Classifications

• • 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
  • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
  • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
  • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
  • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/42—Determining position
  • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V20/00—Scenes; Scene-specific elements
  • G06V20/50—Context or environment of the image
  • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
  • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
  • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
• • 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
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
  • G01C21/34—Route searching; Route guidance
  • G01C21/36—Input/output arrangements for on-board computers
  • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V20/00—Scenes; Scene-specific elements
  • G06V20/50—Context or environment of the image
  • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
  • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Definitions

• the invention relates to the control of a motor vehicle.
• the invention relates to the control of the motor vehicle in dependence on locally applicable specifications.
• a motor vehicle is to be controlled automatically on a road network.
• a so-called driving assistant can be used, which supports a specific function of the motor vehicle, or the motor vehicle can be controlled autonomously, that is, without intervention and without monitoring a driver.
• the automatic control may in particular comprise a longitudinal control or a lateral control.
• a position of the motor vehicle is determined by means of a positioning system, such as a satellite navigation receiver (eg GPS), and locally applicable presets are determined from the determined position.
• a positioning system such as a satellite navigation receiver (eg GPS)
• GPS satellite navigation receiver
• a maximum permitted driving speed of the motor vehicle For this it may be necessary to determine a road class of the road on which the motor vehicle is located.
• US 2013/0162824 A1 proposes to detect an object in the region of the motor vehicle, to determine the position of the object on a road map and then to determine the position of the motor vehicle.
• US 2006/0233424 A1 relates to determining a position based on
• the invention has for its object to provide an improved technique by means of which a local area in which a motor vehicle is located, can be determined.
• the invention solves this problem by means of the subjects of the independent claims. Subclaims give preferred embodiments again.
• a method comprises steps of scanning an object in the area of a motor vehicle; determining a present embodiment of the object; comparing the present embodiment with different predetermined embodiments of the object; selecting a predetermined embodiment corresponding to the present embodiment; and determining the location area in which the motor vehicle is located based on a location area associated with the selected embodiment.
• the invention is based on the finding that certain objects in different spatial areas are executed in different, respectively characteristic ways. For example, it can be concluded on the basis of the embodiment of a road sign, in which country the motor vehicle is located. The local area of the motor vehicle can thereby be determined at least roughly or as an approximation. Positioning using a different approach, such as based on a satellite navigation receiver, can be replaced or improved.
• a traffic system valid in the area of the motor vehicle is determined on the basis of the local area.
• the transport system may allow to infer different requirements associated with the traffic area. For example, if the traffic area includes the United Kingdom, then there may be predetermined speed limits on different ones
• the motor vehicle may be controlled depending on the particular traffic system. For example, a longitudinal or lateral control of the motor vehicle may be controlled depending on regularities or traffic rules associated with the traffic system.
• the predetermined embodiments may be determined on the basis of legal definitions, wherein the local area assigned to a predetermined embodiment corresponds to a scope of the corresponding legal definition.
• a plurality of objects are scanned in the area of the motor vehicle and each assigned to a local area, wherein the
• Territory in which the motor vehicle is located is determined on the basis of specific areas. In other words, it is preferred that not only one object is used to determine the current local area of the motor vehicle, but several if possible. An incorrect determination of the local area of the motor vehicle can thereby be less likely.
• Site areas can be linked together by any known method be balanced, so that, for example, a majority decision takes place.
• the traffic system is assigned to a state territory.
• the traffic system is associated with a road class. For example, it can be concluded from a town sign on the roadside that the motor vehicle is not on a highway or country road, but in the local area. In another example, it may be determined that the motor vehicle is approximately in a parking lot or in a game road.
