WO2018103878A1 - Procédé de visualisation d'un état de conduite - Google Patents

Procédé de visualisation d'un état de conduite Download PDF

Info

Publication number
WO2018103878A1
WO2018103878A1 PCT/EP2017/001336 EP2017001336W WO2018103878A1 WO 2018103878 A1 WO2018103878 A1 WO 2018103878A1 EP 2017001336 W EP2017001336 W EP 2017001336W WO 2018103878 A1 WO2018103878 A1 WO 2018103878A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
light pattern
road users
detected
relative position
Prior art date
Application number
PCT/EP2017/001336
Other languages
German (de)
English (en)
Inventor
Joerg Moisel
Original Assignee
Daimler Ag
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 Daimler Ag filed Critical Daimler Ag
Publication of WO2018103878A1 publication Critical patent/WO2018103878A1/fr

Links

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
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
    • 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
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
    • 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
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • 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
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body

Definitions

  • the invention relates to a method for visualizing a driving condition of a
  • the preamble of claim 1 further defined type.
  • a disadvantage of this structure is that only the display of the trajectory takes place here so that, for example, when driving around obstacles, it is difficult or impossible to estimate whether the vehicle will come into contact with the obstacle or not.
  • DE 10 2006 050 546 A1 of the same Applicant describes a structure in which a planar projection object is produced. Ultimately, the outlines of the vehicle at the target position or the travel corridor of the vehicle, as it is to be expected, are thus projected in a planar manner.
  • a publication which deals with the topic of interaction between a vehicle and other road users, is for example DE 10 2014 226 188 A1. This document describes that a vehicle has suitable
  • Adjuster changes its external appearance to coincide with the
  • DE 10 2015 004 551 A1 describes a method, in which a non-motorized road user via a mobile device with a corresponding
  • the light of the motorized road users is directed towards him in order to make it well visible to the road users.
  • the light can be set flashing to alert the non-motorized road user to the motorized road user.
  • the method primarily serves the motorized road users whose visibility conditions are improved.
  • a vehicle which has detected a pedestrian at the roadside can stop accordingly, and then indicate to the pedestrian by visual and audible signals that he can safely cross the road in front of the vehicle.
  • the structure presented, for example, at CES 2015 comprises a projection option in a vehicle which, for example via the projection by laser diodes, is able to project a corresponding symbol onto the roadway.
  • this may in particular be a crosswalk which, in addition to corresponding visual indications in the vehicle and the audible request to cross the road, indicates to the pedestrian that he can safely cross the road in front of the vehicle.
  • the practical structure is such that the other road user like
  • the pedestrian is detected by the environmental sensor of the vehicle.
  • the vehicle when the vehicle is traveling autonomously, ie independently drives, then decided on the basis of the software in the vehicle, whether it is braked or continued.
  • the software detects that the pedestrian wants to cross the road, the vehicle is typically slowed down.
  • the projected zebra crossing is projected after stopping or shortly before stopping the vehicle.
  • the pedestrian can also be prompted by optical representations on the vehicle and / or acoustic signals to cross the road.
  • Pedestrians do not know at this time, whether it has been detected by the environment sensors of the vehicle or not. He has to wait and see what happens Uncertainty may result and may lead to safety-critical situations. This applies in particular to an autonomous driving operation of the vehicle, since eye contact with a driver of the vehicle, as would be possible in a classical scenario, is not expedient here.
  • the object of the present invention is therefore to provide a method for visualizing a driving condition of a vehicle to road users in the environment of the vehicle, which allows a transparent representation of the situation, and which thereby creates confidence and safety of
  • the vehicle has sensors for detecting the surroundings of the vehicle.
  • the vehicle has at least one control unit for evaluating the detected environment data and at least one controllable via the control unit optical display unit.
  • the vehicle may in particular be a vehicle which can drive completely or partially autonomously.
  • the optical display unit outputs optical light patterns in accordance with the control by the at least one control unit.
  • the control via the control unit can be done both directly and indirectly, for example via an intermediate display control or the like. The light patterns are changed depending on the detected road users.
  • the alignment and change depending on the relative position of the detected road users is tracked to the vehicle.
  • the light pattern thus reacts directly, and in particular before the vehicle itself reacts to the other road users recognizable to him, on this.
  • the light pattern is projected around the entire vehicle onto the surface surrounding the vehicle.
  • a safety distance around the vehicle around a line or the like can be projected.
  • other road users will then be aware that they are outside the danger zone outside of this line, and that there is some danger from the vehicle within that line.
  • the light pattern changes its color depending on a detected road user and its relative position to the vehicle.
  • colors are analogous to one Traffic light conceivable. If the road user has been detected by the environment sensor system, then this can be indicated, for example, by a green illumination in his direction, which can be realized both with the lighting elements around the vehicle and with the projected light pattern. Green would mean that his distance from the vehicle is still so great that there is no danger here. If the position changes, then the addressed green color is tracked with the changed position, so that, for example, from the viewing direction of the
  • a line can be projected around the entire vehicle, which then, for example, only in the
  • Road users facing the area has the color green or the whole is green and visualized in this area by a greater brightness the detected road users.
  • Flashing frequency changed accordingly for example, as a function of the distance of the road user to the vehicle.
  • this is also possible, this being an alternative or supplement to a change in the brightness and / or the flashing or a change in the
  • Flashing frequency can be done.
  • the color may change to yellow and, if still closer, the color to red.
