KR20210108307A - Method for detecting wrong way driving situations of vehicle, method for detecting one way street driving situations of vehicle, and vehicle - Google Patents

Abstract

The present disclosure relates to a method for detecting a wrong-direction driving situation and/or a one-way driving situation of an automobile. According to the present invention, an orientation of the automobile parked on one side of a road is determined, and the wrong-direction driving situation and/or the one-way road driving situation of the automobile is detected based on a determined orientation of the parked automobile. The method for detecting the wrong-direction driving situation of the automobile according to the present invention comprises the following steps of: (M101) detecting presence of the automobile (P); (M103) detecting orientation characteristics (C) of the automobile (P); (M104) determining an orientation of the automobile (P) from the orientation characteristics (C); and (M105) detecting the wrong-direction driving situation of the automobile (P).

Description

METHOD FOR DETECTING WRONG WAY DRIVING SITUATIONS OF VEHICLE, METHOD FOR DETECTING ONE WAY STREET DRIVING SITUATIONS OF VEHICLE, AND VEHICLE

The present invention relates to a method for detecting a driving situation in a wrong direction of a vehicle, a method for detecting a driving situation of a vehicle on a one-way road, and a vehicle, particularly a road vehicle such as a car, a bus, a truck, and the like.

A driving situation in the wrong direction, in which the vehicle is traveling on the road in the opposite direction to the prescribed driving direction, can lead to a dangerous situation up to a serious accident. Misdirection driving can occur especially if, for example, in a city, a one-way road and a road with lanes in different directions change frequently. Therefore, it is desirable to assist the driver of the vehicle to avoid the wrong-direction driving situation, or to assist the driver to recognize the one-way driving situation in general.

US Patent Publication US 2011/0121992 A1 discloses a wrong direction travel warning system for a vehicle, wherein the road category stores a plurality of roads and a map to which a road category such as "highway" is assigned, and a vehicle determined via a GPS system is determined based on the location of If it is detected that the vehicle's orientation angle with respect to the road markings on the highway becomes greater than a threshold value, a false direction travel warning is issued.

It is one of the ideas of the present invention to provide an improved solution for avoiding misdirection driving situations and detecting one-way driving situations.

The invention relates to a method according to claim 1 , to a method according to claim 8 and to a vehicle according to claim 16 .

Further embodiments of the invention are the subject of the dependent claims and the following description with reference to the drawings.

The present invention is provided, for example, for a traffic system regulated by law, whereby the vehicle is required to run on the side of a driving lane defined for the driving direction. For example, in most European countries, the United States, Canada, and most Asian countries, vehicles are required to drive on the right, so the right side of the road is the side of the driving lane defined in those countries. In the UK, Australia, India and some African countries, vehicles are required to drive on the left, so the left side of the road is the side of the driving lane defined in those countries. Furthermore, the present invention provides, for example, that a vehicle parked on the side of a road is required to orient in a prescribed direction, in particular the front side of the parked vehicle faces a prescribed driving direction with respect to the side of the road on which the vehicle is parked and is parked. It is provided in a traffic system regulated by law which requires that the rear side of the vehicle be oriented facing the prescribed direction of travel. For example, if the right side is a defined driving lane side, a vehicle parked on the right side of the road is required to face with its rear facing the driving direction. On a one-way road, regulations permit parking on both sides of the road, and vehicles parked on either side of the road are required to have their front side pointing in the specified direction of travel and their rear side facing the specified direction of travel.

According to a first aspect of the present invention, there is provided a method of detecting a wrong-direction driving situation of a vehicle, wherein the vehicle defines a driving lane side defined for the driving direction, and the rear side of the vehicle parked on the defined driving lane side is each You are driving in the direction of travel on a one-way road in a traffic system that defines it as oriented to face the prescribed direction of travel defined for the road.

The method comprises the steps of detecting the presence of a vehicle parked on the side of a prescribed driving lane of a road with respect to the direction of travel of the vehicle by means of a sensor system of the vehicle; (where the orientation characteristic is a characteristic defining the front and rear sides of the parked vehicle), determining the orientation of the parked vehicle with respect to the driving direction from the orientation characteristic;

When it is determined that the front side of the vehicle parked on the side of the driving lane specified for the driving direction of the vehicle is oriented to face the driving direction of the vehicle, the vehicle is traveling in the wrong direction to face the prescribed driving lane of the one-way road. It includes the step of detecting

One idea underlying the method is to determine the orientation of a parked vehicle with respect to the actual direction of travel of a vehicle traveling on a one-way road. On a one-way road, when the vehicle is traveling in the driving direction defined for the one-way road, orient the rear side of the parked vehicle on the side of the driving lane defined for the actual driving direction of the vehicle to face the actual driving direction of the vehicle do. On the other hand, the parked vehicle existing on the side of the driving lane defined for the actual driving direction of the vehicle is such that the front side faces the actual driving direction of the vehicle when the vehicle is traveling to face the driving direction specified for the one-way road. is oriented

Accordingly, the method determines the orientation of a vehicle parked on the side of a prescribed driving lane of a road with respect to the driving direction of the vehicle by detecting the orientation characteristic of the vehicle. An orientation characteristic is a perceived structural characteristic or physical condition of a vehicle that is typically applied to the front or rear of the vehicle. For example, at least one of a lidar sensor, a radar sensor, an optical sensor, an infrared sensor, and an ultrasonic sensor may be used to capture image data of a parked vehicle. With the aid of suitable algorithms, in particular pattern recognition algorithms, one or more orientation characteristics per parked vehicle can be obtained from the captured data.