• the object comprises an information label.
• the information plate can be arranged in the region of a road on which the motor vehicle is located.
• the information plate may include a road sign, which is about a symbol, a
• hazard sign May include a hazard sign, a regulatory sign, a directional sign, a traffic facility, an additional sign or another sign not legally defined.
• information sign may include a national sign, the marking of a border crossing, or a tollbooth.
• Motor vehicle can be analyzed as a shield.
• the object comprises a structural device.
• the structural device may lie in particular in the area of a road on which the motor vehicle is located.
• Structural measures may include, for example, a perimeter construction, a guardrail, a beacon, a vegetation, a structural feature, a curve radius, a road width or a road surface. Such structural measures are usually assigned due to legal regulations in each case a scope and thereby a predetermined location area.
• Figure 1 is a schematic representation of a device on board a motor vehicle.
• FIG. 2 shows the determination of a location area by means of the device of FIG. 1;
• FIG. 6 shows exemplary lateral distance values to the motor vehicle of FIG. 1 on a road
• FIG. 7 illustrates a flowchart of a method for the apparatus of FIG. 1.
• FIG. 1 shows a device 100 on board a motor vehicle 105.
• the device 100 is set up to at least approximately determine a location area in which the motor vehicle 105 is located on the basis of a scan of an environment of the motor vehicle 105.
• the device 100 may be configured to close on the basis of the local area on a current in the area of the motor vehicle 105 traffic system and, if necessary, to control the motor vehicle 105 depending on the particular traffic system.
• the device 100 comprises a processing device 110, at least one scanning device 15 and a memory 120.
• an interface 125 is provided for providing a determination result.
• the processing device 1 10 with a Be connected control device 130 of the motor vehicle 105. Illustrated by way of example are a steering wheel as a symbol for a lateral control of the motor vehicle 105 and a drive motor as a symbol for a longitudinal control of the motor vehicle 105.
• a position sensor 135 may be provided, which is connected to the processing device 110 and is adapted to a position of the motor vehicle 105 in a classical manner, for instance by means of a satellite navigation system. The particular position and the specific location area can be validated against each other or plausibilized to allow improved determination or control accuracy or safety of the motor vehicle 105.
• the scanner 1 15 may comprise a camera, a stereo camera, a video camera, a laser-based rangefinder or a radar sensor. It is also possible to provide a plurality of scanning devices 15 whose coverage areas may overlap one another or be disjoint as shown. In the illustrated embodiment, a first detection area in front of the motor vehicle 105 and a second laterally (laterally) of the motor vehicle 105.
• FIG. 2 shows the determination of a location area by means of the device 100 of FIG. 1.
• a first embodiment 205 of the object 140 of FIG. 1 is stored in the memory 120 together with an associated first location area 210.
• the first embodiment 140 and the first location area 210 can be represented in any desired ways.
• the first embodiment 205 may be determined based on a first legal definition 215 associated with a first scope 220.
• the first legal definition 215 may include, for example, a prescription or law and define scannable aspects of the object 140, such as an optical appearance, size, color, reflex, location relative to a roadway on which the motor vehicle 105 is located or a structural condition such as a branch, a bend, a bridge, etc.
• the first scope 220 indicates where the described first embodiment 205 of the object 140 is to be expected.
• the scope 220 may include territorial boundaries of the first legal definition 215 (eg state borders) or a predetermined area (such as in the area of a motorway or within a closed town).
• the first embodiment 205 of the object 140 may be indicated, for example, in its appearance on an overland road, so that the first scope 220 relates to a cross-country road. Usually, this also defines that it must be an overland road in a predetermined country, to which the first legal definition 215 is related.
• a second embodiment 225, a second location area 230, a second legal definition 235 and a second scope are
• embodiments 205, 225 and location areas 210, 230 need not necessarily be defined based on legal definitions 215, 235 and their scopes 220, 240.
• a present embodiment 245, which was scanned in the vicinity of the motor vehicle 105, can be compared with the stored embodiments 205, 225. If it is determined that one of the stored embodiments 205, 225, in the illustration of FIG. 2, corresponds to the second embodiment 225 of the present embodiment 245, it can be concluded from this that the motor vehicle 105 is located in a location area 250 that corresponds to FIG second location area 230 corresponds to which the second embodiment 225 is assigned.
