WO2015055185A1 - Procédé de détection de situations de circulation lors de la conduite d'un véhicule - Google Patents

Procédé de détection de situations de circulation lors de la conduite d'un véhicule Download PDF

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Publication number
WO2015055185A1
WO2015055185A1 PCT/DE2014/200368 DE2014200368W WO2015055185A1 WO 2015055185 A1 WO2015055185 A1 WO 2015055185A1 DE 2014200368 W DE2014200368 W DE 2014200368W WO 2015055185 A1 WO2015055185 A1 WO 2015055185A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
status
signal
detection
traffic
Prior art date
Application number
PCT/DE2014/200368
Other languages
German (de)
English (en)
Inventor
Stefan Hegemann
Matthias Komar
Stefan LÜKE
Original Assignee
Conti Temic Microelectronic Gmbh
Continental Teves Ag & Co. Ohg
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, Continental Teves Ag & Co. Ohg filed Critical Conti Temic Microelectronic Gmbh
Publication of WO2015055185A1 publication Critical patent/WO2015055185A1/fr

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Classifications

    • 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
    • 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
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/16—Ratio selector position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the invention relates to a method for detecting and evaluating situations in road traffic, wherein a vehicle is located on a road comprising a plurality of traffic lanes and emits a signal system to be observed by road users changing signals. Furthermore, the invention relates to a trained for carrying out such a method, intended for installation in a vehicle signal conditioning system.
  • An assistance system for motor vehicles is known from DE 10 2004 019 337 A1, which links various data relating to the driving situation and surroundings of a vehicle such that an output signal related to the driving dynamics of the motor vehicle can be generated.
  • the assistance system comprises a camera system and is, for example, able to detect a vehicle in front or the crossing of the center line. At intersections, traffic lights including the traffic light color are visible. Data from a navigation system can be included in the assistance system. On the basis of such data, the driver can be informed, for example, before a curve about a classification of the curve. If a warning is issued to the driver by the assistance system, this is done in an acoustic, visual and / or haptic form.
  • DE 10 2007 029 482 A1 discloses a driver assistance system with start-up information function.
  • An approach advice which can be given, inter alia, by means of a head-up display is triggered, for example, when a front vehicle is moving. Even with a detected with a video camera traffic light switching to green can be given a Anfahrlor. On the Behavior of the driver assistance system at larger intersections with a plurality of traffic lights is not discussed in DE 10 2007 029 482 A1.
  • the invention is based on the object of providing a sensor-based vehicle-assisted assistance system which has been further developed in comparison with the cited prior art and which enables the driver to operate in more complex environmental conditions, on roads with several lanes in the same direction and signal systems with lane-specific displays, in particular traffic lanes arranged side by side for different lanes. supported with high reliability.
  • the method is based on an optical sensor system which is installed in a vehicle or mounted on the vehicle.
  • the signal conditioning system designed to carry out the method comprises, in addition to the optical sensor system, a likewise vehicle-based evaluation unit.
  • the method is intended for traffic situations in which several lanes for the same direction of travel exist within one street and a signal system, commonly referred to as a traffic light, displays specific signals for individual lanes.
  • the optical sensor system is used in such a traffic situation, on the one hand the status of the signal system and on the other hand, logically linked to detect a status of the vehicle.
  • Data processed by the evaluation unit, which state the current status of the vehicle, in this case include at least the indication of which lane is used by the vehicle.
  • Data concerning the status of the signal system belong to optically recorded environmental data, which continue to be used with the optical sensors of the Include vehicle detected data related to the road boundary, the lane boundary, and at least one mounted on the pavement further mark next to the lane boundary, in particular direction arrows.
  • the status of the signaling system includes not only the illuminated signal colors (red, yellow, green) but also directional arrows of the signal system, both arrows in the signals and static (right-) turn-by-turn arrows.
  • the adjustment and merging of the different data in particular a lateral offset between the sensor system, ie an optical sensor, and the detected objects in the environment is taken into account. From this conclusions are drawn on the current lane of the own vehicle. In particular, this also creates a rough environment model, in particular with the positioning of the own vehicle therein. In this case, the own vehicle is therefore assigned a special lane and one or at most two traffic signals.
  • the correct association between a recognized individual display of the signal system and the lane used by the vehicle preferably makes it possible to output an output signal tailored precisely to the current traffic situation in the vehicle.
  • the output signal is a signal perceptible by the driver, for example optical or acoustic signal.
  • the output signal is an automatic intervention in the Vehicle control, in particular in the engine and / or transmission control, possibly also to an intervention in an electromechanical steering.
  • the security is increased because, for example, in the detection of a valid for the current traffic lane red traffic light, a corresponding warning signal or intervention in the engine control is done to prevent overrunning the red light. Also, a start-up signal can be output by the output signal in order to signal that the traffic light has switched to green for the traffic lane.
