DE102007003498A1 - Control device for use in e.g. advanced driving assistance system, of e.g. motor vehicle, has spacer unit, signal unit and computing unit arranged such that change of brightness of lights is recognized and determined signal is output - Google Patents

Abstract

Distance control device (ST) for controlling a distance (d, dL) of a vehicle (KFZ) to another vehicle (KFZ_S, KFZ_V) with an input (E) for receiving image data of a computing unit (SLE, AR, CPU) for evaluation the image data and an output (A) for outputting at least one control signal (STS),
characterized in that
the arithmetic units (SLE, AR, CPU) are configured such that a brightness change of at least one vehicle light (BL, BI, WL, NL) of the other vehicle (KFZ_S, KFZ_V) is detected on the image data and in dependence on the detected brightness change of the vehicle light (BL, BI, WL, NL) the control signal (STS) for adjusting the distance (d, dL) is calculated and the calculated control signal is output.

Description

The The invention relates to a control device for regulating the distance a vehicle to a preceding vehicle and a corresponding Method.

It is a goal to make traffic safer. These are in modern Vehicles already installed a variety of security systems, the driver on dangerous Warn situations or even dangerous situations from the beginning avoid such as adjusted speed control or "Adaptive Cruise Control "(ACC) or ACC stop and go systems or congestion assistants. In these systems, a regulation is made such that a specified or situation-dependent Minimum distance must not be fallen below.

Indeed this regulation is not always satisfactory. Special Difficulties arise in the following situations: For example, if the vehicle in front brakes, especially when braking directly after accelerating, as often happens in the stop and Go traffic occurs. Furthermore, the scheme is for the situation critical that a driving on the neighboring lane vehicle on the own lane changes or even the vehicle driving ahead a neighboring lane changes. Difficulties arise, when the vehicle encounters a stationary obstacle, such as a Jamming, at high speed. It is also difficult to make a regulation when the vehicle is at a standstill with little delay to a vehicle driving ahead.

It Object of the present invention, an effective control especially in the aforementioned critical situations too create.

These The object is solved by the subject matter of the independent claims. Advantageous developments are the subject of the dependent claims.

A Control device for regulating a distance of a vehicle to a another vehicle has an input with which to receive image data could become. Image data is especially raw image data as well as being taken by a camera become. But it is also possible that the image data by already prepared raw image data of a camera are formed.

Farther the control device has an arithmetic unit with which the Image data evaluated, in particular already processed raw image data be further evaluated.

The Control device further has an output, by means of at least one control signal can be output. The output takes place to external other facilities such as an engine management system or, for example, to another unit within the control device.

through the arithmetic unit is a brightness change of at least one vehicle light of the other vehicle detected on the image data.

The brightness change can in particular by lighting up or extinguishing a Vehicle light, such as a flashing light, a brake light, a warning light or a fog light. In dependence from this detected brightness change the control signal is calculated and output, the is used to adjust the distance to the other vehicle. The arithmetic unit in particular comprises a unit for distance control and a unit for signal light detection. In this case, the control signal be generated in the unit for distance detection as a function of several input variables, wherein the unit for signal light detection an input, namely a detected signal light change provides.

For example Thus, the calculation of the control signal, which is to adjust the distance to the other vehicle, primarily based on the recognized distance. The distance control has at least one another control input on for the information about the vehicle lights of the preceding vehicles, ie in particular both on their own and the secondary lanes driving vehicles. By means of information about the vehicle lights of the preceding vehicles, the control signal and thus the distance control can be influenced.

In order to So the calculation of the control signal takes place depending on from the distance and the detected brightness change.

A Control of the distance by means of detection of extinguishing or blinking vehicle lights allows fast regulation because instantaneously with the beginning of the braking process of the other vehicle started with their own scheme. Another advantage can be in particular, that this is a simple form of regulation represents, because this brightness change easy and secure is detectable. The procedure works in this way a low complexity and high security.

The recognition of the brightness change is preferably based on the shape of the vehicle light, in particular the fact that, for example in brake lights in pairs brightness changes are detected with a characteristic area, which occur at a characteristic distance from each other. Since the brake lights do not always have the same size, the characteristic area can be determined by a defined area which covers possible brake lights. Likewise, the characteristic distance, which may vary depending on the type of vehicle, is covered by a predetermined distance range.

The Detecting a flashing light is done in particular by the fact that the brightness change occurs within a defined limit range.

