WO2019020421A1 - Système et procédé de prise en charge d'un conducteur d'un véhicule automobile lors de la reconnaissance de panneaux de signalisation - Google Patents

Système et procédé de prise en charge d'un conducteur d'un véhicule automobile lors de la reconnaissance de panneaux de signalisation Download PDF

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Publication number
WO2019020421A1
WO2019020421A1 PCT/EP2018/069239 EP2018069239W WO2019020421A1 WO 2019020421 A1 WO2019020421 A1 WO 2019020421A1 EP 2018069239 W EP2018069239 W EP 2018069239W WO 2019020421 A1 WO2019020421 A1 WO 2019020421A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
information
traffic sign
traffic
interface
Prior art date
Application number
PCT/EP2018/069239
Other languages
German (de)
English (en)
Inventor
Hrachia Grigorians
Original Assignee
Trw Automotive 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 Trw Automotive Gmbh filed Critical Trw Automotive Gmbh
Publication of WO2019020421A1 publication Critical patent/WO2019020421A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs

Definitions

  • Control or driver assistance systems contributes to the ride comfort and operational safety of (power) vehicles.
  • Control or driver assistance systems can assist the driver in efficiently managing the motor vehicle on the road. This can increase the user-friendliness of a motor vehicle, facilitate the guidance of a motor vehicle and have a positive influence on the safety of all road users.
  • driver assistance systems for the driver of a motor vehicle which increase the driving comfort, are, for example, speed warning systems or parking assistants.
  • Speed warning systems determine the position of the vehicle on a traffic route by means of a satellite-supported navigation system and determine a maximum permissible speed assigned to this traffic route with the aid of previously stored reference data. The driver of the motor vehicle is then displayed the maximum permissible speed. If the maximum permissible speed is exceeded, the driver can be warned.
  • a parking assistant assists the driver of a motor vehicle when parking the motor vehicle.
  • the parking assistant can give the driver situation-relevant information or at least partially automate a parking process.
  • a traffic monitoring system which determines the maximum permissible maximum speed associated with the traffic route reference data, short-term changes of Maximum permissible maximum speed, for example due to construction sites, not or only delayed take into account.
  • a parking assistant can support the process of parking a motor vehicle, but provide the driver of the motor vehicle no information about a permissibility of parking in a particular environment.
  • a control system for a motor vehicle is based on an environment sensor system of the motor vehicle.
  • the environment sensor is set up to detect a traffic sign.
  • a traffic sign database is provided and arranged to provide information about
  • An interface is provided and set up to transmit traffic signal information to a driving instance of the motor vehicle.
  • a controller is provided and configured to identify a traffic sign detected by the surroundings sensor system with the information for identifying predetermined traffic signs and, depending on the identification, to transmit a traffic signal information of the interface to the driving instance of the vehicle
  • the driving instance may be a driver of the motor vehicle.
  • the interface can be a user interface here.
  • the user interface may be a technical device which is suitable for alerting the driver / driver of the motor vehicle to a traffic sign / signal identified by the controller.
  • a "hinting” in this case denotes the transmission or presentation of a (traffic sign information to / for the driver / the driving instance, wherein the transmission or the display is suitable, perceived by the driver / the driving instance /
  • the control system can thus provide situational information to the driver of the motor vehicle by capturing and identifying respectively relevant traffic signs.
  • a traffic sign may be, for example, a traffic sign or a lane marking, which prohibits, for example, a parking of the motor vehicle or specifies a maximum permissible travel speed.
  • the driving instance may be an autonomous motor vehicle control, which implements a partially or completely autonomous driving operation of the motor vehicle.
  • An autonomous driving operation here refers to the driving operation of a motor vehicle which takes place without or with only optional vehicle control actions of the driver or an occupant of the motor vehicle.
  • the interface may, in particular, be a data interface of the autonomous vehicle control system.
