EP3243196A1 - Procédé et dispositif pour la détection du passage d'un véhicule par une porte délimitée par des panneaux de signalisation - Google Patents

Procédé et dispositif pour la détection du passage d'un véhicule par une porte délimitée par des panneaux de signalisation

Info

Publication number
EP3243196A1
EP3243196A1 EP15794546.0A EP15794546A EP3243196A1 EP 3243196 A1 EP3243196 A1 EP 3243196A1 EP 15794546 A EP15794546 A EP 15794546A EP 3243196 A1 EP3243196 A1 EP 3243196A1
Authority
EP
European Patent Office
Prior art keywords
traffic sign
motor vehicle
gate
distance
passage
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
EP15794546.0A
Other languages
German (de)
English (en)
Other versions
EP3243196B1 (fr
Inventor
Christian Braeuchle
Christian Jeschke
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
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3243196A1 publication Critical patent/EP3243196A1/fr
Application granted granted Critical
Publication of EP3243196B1 publication Critical patent/EP3243196B1/fr
Active 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
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle

Definitions

  • the present invention relates to a method for detecting a passage of a motor vehicle through a traffic sign gate.
  • the invention further relates to a corresponding control and evaluation device.
  • the invention relates to a corresponding computer program and a machine-readable storage medium.
  • False drivers on traffic routes so-called "ghost drivers" represent a high risk in road traffic. In the event of an accident, you will cause death, injuries and significant property damage. In order to counteract this risk, a general endeavor in the automotive industry is to recognize wrong-way drivers as early as possible in order to be able to take appropriate countermeasures.
  • a first approach is the detection of a wrong-way driver based solely on navigation devices by monitoring a road class and a direction of travel of their own motor vehicle and checked for a wrong-way. In most cases, this procedure leads to late detection of wrong-way driving, since the wrong-hand driver is already driving on a wrong driving lane at high speed at the time of detection. At this time, he already causes a great risk of collision.
  • motor vehicles usually have inertial sensors, that is to say at least one acceleration sensor, and steering angle sensors for determining states of the motor vehicle in order to implement safety and comfort systems.
  • inertial sensors that is to say at least one acceleration sensor
  • steering angle sensors for determining states of the motor vehicle in order to implement safety and comfort systems.
  • a large number of modern motor vehicles today have an integrated navigation system with position determination.
  • map material is already available for these navigation systems, which contains additional information about the map data, such as curve radii and traffic sign information.
  • motor vehicles are already available which are equipped with a video sensor system which is designed to detect traffic signs, curve radii and other objects and to output a corresponding information.
  • a method for detecting a passage of a motor vehicle through a traffic sign gate is provided, with the steps:
  • the invention relates to a control and evaluation unit which is designed to detect a passage of a motor vehicle through a traffic sign gate, wherein it is designed to receive surroundings information, to recognize traffic signs in the surroundings information, to select a first traffic sign and a second traffic sign, together form a traffic sign gate to determine position data for the first traffic sign and the second traffic sign from the surrounding information, to determine a gate width between the first traffic sign and the second traffic sign, to determine a first distance of the motor vehicle to the first traffic sign, a second distance of Motor vehicle to determine the second traffic sign, and to detect the passage in dependence of the door width, the first distance and the second distance.
  • the new method and the new device are based on the idea that wrong-way driving can be recognized particularly well by the fact that a wrong-way driver must first drive through a traffic sign gate at a connection point in order to get onto the federal highway.
  • a traffic sign gate at a connection point in order to get onto the federal highway.
  • the detection of such a passage is at least an indicator for a wrong-way and can serve to either recognize the wrong trip itself, to establish the thesis of a wrong-way or to verify the wrong-way.
  • an efficient method is provided by the invention, which allows detection or verification of a wrong drive based on environmental information.
  • the receiving of environmental information is preferably carried out by a camera of the motor vehicle, in particular a video camera.
  • the environment information is then either video data or information extracted from video data from the camera.
  • Detecting traffic signs in environment information involves identifying and verifying an object within the environment information as a traffic sign. It is particularly preferred if the type of traffic sign can be recognized and evaluated. Further, it is preferable if the traffic sign number 267, or corresponding traffic signs, is uniquely identified. The traffic sign number 267 contains the information "entrance forbidden".
  • the traffic sign gate consists of at least two traffic signs, which are arranged horizontally spaced apart.