By increased these additional criteria the robustness of detecting and changing the brightness of a Vehicle light.

alternative or in combination can also change the height of the place the brightness change over one Street or surface, on which the other vehicle is located, are used. This has the advantage that a strong deceleration, resulting in a Nodding the other vehicle and thus to a change in altitude the signal light leads, can be detected safely, so that a corresponding control signal for one particularly effective regulation can be generated.

The Including color information of the brightness change, for example red flashing brake lights and / or flashing orange flashing lights, further facilitates their identification. The safety is increased.

The influenced by the detection of the signal lights, output Control signal allows in particular no positive acceleration within a specified period of time, after the preceding one Vehicle brake lights were detected.

alternative or additionally to a regulation on brake lights, a regulation on at least one Flashing light. A possible Scenario for this is a lane change of a vehicle traveling on the adjacent lane on your own track, which by detecting the flashing light can be detected. In this case, as the distance to be controlled longitudinal assumed to be on the secondary lane vehicle.

Of the Distance to another vehicle, on the means of the control device is regulated, in particular depending on other vehicle data, for example, the speed or information about rain or humidity, fixable. For this purpose, the control device at least one further input for receiving sensor data. This allows the made by the controller Adjusting the distance to adapt to a variety of driving situations.

Preferably the controller still has a camera for recording the image data is used in a front exterior space of the vehicle.

The Control device can in particular in an existing driver assistance system, For example, an ADAS (Advanced Driving Assistance System) integrated become. In a vehicle with such a driver assistance system is for example the camera in the windscreen area or in the front bumper area arranged. It is also, among other sensors for the ADAS System such as lidar or radar sensors, a plurality of cameras possible, which the image data for the Supply controller.

The The invention further relates to a corresponding method for regulating a distance of a vehicle to another vehicle. To becomes an image of a front exterior space of the vehicle detected. In the picture becomes a brightness change detected and this brightness change is assigned to at least one vehicle lamp of the other vehicle. Dependent on From this assignment, a control signal is generated, which is output. This output can also be dependent on other parameters take place, for example, the determined distance to another Vehicle, so that is regulated only in case of need.

Further Advantages of the invention will be explained with reference to figures. It demonstrate

1 a schematic arrangement of a control device in a vehicle and a vehicle driving ahead of this vehicle and laterally moving vehicle;

2 an exemplary sequence of a method for regulating the distance to another vehicle.

In 1 a first vehicle KFZ is shown, which has a camera K and a control device ST for regulating the distance d of the vehicle KFZ to another vehicle KFZ_V. The camera K is connected via a communication link C to an input E of the control device. The control device ST further has a computing unit CPU comprising units AR for distance determination and control and SLE for signal light detection. These units are in particular in the arithmetic unit CPU together taken, analyzed in the data captured by the camera and then used this evaluated data to a distance determination and / or a signal light detection.

alternative are the distance determination unit AR and the signal light detection unit SLE separate units that over communicate an interface with each other. This has the advantage that already existing distance determination units AR simple and therefore cost-effective to the signal light detection unit SLE can be added, the another input signal for the distance determining unit AR provides. Furthermore, can then the arithmetic unit CPU or the distance determination unit AR act as a central unit, then of peripheral units as the signal light detection unit SLE or z. B. rain sensors additional input data are supplied.

In dependence From these evaluations, a control signal STS is generated, which via an output A is output to an acceleration controller B.

The preceding vehicle KFZ_V has several vehicle lights, namely Brake light BL, flashing lights BI, a hazard warning light WL as well a fog lamp NL. Similarly, a laterally moving vehicle KFZ_S vehicle lights, such as flashing lights BI.

The camera K is preferably mounted in the front area of the vehicle KFZ, so that a detection of a front traffic space can take place, since a regulation is carried out in dependence on other objects located in front of the vehicle. The camera K has an opening angle α, within which objects can be detected. This opening angle α should be as large as possible in order to also detect lateral objects, in particular the vehicle on a secondary track. The detection of vehicles in the secondary lane is required because they can change to the lane of the vehicle car. In 1 the opening angle α is shown as an obtuse angle. However, other angles are suitable.

According to one embodiment the camera K is on the inside of the windscreen in the rear-view mirror area appropriate. This has the advantage that the camera in the interior of the Vehicle motor vehicle, so protected, is arranged and at the same time a wide field of view, ie a large opening angle α is possible.

alternative An attachment of the camera is provided in the bumper area. This can in particular have advantages in order to already existing cameras K recourse.