  • a further escalation level could then be, for example, the incipient flashing of the red and with increasing decreasing distance an increasingly faster flashing of the red.
  • Another possibility, which can alternatively or additionally be used according to a very favorable development of the method according to the invention, is a change in the shape of the light pattern.
  • Such a change in the shape of the light pattern is particularly feasible if the light pattern is projected onto the surface surrounding the vehicle. If, for example, the vehicle is surrounded by one or more lines as described above, indicating, for example, an immediate and an extended safety area around the vehicle, then this vehicle can be changed in shape if another Road user has been recognized. In practice, this would mean, for example, that this other road user also has its own
  • Security area is granted, which deforms the security area of the vehicle accordingly.
  • the road user recognizes in this case based on a dented in the direction of the vehicle line of the border of the security area on the one hand that it has been recognized, and on the other hand, for example, if its distance from the vehicle is still sufficiently large, for example, an outer
  • Safety area dented, an inner security area, which is also projected, but not yet touched. If the dent generated by it in the projected security area also touches the inner security area, then the situation can possibly be dangerous. In this case, for example, the color may be changed to yellow and then red, for example, as described above. In addition, a flashing of the light pattern or a change in the brightness can be used here.
  • an additional acoustic signal can be used which supports the light pattern, for example by the volume rising from a pure tone to a warning tone when the relative position of the road user towards the vehicle becomes critical threatening.
  • Such an acoustic signal in addition to the
  • Light pattern is particularly helpful for visually impaired people.
  • Fig. 1 is a symbolic representation of a vehicle with a first type of
  • Fig. 2 is a view similar to Figure 1 in a situation in which people approach the vehicle.
  • FIG. 3 shows a representation analogous to FIG. 1 in an alternative embodiment variant
  • FIG. and FIG. 4 shows a representation analogous to FIG. 2 in the alternative embodiment variant of FIG.
  • two lines are projected as light patterns defining an inner protection zone 3 and an outer protection zone 4.
  • the lines can be projected, for example, via green light, in particular the light of LED laser elements.
  • the vehicle 1 has a per se known but not explicitly shown environment sensors, for example on the basis of cameras, radar, lidar, ultrasound and / or the like.
  • environment sensors for example on the basis of cameras, radar, lidar, ultrasound and / or the like.
  • the traffic situation around the vehicle 1 can be detected; in particular, other road users can be detected.
  • these other road users are people who are traveling, for example, as pedestrians or cyclists, on a Segway or the like, then it is of crucial importance that the vehicle 1, especially if it is in an autonomous or semi-autonomous driving mode, this Recognizes people.
  • FIG. 2 In the illustration of Figure 2, such a scenario can be seen.
  • the vehicle 1 is designed analogously to the illustration in FIG. 1, and an inner protection zone 3 and an outer protection zone 4 are projected, for example, in green color around the vehicle 1 onto the roadway.
  • a first person 5, which is located in the illustration of Figure 2 left in the rear of the vehicle is relatively far away from the vehicle. To indicate to this person 5 that they are from the environmental sensor of the
  • Vehicle 1 has been detected, therefore, in the direction of this person 5 out line 4, which symbolizes the outer protection zone, for a certain section of a different color.
  • This color may be yellow, for example, in the case of the person 5 in the case of a generally green line 4 for the outer protection area.
  • This is indicated by the reference numeral 41 and represented by a dashed section of the otherwise solid (green) line.
  • This dashed representation should therefore symbolize the color yellow.
  • Another person 6 is a little closer to the vehicle 1, in the area of the left front door. This person is also indicated by a change in the color of the line 4 of the outer protection area, that it is detected by the environment sensor system of the vehicle 1.
  • the section of the line 4, designated here by 42, around the outer protective area which faces the person 6, is red due to the smaller distance between this person 6 and the vehicle 1 than the distance of the person 5 from the vehicle 1 shown.
  • the person 6 thus sees that it has come relatively close to the vehicle when the colors in the manner of a
  • Traffic light display can be interpreted.
  • the red color in section 42 is in the
  • Another designated 7 person is located to the right of the vehicle 1 again seen in the direction of travel, in the area of the right rear door. This person 7 is very close to the vehicle 1, much denser than the persons 5 and 6. In the area of this person are therefore red sections 43 both in the line 4 to the outer protection area and a red section 31 in the line 3 to the inner one
  • Another escalation level could be, for example, increasing the brightness, in particular in the section 31 or flashing the same.
  • Protective area 3 and the line, which symbolizes the outer protection area 4 is not executed here in a substantially rectangular shape around the vehicle 1, but in the form of two oval lines. Again, these may have the above-described color.
  • a person 8 can now be seen in the left front region of the vehicle 1 as viewed in the direction of travel.
  • This person 8 has the vehicle 1 already so far approximated that a virtual lying around this person 8 protection area with the protection areas, which are symbolized by the lines 3, 4, the vehicle 1 comes into contact.
  • the lines 3, 4 in the designated areas 32 and 44 each have a "dent" They are thus deformed in the direction of the vehicle 1, so that the virtual existing around the person 8
  • This protection area can further dent the protection zones 3, 4 of the vehicle 1, whereby, for example, the distance between the lines 3 and 4 in the sections 32 and 44 can change accordingly continue to change the color, start flashing or an acoustic warning sound emitted by the vehicle 1.
  • the described variants for displaying the light patterns can be combined with each other arbitrarily, and can be used respectively with a variation of color, brightness, a flashing frequency or the like. They serve to indicate to the other road user, in particular to the persons 5, 6, 7, 8 shown by way of example, that they have been correspondingly recognized by the vehicle and that thereby a confidence in the reaction of the vehicle 1 to the persons 5, 6, 7, 8 on the one hand and on the other hand the possibility for conscious interaction is created.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

