WO2023066647A1 - Procédé de fonctionnement d'un dispositif de commande de véhicule automobile, dispositif de commande et véhicule automobile - Google Patents

Procédé de fonctionnement d'un dispositif de commande de véhicule automobile, dispositif de commande et véhicule automobile Download PDF

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Publication number
WO2023066647A1
WO2023066647A1 PCT/EP2022/077511 EP2022077511W WO2023066647A1 WO 2023066647 A1 WO2023066647 A1 WO 2023066647A1 EP 2022077511 W EP2022077511 W EP 2022077511W WO 2023066647 A1 WO2023066647 A1 WO 2023066647A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane
motor vehicle
determined
image data
data
Prior art date
Application number
PCT/EP2022/077511
Other languages
German (de)
English (en)
Inventor
Johanna SANDBRINK
Daniel Basse
Gordon Seitz
Matthias Peukert
Original Assignee
Volkswagen Aktiengesellschaft
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 Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Priority to CN202280070566.4A priority Critical patent/CN118119980A/zh
Priority to EP22789929.1A priority patent/EP4420094A1/fr
Publication of WO2023066647A1 publication Critical patent/WO2023066647A1/fr

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Classifications

    • 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

Definitions

  • the invention relates to a method for operating a control device for a motor vehicle, a control device and a motor vehicle with a control device.
  • DE 102016 220647 A1 discloses a method for the virtual representation of at least one supplementary differential lane equipment for a lane to be traveled by a motor vehicle.
  • a section of the roadway to be driven on and its surroundings are recorded with at least one camera and at least one current image is provided for this purpose, which includes the roadway and at least one currently visible actual roadway equipment.
  • information on at least one known specified target roadway equipment is provided, with the at least one differential roadway equipment being determined as the difference between the at least one target roadway equipment and the at least one actual roadway equipment and being displayed in at least one display field .
  • the roadway and the at least one actual roadway equipment are visible through this display field.
  • the at least one actual lane equipment is supplemented with the at least one differential lane equipment to form the at least one target lane equipment.
  • a device for supporting a driver of a vehicle is known from EP 3 318441 A1, a vehicle-side lane marking detection device being provided. At least some of the road markings located in front of the vehicle in the direction of travel can be detected by means of this road marking detection device.
  • the vehicle includes a projection device, by means of which the at least one detected road marking can be projected as a projection object into a front field of vision of the driver in the direction of travel.
  • DE 10 2013 016 251 A1 also discloses a method for the augmented display of at least one piece of additional information in at least one image of an environment, in particular a vehicle environment.
  • the image forms a background of a display, with the additional information changing in color and/or being animated in the background depending on at least one current driving and/or environmental situation superimposed.
  • At least one virtual lane and/or a virtual roadway are displayed in the background as additional information.
  • the object of the present invention is to create a solution that enables a motor vehicle to be controlled using swarm data, with a vehicle occupant of the motor vehicle being able to be informed particularly well about the presence of the swarm data.
  • the invention relates to a method for operating a control device for a motor vehicle, in which image data representing surroundings of the motor vehicle are received by a detection device by means of the control device.
  • This detection device can in particular be a camera device which is set up to provide image data representing the surroundings of the motor vehicle by recording the surroundings.
  • the method also provides for the control device to determine lane delimitations for a lateral guidance assistant for the motor vehicle using the image data, with the lane delimitations delimiting a lane in which the motor vehicle is located.
  • Lane delimitation can be understood in particular as anything that delimits the lane to the side, in particular everything that the lateral guidance assistant can use as a guide in order to guide the motor vehicle laterally.
  • This lane delimitation can be provided by a solid line, or by a dashed line, or by edge structures such as a curb or crash barrier, or by gravel, or by a green verge.
  • These lane boundaries mentioned can be determined in a particularly simple and reliable manner, in particular using a camera.
  • the image data are thus evaluated, in particular by means of an image processing device, such that the lane delimitations are derived from the image data.
  • These lane delimitations limit the lane in particular to the respective sides.
  • the lateral guidance assistant can thus determine how far the respective lane in which the motor vehicle is located extends in width, so that the motor vehicle can be kept particularly safely in the lane by means of the lateral guidance assistant, in particular with at least assisted steering of the motor vehicle by means of the lateral guidance assistant, in particular in the case of an at least partially automated control of the motor vehicle by means of the Lateral guidance assistants, in particular in the case of a fully automated control of the motor vehicle by means of the lateral guidance assistant.
