WO2012159617A2 - Method for deriving information on the surrounding area from the identification of tail lights of preceding vehicles - Google Patents

Method for deriving information on the surrounding area from the identification of tail lights of preceding vehicles Download PDF

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Publication number
WO2012159617A2
WO2012159617A2 PCT/DE2012/100130 DE2012100130W WO2012159617A2 WO 2012159617 A2 WO2012159617 A2 WO 2012159617A2 DE 2012100130 W DE2012100130 W DE 2012100130W WO 2012159617 A2 WO2012159617 A2 WO 2012159617A2
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WO
WIPO (PCT)
Prior art keywords
rear lights
tracked
derived
lights
analysis
Prior art date
Application number
PCT/DE2012/100130
Other languages
German (de)
French (fr)
Other versions
WO2012159617A3 (en
Inventor
Marc Fischer
Dirk Ulbricht
Original Assignee
Conti Temic Microelectronic Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic Gmbh filed Critical Conti Temic Microelectronic Gmbh
Priority to EP12726342.4A priority Critical patent/EP2715609A2/en
Priority to DE112012001640.8T priority patent/DE112012001640A5/en
Priority to JP2014511740A priority patent/JP2014517396A/en
Publication of WO2012159617A2 publication Critical patent/WO2012159617A2/en
Publication of WO2012159617A3 publication Critical patent/WO2012159617A3/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/12—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/114—Vehicle acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/312—Adverse weather
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/322—Road curvature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B60Q2300/324—Road inclination, e.g. uphill or downhill
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping

Definitions

  • a method for deriving contextual information from the detection rear lights of preceding vehicles The invention relates to a method for deriving contextual information from the detection rear lights of preceding vehicles according to the preamble of claim 1.
  • the environment information may driver assistance ⁇ assistance systems are provided in particular.
  • rear vehicle lights or lights are in the context of the invention u.a. understood the following installed on the vehicle lights: reversing light, taillight, brake light and rear fog light.
  • driver ⁇ assistant functions for automatic light control of low / high beams use the information on the rec- ognized rear vehicle lights to control the high beams to prevent blinding of drivers of vehicles traveling ahead.
  • Another example is the detection of the activation of brake lights.
  • EP 1851681 B1 shows a method for detecting the activation of brake lamps ahead Vehicles in which a preceding vehicle is detected with an image sensor and when the brake lights are lit, a signal is output that can be converted in a warning device and / or in a driver assistance system.
  • the object of the invention is to provide additional or better information about the vehicle environment for a wide variety of driver assistance functions from detected rear vehicle lights .
  • This object is achieved according to the invention by an analysis of the position and movement of rear lights of preceding vehicles, which are determined in an image sequence and tracked ie tracked. The image sequence is recorded with a camera that captures the front of the vehicle. From this analysis, the desired environmental information is derived.
  • the invention is based on the consideration that Informa ⁇ tions can these data imply from the behavior of preceding vehicles. Vehicles driving ahead are recognized by their rear-mounted lights. Light information, which can provide eg a high-beam assistance system, can thus be used to derive further surroundings information. Rear lights allow by their position and movement implicit conclusions on the behavior of the vehicle. In turn, vehicle behavior implicitly allows conclusions to be drawn about the environment. Assuming that the rear lights belong to a preceding vehicle, a number of assumptions can be made.
  • the vehicle in front is usually on the same lane
  • the vehicle in front can not behave arbitrarily, but only physically sensible
  • the height of the taillights above the carriageway is in a restricted range.
  • Another characteristic is that this information relates to sections of the route ahead, thus enabling a foresight.
  • the invention offers the following technical advantages: Information derived from the rear lights of vehicles in front is robust and can be relied upon in particular in the dark or in poor visibility conditions. sig be determined. For example, a schba ⁇ catalyzed lane detection may be prohibited or restricted work in such conditions, if lane markings are no longer good to see. In poor visibility or darkness, however, rear lights from vehicles in front are activated and can be detected, from which the position of the future traffic lane can be estimated.
  • Values for detected and tracked rear lights are e.g. by a built-in high-beam assistants already available.
  • the derived information relates to incidents or sections of track that are still in front of the vehicle.
  • the invention further relates to a device comprising a camera and means for deriving environmental information from the detection of rear lights of vehicles ahead.
  • a (sharp) curve of the road can be derived.
  • the following movement pattern is recognizable: The lights of vehicles ahead do not move very well on straight stretches. However, if the vehicle in front traverses a curve while the vehicle with the camera is still in the straight section of the line, the lights of the vehicle ahead accelerate to the side. Already with a vehicle in front you can close on a curve. If there are several vehicles in front, these support the hypothesis and increase the accuracy of estimating the distance to the curve.
  • Dense traffic or traffic jams can be derived from the density of taillights.
  • a brake phase can be derived from the increased occurrence of sudden increases in brightness.
  • ⁇ nit can be derived. Then, for example, a toschitz- te from the movement of the detected position of the rear fog lamps future lane to assist the lateral guidance of the vehicle used (especially in car ⁇ tracks).
  • the derived environment information can, for example, be used by the following driver assistance functions: a) Warning of sharp curves (from lateral movement) b) Bending light (from lateral movement)