One advantage of this method is that sensors commonly present in modern vehicles can be used to detect misdirection driving situations. In addition, the method is very reliable, especially in urban environments, because the orientation of parked vehicles is determined, a task that can be performed without road markings or signs. Another advantage is that false detection can be avoided much more reliably since the orientation characteristics of one or more parked vehicles are determined.

According to some embodiments, the orientation characteristic may be the body shape of the parked vehicle, wheel steering angle, color of the lighting unit, shape of the lighting unit, location of the lighting unit, brake lights, fog lights, rear spoiler, side mirrors, presence of windows, It may include characteristics of at least one of a side window location, a license plate configuration, a license plate location, a front grille, an exhaust pipe, a roof antenna, a make or model print, a temperature footprint, a window tint, and a window placement/sticker.

According to some embodiments of the method, a misdirection driving situation can be detected only when it is determined that the front sides of at least two consecutively parked vehicles are oriented to face the driving direction of the vehicle. Therefore, a vehicle parked to violate the prescribed parking rules by being assigned in the opposite direction to the prescribed direction does not directly cause the wrong direction driving situation to be erroneously detected. Thereby, the reliability of the method can be further improved.

According to some embodiments, a confidence factor value may be assigned to each orientation characteristic, the confidence factor value indicating reliability of the orientation characteristic, a high confidence factor value indicating high reliability, and a low confidence factor value indicating low reliability. For example, the confidence factor value may be a real number. In one example, the confidence factor value assigned to the orientation feature defining the anterior side may be a real number greater than zero, and the confidence factor value assigned to the orientation feature defining the backside may be a real number less than zero. By assigning a confidence factor value to each orientation feature, the detected orientation features can be weighted according to their reliability. For example, some features of a vehicle are easily detected by sensors and are generally only present on the front or rear of the vehicle. These features, for example the body shape, are weighted with a high confidence factor value. Other features are not easy to detect, for example, as they are often covered, small, or their shape and location may vary from vehicle to vehicle. These features, such as the placement of the windshield or stickers, are weighted with a low confidence factor value.

According to some embodiments, determining the orientation of each parked vehicle with respect to the driving direction includes summing confidence factor values of orientation characteristics detected in each parked vehicle, wherein the orientation is determined by the sum of the confidence factor values in advance. It is determined only when it is greater than the set threshold. That is, if various orientation characteristics can be detected in the parked vehicle, the sum of the confidence factor values assigned to the detected orientation characteristics must be greater than the minimum value for making a reliable decision about the orientation of the vehicle. Thereby, the reliability of the method is further increased. If the sum of the confidence factor values is less than the threshold, the vehicle shall not be considered to determine the wrong-direction driving situation.

According to some embodiments, determining the orientation of the parked vehicle may include calculating a misdirection driving index by summing confidence factor values of orientation characteristics detected in a set number of parked vehicles, wherein the set The number may be preferably 2 or more, more preferably 4 or more, and a wrong-direction driving situation is detected only when the wrong-direction driving index is greater than a preset threshold value. For example, the sensor system may capture data of multiple parked vehicles, some of which may be partially obscured so that only a limited number of orientation characteristics per vehicle can be detected. By summing the confidence factor values of all detected orientation characteristics, a more reliable determination can be made for a misdirection driving situation.

According to some embodiments, if it is determined that the vehicle is in a wrong direction driving situation, a wrong direction driving signal may be sent. For example, the controller may send an electrical or electromagnetic signal.

According to some embodiments, the wrong direction driving signal may cause the generation of a warning signal, for example an acoustic signal, an optical signal or a tactile signal.

According to some embodiments, an erroneous road driving signal may trigger the step of controlling the vehicle to stop. For example, the controller may send a control signal in response to receiving a wrong direction driving signal, the control signal causing an actuator, such as a brake actuator, to stop the vehicle.

According to a second aspect of the present invention, there is provided a method for detecting a one-way driving situation of a vehicle. As described above, on a one-way road in a traffic system that defines the driving lane side defined for the driving direction and the rear side of a vehicle parked on the driving lane side is oriented to face the prescribed driving direction defined for each road. It is assumed that the vehicle is traveling in the driving direction. The method includes detecting the presence of a vehicle parked on an opposite lane side of a road by a sensor system of the vehicle, wherein the opposite lane side defines the road with respect to the driving direction of the vehicle, that is, the actual driving direction of the vehicle. It is on the opposite side of the side of the designated driving lane. The method further comprises detecting, by a sensor system, an orientation characteristic of one or more parked vehicles parked on the opposite lane side, wherein the orientation characteristic is a characteristic defining a front side and a rear side of the parked vehicle. The method comprises the steps of determining the orientation of the vehicle parked on the opposite lane side with respect to the driving direction from an orientation characteristic, and when it is determined that the rear side of the vehicle parked on the opposite lane side is oriented to face the driving direction of the vehicle, The method further includes detecting a one-way driving situation.