L'invention concerne un procédé de visualisation d'un état de conduite d'un véhicule (1) sur des usagers de la route (5, 6, 7, 8) dans l'environnement du véhicule (1), au moyen de capteurs (11) destinés à acquérir l'environnement du véhicule, d'au moins un bloc de commande pour l'évaluation des données acquises de l'environnement, et d'au moins une unité d'affichage (9) commandée par ledit bloc, laquelle délivre un motif lumineux (3, 4) qui est modifié par le bloc de commande en fonction des usagers de la route (5, 6, 7, 8) qui ont été détectés. Le procédé selon l'invention est caractérisé en ce que le motif lumineux (3, 4) est orienté en fonction des usagers de la route (5, 6, 7, 8) détectés en ce qui concerne la position relative de ces derniers par rapport au véhicule (1), l'orientation et la modification étant ajustées en permanence en fonction de la position relative des usagers de la route (5, 6, 7, 8) qui ont été détectés par rapport au véhicule (1).
PCT/EP2017/001336 2016-12-09 2017-11-15 Procédé de visualisation d'un état de conduite WO2018103878A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016014709.1 2016-12-09
DE102016014709.1A DE102016014709B4 (de) 2016-12-09 2016-12-09 Verfahren zur Visualisierung eines Fahrzustandes

Publications (1)

Publication Number Publication Date
WO2018103878A1 true WO2018103878A1 (fr) 2018-06-14

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DE (1) DE102016014709B4 (fr)
WO (1) WO2018103878A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113165640A (zh) * 2018-12-03 2021-07-23 日产自动车株式会社 停车时的车辆行驶控制方法及车辆行驶控制装置
WO2022073733A1 (fr) * 2020-10-07 2022-04-14 Audi Ag Véhicule automobile et procédé de fonctionnement d'un dispositif d'éclairage d'un véhicule automobile

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018206040A1 (de) * 2018-04-20 2019-10-24 Volkswagen Aktiengesellschaft Verfahren zur Kommunikation eines Kraftfahrzeugs mit einem Verkehrsteilnehmer sowie Kraftfahrzeug zur Durchführung des Verfahrens
EP3640089A1 (fr) * 2018-10-15 2020-04-22 ZKW Group GmbH Véhicule automobile
DE102019100904A1 (de) 2019-01-15 2020-07-16 HELLA GmbH & Co. KGaA Beleuchtungsvorrichtung sowie Lichtmodul
DE102019113617B4 (de) * 2019-05-22 2021-01-14 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren und Vorrichtung zum Ausgeben von Warnhinweisen an die Umgebung eines Fahrzeuges