  • the method also provides that if a smaller number of lane delimitations has been determined from the image data for this lane than is specified by the lateral guidance assistant, the missing at least one lane delimitation is determined using swarm data.
  • the control device can receive the swarm data from a higher-level computing device, in particular a server device.
  • the lateral guidance assistant can specify that it needs at least one, in particular two, lane boundaries of a lane in order to be able to guide the motor vehicle laterally. If not enough lane delimitations can be determined from the image data to enable safe lateral guidance of the motor vehicle by means of the lateral guidance assistant, then the swarm data are to be used to determine the at least one missing lane delimitation. As a result, using the swarm data enables the motor vehicle to be controlled using the lateral guidance assistant.
  • the method also provides for the control device to actuate a display device, as a result of which this display device outputs optical information which characterizes that the at least one lane boundary has been determined using swarm data.
  • the display device can in particular be part of a man-machine interface.
  • a vehicle occupant of the motor vehicle can be informed particularly easily via the optical information that the swarm data has been used to determine at least one lane boundary, as a result of which the motor vehicle can be controlled using the lateral guidance assistant.
  • the optical information can additionally characterize that the motor vehicle can be controlled with assistance using the swarm data by means of the lateral guidance assistant or is controlled with assistance or cannot be controlled with assistance.
  • the vehicle occupant can thus be informed particularly well via the display device as to whether control of the motor vehicle by means of the lateral guidance assistant is active or available.
  • the vehicle occupant of the motor vehicle can use this visual information to conclude that it is safe to control the motor vehicle using the lateral guidance assistant, even if the vehicle occupant can only see very few, in particular none, lane delimitations in the area surrounding the motor vehicle.
  • the vehicle occupant can have a particularly high level of trust in a lateral guidance of the motor vehicle by means of the lateral guidance assistant.
  • the optical information is output in the form of a line delimiting the lane with a predetermined design and/or is output in the form of a symbol and/or in the form of a textual tip.
  • the vehicle occupant can recognize particularly easily which of a plurality of lane delimitations has been determined using swarm data.
  • that line delimiting the lane can be output with the specified configuration, which is assigned to the lane delimitation that has been determined using the swarm data.
  • the provision of the visual information in the form of the symbol enables the visual information to be output in a particularly space-saving manner and in a way that is particularly easy for a vehicle occupant to perceive and interpret.
  • Outputting the optical information in the form of the textual indication makes it possible for the information to be provided in a particularly precise and thus particularly precisely described form in the form of the textual indication and thus in text form, in particular as a sentence.
  • the vehicle occupant can be informed particularly precisely about the use of the swarm data for determining the at least one missing lane boundary.
  • the line is filled with several triangles as a predefined design.
  • the line can stand out particularly well from a background and is particularly characteristic.
  • the line can be perceived particularly easily by a vehicle occupant, in particular as belonging to the lane boundary determined using the swarm data.
  • the at least one lane delimitation determined from the swarm data is output with a different display than a display of lane delimitations determined from the image data.
  • a possible development of the invention can provide that different types of lane boundaries determined from the image data are assigned different representations and the at least one lane boundary determined from the swarm data is output with a different representation than all of the specified representations from the image data determined lane boundaries.
  • the vehicle occupant can be informed particularly well by means of the display about the types of lane boundaries that have been determined.
  • the vehicle occupant can particularly easily see from the display whether the respective lane delimitation has been determined using the image data or using the swarm data. As a result, the vehicle occupant can in turn recognize particularly easily whether the motor vehicle can be or is being controlled using the image data and/or using the swarm data by means of the lateral guidance assistant.
  • the respective lane delimitation determined using the swarm data is assigned different representations depending on the state of the lateral guidance assistant.
  • the state can characterize that the lateral guidance assistant is activated or that the lateral guidance assistant is deactivated. Particularly in the deactivated state of the lateral guidance assistant, the state can characterize that lateral guidance of the motor vehicle by means of the lateral guidance assistant is possible or that lateral guidance of the motor vehicle by means of the lateral guidance assistant is currently not possible.
  • Vehicle occupants are particularly easily informed about the current status of the lateral guidance assistant.
  • the vehicle occupant can make a decision about a change in the state of the lateral guidance assistant.