An orientation characteristic is a perceived structural characteristic or physical condition of a vehicle that is generally applied to the front or rear of the vehicle. For example, at least one of a lidar sensor, a radar sensor, an optical sensor, an infrared sensor, and an ultrasonic sensor may be used to capture image data of a parked vehicle. With the aid of suitable algorithms, one or more orientation characteristics per parked vehicle can be obtained from the captured data.

Similar to the method according to the first aspect, one idea of the method according to this aspect of the invention is to detect one-way travel of a vehicle based on the orientation of the parked vehicle. As described earlier, when a vehicle is traveling on a one-way road in a prescribed driving direction for a one-way road, and when regulations permit parking on both sides of the road with the rear of the parked vehicle facing the prescribed driving direction, , a one-way driving situation can be detected easily and reliably by determining the orientation of a vehicle parked on the opposite lane side of the road. The opposite lane side is the side opposite to the driving lane side generally defined with respect to the actual driving direction of the vehicle. For example, if the traffic system defines the right side as the defined driving lane side, the opposite lane side is the left side.

According to some embodiments, the method comprises detecting, by means of a sensor system, the presence of a vehicle parked on a defined driving lane side of the road with respect to a driving direction, and one or more parked on a defined driving lane side by the sensor system. detecting an orientation characteristic of the parked vehicle; determining the orientation of the vehicle parked on the side of the driving lane defined with respect to the driving direction from the orientation characteristic; the vehicle parked on the opposite driving lane side and the driving lane defined The method may further include detecting a one-way driving situation when it is determined that the vehicle parked on the side is equally oriented with respect to the driving direction. That is, not only the orientation of the vehicle parked on the opposite driving lane side but also the orientation of the vehicle parked on the opposite side of the road may be determined. On a one-way road, when a parked vehicle is parked according to a prescribed regulation, the vehicle parked on both sides of the road, that is, on the left and right side, must be oriented equally. Therefore, due to this double check, one-way driving can be detected more reliably.

According to some embodiments, the one-way driving situation may be detected only when it is determined that the rear sides of at least two consecutively parked vehicles are oriented to face the driving direction of the vehicle. This further improves the reliability of the method and lowers the risk of false positives.

According to some embodiments, a confidence factor value may be assigned to each orientation characteristic, the confidence factor value indicating reliability of the orientation characteristic, a high confidence factor value indicating high reliability, and a low confidence factor value indicating low reliability , determining the orientation of each parked vehicle with respect to the driving direction includes summing the confidence factor values of the orientation characteristics detected in each parked vehicle, wherein the orientation is determined that the sum of the confidence factor values is greater than a preset threshold value. determined only when As described above, the orientation of each vehicle can be more reliably detected by assigning a confidence factor value and summing the confidence factor values for each vehicle.

According to some embodiments, determining the orientation of the parked vehicle may include calculating a one-way driving index by summing confidence factor values of orientation characteristics detected in a set number of parked vehicles, wherein the set The number may be preferably two or more, more preferably four or more, and the one-way driving situation is detected only when the one-way driving index is greater than a preset threshold value. Similar to the above, by calculating the one-way driving index, the orientation of a plurality of vehicles is more reliably determined, whereby the one-way driving situation can be easily and efficiently detected.

According to some embodiments, when it is determined that the vehicle travels on a one-way road, a parking space search may be executed on both left and right sides of the road by the sensor system. A parking space search includes the steps of capturing a distance or interval between two consecutively parked vehicles, comparing the captured distance or interval to a distance threshold, and if the captured distance or interval is greater than or equal to a distance threshold, a parking space It may include sending a signal. By performing the search on both sides of the road, the probability of finding a parking space increases. Thus, a parking space search is one example in which the present invention can be advantageously used.

According to some embodiments, the orientation characteristic may be the body shape of the parked vehicle, wheel steering angle, color of the lighting unit, shape of the lighting unit, location of the lighting unit, brake lights, fog lights, rear spoiler, side mirrors, presence of windows, It may include at least one of the position of the side window, the configuration of the license plate, the position of the license plate, the front grille, the exhaust pipe, the roof antenna, the make or model print, the temperature footprint, the window tint, and the window placement/sticker.

According to a third aspect of the invention, there is provided a vehicle, for example a street vehicle such as a car, bus or truck. The vehicle comprises a sensor system adapted to detect the presence of a parked vehicle therearound and adapted to detect an orientation characteristic of the parked vehicle, and a control unit adapted to perform the method according to the first or second aspect, An orientation characteristic is a characteristic that defines the front and rear sides of a parked vehicle.

Generally, with respect to all aspects of the present invention, the sensor system may include at least one of an optical sensor, a radar sensor, a lidar sensor, an ultrasonic sensor, and an infrared sensor. In particular, lidar sensors are available in very high resolution, allowing efficient capture of images showing geometric details of parked vehicles.

Features and advantages described with respect to one aspect of the invention are also disclosed for another aspect of the invention, and vice versa.