  • the autonomous vehicle control system may be designed to take into account a traffic sign / signal information identified by the control in the control of the motor vehicle.
  • the autonomous vehicle controller may adjust an actual vehicle speed of the motor vehicle when the controller identifies a traffic sign indicating a maximum allowable vehicle speed.
  • a note of an identified prohibition sign for example, a stopping prohibition by the driving instance / the autonomous vehicle control is included.
  • the traffic sign database can store information for identifying all intended traffic signs of a highway code of a (national) state. Also, a selection of designated traffic signs of a highway code and / or additional traffic signs may be stored.
  • the traffic sign database can be manually read out and / or changed in one variant by an operator, for example as part of a (motor vehicle) maintenance. In a variant, the database can be filled / updated via a network connection to a data processing device. An operator can work with the data processing device
  • Reading out and / or changing information of the traffic sign database in particular updating it.
  • the information for identifying the traffic signs corresponds to the detection of the environment sensors.
  • the traffic sign database may comprise an image database for comparison with acquired image impressions of the environment sensors.
  • the controller may be further configured to determine a time at which a traffic sign is detected by the environment sensor and / or at the transmission of the traffic sign information through the interface, for example, an indication to the driver of the motor vehicle, is effected , Further, the controller may be configured to determine a termination period of time depending on the identification of the traffic sign. In an alternative variant, the termination period may be a predetermined period, in particular a period of 180 seconds. Furthermore, the controller can be set up to terminate the transmission of the traffic sign information through the interface, for example to the driver of the motor vehicle, after the determined or predetermined time since the determined time
  • the controller may have a timer.
  • the driver of the motor vehicle can manually end the transmission / indication by the interface / user interface, for example by actuating an operator element provided for this purpose.
  • An advantage of terminating the indication is that, for example, an indication already perceived by the driver does not further affect the attention of the driver of the motor vehicle.
  • the environment sensor system may be an optically detecting sensor, in particular a camera arrangement.
  • the camera arrangement may comprise a first camera which is positioned on / in the vehicle front of the motor vehicle. Furthermore, the camera arrangement may comprise a second camera, which is positioned on / in one side of the motor vehicle.
  • the first camera may be positioned in the center of the vehicle front. In another embodiment, the first camera can be located in a corner region of the vehicle front so that signs positioned laterally next to a roadway can be better recognized.
  • the first camera may be collocated with vehicle headlights integrated in the motor vehicle in the corner region of the vehicle front.
  • the first camera has a detection directed in the direction of a direction of travel of the motor vehicle. sungs Symposium.
  • the second camera may have an angular range extended to the direction of travel.
  • the second camera may be positioned centrally on a side wall of the motor vehicle.
  • the environment sensor system can further be arranged and designed to detect text information of a traffic sign.
  • the traffic sign database may be further configured to store information identifying predetermined words and / or texts.
  • the controller can also be eige organ to identify detected by the environment sensor text information with the information to identify predetermined words and / or texts.
  • the controller may further be adapted to identify text information captured by the surround sensor system with an electronic text recognition method and / or the interface / user interface may be further configured to communicate the identified textual information to the driving instance of the motor vehicle.
  • traffic signs which comprise relevant text information can be correctly interpreted.
  • traffic signs indicating a parking permit may have a textual permission restriction.
  • a parking permit sign may have the text information "For Buses Only,” “Resident Only” or “Workdays from 09:00 to 18:00.”
  • a prohibition sign may have a prohibition exception in the form of text information.
  • a traffic sign prohibiting the passage of a motor vehicle may have the text information "Free for delivery traffic", “Resident free” or "Except for forestry and agricultural utility vehicles”. The correct interpretation of such a traffic sign by the driving instance, in particular by the driver of the motor vehicle, is thus possible only with the text information.
  • the identification of a, in particular optically recorded, text information can for example be done automatically by a known text recognition method and in particular to the driver by a visually recognizable text display in the interior of the vehicle, in particular together with an identified traffic sign, are displayed.