The Camera is designed as a color video camera. This has the advantage for example, to detect the lighting up or going out of extraneous lights or turn signals, additional also color information can be used. This increases the robustness of the evaluation.

alternative is a gray scale camera provided. This lowers the complexity of one Evaluation, since the amount of data to be evaluated is lower. The camera itself is cheaper than a color camera, which is why the entire Device can be made cheaper.

alternative to a video camera for distance determination also radar or lidar sensors are used become. For the signal light detection is then additionally required by the video camera.

The Communication link C is in accordance with the embodiment by an LVDS (Low Voltage Differential Signaling) connection educated. Alternatively, other data connections for vehicles provided, such as Firewire, USB or an analog video signal.

Farther is also a wireless communication link from the camera provided to the input E control unit ST. This has the advantage that No hardware connection is needed and so does the device be used without adaptation in a variety of vehicle types can.

Of the Input E of the control unit ST is wired to receive or wirelessly transmitted Data set up, for example, as a socket or wireless Reception module formed.

The Acceleration control B is typically in engine management integrated, which the output as the control signal STS target acceleration prioritized and engine torque and brake pressure controls.

In 2 an example flow of a method for controlling the distance of a vehicle to another vehicle is shown.

In a detection step ERF, image data is received. These image data are evaluated in an evaluation step AW. On the basis of the evaluation, in a decision step ESG the decision is made as to whether a control signal STS is determined or generated (step GEN_STS) or not. If none is generated, the reception of image data is continued again in the acquisition step ERF. In the case where a control signal STS is generated in a step GEN_STS, its output is made in an output step OUT. This edition takes place according to an embodiment, then, if other criteria that require a distance control, exist, for. B. a small, determined distance. According to a further embodiment, an output of only the signal light detection control signal, namely the signal light information SLI takes place as an input to the distance control unit, which then outputs the control signal STS for distance control depending on a plurality of criteria.

thereupon in a control step REG, on the one hand, a regulation of the Distance, on the other hand is also again to receive image data in a detection step ERF continued.

According to one the first embodiment is running Procedure as follows from: A recording of the lighting of the brake lights is done with a color video camera. Here is the pair occurrence of changes in brightness in characteristic distance and size in successive pictures evaluated. Preferably, when the strength of the braking force becomes a variation the brake lights causes, for example, a multi-level brightness or Blink with varying frequency and / or varying pulse-pause ratio, so This can also be detected by the sensor and in the control considered accordingly become.

alternative or in combination becomes the height course the brake lights over the street examined. Increases this height while the lighting up, so can a nod of the vehicle and thus a strong braking can be assumed. The strength of the brakes can then based on this change in altitude be calculated analogously or discretized in areas.

These recognized brightness change provides an input to the control signal STS of the distance control. So it can in particular several Input variables provided be.

The control signal STS preferably causes in the control step REG the following operations:
On the one hand, no positive acceleration is permitted for a limited period of time from the detection of the lighting of the brake lights BL. After expiration of the time-limited period, it is again possible to proceed to an adjustable desired value of the acceleration controller or the acceleration controller B. If the strength of the braking force is known, the control signal STS may be configured so that not only the gas is removed in the control step REG, but also a braking force is applied, the magnitude of which is determined as a function of the amount of braking of the preceding vehicle , Thus, a negative acceleration is given by the control signal.

The Control signal is thus when detecting a change in brightness dependent on generated by the distance and shape of the brightness changes, for example to respond accordingly to brake lights or warning lights the height or \ and the change the height the brightness change over the Street, on the color of the brightness change, on the period of the brightness change and on the intensity of the brightness change.

The Recognition of brake lights over state-of-the-art solutions The technique has the advantage that no acceleration of the regulated vehicle when the illumination of brake lights is detected, even if its distance to a vehicle in front KFZ_V greater than a Nominal distance is. This corresponds to the usual expectation of the driver and leads thus to a higher one Acceptance of the system. In particular, it is through the immediate Detection of the braking situation based on the illumination of the brake lights a regulation faster possible as if the situation is over the movement of the preceding vehicle is determined. This This is especially true for detectors with high measurement noise in the Distance measurement, such as a video camera, clearly, because here in the situation detection, the distance information is strong must be filtered to avoid misjudgements. The thus earlier possible Detecting the situation leads to a premature one and more even Braking the controlled vehicle. This increases the comfort and acceptance, because the driver earlier gets a feedback. On the other hand increases it provides safety in traffic, as it is at high braking of the driving ahead Vehicle KFZ_V come with a long reaction delay to a collision can. By a time limit on the effectiveness of the control signal STS can have a certain frequency be tolerated by misdetections, since the effects of a in a single receive and control cycle occurring control signal are low.