For a more complete understanding of the present invention and its advantages, reference is made to the following description taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The invention is explained in more detail below using exemplary embodiments specified in the schematic drawings.
1 shows a plan view of a one-way road with vehicles parked on both sides of the road, one vehicle traveling in a prescribed driving direction, and one vehicle running opposite to the prescribed driving direction.
2 shows a plan view of a road with lanes in different directions with vehicles parked on both sides of the road and one vehicle traveling in a prescribed driving direction.
3 shows a schematic view of the rear side of a vehicle including exemplary orientation characteristics;
4 shows a schematic view of the front side of a vehicle including exemplary orientation characteristics;
5 shows a schematic side view of a vehicle with the front and rear sides of the vehicle including exemplary orientation characteristics.
6 shows a functional block diagram of a vehicle according to an embodiment of the present invention.
7 shows a flowchart of a method according to an embodiment of the present invention.
8 shows a flowchart of a method according to another embodiment of the present invention.
Unless otherwise indicated, like reference numbers or symbols for drawings indicate like elements.

1 shows a top view of a one-way road 100 in which the vehicle 1 can only travel in a driving direction D0 defined for the road 100 . As further shown in Figure 1, traffic regulations permit parking on both sides of a one-way road 100, and vehicles P parked on both sides of road 100 are It must be oriented so that F) faces the prescribed running direction D0 and the rear side R faces the prescribed running direction D0 in the opposite direction.

2 shows a plan view of a road 200 with lanes in different directions. On the road 200 shown in FIG. 2 , the vehicle 1 may travel in opposite directions to each other, but the traffic regulations have a driving lane side S1 defined for the actual driving direction D1 of each vehicle 1 . It is stipulated That is, when the vehicle 1 travels on the road 200 in the actual driving direction D1 , the vehicle 1 must travel on the left or right side according to traffic regulations. In FIG. 2 , the defined driving lane side S1 is the right side, and thus the opposite lane side S2 opposite to the driving lane side S1 is the left side. The present invention generally assumes a traffic system defining a driving lane side S1 defined with respect to the actual driving direction D1 of the vehicle and an opposite lane side S2 in the opposite direction. As a result, there is a defined travel direction D0 on the defined travel lane side S1.

2 shows that the parked vehicles P are present on both sides of the road 200 . As can be seen, traffic regulations require that the rear side R of the parked vehicle P be oriented toward the direction of travel D0 defined for each side of the street 200 . When the vehicle 1 is driving in the driving direction D1 on the prescribed driving lane side S1 of the road 200 on the right side in the example of FIG. 2 , the vehicle P parked on the driving lane side S1 is The rear side R faces the driving direction D1 of the vehicle 1, and the front side F of the vehicle P parked on the opposite lane side S2 faces the driving direction D1 of the vehicle 1 .

In the traffic system in which there are regulations regarding the driving direction and parking as described above, as will be described in detail below, one-way driving and wrong-direction driving on a one-way road are related to the actual driving direction D1 of the vehicle 100 . It can be efficiently detected by determining the orientation of the parked vehicle P with respect to each other.

6 schematically shows in a functional block diagram a vehicle 1 , for example a car, a bus or a truck. The vehicle 1 comprises a sensor system 2 , a control unit 3 , and may further comprise an actuator system 4 and optionally a warning device 5 .

As exemplarily shown in FIG. 6 , the sensor system 2 is operatively connected to the control unit 3 , for example via a wired or wireless data connection. The control unit 3 is operatively connected to the optional actuator system 4 and the optional warning device 5, for example via a wired or wireless data connection. A wired data connection may be realized, for example, via a CAN-Bus system or the like. The wireless connection may be realized, for example, via Wi-Fi, Bluetooth, or the like.

The sensor system 2 may comprise at least one sensor configured to detect the presence and orientation of a parked vehicle P in the vicinity of the vehicle 1 and to detect an orientation characteristic C of the parked vehicle P. have. As exemplarily shown in FIG. 6 , the sensor system 2 includes various sensors, for example, an optical sensor 21 such as a camera, a radar sensor 22 , a lidar sensor 23 . , the ultrasonic sensor 24, and may include at least one of the infrared sensor (25). The sensor system 2 is configured to capture image data around the vehicle 1 .

The orientation characteristic C of the parked vehicle P may be a characteristic defining the front side F and the rear side R of each parked vehicle P. That is, the orientation characteristic is a specific characteristic or physical property capable of distinguishing the front side F and the rear side F of the parked vehicle P. The image data captured by the sensor system 2 comprises image data of the parked vehicle P present within the field of view 20 of the sensor system 2 as schematically shown in FIG. 1 .

3 to 5 exemplarily show the orientation characteristic C of the parked vehicle P which can be sensed by the sensor system 2 . 3 shows a view of the rear side R of the parked vehicle P. As shown in FIG. 4 shows a view of the front side F of the parked vehicle P. As shown in FIG. 5 shows a side view of a parked vehicle P. As will become clear by comparing FIGS. 3 and 4 , the orientation characteristics can be, for example, the color of the lighting unit 11 , the shape of the lighting unit 11 , and the position of the lighting unit 11 , which are typical is different in the anterior (F) and posterior (R). Also, the orientation characteristic (C) may be a brake light (12), an exhaust pipe (16), and a loop antenna (17), which are typically viewable from the rear (R) side. In addition, the side mirror 13, the configuration of the license plate 14, the position of the license plate 14 are different orientation characteristics in the front (F) and the rear (R). On the front side (F) there may be a front grille 15 and a batch/sticker 18 of the window as an orientation characteristic (C). As shown in FIG. 5 , the body shapes 19F and 19R of the parked vehicle P are different from each other in the front side F and the rear side R. In addition, the side window position or shape may be different from the front side (F) and the rear side (R). Of course, the above examples are not limiting and include other orientation characteristics (C), such as wheel steering angle, fog lights, rear spoiler, presence of windows, make or model print, temperature footprint (rear (rear spoiler) 19R) or hot spots such as a warm motor block on the front side 19F), window tints (usually found on the rear window of the vehicle), etc. With respect to the wheel steering angle, it is noted that the front wheels of the vehicle are typically steered through the steering wheels so that they can be positioned at the desired steering angle. When the vehicle is parked, the steered front wheels are often positioned at a non-zero steering angle, which can be detected by the sensor system 2 as an orientation characteristic (C) representing the front side (F) of the parked vehicle (P). have.