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Image Analysis (AREA)

Abstract

The invention relates to a method for deriving information on the surrounding area from the identification of tail lights of preceding vehicles, said method comprising the steps: capturing a sequence of images using a camera that covers the front surrounding area of the vehicle; detecting and tracking the tail lights of preceding vehicles in the sequence of images; analysing the position and movement of the tracked tail lights and deriving information on the surrounding area from this analysis.

Description

Verfahren zur Ableitung von Umfeldinformationen aus der Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge Die Erfindung betrifft ein Verfahren zur Ableitung von Umfeldinformationen aus der Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge nach dem Oberbegriff von Anspruch 1. Die Umfeldinformationen können insbesondere Fahrerassis¬ tenzsystemen zur Verfügung gestellt werden. A method for deriving contextual information from the detection rear lights of preceding vehicles The invention relates to a method for deriving contextual information from the detection rear lights of preceding vehicles according to the preamble of claim 1. The environment information may driver assistance ¬ assistance systems are provided in particular.
Unter rückwärtigen Fahrzeuglichtern oder Leuchten werden im Rahmen der Erfindung u.a. folgende am Fahrzeug verbauten Leuchten verstanden: Rückfahrlicht, Rücklicht, Bremslicht und Nebelschlußleuchte. Under rear vehicle lights or lights are in the context of the invention u.a. understood the following installed on the vehicle lights: reversing light, taillight, brake light and rear fog light.
Die Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge ist nicht Gegenstand der Erfindung. Insbesondere Fahrer¬ assistenzfunktionen zur automatischen Lichtsteuerung von Abblend-/Fernlicht benutzen die Information über die er- kannten rückwärtigen Fahrzeuglichter zur Steuerung des Fernlichtes, um eine Blendung von Fahrern vorausfahrender Fahrzeuge zu verhindern. Ein Beispiel dieser Fahrerassis¬ tenzfunktion ist in EP 2057583 Bl gezeigt. Ein anderes Beispiel ist die Erkennung der Aktivierung von Bremsleuchten. Die EP 1851681 Bl zeigt ein Verfahren zur Erkennung der Aktivierung von Bremsleuchten vorausfahrender Fahrzeuge, bei der ein vorausfahrendes Fahrzeug mit einem Bildsensor erfasst wird und bei erkanntem Aufleuchten der Bremsleuchten ein Signal ausgegeben wird, dass in einer Warnvorrichtung und/oder in einem Fahrerassistenzsystem um- gesetzt werden kann. The detection of rear lights of vehicles in front is not the subject of the invention. In particular, drivers ¬ assistant functions for automatic light control of low / high beams use the information on the rec- ognized rear vehicle lights to control the high beams to prevent blinding of drivers of vehicles traveling ahead. An example of these driver assistance ¬ tenzfunktion shown 2057583 Bl in EP. Another example is the detection of the activation of brake lights. EP 1851681 B1 shows a method for detecting the activation of brake lamps ahead Vehicles in which a preceding vehicle is detected with an image sensor and when the brake lights are lit, a signal is output that can be converted in a warning device and / or in a driver assistance system.
