit auch die Wahrscheinlichkeit, dass kein anderer Verkehrsteilnehmer geblendet wird. In einer bevorzugten Ausgestaltung der Erfindung wird ein Steuersignal zur Fernlichtsteuerung oder Warnung dann erzeugt, wenn das Fernlicht aktiv ist und gleichzeitig von dem Radar- oder Lidarsensorsystem und dem Kamerasensorsystem ein potentiell geblendetes Objekt detektiert wird. Diese Ausgestaltung der Erfindung beugt einer fehlerhaften Deaktivierung des Fernlichts vor, da hier die Anforderungen an die Erkennung eines potentiell geblendetes Objektes sehr hoch sind. Beide Sensorsysteme müssen das Objekt erkennen, damit das Steuersignal zur Fernlichtsteuerung ausgegeben wird. The camera system detects the lights of vehicles in front or oncoming traffic. For example, a color camera can be used to safely detect the red taillights and white headlights. The redundant environment detection by various sensor systems increases the probability of detecting a potentially blinded object and thus the probability that no other road user is dazzled. In a preferred embodiment of the invention, a control signal for high beam control or warning is generated when the high beam is active and at the same time a potentially blinded object is detected by the radar or Lidarsensorsystem and the camera sensor system. This embodiment of the invention prevents a faulty deactivation of the high beam, since the requirements for the detection of a potentially blinded object are very high. Both sensor systems must detect the object so that the control signal for high beam control is output.
Eine weitere positiven Ausgestaltung der Erfindung ist dadurch gekennzeichnet, dass ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes bewegtes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem. Dieser Fall tritt insbesondere dann ein, wenn die Lichter eines entgegenkommenden Fahrzeugs verdeckt sind, Z.B. bei optisch getrennten Fahrbahnen wie eine Autobahn mit Büschen im Mittelstreifen oder durch eine Leitplanke die die Fahrbahn des Fahrzeugs und die Fahrbahn eines entgegenkommenden Fahrzeugs trennt. Weiterhin ist es möglich, dass sich das potentiell geblendete Objekt auf einem Kreisel vor dem Fahrzeug befindet und noch nicht auf die Fahrbahn des Fahrzeugs einfahren ist. Auch in diesem Fall kann ein Kamerasensorsystem die Scheinwerfer des das potentiell geblendeten Objekts nicht erfassen. A further embodiment of the invention is characterized in that a control signal is generated when the high beam is active and a potentially blinded moving object is detected by the radar or lidar sensor system, but not by the camera sensor system. This case particularly occurs when the lights of an oncoming vehicle are obscured, e.g. in optically separated lanes such as a highway with shrubs in the median strip or by a guardrail which separates the carriageway of the vehicle and the lane of an oncoming vehicle. Furthermore, it is possible that the potentially blinded object is located on a roundabout in front of the vehicle and has not yet entered the roadway of the vehicle. Also in this case, a camera sensor system can not detect the headlights of the potentially blinded object.
Eine positive Ausgestaltung der Erfindung sieht vor, dass nur bei Vorliegen einer weiteren vorgegebenen Umfeldinformation ein Steuersignal auch dann erzeugt wird, wenn nur von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes bewegtes Objekt detektiert wird. In einer positiven Ausgestaltung wird das Steuersignal andernfalls nur dann erzeugt, wenn beide Sensorsysteme ein potentiell geblendetes Objekt detektieren. Eine Umfeldinformation kann z.B. Nebel, schlechte Sicht, erhaben Randbebauung oder eine ähnliche Information sein, die darauf schließen lässt, dass das Kamerasensorsystem eine eingeschränkte Sichtweite oder ein eingeschränktes Sichtfeld hat. Eine weitere Ausgestaltung der Erfindung sieht vor, dass zumindest ein A positive embodiment of the invention provides that only in the presence of a further predetermined environment information, a control signal is generated even if only a potentially blinded moving object is detected by the radar or Lidarsensorsystem. In a positive embodiment, the control signal is otherwise generated only if both sensor systems detect a potentially blinded object. An environment information may be, for example, fog, poor visibility, suburban or other similar information that suggests that the camera sensor system has limited visibility or restricted field of view. A further embodiment of the invention provides that at least one
Sensorsystem eine Straßenrandbebauung erfasst. Dies kann sowohl das Sensor system detects a roadside development. This can both the
Radarsensorsystem als auch das Kamerasensorsystem sein. Mit Radar sensor system as well as the camera sensor system. With
Straßenrandbebauung sind insbesondere erhabene Objekte wie Leitplanken, Büsche, Bauzaun o.ä. gemeint, die Fahrbahnen voneinander trennen, z.B. der Mittelstreifen auf einer Autobahn. Roadside buildings are especially sublime objects such as crash barriers, bushes, construction fence or similar. meant to separate the lanes, e.g. the median strip on a highway.
Eine weitere Ausgestaltung der Erfindung sieht vor, dass ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem A further embodiment of the invention provides that a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or Lidarsensorsystem, but not of the
Kamerasensorsystem. Zudem wird eine erhöhte Straßenrandbebauung erkannt, die Fahrbahnen voneinander trennt. Camera sensor system. In addition, an elevated roadside development is recognized that separates lanes from each other.