The control unit 3 may include a processor 31 and a data storage medium 32 . The processor 31 is adapted to execute software stored in the data storage medium 32 , for example sending or receiving an electrical or electromagnetic signal based on input signals, for example image data received from the sensor system 2 . configured to output. The data storage medium 32 may be a non-volatile data storage medium such as a hard disk drive, CD-ROM, DVD, Blue-Ray-Disc, flash drive, or the like.

As schematically shown in FIG. 6 , the actuator unit 4 includes various actuators for controlling the vehicle 1 such as, for example, a steering actuator 41 , a brake system 42 , a drive train 43 , etc. may include Based on a control signal sent or output by the control unit 3 , one or more actuators 41 - 43 may be actuated.

The optional warning device 5 may be configured to generate an optical, tactile or acoustic warning signal in response to receiving a corresponding signal from the control unit 3 . For example, the warning device 5 may be a flashing light or the like.

The vehicle 1 exemplarily shown in FIG. 6 is suitable for autonomously detecting a wrong direction driving on a one-way road or detecting a one-way driving situation by examining the orientation of the parked vehicle P. In particular, the control unit 3 is configured to perform a method M100 of detecting a driving situation in a wrong direction and/or a method M200 of detecting a driving situation on a one-way road of the vehicle 1 .

A method ( M100 ) of detecting a driving situation in the wrong direction of the vehicle 1 will be described. In the situation shown in FIG. 1 , the vehicle 1A is traveling on the one-way road 100 in the actual driving direction D1 that is the same as the driving direction D0 defined for the road. Accordingly, the parked vehicle P has their rear side R facing the actual driving direction D1 of the vehicle 1A. 1 shows another vehicle 1B traveling on a one-way road 100 in an actual driving direction D1 opposite to a driving direction D0 defined for the road. Accordingly, the vehicle 1B is in the wrong direction driving situation and the parked vehicle P has its front side F facing the actual driving direction D1 of the vehicle 1B. This situation can be easily and reliably detected by the method shown in FIG. 7 .

As shown in FIG. 7 , in the first step M101, the sensor system 2 of the vehicle 1 is located on the prescribed driving lane side S1 of the road with respect to the actual driving direction D1 of the vehicle 1 . The presence of the parked vehicle P is detected. In the example of Fig. 1, the right side is the defined driving lane side S1. Accordingly, both vehicles 1A and 1B in Fig. 1 search for the vehicle P parked on the right side of each for their actual driving direction D1.

In step M101 , the control unit 3 has an algorithm configured to determine from the image data captured by the sensor system 2 whether a parked vehicle P is present within the field of view 20 of the sensor system 2 . run If it is determined that the parked vehicle P does not exist as indicated by "-" in block M102 of FIG. 7 , the sensor system 2 continues to search for the parked vehicle P. If the presence of the parked vehicle P is determined as indicated by "+" in block M102 of Fig. 7, the method M100 proceeds to step M103.

In step M103 the sensor system 2 detects the orientation characteristic C of one or more parked vehicles P. That is, the control unit 3 executes an algorithm, for example a pattern recognition algorithm, to detect a specific orientation characteristic C in the image data provided by the sensor system 2 . In particular, the orientation characteristic (C) of one or more parked vehicles (P), for example at least two parked vehicles (P), is detected in order to avoid possible false detections due to parked vehicles (P) oriented against the regulations. should be

In step M104 , the control unit 3 determines from the orientation characteristic C the orientation of the parked vehicle P with respect to the actual driving direction D1 of the vehicle 1 . In this step M104, the vehicle 1A in Fig. 1 has the rear side R of the vehicle P parked on the right with respect to the actual driving direction D1 of the vehicle 1A the actual driving direction of the vehicle 1A. It is determined that the orientation is opposite to (D1). Determine the parked vehicle (P). The parking lot parked on the right is oriented towards . In contrast to this, the vehicle 1B in FIG. 1 has the front side F of the vehicle P parked on the right with respect to the actual driving direction D1 of the vehicle 1B opposite to the driving direction D1 of the vehicle 1B. is determined to be oriented toward the

To further improve the reliability of the method, it can be specified that the orientation of the parked vehicle P is determined with certainty only when the sensed orientation characteristic meets certain requirements. For example, the body shape 19F, 19R of the parked vehicle P is a very reliable indication for the orientation of the parked vehicle P, whereas the placement or sticker 18 will not always be in the same location. and thus not as reliable as other orientation properties (C). Accordingly, each orientation characteristic C may be assigned a confidence factor value. The reliability factor value indicates the reliability of the orientation characteristic (C), a high reliability factor value indicates high reliability and a low reliability factor value indicates low reliability. In the above example, the vehicle body shapes 19F, 19R as orientation characteristic C may have a confidence factor value of 1, and the presence of placement/sticker 18 as orientation characteristic C results in a confidence factor value of 0.25. can have