Aus der Erkennung einer Aktivierung von Bremsleuchten wird geschlossen, dass das vorausfahrende Fahrzeug einen Brems¬ vorgang durchführt. Aufgabe der Erfindung ist es aus erkannten rückwärtigen Fahrzeuglichtern zusätzliche oder bessere Informationen über das Fahrzeugumfeld für verschiedenste Fahrerassistenz¬ funktionen bereitzustellen. Diese Aufgabe ist erfindungsgemäß gelöst durch eine Analyse von Position und Bewegung von rückwärtigen Lichtern vorausfahrender Fahrzeuge, die in einer Bilderfolge ermittelt und getrackt d.h. verfolgt, werden. Die Bilderfolge wird mit einer Kamera aufgenommen, die das vordere Umfeld des Fahr- zeugs erfasst. Aus dieser Analyse werden die gewünschten Umfeldinformationen abgeleitet. From the detection of an activation of brake lights is concluded that the preceding vehicle performs a braking ¬ process. The object of the invention is to provide additional or better information about the vehicle environment for a wide variety of driver assistance functions from detected rear vehicle lights . This object is achieved according to the invention by an analysis of the position and movement of rear lights of preceding vehicles, which are determined in an image sequence and tracked ie tracked. The image sequence is recorded with a camera that captures the front of the vehicle. From this analysis, the desired environmental information is derived.
Der Erfindung liegt die Überlegung zugrunde, dass Informa¬ tionen aus dem Verhalten vorausfahrender Fahrzeuge abgelei- tet werden können. Vorausfahrende Fahrzeuge werden anhand ihrer rückwärtig angebrachten Leuchten erkannt. Lichtinformationen, die z.B. ein Fernlichtassistenzsystem zur Verfügung stellen kann, können also zur Ableitung weiterer Umfeldinformationen verwendet werden. Rückwärtige Lichter gestatten durch ihre Position und Bewegung implizit Rückschlüsse auf das Fahrzeugverhalten. Das Fahrzeugverhalten wiederum lässt implizit Rückschlüsse auf das Umfeld zu. Unter der Annahme, dass die rückwärtigen Lichter zu einem vorausfahrenden Fahrzeug gehören, können eine Reihe von Annahmen getroffen werden. The invention is based on the consideration that Informa ¬ tions can these data imply from the behavior of preceding vehicles. Vehicles driving ahead are recognized by their rear-mounted lights. Light information, which can provide eg a high-beam assistance system, can thus be used to derive further surroundings information. Rear lights allow by their position and movement implicit conclusions on the behavior of the vehicle. In turn, vehicle behavior implicitly allows conclusions to be drawn about the environment. Assuming that the rear lights belong to a preceding vehicle, a number of assumptions can be made.
Dazu zählen u.a.: These include, among others:
- das vorausfahrende Fahrzeug befindet sich in der Regel auf derselben Fahrbahn  - The vehicle in front is usually on the same lane
das vorausfahrende Fahrzeug kann sich nicht beliebig, sondern nur physikalisch sinnvoll verhalten  the vehicle in front can not behave arbitrarily, but only physically sensible
- die Höhe der Rücklichter über der Fahrbahn ist in einem eingeschränkten Wertebereich.  - The height of the taillights above the carriageway is in a restricted range.
Ein weiteres Charakteristikum ist, dass diese Informationen sich auf voraus liegende Streckenabschnitte beziehen und somit eine Vorausschau ermöglichen.  Another characteristic is that this information relates to sections of the route ahead, thus enabling a foresight.
Grundsätzlich können einzelne rückwärtige Lichter analysiert werden. Hierbei wäre jedoch zu berücksichtigen, dass Zweiräder weniger physikalischen Zwängen unterliegen als Fahrzeuge mit drei oder mehr Rädern.  Basically, individual rear lights can be analyzed. However, it should be noted that two-wheeled vehicles are subject to less physical constraints than vehicles with three or more wheels.
Alternativ können nur Lichterpaare analysiert werden, die einem Fahrzeug zugeordnet werden können. Für letztere ist die Annahme plausibel, dass die Verbindungslinie der beiden rückwärtigen Lichter im Wesentlichen parallel zur Fahrbahnoberfläche ist.  Alternatively, only pairs of lights that can be assigned to a vehicle can be analyzed. For the latter, the assumption is plausible that the connecting line of the two rear lights is substantially parallel to the road surface.