Bei optisch getrennten Fahrbahnen (z. B. Autobahn mit Büschen in Mittelstreifen) besteht wie zuvor beschrieben die Gefahr, dass ein Kamerasensorsystem die Scheinwerfer eines entgegenkommenden Fahrzeugs auf einer Fahrbahn jenseits der Randbebauung nicht erkennt, da diese verdeckt sind. Dennoch kann das entgegenkommende Fahrzeug geblendet werden, wenn kein Steuersignal für eine Fernlichtsteuerung ausgegeben wird.  In the case of optically separated roadways (eg motorway with bushes in median strips), as described above there is the danger that a camera sensor system will not recognize the headlights of an oncoming vehicle on a roadway beyond the edge development since they are hidden. Nevertheless, the oncoming vehicle can be blinded when no control signal for a high beam control is output.
Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass Mittel zur Erfassung eines vorausliegenden Kreisverkehrs vorgesehen sind. Ein vorausliegender Kreisverkehr kann beispielsweise einer elektronischen Karte entnommen werden, wenn das Fahrzeug mit einem GPS-System ausgestattet ist. Alternativ oder zusätzlich kann eine Kamerasystem zur Verkehrszeichenerkennung oder ein funkbasiertes System (c2x) zur Übertragung dieser Information oder eine spezielle sich aktualisierende Karte für Fahrerassistenzsysteme (E-Horizon) vorgesehen sein. A preferred embodiment of the invention provides that means for detecting a forward circular traffic are provided. For example, a leading roundabout may be taken from an electronic map if the vehicle is equipped with a GPS system. Alternatively or additionally, a camera system for traffic sign recognition or a radio-based system (c2x) for transmitting this information or a special map for driver assistance systems (E-Horizon) can be provided.
Eine positive Ausgestaltung der Erfindung sieht vor, dass ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem und zudem ein vorausliegender Kreisverkehr vor dem Fahrzeug erkannt wird. Auch hier besteht die Gefahr der Blendung des Objekts, da die Scheinwerfer für das Kamerasensorsystem noch nicht detektierbar sind, wenn das Objekt sich im Verkehrskreisel aufhält. A positive embodiment of the invention provides that a control signal is generated when the high beam is active and is detected by the radar or Lidarsensorsystem a potentially blinded object, but not of the Camera sensor system and also a leading roundabout in front of the vehicle is detected. Again, there is a risk of glare of the object, since the headlights for the camera sensor system are not yet detectable when the object is in the roundabout.
In einer bevorzugten Ausgestaltung der Erfindung umfasstIn a preferred embodiment of the invention comprises
Fahrerassistenzsystem ein Radar- oder Lidarsensorsystem mit steuerbarer Reichweite. Die Daten des Radar- oder Lidarsensorsystem werden auch für andere Fahrerassistenzfunktionen wie z.B. Notbremsassistent oder adaptiver Tempomat oder ähnliche benutzt. Es wird eine hohe Sensorreichweite dann gewählt, wenn sich in einem für eine andere Fahrerassistenzfunktion relevanten Bereich keine relevanten Objekte befinden. So wird erreicht, dass das Radaroder Lidarsensorsystem entgegenkommende Fahrzeuge schon in einer großen Entfernung erkennt. Driver assistance system a radar or Lidarsensorsystem with controllable range. The data of the radar or lidar sensor system are also used for other driver assistance functions, e.g. Emergency brake assist or adaptive cruise control or similar used. A high sensor range is selected when there are no relevant objects in a range relevant for another driver assistance function. This ensures that the radar or Lidarsensorsystem recognizes oncoming vehicles even at a great distance.
Eines besondere Ausgestaltung der Erfindung sieht vor, dass auf das Steuersignal hin eine Warnung an den Fahrer mit akustischen, visuellen oder haptischen Mitteln oder eine Abschaltung des Fernlichts oder eine Reduzierung der Reichweite des Fernlichts oder eine Formung des Lichtkegels des Fernlichts derart, dass das potentiell geblendetes bewegtes Objekt im Lichtkegel ausgespart ist, durchgeführt wird. Ein autonomes Deaktivieren des Fernlichts kann bei Fahrradfahrern und Fußgängern auch unterlassen werden, da diese bei Fernlicht für den Fahrer besser erkennbar sind als bei Abblendlicht; eine grobe Klassifizierung von Fahrradfahrern und Fußgängern gegenüber Fahrzeugen kann über den Reflexionspegel und die Absolutgeschwindigkeit geschehen. zuverlässig mit der eigenen prädizierten Fahrtrajektorie korreliert werden können und andererseits bei dieser beschränkten Reichweite eine höhere Entfernungsauflösung und damit Messqualität erreicht wird als bei höherer Reichweite (Entfernungsauflösung ist umgekehrt proportional zur Reichweite). Dagegen sind für eine Lichtfunktion eine Zuordnung zur eigenen Fahrtrajektorie und eine hohe Messqualität nicht erforderlich, so dass für diese Funktion die Reichweite erhöht werden kann. Deshalb kann folgende Strategie verfolgt werden: A particular embodiment of the invention provides that on the control signal out a warning to the driver with audible, visual or haptic means or a shutdown of the high beam or a reduction in the range of the high beam or shaping the light cone of the high beam such that the potentially blinded Moving object is recessed in the light cone, is performed. An autonomous deactivation of the high beam can also be omitted among cyclists and pedestrians, as they are better visible in the high beam for the driver than at low beam; a rough classification of cyclists and pedestrians against vehicles can be done via the reflection level and the absolute speed. can be correlated reliably with the own predicted driving trajectory and on the other hand with this limited range, a higher range resolution and thus measurement quality is achieved than at higher range (range resolution is inversely proportional to the range). In contrast, for a light function, an assignment to the own driving trajectory and a high measurement quality are not required, so that the range can be increased for this function. Therefore, the following strategy can be followed:

Claims

Patentansprüche claims
1 . Verfahren für ein Fahrerassistenzsystem zur Fernlichtsteuerung mit Mitteln zur Umfelderfassung, wobei zumindest ein Radar- oder Lidarsensorsystem und ein Kamerasensorsystem zur Erfassung der Umgebung vor einem Fahrzeug vorgesehen sind, 1 . Method for a driver assistance system for high beam control with means for environment detection, wherein at least one radar or Lidarsensorsystem and a camera sensor system are provided for detecting the environment in front of a vehicle,
dadurch gekennzeichnet, dass  characterized in that
ein Steuersignal für eine Fernlichtsteuerung oder Warneinrichtung erzeugt wird, wenn das Fernlicht aktiv ist und gleichzeitig zumindest von einem Sensorsystem zur Umfelderfassung ein potentiell geblendetes Objekt detektiert wird.  a control signal for a high-beam control or warning device is generated when the high beam is active and at the same time a potentially blinded object is detected by at least one sensor system for detecting the surroundings.
2. Verfahren nach Anspruch 1 , 2. The method according to claim 1,
dadurch gekennzeichnet, dass  characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und gleichzeitig von dem Radar- oder Lidarsensorsystem und dem Kamerasensorsystem ein potentiell geblendetes Objekt detektiert wird.  a control signal is generated when the high beam is active and at the same time a potentially blinded object is detected by the radar or Lidarsensorsystem and the camera sensor system.
3. Verfahren nach Anspruch 1 , 3. The method according to claim 1,
dadurch gekennzeichnet, dass  characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem.  a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or lidar sensor system, but not by the camera sensor system.
4. Verfahren nach Anspruch 1 oder 2, 4. The method according to claim 1 or 2,
dadurch gekennzeichnet, dass  characterized in that
bei Vorliegen einer weiteren vorgegebenen Umfeldinformation ein  in the presence of another predetermined environment information
Steuersignal auch dann erzeugt wird, wenn nur von dem Radar- oder  Control signal is generated even if only from the radar or
Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird. Lidarsensorsystem a potentially blinded object is detected.
5. Verfahren nach einem der vorherigen Ansprüche, 5. Method according to one of the preceding claims,
dadurch gekennzeichnet, dass  characterized in that
zumindest ein Sensorsystem zur Umfelderfassung eine Straßenrandbebauung erfasst.  at least one sensor system detects the surroundings of a roadside development.
6. Verfahren nach Anspruch 3 und 5, 6. The method according to claim 3 and 5,
dadurch gekennzeichnet, dass  characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem und  a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or lidar sensor system, but not by the camera sensor system and
eine erhöhte Straßenrandbebauung erkannt wird.  an elevated roadside development is detected.
7. Verfahren nach einem der vorherigen Ansprüche, 7. The method according to any one of the preceding claims,
dadurch gekennzeichnet, dass  characterized in that
Mittel zur Erfassung eines vorausliegenden Kreisverkehrs vorgesehen sind.  Means are provided for detecting a forward roundabout.
8. Verfahren nach Anspruch 3 und 7, 8. The method according to claim 3 and 7,
dadurch gekennzeichnet, dass  characterized in that