  • a visually recognizable text display in the interior of the vehicle in particular together with an identified traffic sign, are displayed.
  • only text information is displayed which has been detected by the environmental sensor system at a predetermined spatial distance from an identified traffic sign.
  • repeated textual information may be optically captured and identified by means of image data comparison with (image) information stored in the traffic sign database.
  • the interface / user interface may have an optically recognizable display element in the interior of the motor vehicle, which is in particular configured to schematically reproduce a traffic sign identified by the controller for the driver of the motor vehicle.
  • the interface / user interface may further comprise an optically recognizable text display element in the interior of the motor vehicle, which is in particular adapted to reproducibly read a text information identified by the controller for the driver of the motor vehicle.
  • the interface / user interface may include an acoustic signal transmitter in the interior of the motor vehicle, which is in particular configured to reproduce an acoustic signal in response to a traffic sign identified by the controller.
  • the interface / user interface may further comprise an acoustic signal transmitter, in particular a loudspeaker, in the interior of the motor vehicle, which is in particular configured to acoustically reproduce an identified text information of a traffic sign.
  • the interface / user interface may comprise a haptic signal transmitter in the interior of the motor vehicle. For example, vibration of a driver's seat may be caused by the haptic signaler.
  • the control system can have a position sensor, in particular a satellite-supported navigation system, for determining a position / position information of the motor vehicle.
  • the traffic sign database stores information for identifying predetermined traffic signs of a plurality of traffic orders, wherein the information for identifying predetermined traffic signs is assigned to at least one traffic order.
  • the controller is further configured to determine a current position of the motor vehicle and, depending on the current position of the motor vehicle, to use information for identifying predetermined traffic signs which are assigned to a specific traffic order. The controller can determine a relevant traffic order based on the current (geographical) position of the motor vehicle.
  • the traffic sign database may provide information for identifying predetermined traffic signs
  • the controller can use the position or position information of the motor vehicle, which determined onssensor, determine the relevant traffic order and use information to identify predetermined traffic signs of the relevant traffic order to identify the traffic signs.
  • the controller can use the position or position information of the motor vehicle, which determined onssensor, determine the relevant traffic order and use information to identify predetermined traffic signs of the relevant traffic order to identify the traffic signs.
  • the traffic sign database may store the outer outlines of predetermined traffic signs.
  • the controller may be configured to first compare the outer contours of a traffic sign detected by a camera arrangement, in particular, with the contours of predefined traffic signs and then to the detected traffic sign with the information for identifying predetermined traffic signs having a similar outer contour identify.
  • control system may further comprise a speed sensor for determining a current speed of the motor vehicle, wherein the stored information for identifying predetermined traffic signs is assigned in each case at least one stored speed range.
  • the controller can also be set up to determine a current speed of the motor vehicle and, depending on the current speed of the motor vehicle, to use information for identifying predetermined traffic signs with an associated speed range. A stored speed range is then associated if the current speed of the motor vehicle is included in the stored speed range.
  • the transmissions / instructions to the driver of the motor vehicle can be restricted to transmissions / instructions relevant to the traffic situation and impairment of driver's attention can be reduced.
  • the controller may be configured such that holding or parking prohibition signs and / or parking permit signs that are from a determined
  • the control system identifies it, but it does not transmit the traffic signal information through the interface.
  • the controller may perform the identification of the traffic sign and effect the transmission of the traffic sign information regardless of the vehicle speed.
  • the interface may comprise a filter device, which in addition is keptstSSdet access to the stored information for identification speed ranges and the current speed of the motor vehicle.
  • the user interface can suppress transmission of traffic sign information, in particular an indication to the driver of the motor vehicle about an identified traffic sign, depending on the speed range assigned to the identified traffic sign and the current speed of the motor vehicle.
  • the traffic sign database may include information for identifying predetermined stopping and parking prohibition signs.
