EP3243196B1 - 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 Download PDFInfo
- Publication number
- EP3243196B1 EP3243196B1 EP15794546.0A EP15794546A EP3243196B1 EP 3243196 B1 EP3243196 B1 EP 3243196B1 EP 15794546 A EP15794546 A EP 15794546A EP 3243196 B1 EP3243196 B1 EP 3243196B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- road
- sign
- motor vehicle
- gantry
- distance
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 29
- 230000007613 environmental effect Effects 0.000 claims description 14
- 238000011156 evaluation Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 3
- 230000002123 temporal effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 9
- 230000001154 acute effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
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.
- 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.
- map material for these navigation systems is already available, 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.
- the DE 10 2007 048 842 A1 discloses a driver assistance system control device for a vehicle having an input for receiving image information acquired by a camera, the image information relating to specific objects from the surroundings of the vehicle, the front view of which differs from its rear view.
- 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 also 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.
- t i . j y i - y j 2 + x i - x j 2
- t i, j is the gate width between the traffic sign i and the traffic sign j.
- x i , x j , y i , y j represent corresponding x coordinates and y coordinates of the respective traffic signs i and j.
- theorem of Pythagoras are also conceivable.
- the calculation of the first and second distances of the vehicle to the respective traffic signs can also be determined.
- d f . k y f - y k 2 + x f - x k 2
- d f, k the distance of the vehicle to the shield k.
- x f and y f are coordinates of the motor vehicle and x k and y k are coordinates of the shield 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.
- a concrete equation which describes the dependence between the gate width t i, j the first distance d f, i and the second distance d f, j .
- 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 simple one 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 parameters t i, j , d f, i and d f, j 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.
- 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.
- a passage is likely in the future.
- a conversion of the distances as a function of the trajectory for different future times can be done.
- the method according to the invention can then be applied to these virtual future times as explained above.
- FIG. 1 shows a road 10 on which a motor vehicle 12 moves.
- 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. How out FIG. 1 can be seen, the reference point of the motor vehicle 12, the camera 14. Starting from this reference point, the distances 26 and 28 are determined here.
- FIG. 1 how out FIG. 1 can be recognized, a passage through the traffic sign gate 22 can be seen in that the distances 26 and 28 in total the gate width 24 corresponds. In this case, 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 Cartesian coordinate system 30 has an ordinate 34, which represents as a function of a time course of the gate width 24 minus a sum of the distances 26 and 28.
- f (t) t i, j - (d f, i + d f, j ).
- 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 flowchart 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. For this purpose, 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. In 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.
- step 52 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 early in steps 48 and 52. In these cases, 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)
Claims (11)
- Procédé de détection d'un passage d'un véhicule automobile (12) à travers un portail de panneaux de signalisation (22), comprenant les étapes suivantes :- réception d'informations d'environnement,- reconnaissance de panneaux de signalisation (18, 20) dans les informations d'environnement,- sélection d'un premier panneau de signalisation (18) et d'un deuxième panneau de signalisation (20) qui forment ensemble un portail de panneaux de signalisation (22),- détermination de données de position pour le premier panneau de signalisation (18) et le deuxième panneau de signalisation (20) à partir des informations d'environnement,- détermination d'une largeur de portail (24) entre le premier panneau de signalisation (18) et le deuxième panneau de signalisation (20),- détermination d'une première distance (26) du véhicule automobile (12) par rapport au premier panneau de signalisation (18),- détermination d'une deuxième distance (28) du véhicule automobile (12) par rapport au deuxième panneau de signalisation (20), et- détection du passage en fonction de la largeur de portail (24), de la première distance (26) et de la deuxième distance (28).
- Procédé selon la revendication 1, caractérisé par les étapes supplémentaires :- contrôle de la plausibilité de la largeur de portail (24), un portail de panneaux de signalisation (22) ayant une largeur de portail (24) non plausible étant rejeté.
- Procédé selon l'une des revendications 1 ou 2, caractérisé par les étapes supplémentaires :- détermination d'un angle (29) entre une droite (24) qui est définie par un portail de panneaux de signalisation (22) et un essieu (17) du véhicule automobile (12), et- contrôle de la plausibilité de l'angle (29), le portail de panneaux de signalisation (22) ayant un angle non plausible étant rejeté.
- Procédé selon l'une des revendications précédentes, caractérisé en ce que la courbe dans le temps (36) de la somme de la première et de la deuxième distance (26, 28) est contrôlée, un passage étant détecté lorsqu'un minimum (38) et/ou un point de retournement sont déterminés.
- Procédé selon l'une des revendications précédentes, caractérisé en ce que les données de position sont en plus déterminées en fonction d'une trajectoire (16) du véhicule automobile (12).