ein Steuersignal erzeugt wird, wenn das Fernlicht aktiv ist und von dem Radar- oder Lidarsensorsystem ein potentiell geblendetes Objekt detektiert wird, aber nicht von dem Kamerasensorsystem und  a control signal is generated when the high beam is active and a potentially blinded object is detected by the radar or lidar sensor system, but not by the camera sensor system and
ein vorausliegender Kreisverkehr vor dem Fahrzeug erkannt wird.  a preceding roundabout in front of the vehicle is detected.
9. Verfahren nach einem der vorherigen Ansprüche, welches ein Radar- oder Lidarsensorsystem mit steuerbarer Reichweite aufweist, wobei das Radaroder Lidarsensorsystem auch für andere Fahrerassistenzfunktionen benutzt wird 9. The method according to any one of the preceding claims, which has a radar or Lidarsensorsystem with controllable range, wherein the radar or Lidarsensorsystem is also used for other driver assistance functions
dadurch gekennzeichnet, dass  characterized in that
eine hohe Sensorreichweite dann gewählt wird, wenn sich in einem für eine andere Fahrerassistenzfunktion relevanten Bereich keine relevanten Objekte befinden. a high sensor range is selected when there are no relevant objects in a relevant area for another driver assistance function.
10. Verfahren nach einem der vorherigen Ansprüche, bei welchem auf das Signal hin eine Warnung an den Fahrer mit akustischen, visuellen oder haptischen Mitteln oder eine Abschaltung des Fernlichts oder eine Reduzierung der Reichweite des Fernlichts oder eine Formung des Lichtkegels des Fernlichts derart, dass das potentiell geblendetes bewegtes Objekt im Lichtkegel ausgespart ist, durchgeführt wird. 10. The method according to any one of the preceding claims, wherein the signal to a warning to the driver with acoustic, visual or haptic means or a shutdown of the high beam or a reduction in the range of the high beam or shaping the light cone of the high beam such that potentially blinded moving object recessed in the cone of light is performed.
1 1 . Fahrerassistenzsystem für die Lichtsteuerung eines Fahrzeugs umfassend1 1. Driver assistance system for the light control of a vehicle comprising
- Steuereinheit mit einem Speicher auf den ein Verfahren nach einem der vorherigen Ansprüche hinterlegt ist - Control unit with a memory on which a method according to one of the preceding claims is deposited
- zumindest ein Radar- oder Lidarsensorsystem und ein  - At least one radar or Lidarsensorsystem and a
Kamerasensorsystem zur Erfassung der Umgebung vor einem Fahrzeug Camera sensor system for detecting the environment in front of a vehicle
- Mittel zur Ausgabe einer Warnung an einen Fahrer oder Steuerung des Fernlicht, Means for issuing a warning to a driver or control of the high beam,
wobei die drei genannten Einheiten verbindbar sind.  wherein the three units mentioned are connectable.
EP15714401.5A 2014-02-06 2015-01-20 Driver assistance system Withdrawn EP3102461A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014202133 2014-02-06
DE102014204770.6A DE102014204770A1 (en) 2014-02-06 2014-03-14 Driver assistance system
PCT/DE2015/200007 WO2015117604A1 (en) 2014-02-06 2015-01-20 Driver assistance system

Publications (1)

Publication Number Publication Date
EP3102461A1 true EP3102461A1 (en) 2016-12-14

Family

ID=53547116

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15714401.5A Withdrawn EP3102461A1 (en) 2014-02-06 2015-01-20 Driver assistance system

Country Status (5)