  • the vehicle-based optical sensor not only a light signal of the signal system, but also an associated constant symbol, in particular a directional arrow detected.
  • a spatial and logical relationship between a light signal and a fixed signal is detected.
  • the invariable signal can be given for example in the form of a green arrow at a traffic light.
  • a symbol which is installed in addition to a traffic light or located directly on a traffic light is advantageously brought into a logical connection by the signaling system with a marking located on the roadway.
  • a large number of further vehicle-specific details are preferably used in the context of the method for detecting the traffic situation.
  • an improved statement can be made about the current traffic situation and the status of the vehicle. For example, the detection of a right turn lane is verified by a set turn signal and / or by a steering angle.
  • the optically recorded environment data are preferably recorded by means of one and the same optical sensor system.
  • the environment data and the data relating to the status of the vehicle are linked to data of a navigation system.
  • the information obtained is therefore compared, for example, with those of the navigation system and verified and / or vice versa. For example, it is checked on the basis of the information of the navigation system whether the number of detected lanes coincides.
  • an algorithm for detecting the lanes is started again, or a refined algorithm is started in order to obtain reliable information about the current traffic situation.
  • a supplementary algorithm is started which is specially designed for the detection of traffic lights of the signal system.
  • a discrepancy exists, for example, if only a left-turn traffic light, but at the same time a straight-ahead lane is detected.
  • current navigation instructions are preferably checked and if necessary corrected to the driver, for example if the driver deviates recognizably from a predetermined route determined by the navigation device.
  • an additional recognition algorithm for identifying traffic signal traffic lights is started. This is based on the consideration that in multi-lane lanes in front of a signal system usually several lane-specific traffic lights are arranged.
  • the additional recognition algorithm is used to search for different traffic lanes using a plurality of traffic lights with a possibly more computationally intensive and complicated algorithm compared to a standard algorithm.
  • FIG. 1 is a block diagram of the processing of data in a signal conditioning system of a vehicle
  • Fig. 3 in a symbolized representation of a vehicle with a signal detection system.
  • a vehicle 1 namely a passenger or truck recognizable in FIG. 3, whose direction of travel is designated F, is in the position shown in FIG 2 sketched traffic situation and uses a signal system detection system as an assistance system whose function is illustrated in Figure 1.
  • Essential components of the signal system recognition system 2 are a sensor 3 permanently connected to the vehicle 1, an evaluation unit 4 processing the signals thereof, as well as an actuator 5 and output unit 6 controlled by the evaluation unit 4.
  • the output unit 6 is, for example, one on the dashboard of the vehicle 1 attached screen and / or an acoustic output device.
  • the actuator 5 connected to the evaluation unit 4 is designed inter alia for engagement in the steering 9 of the vehicle 1.
  • the sensor system 3 is a camera or an optical detection device comprising a plurality of cameras. Data supplied by the sensor system 3 are processed by a plurality of detection modules M1, M2, M3, M4, which are integrated into the evaluation unit 4 and are not necessarily physically separated from one another.
  • the detection module M1 is a signal conditioning detection, which on the one hand can detect the status of a single traffic light 10,1 1, 12, but on the other hand is also suitable for the evaluation of several simultaneously detectable traffic light displays.
  • the entirety of the traffic lights 10,1 1, 12 is referred to as a signal system 13.
  • Directional arrows on a traffic light 10, 12, as shown by way of example in FIG. 2, are also recognized by the detection module M1.
  • pictograms for example pedestrians or cyclists, which are optionally displayed on traffic lights, are detected by the detection module M1 of the evaluation unit 4. Also Signals from traffic lights with only two colors are correctly interpreted by the detection module M1.
  • Each of the detection modules M2 to M4 cooperating with the detection module M1 processes information that is directly readable from a road 14 or areas adjacent to the road 14.
  • the detection module M1 that is to say the signal conditioning detection, is designed to detect and interpret each of the traffic lights 10, 11, 12 visible in FIG. 2.
  • the road 14 schematically indicated in FIG. 2 has in the direction in which the vehicle 1 moves three lanes 15A, 15B, 15C, namely a left lane 15A for left turn, a middle lane 15B for straight ahead and a right lane 15C for right turn.
  • the traffic light 10 which is valid for left turn lights red, while the traffic light valid for straight travel lights 1 1 green and the traffic light 12 valid for right turn lights red.
  • the detection module M2 that is the road boundary detection
  • road boundaries 17 are detected.
  • the detection module M2 is able to recognize any curbs, restricted areas, open spaces and grass areas as such.
  • the detection possibilities of the detection module M2 are supplemented by possibilities which the detection module M3, that is the lane boundary detection, offers. With this not only roadway limitations 18, which lanes 15A, B, C delimit each other, recognized, but also distinguished, for example, continuous lines of broken lines.