  • the controller can also be set up to compare a traffic sign detected by the surroundings sensor with the information for identifying predetermined stopping and parking prohibition signs and, if the speed of the motor vehicle is less than 30 kilometers per hour, depending on the identification Traffic sign information through the interface to the driving instance to effect. For example, an indication of a user interface about a stop or no parking can be effected to the driver of the motor vehicle.
  • the controller may have a parking assistant, in particular to assist the driver when parking the motor vehicle.
  • the parking assistant can be activated by the driving instance.
  • the parking assistant can be manually activated by the driver of the motor vehicle.
  • the autonomous vehicle control can activate the parking assistant.
  • the controller can also be set up to determine immediately after an activation of the parking assistant whether a holding or parking-prohibition sign has been identified within a predetermined time period, in particular 180 seconds before the activation of the parking assistant. If this is the case, then the controller can effect a transmission of a holding or parking prohibition information / traffic sign information to the driving authority of the motor vehicle over the holding or parking prohibition sign detected within the predetermined period.
  • the controller may cause a repeated indication to the driver of the motor vehicle, wherein the indication may in particular include an optical and / or an acoustic warning signal.
  • the driving instance which can detect a Einparkwusch by activating the Einparkassistenten, relevant information about a Parkerlaubnissituation be provided. This can also happen, for example, if, for example, a holding or parking prohibition sign is due to an associated Speed information stored in the traffic sign database and a formerly higher speed of the motor vehicle after its identification by the control of the driving instance has not been indicated / passed on by the interface / user interface.
  • the controller can be set up to evaluate a determined text information of a traffic sign according to its relevance to a current driving situation.
  • the controller may be configured to identify textual information about a validity period of a traffic sign (eg, "weekdays 09: 00-18: 00") and the timepiece and / or a vehicle clock arranged therefor and arranged in the vehicle / Vehicle calendar to determine whether the traffic sign for the current driving situation is relevant.
  • a traffic sign eg, "weekdays 09: 00-18: 00
  • the controller can effect the transmission of the traffic sign information to the driving instance of the motor vehicle and, in the case of a lacking relevance, omit the transmission of the traffic sign information to the driving instance of the motor vehicle.
  • the controller may, for example, be adapted to identify vehicle type related traffic sign information / text information ("for buses only") and to determine, using information stored in the traffic sign database, whether an identified traffic sign is relevant to the driving instance.
  • information about the own vehicle type (“bus", “truck”, “passenger car”, “self-propelled mobile home”, “agricultural utility vehicle”, “military tracked vehicle”, etc.) may be stored in the traffic sign database.
  • the controller may be configured to determine based on a comparison of the text information with the stored information about the own vehicle type, whether the traffic sign / the traffic sign information for the driving instance of the motor vehicle is relevant. In the case of relevance, the controller can effect the transmission of the traffic sign information to the driving instance of the motor vehicle and, in the case of a lacking relevance, omit the transmission of the traffic sign information to the driving instance of the motor vehicle.
  • the controller may, for example, be adapted to determine with the aid of the position sensor whether an identified local-individual traffic sign information / text information ("free for residents") is relevant to the driving instance of the motor vehicle.
  • position data / coordinates of a place of residence in particular the despreor ⁇ tes an occupant of the motor vehicle may be stored in the traffic sign database.
  • position data / coordinates can be made available to the control by the occupant of the motor vehicle by means of an input element suitable for this purpose.
  • the controller may be configured to identify a local-individual prohibition information / text information and to determine with the current position of the motor vehicle, which is detected by the position sensor, and the stored position data / coordinates, whether the local-individual prohibition information / text information for the Driving instance is relevant. In the case of relevance, the controller can effect the transmission of the prohibition information to the driving instance of the motor vehicle and, in the case of a lacking relevance, omit the transmission of the prohibition information to the driving instance of the motor vehicle.