Country Link
US (1) US9975471B2 (en)
EP (1) EP3102461A1 (en)
CN (1) CN105980208B (en)
DE (1) DE102014204770A1 (en)
WO (1) WO2015117604A1 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014219323A1 (en) * 2014-09-24 2016-03-24 Continental Teves Ag & Co. Ohg Method for controlling the light distribution of vehicle headlights and vehicle
JP6520687B2 (en) * 2015-12-14 2019-05-29 株式会社デンソー Driving support device
US20180186278A1 (en) * 2016-08-30 2018-07-05 Faraday&Future Inc. Smart beam lights for driving and environment assistance
CN108016346A (en) * 2016-10-31 2018-05-11 法乐第(北京)网络科技有限公司 Safety meeting method and apparatus, automobile data recorder
US10528055B2 (en) * 2016-11-03 2020-01-07 Ford Global Technologies, Llc Road sign recognition
DE102016013292A1 (en) * 2016-11-09 2018-05-09 Daimler Ag High beam assistance system
DE102017202466B4 (en) 2017-02-15 2019-08-08 Audi Ag Controlling a headlamp of a motor vehicle
CN111212756B (en) * 2018-10-31 2023-10-17 深圳市大疆创新科技有限公司 Method and apparatus for controlling an illumination system of a vehicle
FR3095276B1 (en) 2019-04-18 2021-05-21 Aptiv Tech Ltd Motor vehicle object detection system
KR20230018409A (en) 2020-05-29 2023-02-07 다우 글로벌 테크놀로지스 엘엘씨 Catalyst system and method for producing polyethylene using the same
WO2022173915A1 (en) 2021-02-15 2022-08-18 Dow Global Technologies Llc Method for making a poly(ethylene-co-1-alkene) copolymer with reverse comonomer distribution
CN113246846B (en) * 2021-06-07 2022-06-03 奇瑞新能源汽车股份有限公司 Vehicle light control method and device and vehicle
DE102021205993A1 (en) 2021-06-14 2022-12-15 Robert Bosch Gesellschaft mit beschränkter Haftung Method for operating a headlight system of a motor vehicle
AT524762A1 (en) * 2021-06-25 2022-09-15 Avl List Gmbh METHOD OF CONTROLLING A LIGHT CONE

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6587573B1 (en) * 2000-03-20 2003-07-01 Gentex Corporation System for controlling exterior vehicle lights
DE102007028658A1 (en) * 2007-06-21 2008-12-24 Hella Kgaa Hueck & Co. A method of controlling a headlamp assembly for a vehicle having separate headlamps for a low beam and a high beam
DE102007040042B4 (en) * 2007-08-24 2019-02-21 HELLA GmbH & Co. KGaA System for generating a light beam in the apron of a motor vehicle
DE102007058637A1 (en) * 2007-12-05 2009-06-10 Valeo Schalter Und Sensoren Gmbh Automatic dimmer controlling method for vehicle, involves evaluating output signals from sensor in roadway-lateral side area of overhauled vehicle for detection of overhauling vehicle
JP2009214812A (en) 2008-03-12 2009-09-24 Koito Mfg Co Ltd Vehicular headlight device and its control method
DE102008014689B4 (en) * 2008-03-18 2018-02-08 Adc Automotive Distance Control Systems Gmbh Driver assistance system
FR2936591B1 (en) * 2008-09-30 2014-09-12 Valeo Vision Sas OPTICAL MODULE FOR A MOTOR VEHICLE FOR SELECTIVELY LIGHTING A ZONE
DE102009057219B4 (en) 2009-10-24 2023-07-20 Mercedes-Benz Group AG Device for controlling a headlight of a vehicle
DE102009051485A1 (en) * 2009-10-30 2010-06-17 Daimler Ag Method for controlling driving light of e.g. car, involves automatically activating light source of headlamp, and manually activating or deactivating light function based on control elements e.g. pushbuttons
DE102009054249A1 (en) * 2009-11-21 2011-05-26 Volkswagen Ag Method for controlling headlight assembly for vehicle, involves detecting road user in travel direction before vehicle, where headlight range is controlled in direction of detected road user
DE102010026672A1 (en) * 2010-07-09 2011-03-10 Daimler Ag Headlights for vehicle, have light sources producing light distributions, and optical elements adjusting path of rays of light distributions and arranged such that vertical light-dark barriers are generated in distributions
WO2012053050A1 (en) * 2010-10-18 2012-04-26 トヨタ自動車株式会社 Vehicle light distribution control system
DE102011006554A1 (en) * 2011-03-31 2012-10-04 Robert Bosch Gmbh Method and apparatus for providing a signal to a lighting control unit
DE102011006550B4 (en) * 2011-03-31 2014-05-08 Robert Bosch Gmbh Method and control device for switching on a high beam of a vehicle
DE102011006570A1 (en) 2011-03-31 2012-10-04 Robert Bosch Gmbh Method and control unit for transmitting data on a current vehicle environment to a headlight control unit of a vehicle
JP5333539B2 (en) 2011-07-28 2013-11-06 株式会社デンソー Headlamp light distribution control device
JP2013035462A (en) * 2011-08-09 2013-02-21 Denso Corp In-vehicle control device
DE102012203214A1 (en) * 2012-03-01 2013-09-05 Continental Automotive Gmbh Method and device for detecting glare of the driver of a vehicle
DE102012008066A1 (en) * 2012-03-14 2013-01-31 Daimler Ag Method for controlling headlights for motor car, involves adjusting light distribution as parking light or daytime running light, where light width and radiating power of light distribution are smaller than that of low beam distribution
KR101348068B1 (en) * 2012-04-03 2014-01-09 주식회사 만도 Control system of head lamp on the vehicle and control method thereof
DE102012210157A1 (en) * 2012-06-15 2013-12-19 Robert Bosch Gmbh Method and device for operating a headlamp for a motor vehicle