When the orientation of the particular parked vehicle P is determined in step M104, determining the orientation of the particular parked vehicle P with respect to the driving direction D1 of the vehicle 1 is to determine the orientation of each parked vehicle P ) and summing the confidence factor values of the detected orientation characteristics (C). For example, when the vehicle body shapes 19F and 19R, the color, position, and shape of the lighting unit 11, and the configuration of the license plate 14 are detected as the orientation characteristic C, the The confidence factor values are summed. When the sum of the confidence factor values exceeds a preset threshold, the orientation of the parked vehicle P is determined such that the front side F or the rear side R faces the driving direction D1 of the vehicle. Otherwise, the orientation P of the parked vehicle should be considered unknown.

In order to more reliably avoid false positives, a Wrong Way Driving Index (WWI) can be calculated by summing the confidence factor values of the orientation characteristics (C) detected in a predetermined number of parked vehicles (P). have. For example, for all parked vehicles P present within the field of view 20 of the sensor system 2 , a sum of the confidence factor values for each parked vehicle P is formed, after which the orientation is reliably detected A sum of the confidence factor values of all parked vehicles P may be formed and defined to provide a WWI. A parked vehicle P of unknown orientation may be included as a value of zero in the sum constituting the WWI. In order to more reliably determine the orientation of a parked vehicle P, the WWI determines whether two or more, four or more, or generally more than a predetermined number of parked vehicles P are present within the orientation of the sensor system 2 or In general, it can be defined to be formed only when available for orientation characteristic detection.

As indicated by "+" in FIG. 7 in step M104, the front side F of the vehicle P parked on the driving lane side S1 defined for the actual driving direction D1 of the vehicle 1 is If it is determined that the vehicle 1 is oriented to face the driving direction D1, it is detected in step M105 that the vehicle 1 is in the wrong direction driving situation. Accordingly, in the example of FIG. 1 , the vehicle 1B is in the wrong direction because the defined driving lane side S1, ie the front side of the vehicle parked on the right, is oriented to face the actual driving direction D1 of the vehicle 1B. Detect driving conditions. Optionally, a misdirection driving situation is detected in step M105 only when the WWI exceeds a preset threshold that increases the reliability of the method M100. Additionally or alternatively, a misdirection driving situation is detected in step M105 only when it is determined that the front side F of at least two consecutively parked vehicles P is oriented to face the driving direction D1 of the vehicle. can be

Orientation so that the front side F of the vehicle P parked on the driving lane side S1 defined in step M104 faces the actual driving direction D1 of the vehicle 1 as indicated by the symbol "-" If it is determined not to, the method M100 returns to step M101. 1 , the vehicle 1A determines that the rear side R of the vehicle P parked on the prescribed driving lane side S1 is oriented to face the actual driving direction D1 of the vehicle 1A. . Accordingly, there is no erroneous driving situation and the method M100 returns to step M101.

Optionally, if a wrong-direction driving situation is detected in step M105, the control unit 3 may send a wrong-direction driving signal (M107). The wrong direction driving signal may cause the generation of a warning signal, ie the warning device 5 may generate a warning signal. Additionally or alternatively, an erroneous road driving signal may cause the vehicle 1 to control to stop. This is because, for example, a erroneous driving signal sent out by the control unit 3 causes the actuator system 4 to actuate the brake system 42 and/or the drive train 43 accordingly, for example the vehicle 1 . It can be realized by making it possible to stop

An exemplary method M200 for detecting a one-way driving situation of the vehicle 1 is shown in FIG. 8 . Method M200 shown in FIG. 8 operates similarly to method M100 described with reference to FIG. 7 . Accordingly, repeated description is omitted.

In step M201 of method M200, the presence of the vehicle P parked on the opposite lane side S2 of the road 100 is detected. That is, in the example of FIGS. 1 and 2 , vehicles 1A, 1B will find the presence of parked vehicle P on the left side of road 100 , 200 with the aid of sensor system 2 . Optionally, step M211 can be performed, wherein the presence of the parked vehicle P by means of the sensor system 2 is also detected on the defined driving lane side S1 of the street 100 .

If it is determined that the parked vehicle P does not exist as indicated by "-" in block M202 of FIG. 8 , the sensor system 2 continues to search for the parked vehicle P. If the presence of the parked vehicle P is determined as indicated by "+" in block M202 of Fig. 8, the method M200 proceeds to step M203.

In step M203, the orientation characteristic C of one or more vehicles P parked on the opposite lane side S2 is detected by the sensor system 2 as described above. Optionally, the method M200 may include a step M213 , wherein the orientation characteristic C of the one or more vehicles P parked on the driving lane side S1 defined by the sensor system 2 is also detected.