  • the position data for the traffic signs are determined from the surroundings information. This may be absolute position data of the traffic signs, such as GPS coordinates, or even relative position data of the traffic signs relative to the motor vehicle.
  • the gate width can then be determined from the position data itself by simple mathematical operations. Similarly, the first and the second distance of the motor vehicle to the respective traffic signs can then be determined.
  • the detection of the passage itself finally takes place as a function of these three dimensions: door width, first distance and second distance.
  • suitable mathematical link can be determined when the vehicle, seen in the direction of travel, before, inside, beside or behind the gate.
  • ty is the gate width between the traffic sign i and the traffic sign j.
  • Xi, Xj, yi, yj represent corresponding x coordinates and y coordinates of the respective traffic signs i and j.
  • theorem of Pythagoras it may also be assumed that the length of the longer catheters plus half the length of the shorter catheters is approximately the same length corresponds to the hypotenuse. This can save additional computing power.
  • the calculation of the first and second distances of the vehicle to the respective traffic signs can also be determined.
  • df, k the distance of the vehicle to the shield k.
  • Xf and yt are coordinates of the vehicle and Xk and yk coordinates of the plate k.
  • Such a method can determine very early in a very safe way a passage of the motor vehicle through a traffic sign gate. As already stated, it is particularly preferred if this is associated with additional information, such as a type of traffic sign, which can indicate a transit ban, or even navigation data that can show proximity to a motorway ramp.
  • additional information such as a type of traffic sign, which can indicate a transit ban, or even navigation data that can show proximity to a motorway ramp.
  • the additional step is provided: checking the door width for plausibility, wherein a traffic sign gate with implausible door width is discarded.
  • the method is optimized in such a way that traffic sign gates that are implausible are discarded so that a check is saved.
  • the gate width itself is used. Discarding here means, in particular, that the relevant traffic sign gate is no longer taken into account for a detection of a transit. Only a door width that fulfills a predefined minimum and / or a maximum can be meaningfully used for the method. This is particularly advantageous because the traffic signs gates can be composed arbitrarily from several traffic signs. As a minimum for a door width, for example, a vehicle width, or a road width can be used.
  • the method has the additional steps of determining an angle between a straight line defined by a traffic sign gate and an axis of the motor vehicle, and checking the angle for plausibility, discarding an implausible traffic sign gate.
  • an efficiency of the method is also increased by checking a plausibility of the traffic sign gates.
  • a criterion for plausibility an orientation of the traffic sign gate relative to the motor vehicle is used here.
  • the straight line is defined by the traffic sign gate in that this virtual straight line extends from the first traffic sign to the second traffic sign.
  • the axis of the motor vehicle is preferably a longitudinal or transverse axis.
  • a corresponding criterion of the plausibility of the corresponding angle then depends on the type of axis. For example, in the case of using a longitudinal axis of the motor vehicle, a traffic sign gate would be plausible if the longitudinal axis of the motor vehicle were arranged substantially parallel or at a very acute angle to the straight line.
  • the passage is detected as a function of the following formula:
  • a concrete equation which describes the dependence between the gate width t, j the first distance dfj and the second distance d.
  • the formula says that the passage must be made when the two distances in total correspond to the gate width itself. This case occurs when the motor vehicle, more specifically the sensor of the motor vehicle, which has detected the environmental information, is located exactly between the first traffic sign and the second traffic sign. The passage is therefore detected when the above formula contains a true statement. Thus, a very multiple calculation of the passage possible. It is particularly preferred if, in order to check the plausibility of the formula, several time-staggered checks of this formula take place, which can show a plausible time course.
  • a time course he sum of the first and second distance is checked, wherein a passage is detected when a minimum and / or a turning point is determined.
  • the door width can also be taken into account here so that the time course can be determined by the following formula:
  • the parameters ty, dfj and d are each dependent on the time t.
  • a particular advantage here is that no exact fulfillment of the condition is necessary, but a time course is made possible by a minimum-maximum viewing and / or inflection point analysis.
  • the position data are additionally determined as a function of a trajectory of the motor vehicle.
  • the determination of the position data is improved to the effect that the direction of travel and speed of the motor vehicle is taken into account.
  • position data from the environmental data may be outdated because seconds may pass until it is actually used.