Also Published As

Publication number Publication date
CN105980208B (en) 2019-06-14
WO2015117604A1 (en) 2015-08-13
CN105980208A (en) 2016-09-28
US20170008444A1 (en) 2017-01-12
DE102014204770A1 (en) 2015-08-06
US9975471B2 (en) 2018-05-22

Similar Documents

Publication Publication Date Title
WO2015117604A1 (en) Driver assistance system
EP2562039B1 (en) Method and advice for adjusting a light output of at least one headlamp of a vehicle
EP2562040B1 (en) Method for controlling the light emission of a headlamp of a vehicle
EP2769234B1 (en) Method and apparatus for ascertaining a position for an object in surroundings of a vehicle
DE102011082600B4 (en) Detection of driving on a vehicle in an impermissible direction of travel
DE102010040650B4 (en) Device and method for adjusting the lighting of a vehicle in the case of blind bends
DE102016119486A1 (en) METHOD FOR IMPROVING THE PERFORMANCE OF TURNING ASSISTANTS IN AUTOMOTIVE BROTHERS
DE102016204096B4 (en) Method for operating the driver assistance system and driver assistance system
WO2016119952A1 (en) Method for operating a control device of a motor vehicle
DE102016002230B4 (en) Method for operating a motor vehicle and motor vehicle
DE102005025387A1 (en) Method and device for driver's warning or to actively intervene in the driving dynamics, if threatening to leave the lane
EP2691263B1 (en) Method and control appliance for switching on a main beam of a vehicle
DE102005054972A1 (en) Motor vehicle`s dead angle monitoring method, involves accomplishing checking of whether lanes change is accomplished based on infrastructure of traffic before warning, where driver warning is omitted if result of checking is not possible
EP3592606B1 (en) Motor vehicle comprising a lighting module for generating a set of symbols
DE102008014689B4 (en) Driver assistance system
DE102012200431B4 (en) A method of determining an occurrence of an intersection in a roadway traveled by a vehicle
DE102005004511A1 (en) Driver warning and driving dynamics intervention method, involves including driving direction assigned to lane with position-dependant reaction, while leaving lane and changing to neighboring lane
AT518039B1 (en) Motor vehicle headlight with a smart highway flare
DE102017223439B4 (en) Warning device against dangerous situations for a motor vehicle
DE102004048047A1 (en) Driver warning and/or active intervention method for motor vehicle, involves providing safety margins of lane markings and providing warning to driver and/or interference in driving dynamic, when falling below safety margins
DE102012221652B4 (en) Method and device for determining whether left-hand traffic or right-hand traffic exists in a traffic situation
DE102005008266A1 (en) Dynamic control of the motion of a road vehicle, using sensors that detect accident causing objects to the side of the vehicles
DE102016014121A1 (en) Method for operating a pedestrian protection system of a vehicle
DE102011014455A1 (en) Vehicle operating method, involves automatically adjusting light distribution of illumination device of vehicle to predetermined speed during detecting road region, and detecting information over presence of road region on track portion
DE102020003924A1 (en) Method for camera-based recognition of at least one lane and a vehicle using the method

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20160906

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20190130