According to another embodiment, a method is described in a lane change. Blinking of a direction indicator or flashing light BI of a vehicle driving on an adjacent lane KFZ_Seite can be concluded that an upcoming or even already in progress lane change. The detection of the flashing of the flashing light BI is preferably carried out with a video camera, which dissolves hues. In the evaluation step AW, the cyclical lighting is evaluated with a characteristic period duration. Depending on the decision taken in the decision step ESG, when the direction indicator is detected a vehicle in an adjacent lane assumed this vehicle as the preceding and the longitudinal distance dL regulated to this vehicle. This is the case because it is to be expected that the laterally moving vehicle KFZ_S changes to its own lane. In the decision step ESG, the decision as to whether an acceleration-influencing control signal STS is generated in a step GEN_STS is made depending on which side of the direction indicator or the flashing light BI flashes, the lane on which the lateral vehicle is traveling and in dependence from the distance to this vehicle. For example, if a vehicle is located on the right adjacent lane, and the right turn signal or the right turn signal BI is detected, there is no control on that vehicle because it will not change to its own lane.

For example a decision is made in a decision step ESG even then to regulate the vehicle on the secondary lane when the distance to the laterally moving vehicle is below a limit. This Limit value is preferably variable and dependent on the absolute driving speed and the differential speed between the two vehicles. This has the advantage that strong braking can be avoided if the driver of the laterally moving vehicle KFZ_S behind want to shear the vehicle to be controlled vehicle and the direction indicator or the flashing light BI has operated too early.

Becomes the setting of a flashing light BI in a preceding vehicle KFZ_V evaluated on the own track from the received image data, so the decision can be made in the decision step ESG, to generate a control signal STS, which is a reduction of a Target distance within fixed or variable limits allows, because it is to be expected that the vehicle ahead KFZ_V the leave their own lane.

Of the Lane change of either one's own or an adjacent one Lane ahead vehicle KFZ_S can be better considered in the scheme before changing lanes. This leads to a calmer one Driving behavior with higher Ride comfort, on the other hand this corresponds to the expectations of the driver, because this can also recognize the direction indicator and on the expected behavior of the vehicle in front closes. These Increase aspects the acceptance of the system by the driver compared to the previous causal one Driver assistance systems or ACC systems, which only react when the situation, in this case the lane change, occurred is.

According to one another embodiment is a method in the presence of a jam end described. At the end of the jam have to Vehicles according to legal regulations, at least in Germany apply, the hazard warning lights WL have activated. Also on the recognition of these hazard warning lights WL, the outputting of a control signal STS and a subsequent regulation REG.

Also here can be an earlier one and the situation better adjusted regulation, which in turn Comfort and safety increased become.

According to one another embodiment is a start from the state described. The due to the revaluations In the evaluation step AW detected brightness change is here by the go out the brake lights BL given. The control signal generated in step GEN_STS now causes an own brake of the vehicle KFZ is solved. Farther can cause the control signal in the form of the signal light information SLI, in the distance control AR, the driving situation "driving off" is detected. The go out However, the brake lights BL is preferably not alone to Definition of the driving situation "driving off" used. For this will be added For example, the distance and / or the differential speed to the vehicle ahead.

By the immediate release the brake is the driver of the vehicle car much earlier feedback given that the driver assistance system or the ACC system the Situation of the departure has recognized. This also increases the acceptance of the system. Due to the low impact, the vehicle rolls about only slowly, the system still has the opportunity in the case a misdetection of extinction the brake lights BL to respond without any danger.

In summary It should therefore be noted that the use of vehicle light signals for Distance control a much faster and situation adapted Control can be done as with previous systems according to the state of the technique. This increases the safety of traffic. A further increase in security ensues in that the system meets the expectations of the driver and thus easier to accept. This causes the system not is switched off, which also takes place an increase in security.