  • the vehicle occupant can decide that the activated lateral guidance assistant should be deactivated or the deactivated lateral guidance assistant should be activated.
  • the vehicle occupant is informed via the display as to whether activation of the lateral guidance assistant is currently possible or is currently not possible.
  • the vehicle occupant can make a particularly well-informed decision about using the lateral guidance assistant.
  • the state of the lateral guidance assistant characterizes that the motor vehicle is controlled with assistance based on the swarm data and/or that an assisted control of the motor vehicle is possible based on the swarm data and/or that an assisted Controlling the motor vehicle based on the swarm data is not possible.
  • the vehicle occupant can thus make a particularly well-informed decision about changing the control of the motor vehicle with regard to a degree of assistance.
  • the vehicle occupant can be supported particularly well in different stages when guiding the motor vehicle laterally.
  • the vehicle occupant can be informed simultaneously both of the image data and of the visual information.
  • the surroundings of the motor vehicle represented by the image data can be output via the display device, with the simultaneous output of the visual information, in particular when the visual information is output in the form of the line delimiting the lane, allowing this line to be embedded in the surroundings.
  • the vehicle occupant can recognize particularly easily which of a number of lane boundaries has been determined using the swarm data.
  • the vehicle occupant can find this lane delimitation in the display, which means that the vehicle occupant can have particularly high confidence in a lateral guidance of the motor vehicle by means of the lateral guidance assistant .
  • a probability that the vehicle occupant, when controlling the Motor vehicle intervenes, are kept particularly low, which in turn a particularly high road safety can be achieved.
  • the invention also relates to a control device which is set up to be operated within the scope of the method according to the invention or a development of the method according to the invention.
  • the control device is thus set up to receive image data representing surroundings of the motor vehicle from a detection device.
  • the control device is set up to determine lane delimitations for a lateral guidance assistant for the motor vehicle using the image data, the lane delimitations delimiting a lane in which the motor vehicle is located.
  • the control device is set up to determine at least one missing lane delimitation using swarm data if a lower number of lane delimitations has been determined from the image data for this lane than is specified by the lateral guidance assistant.
  • the control device is also set up to control a display device, as a result of which the display device outputs visual information which in turn characterizes that the at least one lane boundary has been determined using swarm data.
  • the control device can in particular be part of the motor vehicle. Advantages and advantageous developments of the method according to the invention are to be regarded as advantages and advantageous developments of the control device according to the invention and vice versa.
  • the invention also relates to a motor vehicle with a control device as has already been described in connection with the control device according to the invention.
  • 1a and 1b shows a display of a display device in which the respective lane boundaries determined for a lane of a motor vehicle are shown in the form of respective lines, with a representation of the respective Lines is selected depending on whether the respective lane boundary has been determined using swarm data or using image data provided by a detection device;
  • Fig. 3 is a process diagram for a method for operating a
  • Control device for a motor vehicle wherein the control device is set up to control the display device in such a way that the display device outputs respectively determined lane boundaries in the form of lines of different representations.
  • FIG. 1a and 1b each show a display 1 of a display device of a motor vehicle.
  • a lane 2 is shown in the display 1, which represents a lane in which the motor vehicle is located.
  • a respective lane delimitation 3 determined by means of a control device of the motor vehicle is also shown on the respective displays 1 in the form of a line delimiting the lane 2 .
  • These lane delimitations 3 shown in the display 1 represent real lane delimitations of the lane in which the motor vehicle is located, determined by means of the control device using image data or using swarm data.
  • FIG. 2 different displays can be provided for these lane delimitations 3, which are to be displayed in the display 1 and delimit the lane 2.
  • four of the representations shown are provided for respective lane delimitations determined on the basis of image data provided for the control device by means of a detection device, which are identified by reference number 4 in the present case.
  • a representation is shown which is provided for a lane delimitation determined on the basis of swarm data, which is identified by the reference symbol 5 in the present case.
  • the representation of the lane delimitation 5 of each of the representations of lane boundaries 4 determined using image data.
  • a vehicle occupant can recognize particularly easily from the representation of the respective lane delimitations 3 in the display 1 whether the respective lane delimitation 3 has been determined using swarm data or using image data.
  • the display for lane delimitation 5 determined using the swarm data is selected in such a way that it is displayed as a line filled with a number of triangles, with the respective tips of the triangles being aligned in a direction of travel of the motor vehicle in lane 2.