  • a control method for a motor vehicle is based on an environment sensor system of the motor vehicle and comprises the steps:
  • Fig. 1 shows schematically and exemplarily the detection of a
  • FIG. 2 shows schematically and by way of example a control system for a
  • FIG. 1 shows a motor vehicle 10, which is equipped with a control system with an environmental sensor.
  • the motor vehicle 10 is located on a roadway 12 and moves in a direction of travel F.
  • a traffic sign 14 At the edge of the roadway 12 is a traffic sign 14.
  • the traffic sign 14 is located in the direction of travel F on the right edge of the roadway 12 in front of the motor vehicle 10th
  • a first camera sensor 17 is positioned centrally on the front of the motor vehicle 10 and has a detection range F-V which extends from the front of the motor vehicle 10 in the direction of travel F.
  • the detection range F-V of the sensor 17 detects both the lane 12 lying in the direction of travel F in front of the motor vehicle 10 and the traffic sign 14 positioned at the edge of the lane 12.
  • the camera sensor 17 is set up to detect traffic signs / markings arranged on the roadway 12, traffic signs arranged next to the roadway 12 and traffic signs arranged above the roadway 12.
  • the detection range F-V of the camera sensor 17 is wider than the roadway 12.
  • a second camera sensor 16 is arranged centrally on a side of the motor vehicle 10 facing the roadway edge.
  • the detection area of the second camera sensor 16 (not shown) extends substantially orthogonal to the roadway 12.
  • the second camera sensor 16 may in particular detect traffic signs which are arranged with an extended area parallel to the roadway. (For example, the German road sign "one-way street”.)
  • the second camera sensor 16 and the first camera sensor 17 and / or the (main) detection directions of the second camera sensor 16 and the first camera sensor 17 are angularly, in particular at a right angle to each other.
  • the first camera sensor is positioned in the front of the motor vehicle, but in a modification to the embodiment shown in the direction of travel front right in the motor vehicle.
  • the detection range of the camera sensor is formed in this development substantially the same as the embodiment shown, but shifted parallel to the direction of travel and to the right lane edge. At the edge of the roadway positioned traffic signs are thus better detectable.
  • the first camera sensor is positioned in the front left of the vehicle.
  • the sensor arrangement of the first and the second camera sensor can be supplemented by further environmental sensors in order to further improve the detection of traffic signs.
  • FIG. 2 shows schematically an embodiment of the control system for a motor vehicle with the camera sensors 16, 17 and a controller ECU. Furthermore, the control system comprises a traffic sign database DB, a satellite-based
  • Navigation system with a position sensor POS, a speed sensor GS and a timer ZM.
  • the position sensor POS, the speed sensor GS and the timer ZM are in their structure and in their configuration known technical devices for motor vehicles and will not be described here.
  • Detection, for example, of the traffic sign 14 of FIG. 1, of the camera sensors 16, 17 is identified by a controller ECU.
  • the control ECU accesses the optical detections of the camera sensors 16, 17 and compares acquired image data of the camera sensors 16, 17 with image data suitable for identifying traffic signs, which are stored in a traffic sign database DB.
  • the comparison is made by known electronic methods for image data matching.
  • the traffic sign database DB stores image data of conventional traffic signs from the traffic orders of different (nation states.)
  • the ECU uses the position sensor POS to determine in which (national) state or traffic order the motor vehicle 10 is located and compares the detection of the camera sensors 16. If a position determination fails, the last successfully determined position is used by the ECU for determining the traffic order the control unit ECU does not perform any image data adjustment, the position determination being repeated at a regular time interval, for example at a regular time interval of one minute.
  • the image data stored in the traffic sign database DB is assigned in each case a speed range, wherein the assigned speed range can expressly also be an unrestricted speed range, which is all technical possible speeds of a motor vehicle. Furthermore, the image data stored in the traffic sign database DB are each assigned a specific completion time duration.