A

output

AR

distance control

OUT

output step

AW

evaluation step

B

acceleration control

BI

turn signal

BL

Stoplight

C

communication link

e

entrance

ERF

detecting step

IT G

decision step

GEN_STS

to generate a control signal

K

camera

motor vehicle

vehicle

KFZ_S

laterally moving vehicle

KFZ_V

driving ahead vehicle

n

No, there is no change of a vehicle light

NL

fog light

REG

control step

SLE

Signal light detection

SLI

Signal light information

ST

control device

STS

control signal

WL

Flashing warning light

y

yes, change a brightness of a vehicle light is present

Claims (19)

Control device (ST) for regulating a distance (d, dL) of a vehicle (vehicle) to another vehicle (KFZ_S, KFZ_V) with a. an input (E) for receiving image data; b. a computing unit (SLE, AR, CPU) for evaluating the image data and c. an output (A) for outputting at least one control signal (STS), characterized in that the arithmetic unit (SLE, AR, CPU) is designed such that a brightness change of at least one vehicle light (BL, BI, WL, NL) of the other vehicle (KFZ_S, KFZ_V) is detected on the image data and in dependence on the detected change in brightness of the vehicle light (BL, BI, WL, NL), the control signal (STS) for adjusting the distance (d, dL) is determined and the determined control signal (STS ) is output. Control device (ST) according to claim 1, wherein the at least one vehicle light (BL, BI, NL, WL) at least one brake light (BL) and / or a flashing light (BI) and / or a hazard warning light (WL) or / and a fog lamp (NL) is. Control device (ST) according to claim 1 or 2, at the recognition of the brightness change based on the shape of the vehicle lamp (BL, BI, NL, WL). Control device (ST) according to one of the preceding Claims, when detecting the change in brightness of the brake lights (BL) This is done by making a pairwise change in brightness with a fixed area is determined, with the pairwise brightness changes occur in a fixed distance range to each other. Control device (ST) according to one of the preceding Claims, in recognizing the change in brightness of a flashing light thereby done that the brightness change occurs in a fixed frequency range. Control device (ST) according to one of the preceding Claims, in addition to the recognition a height or / and a change in altitude the brightness change over one Street, on which the other vehicle (KFZ_S, KFZ_V) is used becomes. Control device (ST) according to one of the preceding Claims, in addition to the recognition a color information is used for the brightness change. Control device (ST) according to one of the preceding Claims, where the output control signal (STS) is no positive acceleration allowed within a specified period of time. Control device (ST) according to one of the preceding Claims, in which the output control signal (STS) specifies a negative acceleration. Control device (ST) according to one of the preceding Claims, with at least one other input for receiving sensor data of at least one sensor, in which the computing unit (CPU) so is designed so that the distance to which is adjusted, depending on from the sensor data can be determined. Control device (ST) according to one of the preceding Claims, in which the arithmetic unit (CPU) is a unit for distance control (AR) and a unit for signal light detection (SLE). Control device (ST) according to claim 11, wherein the unit for signal light detection (SLE) a signal light information (SLI) to the unit for distance control (AR) outputs. Control device (ST) according to claim 12, wherein the calculation of the control signal (STS) in the distance control unit (AR) takes place. Control device (ST) according to one of the preceding Claims, with a camera (K) for taking image data of a front outer space of the vehicle (vehicle). Driver assistance system for regulating a distance to a vehicle (KFZ_V, KFZ_S) with a control device (ST) according to one of the preceding claims and a sensor associated with the driver assistance system. Vehicle (vehicle) with a driver assistance system after Claim 15, wherein the sensor is designed as a camera (K) or A control device according to claim 14, wherein the camera (K) arranged in the windscreen area and / or in the front bumper area is. Method for regulating a distance (d, dL) of a Vehicle (vehicle) to another vehicle (KFZ_V, KFZ_S) with the following steps a. Capturing (ERF) an image of a front exterior space the vehicle (vehicle); b. Recognition (AW) of a brightness change in the captured image; c. Assignment (ESG) of the brightness change to at least one vehicle lamp (BL, BI, WL, NL) further Vehicle (KFZ_V, KFZ_S) assigned; d. Generate (GEN_STS) a control signal (STS, SLI) depending on the assignment; e. Output (OFF) of the control signal (STS); The method of claim 17, further comprising Step: f. Rules of the distance (d, dL) of the vehicle (vehicle) too the further vehicle (KFZ_V, KFZ_S) in response to the control signal (STS). A method according to claim 17 or 18, wherein the Output (OFF) of the control signal (STS) takes place as a function of other parameters, in particular the presence of a predetermined distance to a other vehicle (KFZ_V, KFZ_S).