  • Further alternative configurations of the lane marking 5 determined using the swarm data in particular with regard to patterns and/or shapes, are conceivable.
  • FIG. 2 Different representations are shown in FIG. 2 for the respective lane boundaries 4 determined on the basis of the image data.
  • a solid road marking recognized from the image data is represented as a lane boundary by a solid line 6 .
  • a dashed road marking recognized from the image data is represented as a lane boundary by a dashed line 7 .
  • a lane delimitation determined using the image data and formed by gravel or a green strip is represented by a dotted line 8 .
  • a line with respective dashes 9 represents a lane delimitation determined from the image data on the basis of a peripheral development, such as a curb or a crash barrier.
  • a vehicle occupant of the motor vehicle can be informed particularly well via the respective display as to whether the lane boundary 3 has been determined using the swarm data or using the image data, and on the basis of which characteristic features in the area surrounding the motor vehicle the respective lane boundary 3 has been determined.
  • the representations can be adapted to the respective state.
  • the representations can be adapted to the determined state of the lateral guidance assistant via a respective color design.
  • the state of the lateral guidance assistant characterizes that the motor vehicle is being controlled with assistance and/or that assisted steering of the motor vehicle is possible and/or that assisted steering of the motor vehicle is not possible.
  • the status of the lateral guidance assistant can be displayed such that the motor vehicle is being controlled with assistance using the swarm data and/or that assisted control of the Motor vehicle based on the swarm data is possible and / or that an assisted control of the motor vehicle based on the swarm data is not possible.
  • FIG. 3 shows a method diagram for a method for operating the control device of the motor vehicle.
  • the control device is used to receive the image data from a detection device, in particular from a camera device, with the image data representing an area surrounding the motor vehicle.
  • a second method step V2 of the method it is provided that lane boundaries for the lateral guidance assistant of the motor vehicle are determined using the image data.
  • the third method step V3 of the method it is provided that at least one missing lane delimitation is determined using the swarm data if it is determined that for this lane a smaller number of lane delimitations has been determined from the image data than specified by the lateral guidance assistant for a lateral guidance is.
  • a fourth method step V4 of the method the control device is used to actuate the display device, as a result of which the display device emits visual information as part of the display 1, present in the form of the lane delimitation 5 delimiting the lane 2, which characterizes that this lane delimitation 5 was determined using swarm data.
  • the visual information can be output in the form of a symbol and/or in the form of a textual tip.
  • the visual information can be output in the display 1 superimposed on the image data. This means that both the image data and the optical information are output simultaneously by means of the display 1 .
  • the method enables road markings to be displayed as an abstract visualization of markings, with an associated lane boundary 5 having been determined using swarm data, which can also be referred to as so-called road experience management information.
  • driver assistance systems can use sensors to detect a vehicle environment of the motor vehicle and can thus support a driver in a driving task.
  • a graphic driver assistance display in a man-machine interface present via the display device, environmental data detected by sensors, present the image data are output. This may include lane markings and other road users.
  • Road marking types that are recognized by a multifunction camera of the motor vehicle are usually represented in the graphic view 1 .
  • driver assistance systems can not only access self-generated sensory data, but also use so-called road experience management data and thus swarm data. In order to increase the driver's understanding of the situation for the driver assistance systems, this information should be displayed transparently for the driver. In the present case, this information about details of a route delimitation is shown by means of the described visualization of the respective lane delimitation type 3 through the different representations of the lane delimitations 3 in the display 1.
  • this information can be displayed as an additional type of road marking in the graphical driver assistance view and thus in view 1.
  • This can show the driver that these driver assistance systems, in this case the lateral guidance assistant, are controlling based on road experience management data and thus the swarm data or are ready for a control intervention, although the driver does not see any lane boundaries or the like in a driving environment of the motor vehicle.
  • textual information can be displayed to the driver, in particular small pop-ups with information such as “Vehicle guidance is supported by Road Experience Management data”.
  • the use or availability of road experience management data and thus swarm data can be communicated to the driver via an icon and thus via a symbol.
  • Outputting the visual information in the form of the line delimiting lane 2 enables the visual information to be displayed in a particularly space-saving manner, since this information can be integrated into existing views and no additional display space needs to be reserved.
  • V1 to V4 respective method steps