Die Erfindung bietet die folgenden technischen Vorteile: Aus rückwärtigen Lichtern vorausfahrender Fahrzeuge abgeleitete Informationen sind robust und können insbesondere bei Dunkelheit oder schlechten Sichtverhältnissen zuverläs- sig ermittelt werden. Beispielsweise kann eine kameraba¬ sierte Spurerkennung bei solchen Verhältnissen nicht oder nur eingeschränkt funktionieren, falls Fahrbahnmarkierungen nicht mehr gut zu sehen sind. Bei schlechten Sichtverhält- nissen oder Dunkelheit sind jedoch rückwärtige Lichter von vorausfahrenden Fahrzeugen aktiviert und können erkannt werden, woraus auch die Lage der künftigen Fahrspur abgeschätzt werden kann. The invention offers the following technical advantages: Information derived from the rear lights of vehicles in front is robust and can be relied upon in particular in the dark or in poor visibility conditions. sig be determined. For example, a kameraba ¬ catalyzed lane detection may be prohibited or restricted work in such conditions, if lane markings are no longer good to see. In poor visibility or darkness, however, rear lights from vehicles in front are activated and can be detected, from which the position of the future traffic lane can be estimated.
Werte zu ermittelten und getrackten rückwärtigen Lichter stehen z.B. durch einen im Fahrzeug verbauten Fernlichtassistenten bereits zur Verfügung.  Values for detected and tracked rear lights are e.g. by a built-in high-beam assistants already available.
Durch die Verwendung der Licht-Informationen kann in hohem Maße a priori Wissen verwendet werden.  By using the light information, a priori knowledge can be widely used.
Die abgeleiteten Informationen beziehen sich auf Gescheh- nisse oder Streckenabschnitte, die noch vor dem Fahrzeug liegen .  The derived information relates to incidents or sections of track that are still in front of the vehicle.
Die Erfindung betrifft ferner eine Vorrichtung umfassend eine Kamera und Mittel zur Ableitung von Umfeldinformationen aus der Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge. The invention further relates to a device comprising a camera and means for deriving environmental information from the detection of rear lights of vehicles ahead.
Weitere vorteilhafte Ausgestaltungen der Erfindung finden sich in den Unteransprüchen und den beschriebenen Ausfüh- rungsbeispielen . Further advantageous embodiments of the invention can be found in the subclaims and the exemplary embodiments described.
Nachfolgend wird die Erfindung anhand von Ausführungsbei¬ spielen erläutert. Folgende Umfeldinformationen können zusätzlich gewonnen werden : The invention will be explained with reference to Ausführungsbei ¬ play. The following environment information can also be obtained:
a) Aus einer lateralen Bewegung (spezielles Bewegungsmus¬ ter) eines oder mehrerer Lichterpaare kann eine (scharfe) Kurve der Fahrbahn abgeleitet werden. a) From a lateral movement (special Bewegungsmus ¬ ter) of one or more pairs of lights, a (sharp) curve of the road can be derived.
Folgendes Bewegungsmuster ist erkennbar: Die Lichter vorausfahrender Fahrzeuge bewegen sich auf geraden Streckenabschnitten wenig im Bild. Durchfährt das vorausfahrende Fahrzeug allerdings eine Kurve während das Fahrzeug mit der Kamera sich noch in dem geraden Streckensbschnitt befindet, so bewegen sich die Lichter des vorausfahrenden Fahrzeugs beschleunigt zur Seite. Schon mit einem vorausfahrenden Fahrzeug kann man auf eine Kurve schließen. Gibt es mehrere vorausfahrende Fahrzeuge stützen diese die Hypothese und erhöhen die Genauigkeit der Schätzung der Entfernung zur Kurve .  The following movement pattern is recognizable: The lights of vehicles ahead do not move very well on straight stretches. However, if the vehicle in front traverses a curve while the vehicle with the camera is still in the straight section of the line, the lights of the vehicle ahead accelerate to the side. Already with a vehicle in front you can close on a curve. If there are several vehicles in front, these support the hypothesis and increase the accuracy of estimating the distance to the curve.