  • the detection module M3 also determines whether a change of lane is only allowed in a single direction. The detection module M3 thus represents a refinement of the detection module M2.
  • the software implementation of the detection modules M2, M3 within the evaluation unit 4 is possible in the form of any number of software modules, which is not necessarily two. The same applies to the detection module M4 and a navigation module NM processing data of the navigation device 8, which is also integrated in the evaluation unit 4.
  • the detection module M4 designed for road marking detection, which as well as the detection modules M1, M2, M3 evaluates data supplied by the optical sensor system 3, recognizes road markings 19A, B, C which are located on the lanes 15A, B, C.
  • the road markings 19A, B, C are directional arrows indicating the directions of travel allowed on the respective lanes 15A, B, C.
  • the evaluation unit 4 unambiguously detects on which of the lanes 15A, B, C the vehicle 1 is located and which signal or signals, in particular traffic light signal, currently for the Vehicle 1 is valid.
  • the various functions of the detection modules M1, M2, M3, M4 are supplemented by the navigation module NM, which determines the location of the vehicle 1 and the location information with information of a digital map, which is stored in the evaluation unit 4 or retrievable by the evaluation unit 4 and / or updatable, linked.
  • Sensor 3 and the detected environmental object determines.
  • the determination of the lateral offset serves to additionally verify the current lane of the own vehicle.
  • the merger telte valid lane 15a, 15b, 15c linked to the respective traffic lane valid traffic lights 10.1 1, 12. If, for example, the vehicle is located on the middle lane 15b, then a lateral offset between the sensor system 3 and the two turning arrows 19a, 19c is detected, as a result of which the middle lane 15 is determined or verified as the lane used.
  • the accuracy of the navigation module NM may not be sufficient to accurately determine the position of the vehicle 1 on the road 14 so that it can be indicated which of the lanes 15A, B, C the vehicle 1 is using.
  • the data provided by the navigation module NM are therefore associated with the optically recorded environmental data provided by the detection modules M1, M2, M3, M4 in real time, that is without technically relevant delays.
  • the coupled use of the detection modules M1, M2, M3, M4 and the navigation module NM reliability in the position determination is achieved, which would be reached neither by the detection modules M1, M2, M3, M4 alone, nor by the navigation module NM alone.
  • the indication on which of the lanes 15A, B, C the vehicle 1 is located counts to data indicating the status of the vehicle 1.
  • environment data all data providing information about the environment of the vehicle 1 is referred to as environment data.
  • the sensor 3 contributes to the determination of the status of the vehicle 1 and at the same time provides environmental data, which are permanently evaluated with regard to their significance for the status of the vehicle 1.
  • the navigation module NM is also used to draw conclusions about the current traffic situation from a planned route stored in the navigation device which the vehicle 1 is likely to use. If the vehicle 1 is in the traffic situation outlined in FIG. 2, for example, on the right-hand traffic lane 16, then the navigation module NM of the evaluation unit 4 connected to the navigation device 8 checks whether a turn-off procedure is to be expected on the basis of the valid route planning. If this is the case, as shown in FIG. 2, the red traffic light 12 applies to the vehicle 1.
  • further detectable in the vehicle 1 states are included in the evaluation of the current traffic situation.
  • the setting of the turn signal in the vehicle 1 is important. If the driver of the vehicle 1 has set the turn signal on the right, this is consistent with the data provided by the navigation module NM and the environmental data supplied by the sensor system 3. In this situation, the signal detection system 2 provided by the evaluation unit 4 does not interfere with the control of the vehicle 1. Also, no perceptible by the driver signals are generated, which go beyond the already provided by the navigation device 8 information.
  • a steering impulse is given, which the driver perceives as a sudden pivoting of the steering wheel 21 to the left very clearly.
  • the acoustic output unit 6 sounds a warning signal, which is also audible outside the vehicle 1. This sudden intervention in the control of the vehicle 1 is only possible because the evaluation unit 4 clearly recognizes which of the traffic lights 10,1 1, 12 has validity for the vehicle 1 in the current traffic situation.
  • the data provided by the detection modules M1, M2, M3, M4 and the navigation module NM data are generally expressed within the evaluation unit 4 merges with the relevant other, vehicle-specific data and processed by an evaluation module AM to an output signal AS, which within the vehicle 1, for example, the actuator 5 is supplied.
  • a braking operation triggered by the evaluation unit 4 and an intervention in the control of the engine 7 of the vehicle 1 are provided.
  • the brake of the vehicle 1 can be held to prevent starting despite red traffic lights, or given an audible and / or visual start signal to indicate to the driver that the traffic light which is valid for him is green.
  • the possibility is given to make the driver aware by increasing the rotational speed of the engine 7 of the vehicle 1 that a start is possible.
  • a high reliability of the optically based signal system detection system 2 is achieved in that the situation-sensitive traffic lights is combined with data of the navigation system 8 and in-vehicle data such as setting a turn signal, brakes, acceleration and steering angle to trigger warning and / or warning functions or to intervene in the control of the vehicle 1.
  • M1 detection module (signal conditioning detection)
  • M2 detection module (road boundary detection)
  • M3 detection module (lane boundary detection)
  • M4 detection module (road mark detection)