  • the trajectory of the motor vehicle can be taken into account, so that after determining the position data, the position data actually present at the time of the result are determined directly. This allows a particularly accurate determination of the position data.
  • the trajectory is determined by means of initial sensors.
  • the trajectory of the motor vehicle is determined on the basis of measurement data from inertial sensors. As already explained at the beginning, today's motor vehicles often already have inertial sensors, so that this represents a particularly economical possibility for determining the trajectory of a motor vehicle.
  • a future trajectory of the motor vehicle is predicted and a future passage determined as a function of the future trajectory.
  • a particularly secure detection of the passage is provided, which takes place before the passage itself takes place.
  • Figure 1 shows a potential wrong driving situation
  • FIG. 3 shows a flowchart of the method according to the invention.
  • FIG. 1 shows a road 10 on which a motor vehicle 12 travels.
  • the road 10 represents a motorway exit on which the motor vehicle 12 is traveling in the wrong direction of travel.
  • the motor vehicle 12 has a camera 14 which receives environmental information from an environment of the motor vehicle 12. This environment information is then processed within a control and evaluation unit 15.
  • the motor vehicle 12 moves along a trajectory 16 along the road 10. Furthermore, the motor vehicle has a vehicle longitudinal axis 17, which defines the instantaneous orientation of the trajectory 16.
  • the trajectory 16 leads between a first traffic sign 18 and a second traffic sign 20 therethrough.
  • the first traffic sign 18 and the second traffic sign 20 jointly form a traffic sign gate 22.
  • the traffic sign gate 22 has a gate width 24.
  • the motor vehicle 12 has a first distance 26 from the first traffic sign 18 and a second distance 28 from the second traffic sign 20.
  • the reference point of the motor vehicle 12 is the camera 14. Starting from this reference point, the distances 26 and 28 are determined here.
  • a passage through the traffic sign gate 22 can be recognized by the fact that the distances 26 and 28 in total correspond to the door width 24.
  • the camera 14 is located exactly at the height of the door 24.
  • a plausibility of the passage through an imaginary angle 29 between the vehicle longitudinal axis 17 and the straight line 24 is possible.
  • a plausibility check is possible in that the vehicle longitudinal axis 17 must be arranged substantially 90 ° to the straight line 24 between the first traffic sign 18 and the second traffic sign 20. If this is not the case, or if the vehicle longitudinal axis 17 is arranged substantially parallel or at a very acute angle to this straight line 24, a passage is not to be expected and the traffic sign gate 22 would be rejected as implausible.
  • FIG. 2 shows a Cartesian coordinate system 30 with an abscissa 32, on which the time t is plotted.
  • the time course of this function is shown by the curve 36.
  • the global minimum 38 indicates here the time of passage of the motor vehicle 12 through the traffic sign gate 22. In an ideal case, the minimum would be zero. However, this does not necessarily have to be the case, for example due to measurement uncertainties or time delays.
  • FIG. 3 shows a flow diagram 40 of the method according to the invention.
  • the method begins in a step 42 in which environmental information from the camera 14 is detected by the control and evaluation unit 15.
  • a step 44 the traffic signs 18 and 20 in the environmental information are recognized by the control and evaluation unit 15.
  • the control and evaluation unit 15 selects the first traffic sign 18 and the second traffic sign 20, which thereby form the traffic sign gate 22.
  • the traffic sign gate 22 is made plausible.
  • the angle 29 between the vehicle longitudinal axis 17 and the straight line 24 between the first traffic sign 18 and the second traffic sign 20 is determined. If this angle 29 is substantially a 90 ° angle, or does not exceed a too acute angle threshold, the traffic sign gate 22 is not discarded and the process proceeds to step 50.
  • the traffic sign gate 22 is then measured by the gate width 24 between the first traffic sign 18 and the second traffic sign 20 is determined.
  • the door width 24 is then forwarded to step 52.
  • the door width 24 is then made plausible. This is done by comparing the gate width 24 with a parameter stored in the control and evaluation unit 15.
  • the parameter is a minimum gate width that must be present. If the minimum gate width is not available, then the procedure is aborted at this point.
  • the method may end prematurely in steps 48 and 52.
  • provision may also be made for the method to be put into step 46 again via the arrows 53, and a further traffic sign gate to be determined there. This can be done until all possible traffic sign gates have been checked.
  • step 54 the first distance 26 of the motor vehicle 12 to the first traffic sign 18 is then determined. Accordingly, in step 56, the second distance 28 of the motor vehicle 12 to the second traffic sign 20 is determined.
  • step 58 the passage is then determined as a function of this three information.
  • the method can again be returned to step 46 via arrow 60, where a further traffic sign gate can then be checked.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Time Recorders, Dirve Recorders, Access Control (AREA)