• FIG. 3 shows different embodiments of an object 140 using the example of a right-of-way sign.
• the embodiment of Figure 3A corresponds to Germany, Figure 3B to France, Figure 3C to Great Britain, Figure 3D to Tru and Figure 3E to Sweden.
• the present location area 250 can in each case be specified with one country in the example chosen. Associated with this information are usually other requirements that relate to the control of the motor vehicle 105, in particular prohibitions and bids.
• FIG. 4 shows different embodiments of the object 140 of FIG. 1 using the example of information signs in Germany.
• the illustrated signs each indicate a road class representing the present location area 250 in which the motor vehicle 105 is located.
• the sign of Figure 4A relates to the road class of a game road, that of Figure 4B, a local area 210, that of Figure 4C, a motor road, that of Figure 4D and that of Figure 4E each a highway and that of Figure 4F a highway.
• the local area 250 that can be determined in this way is assigned a maximum driving speed of the motor vehicle (105).
• FIG. 5 shows different embodiments of an object 140 using the example of a beacon, as can be used for limiting a road or roadway.
• the illustrated embodiments in FIGS. 5A to 5L are each assigned to one country, multiple answers being possible.
• FIG. 6 shows exemplary lateral distance values to the motor vehicle 105 of FIG. 1 on a road.
• Structural measures in the area of a road are usually regulated, for example by means of a legal definition 215, 235.
• a turning radius at a road intersection, a height or embodiment of a guardrail, a distance between beacons and roadway, a slope distance or a slope angle in each case to a specific Area 210, 230 indicate.
• several features of structural measures are scanned and analyzed by means of the device 100. This can be done for example by means of a lateral distance measurement, the result of which is shown in FIG.
• a travel distance of the motor vehicle 105 and in the horizontal direction a left-side distance 605 and a right-side distance 610 is plotted. Due to the course of the distances over the way, terrain features or structural measures in the area of the motor vehicle 105 can be scanned and further analyzed. The particular features may then be retrieved with information from the memory 120 are compared to determine the present location area 250 of the motor vehicle 105.
• FIG. 7 shows a flowchart of a method 700 for the device 100 of FIG. 1.
• the method 700 can, in particular, run on the processing device 110.
• the processing device 1 10 is designed as a neural network comprising the memory 120, wherein the comparison of elements according to the rules of neural networks is integrated.
• a first step 705 the surroundings of the motor vehicle 105 are scanned by means of the scanning devices 15.
• the object 140 is detected, that is, there is a positive comparison with stored characteristics of the object 140. On the one hand, it is preferably determined on the one hand which type of object 140 is involved (for example which traffic sign or structural measure) and, at the same time, the specific embodiment 205, 225. If the object 140 has been detected, then an interrupt can be triggered to the processing device 1 10 to cause further processing of the detected object 140.
• a step 715 the particular present embodiment 245 is compared to a stored embodiment 205, 225.
• a step 720 it is compared whether the embodiments match each other. If this is not the case, the method 700 continues to perform a comparison with the next stored embodiment 205, 225.
• the location region 210 associated with the appropriate embodiment 205, 225 is preferably determined.
• the location area 210 may include, for example, a country, a road class or an otherwise rounded geographical area.
• the particular location area 210 may be compared to a particular position of the position sensor 135 to validate it or vice versa.
• a traffic system is determined based on the determined location area 210.
• the traffic system may include one or more legal provisions regarding the preferred control of the motor vehicle 105.
• the motor vehicle 105 may also be controlled in a step 735 based on the particular traffic system.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Computer Networks & Wireless Communication (AREA)
• Multimedia (AREA)
• Theoretical Computer Science (AREA)
• Life Sciences & Earth Sciences (AREA)
• Atmospheric Sciences (AREA)
• Traffic Control Systems (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=58191415

Family Applications (1)

Country Status (5)

Families Citing this family (2)

Family Cites Families (20)

• 2016
  • 2016-04-27 DE DE102016207125.4A patent/DE102016207125A1/de not_active Withdrawn
• 2017
  • 2017-02-24 US US16/090,428 patent/US10741069B2/en active Active
  • 2017-02-24 CN CN201780026241.5A patent/CN109074734A/zh active Pending
  • 2017-02-24 EP EP17707805.2A patent/EP3449472A1/de not_active Withdrawn
  • 2017-02-24 WO PCT/EP2017/054340 patent/WO2017186378A1/de active Application Filing

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