In another step M204, the orientation of the vehicle P parked on the opposite lane side S2 with respect to the driving direction D1 is determined. In FIG. 1 , vehicle 1A is oriented such that, for example, the opposite lane side S2 , ie the rear side of a vehicle parked on the left side of road 100 faces the actual driving direction D1 of vehicle 1A. decide that it has been Within the assumptions of the present disclosure, parking on the opposite lane side S2 in this orientation is permitted only on a one-way road. In FIG. 2 , both vehicles 1A and 1B are, for example, on the opposite lane side S2 , ie the front side of the vehicle parked on the left side of the road 200 , as is common in the multi-travel direction road. ) to face the actual driving direction D1. Optionally, the orientation of the vehicle P parked on the driving lane side S1 defined with respect to the driving direction D1 in step M214 is also determined from the corresponding orientation characteristic C.

In step M204, as indicated by “+” in FIG. 8 , the rear side R of the vehicle P parked on the opposite lane side S2 faces the driving direction D1 of the vehicle 1 . If it is determined to be oriented, the method proceeds to step M205, where a one-way road driving situation is detected. Optionally, in step M214, the vehicle P parked on the opposite lane side S2 and the vehicle P parked on the defined driving lane side S1 are oriented the same with respect to the driving direction D1. If so, the method M200 may proceed to step M215, where a one-way driving situation is also detected. In step M204, as indicated by “-” in FIG. 8 , the front side F of the vehicle P parked on the opposite lane side S2 faces the driving direction D1 of the vehicle 1 . If it is determined to be oriented, the method may return to step M201 or proceed to step M211. In the latter case, the vehicle 1B of FIG. 1 may also detect a one-way driving situation. Optionally, method M100 may be performed after step M205 or step M215.

Similar to that described above for method M100, the one-way driving situation is such that the rear R of at least two consecutively parked vehicles P in step M204 and/or step M214 is the vehicle's driving direction. It can only be detected when determined to be oriented opposite to (D1).

Similar to method M100, in step M204 and/or step M214, determining the orientation of each parked vehicle P with respect to the actual driving direction of the vehicle 1 comprises the steps of: summing the confidence factor values of the orientation characteristics C detected in the vehicle P. Also, in the method M200, the orientation may be determined such that the front F or the rear R faces the actual driving direction D1 only when the sum of the confidence factor values exceeds a preset threshold. Of course, similar to the WWI, the One Way Driving Index (OWI) can be calculated by summing the confidence factor values of the orientation characteristics (C) detected in a predetermined number of parked vehicles (P). The driving situation is detected only when the OWI exceeds a preset threshold.

As exemplarily shown in FIG. 8 , if it is determined in step M205 or step M215 that the vehicle 1 is traveling on a one-way road, the method M100 may be performed. Additionally or alternatively, the method may proceed to step M207 where a parking space search is performed on both the left and right sides of the road 100 by the sensor system 2 .

The present invention has been described in detail with reference to exemplary embodiments. However, it will be understood by those skilled in the art that modifications may be made to these embodiments without departing from the spirit and central spirit of the invention, the scope of the invention as defined in the claims, and equivalents thereof.

1: Vehicle 2: Sensor system
3: Control unit 4: Actuator system
5: Warning device 11: Light unit
12: brake light 13: side mirror
14: license plate 15: front grill
16: exhaust pipe 17: loop antenna
18: sticker/placement 19F, 19R: body shape
20: field of view of the sensor system 21: optical sensor
22: radar sensor 23: lidar sensor
24: ultrasonic sensor 25: infrared sensor
41: steering actuator 42: brake system
43: drive train 100: one-way road
C: Orientation characteristics D0: Defined running direction
D1: Actual driving direction of vehicle F: Front side of parked vehicle
M100: Method M101-107: Method Steps
M200: Method M201-215: Method Steps
P: Parked vehicle R: Rear of vehicle
S1: Side of the prescribed driving lane S2: Side of the opposite driving lane

Claims (16)