- Procédé selon la revendication 6, caractérisé en ce que la trajectoire (16) est déterminée au moyen de capteurs initiaux.
- Procédé selon l'une des revendications précédentes, caractérisé en ce qu'une future trajectoire (16) du véhicule automobile (12) est prédite et un futur passage est déterminé en fonction de la future trajectoire (16).
- Unité de commande et d'interprétation (15) qui est configurée pour détecter un passage d'un véhicule automobile (12) à travers un portail de panneaux de signalisation (22), celle-ci étant configurée pour recevoir des informations d'environnement, reconnaître des panneaux de signalisation (18, 20) dans les informations d'environnement, sélectionner un premier panneau de signalisation (18) et un deuxième panneau de signalisation (20) qui forment ensemble un portail de panneaux de signalisation (22), déterminer des données de position pour le premier panneau de signalisation (18) et le deuxième panneau de signalisation (20) à partir des informations d'environnement, déterminer une largeur de portail (24) entre le premier panneau de signalisation (18) et le deuxième panneau de signalisation (20), déterminer une première distance (26) du véhicule automobile (12) par rapport au premier panneau de signalisation (18), déterminer une deuxième distance (28) du véhicule automobile (12) par rapport au deuxième panneau de signalisation (20), et détecter le passage en fonction de la largeur de portail (24), de la première distance (26) et de la deuxième distance (28).
- Programme informatique qui est conçu pour exécuter toutes les étapes d'un procédé selon l'une des revendications 1 à 8.
- Support d'enregistrement lisible par machine sur lequel est enregistré un programme informatique selon la revendication 10.
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 EP3243196A1 (fr) | 2017-11-15 |
EP3243196B1 true 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) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
US11346671B2 (en) * | 2017-09-22 | 2022-05-31 | Continental Automotive Gmbh | Method and system for global localization |
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 |
DE102018133461A1 (de) * | 2018-12-21 | 2020-06-25 | Man Truck & Bus Se | Positionsbestimmungssystem und Verfahren zum Betreiben eines Positionsbestimmungssystems für eine mobile Einheit |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6888622B2 (en) * | 2002-03-12 | 2005-05-03 | Nissan Motor Co., Ltd. | Method for determining object type of reflective object on track |
US8718919B2 (en) * | 2002-04-23 | 2014-05-06 | Robert Bosch Gmbh | Method and apparatus for lane recognition for a vehicle |
DE202005001927U1 (de) | 2005-02-04 | 2005-04-07 | May Rudi | Warnsystem |
US7650236B2 (en) * | 2005-12-23 | 2010-01-19 | Ron Tolmei | Means, methods, and apparatus to reduce the possibility of a motor vehicle entering a freeway ramp in the wrong direction of travel—towards oncoming traffic |
DE102007048842A1 (de) * | 2007-10-11 | 2008-09-04 | Vdo Automotive Ag | Fahrerassistenzsystem zur Warnung bei Falschfahrt |
JP4941274B2 (ja) | 2007-12-20 | 2012-05-30 | 株式会社Jvcケンウッド | 路車間通信システム |
JP5074365B2 (ja) * | 2008-11-28 | 2012-11-14 | 日立オートモティブシステムズ株式会社 | カメラ装置 |
DE102011118161B3 (de) * | 2011-11-10 | 2013-03-28 | Audi Ag | Verfahren zur Positionsbestimmung |
US9024785B2 (en) * | 2011-12-27 | 2015-05-05 | Aisin Aw Co., Ltd. | Traffic information distribution system and traffic information system, traffic information distribution program, and traffic information distribution method |
US8543254B1 (en) * | 2012-03-28 | 2013-09-24 | Gentex Corporation | Vehicular imaging system and method for determining roadway width |
DE102014208662A1 (de) | 2013-09-06 | 2015-03-12 | Robert Bosch Gmbh | Verfahren und Steuer- und Erfassungseinrichtung zum Plausibilisieren einer Falschfahrt eines Kraftfahrzeugs |
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 |
-
2015
- 2015-01-09 DE DE102015200182.2A patent/DE102015200182A1/de not_active Withdrawn
- 2015-11-12 CN CN201580072858.1A patent/CN107111942B/zh active Active
- 2015-11-12 EP EP15794546.0A patent/EP3243196B1/fr active Active
- 2015-11-12 ES ES15794546T patent/ES2719417T3/es active Active
- 2015-11-12 US US15/542,457 patent/US11238731B2/en active Active
- 2015-11-12 WO PCT/EP2015/076383 patent/WO2016110350A1/fr active Application Filing
Non-Patent Citations (1)
Title |
---|
None * |
Also Published As
Publication number | Publication date |
---|---|
WO2016110350A1 (fr) | 2016-07-14 |
ES2719417T3 (es) | 2019-07-10 |
CN107111942B (zh) | 2020-02-21 |
DE102015200182A1 (de) | 2016-07-14 |
US11238731B2 (en) | 2022-02-01 |
EP3243196A1 (fr) | 2017-11-15 |
CN107111942A (zh) | 2017-08-29 |
US20180276989A1 (en) | 2018-09-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3243196B1 (fr) | Procédé et dispositif pour la détection du passage d'un véhicule par une porte délimitée par des panneaux de signalisation | |
EP3669142B1 (fr) | Procédé de commande d'un système de véhicule d'un véhicule mis en place pour effectuer une opération de conduite automatique et dispositif pour la mise en oeuvre du procédé | |
EP3254138B1 (fr) | Procédé de détermination d'une donnée position transversale d'un véhicule à moteur sur une chaussée, et véhicule à moteur | |