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un système et un procédé de détection de situations de circulation lors de la conduite d'un véhicule (1) sur une route (14) comportant plusieurs voies de circulation (15A, B, C), présentant les caractéristiques suivantes : ‑ à l'aide d'un système de capteurs (3) côté véhicule, on acquiert optiquement différentes données d'environnement concernant un état d'une installation de signalisation (13), une délimitation de route (17), une délimitation de voie de circulation (18), au moins un autre marquage (19A, B, C) sur la route (14), ‑ en utilisant les données d'environnement acquises au moyen du système de capteurs (3), on établit une relation entre l'état du véhicule (1), qui comprend au moins l'indication de la voie de circulation (15A, B, C) empruntée par le véhicule (1), et l'état de l'installation de signalisation (13) valable pour cet état du véhicule.
PCT/DE2014/200368 2013-10-14 2014-07-31 Procédé de détection de situations de circulation lors de la conduite d'un véhicule WO2015055185A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013220662.3 2013-10-14
DE201310220662 DE102013220662A1 (de) 2013-10-14 2013-10-14 Verfahren zur Erkennung von Verkehrssituationen beim Betrieb eines Fahrzeugs

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Publication Number Publication Date
WO2015055185A1 true WO2015055185A1 (fr) 2015-04-23

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DE102017204254A1 (de) * 2017-03-14 2018-09-20 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Erinnerung eines Fahrers an ein Anfahren an einer Lichtsignaleinrichtung
DE102017206847A1 (de) * 2017-04-24 2018-10-25 Robert Bosch Gmbh Verfahren zum automatischen Erstellen und Aktualisieren eines Datensatzes für ein autonomes Fahrzeug
US11113550B2 (en) 2017-03-14 2021-09-07 Bayerische Motoren Werke Aktiengesellschaft Method and device for reminding a driver to start at a light signal device with variable output function
CN114049615A (zh) * 2021-11-12 2022-02-15 阿波罗智联(北京)科技有限公司 行驶环境中交通对象融合关联方法、装置及边缘计算设备
CN115171392A (zh) * 2022-08-04 2022-10-11 阿波罗智联(北京)科技有限公司 用于向车辆提供预警信息的方法和车载终端

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DE102015218004A1 (de) * 2015-09-18 2017-03-23 Conti Temic Microelectronic Gmbh Fahrerassistenzvorrichtung und Verfahren zur frühzeitigen Vermeidung von Falschfahrten
DE102015223175A1 (de) * 2015-11-24 2017-05-24 Conti Temic Microelectronic Gmbh Fahrerassistenzsystem mit adaptiver Umgebungsbilddatenverarbeitung
DE102017222704A1 (de) * 2017-12-14 2019-06-19 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Fahrzeugassistenzsystem zur Zuordnung wenigstens eines Signalgebers zu wenigstens einer Fahrrichtung
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DE102018210125A1 (de) 2018-06-21 2019-12-24 Volkswagen Aktiengesellschaft Zuordnung von Ampel zu zugehörigen Fahrstreifen
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