A defined driving lane side S1 is defined for the driving direction D1 and the rear side R of the vehicle P parked on the defined driving lane side S1 is a defined driving lane side R for each road 100 A method (M100) for detecting a wrong direction driving situation of a vehicle (1) traveling in a driving direction (D1) on a one-way road (100) in a traffic system defining that it is oriented to face direction (D0), the method (M100) comprising:
detecting the presence of the vehicle P parked on the prescribed driving lane side S1 of the road with respect to the driving direction D1 of the vehicle 1 by the sensor system 2 of the vehicle 1 (M101);
detecting by means of the sensor system 2 an orientation characteristic C of one or more parked vehicles P which is a characteristic defining the front side F and the rear side R of the parked vehicle P (M103);
determining the orientation of the parked vehicle P with respect to the driving direction D1 of the vehicle 1 from the orientation characteristic C (M104); and
If it is determined that the front side F of the vehicle P parked on the prescribed driving lane side S1 with respect to the driving direction D1 of the vehicle 1 is oriented to face the driving direction D1 of the vehicle 1 , detecting a wrong direction driving situation in which the vehicle 1 is traveling to face the prescribed driving lane D0 of the one-way road 100 (M105);
A method comprising (M100). According to claim 1,
A method (M100) in which a misdirection driving situation is detected only when it is determined that the front side (F) of at least two consecutive parked vehicles (P) is oriented to face the driving direction (D1) of the vehicle (M100). According to claim 1,
A confidence factor value indicating the reliability of the orientation characteristic (c) is assigned to each orientation characteristic (C), a high confidence factor value indicates high reliability, and a low confidence factor value indicates low reliability,
The step M104 of determining the orientation of each parked vehicle P with respect to the driving direction D1 of the vehicle 1 is to sum the confidence factor values of the orientation characteristics C detected in each parked vehicle P. comprising steps,
A method in which the orientation is determined only when the sum of the confidence factor values is greater than a preset threshold (M100). 4. The method of claim 3,
The step of determining the orientation of the parked vehicle P (M104) is to calculate the wrong direction driving index by summing the confidence factor values of the orientation characteristics C detected in the two or more set number of parked vehicles P. step M106;
A method in which the wrong direction driving situation is detected only when the wrong direction driving index is greater than a preset threshold value (M100). According to claim 1,
The method (M100) further comprising the step (M107) of sending a wrong-direction driving signal when it is determined that the vehicle (1) is in a wrong-direction driving situation. 6. The method of claim 5,
A wrong direction driving signal causes a step to generate a warning signal (M100). 6. The method of claim 5,
A method M100 wherein the wrong direction driving signal triggers the step of controlling the vehicle to stop. A driving lane side S1 defined for the driving direction D1 of the vehicle 100 is defined, and the rear side R of the vehicle P parked on the driving lane side S1 is defined for each road 100 A method (M200) for detecting a one-way driving situation of a vehicle (1) traveling in a driving direction (D1) on a one-way road (100) in a traffic system defining that it is oriented to face a prescribed driving direction (D0) (M200) In
The presence of the vehicle P parked on the opposite lane side S2 on the opposite side of the prescribed driving lane side S1 of the road 100 with respect to the direction of travel is detected by the sensor system 2 of the vehicle 1 . detecting (M201);
The orientation characteristic of one or more parked vehicles P parked on the opposite lane side S2 which is a characteristic defining the front side F and the rear side R of the parked vehicle P by the sensor system 2 ( C) detecting (M203);
determining the orientation of the vehicle P parked on the opposite lane side S2 with respect to the driving direction D1 from the orientation characteristic C (M204); and
If it is determined that the rear side R of the vehicle P parked on the opposite lane side S2 is oriented to face the driving direction D1 of the vehicle 1, detecting a one-way driving situation (M205) );
A method comprising (M200). 9. The method of claim 8,
detecting the presence of the vehicle P parked on the prescribed driving lane side S1 of the road 100 with respect to the driving direction D1 by the sensor system 2 (M211);
detecting (M213) an orientation characteristic (C) of one or more parked vehicles (P) parked on a driving lane side (S1) defined by the sensor system (2);
determining the orientation of the vehicle P parked on the driving lane side S1 defined with respect to the driving direction D1 from the orientation characteristic C (M214); and
Driving on a one-way road if it is determined that the vehicle P parked on the opposite driving lane side S2 and the vehicle P parked on the prescribed driving lane side S1 are oriented the same with respect to the driving direction D1 detecting a situation (M215);
A method further comprising (M200). 10. The method according to claim 8 or 9,
A method (M200) in which a one-way driving situation is detected only when it is determined that the rear side (R) of at least two consecutively parked vehicles (P) is oriented to face the driving direction (D1) of the vehicle (M200). 9. The method of claim 8,
A confidence factor value indicating the reliability of the orientation characteristic (c) is assigned to each orientation characteristic (C), a high confidence factor value indicates high reliability, and a low confidence factor value indicates low reliability,
determining the orientation of each parked vehicle P with respect to the direction of travel comprises summing the confidence factor values of the orientation characteristics C detected in each parked vehicle P;
The orientation is determined only when the sum of the confidence factor values is greater than a preset threshold (M200). 12. The method of claim 11,
In the step M204 of determining the orientation of the parked vehicle P, the one-way driving index is calculated by summing the confidence factor values of the orientation characteristics C detected in the two or more set number of parked vehicles P. step M206;
The one-way road driving situation is detected only when the one-way driving index is greater than a preset threshold (M200). 9. The method of claim 8,
The method (M200) further comprising the step (M207) of executing a parking space search on both left and right sides of the road 100 by the sensor system 2 when it is determined that the vehicle 1 travels on the one-way road. 9. The method of claim 1 or 8,
The orientation characteristic (C) is the vehicle body shape of the parked vehicle (P), the wheel steering angle, the color of the lighting unit, the shape of the lighting unit, the position of the lighting unit, the brake lights, the fog lights, the rear spoiler, the side mirrors, the presence of windows, A method (M100, M200) comprising at least one of a side window location, a license plate configuration, a license plate location, a front grille, an exhaust pipe, a roof antenna, a make or model print, a temperature footprint, a window tint, and a window placement/sticker. 9. The method of claim 1 or 8,
A method (M100, M200) wherein the sensor system (2) comprises at least one of an optical sensor (21), a radar sensor (22), a lidar sensor (23), an ultrasonic sensor (24), and an infrared sensor (25). A sensor adapted to detect the presence of a parked vehicle P in the vicinity of the vehicle and adapted to detect an orientation characteristic C of the parked vehicle P which is a characteristic defining the front and rear sides of the parked vehicle P system (2); and
a control unit (3) adapted to carry out the method according to claim 1 or 8;
A vehicle comprising (1).

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