EP3386825B1 (fr) | Procédé de détection d'une collision possible entre un véhicule automobile et un objet en prenant en compte une incertitude spatiale, dispositif de commande, système d'aide à la conduite et véhicule automobile | |
DE102011081456A1 (de) | Vorrichtung und Verfahren zur Verkehrszeichenerkennung | |
DE102012023867A1 (de) | Verkehrsampelerkennung | |
DE102010045162A1 (de) | Schlaglochassistent mit Umfeldwahrnehmung | |
DE102015016544A1 (de) | Verfahren zum Finden einer Ausweichtrajektorie für ein Fahrzeug | |
DE102018104243B3 (de) | Verfahren und System zur Erkennung von für ein Fahrzeug geeigneten Parklücken | |
EP3013659B1 (fr) | Prévision de la trajectoire future d'un véhicule | |
DE102009046913A1 (de) | Verfahren und Steuergerät zur Müdigkeitserkennung | |
WO2015135688A1 (fr) | Dispositif et procédé servant à faire fonctionner un véhicule | |
DE102011080933A1 (de) | Verfahren zur Unterstützung eines Fahrers beim Einparken | |
DE102013005102A1 (de) | Parkassistent und Betriebsverfahren dafür | |
EP3521132B1 (fr) | Procédé de détection d'un couloir de circulation des véhicules ferroviaires | |
DE102013222846A1 (de) | Verfahren und Vorrichtung zur Erkennung der Durchfahrtsmöglichkeit eines Fahrzeugs | |
EP1668385B1 (fr) | Procede et dispositif de determination de distance permettant de determiner la distance projetee entre un dispositif de mesure de distance et un obstacle | |
DE102014005186A1 (de) | Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftwagens | |
EP2081791B1 (fr) | Procédé pour analyser l'environnement d'un véhicule | |
DE10161567B4 (de) | Kraftfahrzeug mit einem akustischen und/oder optischen Abstands-Warnsystem | |
DE102018006503A1 (de) | Digitale Karte | |
DE102014210752A1 (de) | Verfahren und Vorrichtung zum Überwachen einer Solltrajektorie eines Fahrzeugs | |
DE102019126116A1 (de) | Vorrichtung zum Informieren über eine Fahrspur und Steuerverfahren hierfür | |
EP2275318B1 (fr) | Procédé de détermination d'un processus de changement ou de sortie de fil d'un véhicule se trouvant à l'avant de son propre véhicule automobile | |
DE102018210852A1 (de) | Verfahren zum Ermitteln von rechtswidrigem Fahrverhalten durch ein Fahrzeug |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
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 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20170809 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE 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 |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
INTG | Intention to grant announced |
Effective date: 20180703 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE PATENT HAS BEEN GRANTED |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AL AT BE BG CH CY CZ DE 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 |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP Ref country code: AT Ref legal event code: REF Ref document number: 1088271 Country of ref document: AT Kind code of ref document: T Effective date: 20190115 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 502015007651 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: GERMAN |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: MP Effective date: 20190109 |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG4D |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
REG | Reference to a national code |
Ref country code: ES Ref legal event code: FG2A Ref document number: 2719417 Country of ref document: ES Kind code of ref document: T3 Effective date: 20190710 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190409 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190509 Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190509 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190410 Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190409 Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 502015007651 Country of ref document: DE |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: IT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: AL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SM Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
26N | No opposition filed |
Effective date: 20191010 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20191130 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20191130 Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20191112 |
|
REG | Reference to a national code |
Ref country code: BE Ref legal event code: MM Effective date: 20191130 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20191112 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20191112 Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20191112 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20191130 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20151112 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MM01 Ref document number: 1088271 Country of ref document: AT Kind code of ref document: T Effective date: 20201112 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20201112 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20190109 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: ES Payment date: 20231215 Year of fee payment: 9 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20231122 Year of fee payment: 9 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20240123 Year of fee payment: 9 |