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DE19738765A1 (de) 1997-09-04 1999-03-11 Bayerische Motoren Werke Ag Vorrichtung zur Anzeige der momentanen Fahrtrichtung eines Fahrzeugs
DE10240227A1 (de) * 2002-08-28 2004-03-11 Daimlerchrysler Ag Verfahren und Vorrichtung zum Betrieb einer Anzeigeeinrichtung an einer Arbeitsmaschine
DE102006050546A1 (de) 2006-10-26 2008-04-30 Bayerische Motoren Werke Ag Verfahren zur Informationsdarstellung
US20110292667A1 (en) * 2010-05-27 2011-12-01 Boxx Corp. Two wheeled vehicle with lighting system that generates defined image on riding surface
US20120025964A1 (en) * 2010-07-27 2012-02-02 Beggs Ryan P Methods and apparatus to detect and warn proximate entities of interest
WO2016027314A1 (fr) * 2014-08-19 2016-02-25 三菱電機株式会社 Dispositif d'éclairage de la surface d'une route
DE102014226254A1 (de) 2014-12-17 2016-06-23 Robert Bosch Gmbh Verfahren zum Betreiben eines insbesondere autonom oder teilautonom fahrenden/fahrbaren Kraftfahrzeugs, Signalisierungsvorrichtung, Kraftfahrzeug
DE102014226188A1 (de) 2014-12-17 2016-06-23 Bayerische Motoren Werke Aktiengesellschaft Kommunikation zwischen einem Fahrzeug und einem Verkehrsteilnehmer im Umfeld des Fahrzeugs
DE102015201766A1 (de) 2015-02-02 2016-08-04 Volkswagen Aktiengesellschaft Verfahren zum Erzeugen einer Lichtverteilung zur Ausgabe einer Fahranweisung für ein erstes Fahrzeug
DE102015004551A1 (de) 2015-04-08 2016-10-13 Audi Ag Verfahren zum Betrieb eines Scheinwerfersystems eines Kraftfahrzeugs und Kraftfahrzeug

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19738765A1 (de) 1997-09-04 1999-03-11 Bayerische Motoren Werke Ag Vorrichtung zur Anzeige der momentanen Fahrtrichtung eines Fahrzeugs
DE10240227A1 (de) * 2002-08-28 2004-03-11 Daimlerchrysler Ag Verfahren und Vorrichtung zum Betrieb einer Anzeigeeinrichtung an einer Arbeitsmaschine
DE102006050546A1 (de) 2006-10-26 2008-04-30 Bayerische Motoren Werke Ag Verfahren zur Informationsdarstellung
US20110292667A1 (en) * 2010-05-27 2011-12-01 Boxx Corp. Two wheeled vehicle with lighting system that generates defined image on riding surface
US20120025964A1 (en) * 2010-07-27 2012-02-02 Beggs Ryan P Methods and apparatus to detect and warn proximate entities of interest
WO2016027314A1 (fr) * 2014-08-19 2016-02-25 三菱電機株式会社 Dispositif d'éclairage de la surface d'une route
DE102014226254A1 (de) 2014-12-17 2016-06-23 Robert Bosch Gmbh Verfahren zum Betreiben eines insbesondere autonom oder teilautonom fahrenden/fahrbaren Kraftfahrzeugs, Signalisierungsvorrichtung, Kraftfahrzeug
DE102014226188A1 (de) 2014-12-17 2016-06-23 Bayerische Motoren Werke Aktiengesellschaft Kommunikation zwischen einem Fahrzeug und einem Verkehrsteilnehmer im Umfeld des Fahrzeugs
DE102015201766A1 (de) 2015-02-02 2016-08-04 Volkswagen Aktiengesellschaft Verfahren zum Erzeugen einer Lichtverteilung zur Ausgabe einer Fahranweisung für ein erstes Fahrzeug
DE102015004551A1 (de) 2015-04-08 2016-10-13 Audi Ag Verfahren zum Betrieb eines Scheinwerfersystems eines Kraftfahrzeugs und Kraftfahrzeug

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113165640A (zh) * 2018-12-03 2021-07-23 日产自动车株式会社 停车时的车辆行驶控制方法及车辆行驶控制装置
WO2022073733A1 (fr) * 2020-10-07 2022-04-14 Audi Ag Véhicule automobile et procédé de fonctionnement d'un dispositif d'éclairage d'un véhicule automobile

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