Abstract

L'invention concerne un procédé pour la détection du passage d'un véhicule (12) par une porte délimitée par des panneaux de signalisation (22) avec les étapes suivantes: - réception des informations relatives à l'environnement, - détection des panneaux de signalisation (18, 20) dans les informations relatives à l'environnement, - sélection d'un premier panneau de signalisation (18) et d'un deuxième panneau de signalisation (20) qui, conjointement, composent une porte délimitée par des panneaux de signalisation (22), - calcul des données de position du premier panneau de signalisation (18) et du deuxième panneau de signalisation (20) à partir des informations relatives à l'environnement, - détermination de la largeur de la porte (24) entre le premier panneau de signalisation (18) et le deuxième panneau de signalisation (20), - détermination d'un premier écart (26) du véhicule (12) par rapport au premier panneau de signalisation (18), - détermination d'un deuxième écart (28) du véhicule (12) par rapport au deuxième panneau de signalisation (20), et - détection du passage en fonction de la largeur de la porte (24), du premier écart (26) et du deuxième écart (28).
EP15794546.0A 2015-01-09 2015-11-12 Procédé et dispositif pour la détection du passage d'un véhicule par une porte délimitée par des panneaux de signalisation Active EP3243196B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015200182.2A DE102015200182A1 (de) 2015-01-09 2015-01-09 Verfahren und Vorrichtung zur Detektion einer Durchfahrt eines Kraftfahrzeuges durch ein Verkehrszeichentor
PCT/EP2015/076383 WO2016110350A1 (fr) 2015-01-09 2015-11-12 Procédé et dispositif pour la détection du passage d'un véhicule par une porte délimitée par des panneaux de signalisation

Publications (2)

Publication Number Publication Date
EP3243196A1 true EP3243196A1 (fr) 2017-11-15
EP3243196B1 EP3243196B1 (fr) 2019-01-09

Family

ID=54542254

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15794546.0A Active EP3243196B1 (fr) 2015-01-09 2015-11-12 Procédé et dispositif pour la détection du passage d'un véhicule par une porte délimitée par des panneaux de signalisation

Country Status (6)

Country Link
US (1) US11238731B2 (fr)
EP (1) EP3243196B1 (fr)
CN (1) CN107111942B (fr)
DE (1) DE102015200182A1 (fr)
ES (1) ES2719417T3 (fr)
WO (1) WO2016110350A1 (fr)

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CN106364489A (zh) * 2016-08-31 2017-02-01 广东好帮手电子科技股份有限公司 一种车宽标识方法、装置及行车记录仪
DE102016220947A1 (de) * 2016-10-25 2018-06-28 Ford Global Technologies, Llc Fahrerassistenzsystem
DE102017216775A1 (de) 2017-09-21 2019-03-21 Volkswagen Aktiengesellschaft Verfahren, Vorrichtung und computerlesbares Speichermedium mit Instruktionen zur Steuerung einer Anzeige einer Augmented-Reality-Head-Up-Display-Vorrichtung für ein Kraftfahrzeug
WO2019057296A1 (fr) * 2017-09-22 2019-03-28 Continental Automotive Gmbh Procédé et système de localisation globale
JP7185408B2 (ja) * 2018-03-02 2022-12-07 本田技研工業株式会社 車両制御装置
DE102018208105B3 (de) 2018-05-23 2019-03-21 Volkswagen Aktiengesellschaft Verfahren zum Unterstützen eines Führens wenigstens eines Kraftfahrzeugs und Assistenzsystem
CN110556006B (zh) * 2018-05-31 2021-05-25 中国移动通信有限公司研究院 一种车流量计数方法、系统、设备和计算机存储介质
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JP6462493B2 (ja) * 2015-05-29 2019-01-30 株式会社デンソー 進入判定装置、進入判定方法

Also Published As

Publication number Publication date
DE102015200182A1 (de) 2016-07-14
CN107111942B (zh) 2020-02-21
ES2719417T3 (es) 2019-07-10
CN107111942A (zh) 2017-08-29
US20180276989A1 (en) 2018-09-27
EP3243196B1 (fr) 2019-01-09
WO2016110350A1 (fr) 2016-07-14
US11238731B2 (en) 2022-02-01

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