b) Aus einer lateralen Bewegung (spezielles Bewegungsmus¬ ter, s. Fall a) ) eines oder mehrerer Lichterpaare kann ein Abbiegevorgang abgeleitet werden. Zur Unterscheidung von Fall a) kann hierzu eine Information über einen aktivierten Blinker verwendet werden. b) (From a lateral movement special Bewegungsmus ¬ ter s. Case a)) of one or more pairs of lights can be derived a turning maneuver. To distinguish from case a), information about an activated turn signal can be used for this purpose.
c) Aus einer vertikalen Bewegung eines oder mehrerer Lichterpaare können Bodenwellen, Fahrbahnanstiege oder - ab¬ stiege abgeleitet werden. c) From a vertical movement of one or more pairs of lights can be bumps, road increases or - are derived from ¬ stairs.
d) Aus der Dichte von Rücklichtern kann dichter Verkehr oder Stau abgeleitet werden. d) Dense traffic or traffic jams can be derived from the density of taillights.
e) Im Kolonnenverkehr kann aus dem gehäuften Auftreten von plötzlichen Helligkeitsanstiegen eine Bremsphase abgeleitet werden . f) Aus erkannten Nebelschlussleuchten eines vorausfahrenden Fahrzeugs können Nebel oder extrem schlechte Sichtverhält¬ nisse abgeleitet werden. Dann kann beispielsweise eine aus der Bewegung der erkannten Nebelschlussleuchten abgeschätz- te Lage der künftigen Fahrspur zur Unterstützung der Querführung des Fahrzeugs verwendet werden (speziell bei Auto¬ bahnen) . e) In column traffic, a brake phase can be derived from the increased occurrence of sudden increases in brightness. f) From recognized rear fog lights of a preceding vehicle mist or extremely poor visibility behaves ¬ nit can be derived. Then, for example, a abgeschätz- te from the movement of the detected position of the rear fog lamps future lane to assist the lateral guidance of the vehicle used (especially in car ¬ tracks).
g) Aus einer plötzliche Zunahme der Helligkeit der roten rückwärtigen Leuchten kann ein Bremsmanöver des Vordermanns abgeleitet werden. g) From a sudden increase in the brightness of the red rear lights, a braking maneuver of the vehicle ahead can be derived.
Die abgeleiteten Umfeldinformationen können beispielsweise genutzt werden von den folgenden Fahrerassistenzfunktionen: a) Warnung vor scharfen Kurven (aus lateraler Bewegung) b) Kurvenlicht (aus lateraler Bewegung) The derived environment information can, for example, be used by the following driver assistance functions: a) Warning of sharp curves (from lateral movement) b) Bending light (from lateral movement)
c) Fahrbahnverlaufsempfehlung (aus lateraler Bewegung) d) Überholassistent (aus lateraler und vertikaler Bewegung, nicht empfehlenswert bei erkannten Nebelschlussleuchten) e) Konditionierung des Fahrwerks bei Bodenwellen (aus vertikaler Bewegung) c) Lane progression recommendation (from lateral movement) d) Ride-over assistant (from lateral and vertical movement, not recommended for detected rear fog lamps) e) Conditioning of the undercarriage for bumps (from vertical movement)
f) Unterstützung der Verkehrsleitung (aus Dichte) f) support of traffic management (of density)
g) Vorkonditionierung der Bremsen bei drohender Kollision h) Auffahrwarnung bei drohender Kollision g) Pre-conditioning of the brakes in the event of a collision h) Collision warning in the event of a collision
i) PreCrash Informationen i) PreCrash information
j) Notbremsassitent j) emergency brake assistant
k) Notlenkassistent k) Emergency steering assistant