  • the controller ECU determines by means of an electronic text recognition method whether text information is recognizable at a predetermined distance, for example within a distance of 50 cm, to the outer edge of the identified traffic sign. If text information is detected by the camera sensors 16, 17 and recognizable by the electronic text recognition method, the controller ECU determines the text information. Detected and recognized coherent text information is completely determined even if parts of the detected / recognized text information are further apart than the predetermined distance from the outer edge of the traffic sign. As coherent text information applies if individual letters and / or words of the text information are not spaced apart by more than 4 average letter widths, wherein the controller ECU determines the average letter width of the text information based on the acquired image data.
  • the ECU further determines a current speed of the motor vehicle 10 with the speed sensor GS and a current time with a timer ZM.
  • the determined speed of the motor vehicle 10 through the associated speed range comprises the image data used for successful identification of the traffic sign, an indication of an operator element BS to the driver of the
  • a display recognizable to the driver of the motor vehicle 10 in the interior of the motor vehicle 10 indicates the identified traffic sign and / or the text information determined by the control unit ECU.
  • a beep sounds from a vehicle speaker is also included in the exemplary embodiment shown in FIG. 2, a display recognizable to the driver of the motor vehicle 10 in the interior of the motor vehicle 10 .
  • controller ECU is set up to use the timer ZM to determine an elapse of the end time duration associated with the image data which was used for the successful identification of the traffic sign since the determined time. is the associated termination period has elapsed, the controller ECU causes termination of the indication to the driver, for example, the disappearance of the display.
  • the identification by the ECU is a quasi-continuous process. If no traffic sign is detected by the camera sensors 16, 17 or an identification fails due to, for example, insufficient detection due to bad environmental conditions, the ECU continually repeats the image matching of the camera sensor's observations with the image data stored in a traffic sign database DB. Also during an indication of an already identified traffic sign this process is continued.
  • the user interface BS is suitable in the example shown in Figure 2 for the parallel display of up to 4 traffic signs on a display. If a fifth traffic sign is identified by the control unit ECU, the indication of the user interface BS is prematurely terminated on the traffic sign with the least remaining termination time duration and the driver of the motor vehicle 10 is given an indication of the last recognized or the fifth traffic sign / transmitted / displayed.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système de commande pour un véhicule automobile sur la base d'un ensemble de capteurs d'environnement du véhicule automobile. L'ensemble de capteurs d'environnement est conçu pour détecter un panneau de signalisation. Une banque de données de panneaux de signalisation est prévue et conçue pour enregistrer des informations d'identification de panneaux de signalisation préétablis. Une interface est prévue et conçue pour transmettre une information de panneau de signalisation à une instance de conduite du véhicule automobile. Une commande est prévue et conçue pour identifier un panneau de signalisation détecté par l'ensemble de capteurs d'environnement avec les informations d'identification de panneaux de signalisation préétablis et pour activer une transmission d'une information de panneau de signalisation de l'interface à l'instance de conduite en fonction de l'identification.
PCT/EP2018/069239 2017-07-26 2018-07-16 Système et procédé de prise en charge d'un conducteur d'un véhicule automobile lors de la reconnaissance de panneaux de signalisation WO2019020421A1 (fr)

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DE102017007055.5A DE102017007055A1 (de) 2017-07-26 2017-07-26 System und Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeuges bei der Erkennung von Verkehrszeichen
DE102017007055.5 2017-07-26

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DE102022201730A1 (de) 2022-02-18 2023-08-24 Volkswagen Aktiengesellschaft Verfahren und Assistenzsystem zum Unterstützen einer Fahrzeugführung basierend auf Verarbeitung natürlicher Sprache und Kraftfahrzeug
DE102022104930A1 (de) 2022-03-02 2023-09-07 Bayerische Motoren Werke Aktiengesellschaft Verfahren und vorrichtung zur geschwindigkeitssteuerung eines automatisierten kraftfahrzeugs
DE102022109325A1 (de) 2022-04-14 2023-10-19 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Verkehrszeichenerkennung

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