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

Abstract

L'invention concerne un procédé pour faire fonctionner un dispositif de commande pour un véhicule automobile, dans lequel les étapes suivantes sont exécutées au moyen du dispositif de commande : la réception de données d'image représentant l'environnement du véhicule automobile à partir d'un dispositif de détection (V1) ; la détermination de limites de voie pour un assistant de commande latéral pour le véhicule automobile à l'aide des données d'image, les limites de voie délimitant une voie dans laquelle se trouve le véhicule automobile (V2) ; si un nombre inférieur de limites de voie que spécifié par l'assistant de commande latéral a été déterminé à partir des données d'image pour cette voie : la détermination de la ou des limites de voie manquantes à l'aide de données d'essaim (V3) ; l'actionnement d'un dispositif d'affichage, ce qui conduit à l'affichage, par le dispositif d'affichage, d'informations optiques qui caractérisent le fait que la ou les limites de voie ont été déterminées à l'aide de données d'essaim (V4).
PCT/EP2022/077511 2021-10-22 2022-10-04 Procédé de fonctionnement d'un dispositif de commande de véhicule automobile, dispositif de commande et véhicule automobile WO2023066647A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202280070566.4A CN118119980A (zh) 2021-10-22 2022-10-04 用于运行用于机动车的控制装置的方法、控制装置和机动车
EP22789929.1A EP4420094A1 (fr) 2021-10-22 2022-10-04 Procédé de fonctionnement d'un dispositif de commande de véhicule automobile, dispositif de commande et véhicule automobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021211942.5A DE102021211942A1 (de) 2021-10-22 2021-10-22 Verfahren zum Betreiben einer Steuereinrichtung für ein Kraftfahrzeug, Steuereinrichtung sowie Kraftfahrzeug
DE102021211942.5 2021-10-22

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WO2023066647A1 true WO2023066647A1 (fr) 2023-04-27

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PCT/EP2022/077511 WO2023066647A1 (fr) 2021-10-22 2022-10-04 Procédé de fonctionnement d'un dispositif de commande de véhicule automobile, dispositif de commande et véhicule automobile

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EP (1) EP4420094A1 (fr)
CN (1) CN118119980A (fr)
DE (1) DE102021211942A1 (fr)
WO (1) WO2023066647A1 (fr)

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DE102022129805B3 (de) 2022-11-10 2024-02-29 Cariad Se Verfahren zum Darstellen von symbolischen Fahrbahnmarkierungen auf einer Anzeigeeinheit eines Fahrzeugs sowie Anzeigesystem für ein Fahrzeug

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DE102013016251A1 (de) 2013-10-01 2014-06-26 Daimler Ag Verfahren und Vorrichtung zur augmentierten Darstellung
DE102016220647A1 (de) 2016-10-20 2018-04-26 Audi Ag Verfahren zum Darstellen mindestens einer ergänzenden Differenz-Fahrbahnausstattung
EP3318441A1 (fr) 2016-10-15 2018-05-09 MAN Truck & Bus AG Dispositif d'aide à la conduite d'un véhicule pourvu d'un dispositif de projection
US20190353498A1 (en) * 2018-05-18 2019-11-21 Volkswagen Aktiengesellschaft Method and system for providing an automation function for a transportation vehicle

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DE102005033641A1 (de) 2005-07-19 2007-01-25 Robert Bosch Gmbh Anzeigevorrichtung
DE102014201965A1 (de) 2013-02-06 2014-08-07 Gm Global Technology Operations, Llc Anzeigesysteme und Verfahren für autonome Fahrzeuge
KR101582572B1 (ko) 2013-12-24 2016-01-11 엘지전자 주식회사 차량 운전 보조 장치 및 이를 구비한 차량
DE102019202576A1 (de) 2019-02-26 2020-08-27 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Fahrerinformationssystems in einem Ego-Fahrzeug und Fahrerinformationssystem
DE102019213185A1 (de) 2019-09-02 2021-03-04 Volkswagen Aktiengesellschaft Querführung eines Fahrzeugs mittels von anderen Fahrzeugen erfassten Umgebungsdaten

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DE102013016251A1 (de) 2013-10-01 2014-06-26 Daimler Ag Verfahren und Vorrichtung zur augmentierten Darstellung
EP3318441A1 (fr) 2016-10-15 2018-05-09 MAN Truck & Bus AG Dispositif d'aide à la conduite d'un véhicule pourvu d'un dispositif de projection
DE102016220647A1 (de) 2016-10-20 2018-04-26 Audi Ag Verfahren zum Darstellen mindestens einer ergänzenden Differenz-Fahrbahnausstattung
US20190353498A1 (en) * 2018-05-18 2019-11-21 Volkswagen Aktiengesellschaft Method and system for providing an automation function for a transportation vehicle

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DE102021211942A1 (de) 2023-04-27
EP4420094A1 (fr) 2024-08-28
CN118119980A (zh) 2024-05-31

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