Claims

Patentansprüche claims
1. Verfahren zur Ableitung von Umfeldinformationen aus der Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge umfassend die Schritte: 1. A method for deriving surroundings information from the detection of rear lights of preceding vehicles comprising the steps of:
- Aufnahme einer Bilderfolge mit einer Kamera, die das vordere Umfeld des Fahrzeugs erfasst,  Taking a sequence of pictures with a camera which detects the front environment of the vehicle,
- Ermitteln und Tracken (Verfolgen) von rückwärtigen Lichtern vorausfahrender Fahrzeuge in der Bilderfolge,  Determining and tracking (tracking) of rear lights of preceding vehicles in the image sequence,
- Analyse von Position und Bewegung der getrackten rückwärtigen Lichter und Ableiten von Umfeldinformationen aus dieser Analyse.  - Analysis of the position and movement of the tracked rear lights and deduction of environmental information from this analysis.
2. Verfahren nach Anspruch 1, wobei als Umfeldinformationen zumindest ein möglicher Fahrbahnverlauf aus den getrackten rückwärtigen Lichtern abgeleitet wird. 2. The method of claim 1, wherein at least one possible road course is derived from the tracked rear lights as environment information.
3. Verfahren nach Anspruch 1 oder 2, wobei zusätzlich eine Analyse der Anzahl der getrackten rückwärtigen Lichter durchgeführt wird und als Umfeldinformation zumindest ein hohe Dichte vorausfahrender Fahrzeuge und/oder eine Kolonnenfahrt aus den getrackten rückwärtigen Lichtern abgeleitet wird. 3. The method of claim 1 or 2, wherein in addition an analysis of the number of tracked rear lights is performed and derived as environment information at least a high density of preceding vehicles and / or a convoy travel from the tracked rear lights.
Verfahren nach einem der vorhergehenden Ansprüche, wobei zusätzlich eine Analyse der Intensität der getrackten roten rückwärtigen Lichter durchgeführt wird und aus dieser Analyse Umfeldinformationen über Bremsvorgänge vorausfahrender Fahrzeuge und/oder Ne¬ bel abgeleitet werden. Method according to one of the preceding claims, wherein additionally carried out an analysis of the intensity of the tracked red rear lights is derived and from this analysis environment information about braking operations of preceding vehicles and / or Ne ¬ bel.
5. Verfahren nach Anspruch 3 und 4, wobei bei einer erkannten Kolonnenfahrt aus einem gehäuften Auftreten von plötzlichen Intensitätsanstiegen der getrackten roten rückwärtigen Lichter eine kollektive Bremsphase abgeleitet wird. 5. The method of claim 3 and 4, wherein in a recognized convoy travel from a cumulative occurrence of sudden increases in intensity of the tracked red rear lights, a collective braking phase is derived.
Verfahren nach einem der vorhergehenden Ansprüche, wobei aus einer lateralen Bewegung der getrackten rückwärtigen Lichter eine Kurve oder eine Abzweigung der Fahrbahn abgeleitet wird. Method according to one of the preceding claims, wherein a curve or a branch of the roadway is derived from a lateral movement of the tracked rear lights.
Verfahren nach einem der vorhergehenden Ansprüche, wobei aus einer horizontalen Bewegung der getrackten rückwärtigen Lichter eine Bodenwelle, ein Fahrbahnanstieg oder -abstieg abgeleitet wird. A method according to any one of the preceding claims, wherein a bump, a grade increase or a descent is derived from a horizontal movement of the tracked rear lights.
Verfahren nach einem der vorhergehenden Ansprüche, wobei die Ermittlung der rückwärtigen Lichter aus der Bilderfolge von übernommen wird von einem Verfahren zur automatischen Lichtsteuerung oder einem Fernlichtassistenzsystem. Method according to one of the preceding claims, wherein the detection of the rear lights from the image sequence is adopted by an automatic light control method or a high-beam assistance system.
Vorrichtung zur Ableitung von Umfeldinformationen aus der Erkennung rückwärtiger Lichter vorausfahrender Fahrzeuge umfassend: Device for deriving surroundings information from the detection of rear lights of vehicles in front, comprising:
- eine Kamera, die das vordere Umfeld des Fahrzeugs erfasst und eine Folge von Bildern aufnimmt erste Verarbeitungsmittel zum Ermitteln und Tracken (Verfolgen) von rückwärtigen Lichtern vorausfahrender Fahrzeuge in der Bilderfolge, - A camera that captures the front of the vehicle and takes a series of pictures first processing means for detecting and tracking (backlighting) rear lights of preceding vehicles in the sequence of images,
- zweite Verarbeitungsmittel zur Analyse von Positi¬ on und Bewegung der getrackten rückwärtigen Lichter und Ableiten von Umfeldinformationen aus dieser Analyse - second processing means for analyzing ¬ positi on and movement of the tracked rear lights and deriving contextual information from this analysis
- eine Datenübermittlungseinheit, über die die abge¬ leiteten Umfeldinformatinen übermittelt werden können . - A data transmission unit, via which the abge ¬ derived environment information can be transmitted.
PCT/DE2012/100130 2011-05-26 2012-05-08 Method for deriving information on the surrounding area from the identification of tail lights of preceding vehicles WO2012159617A2 (en)

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JP2014511740A JP2014517396A (en) 2011-05-26 2012-05-08 A method for deducing surrounding information by recognizing the rear lamps of a vehicle traveling ahead

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