DE102012200431A1 - Method for determining presence of intersection in road course driven by e.g. passenger car, using driver assistance system, involves generating intersection signal if characteristic represents stationary traffic management feature - Google Patents

Abstract

The method (200) involves checking whether a characteristic fulfils an intersection condition (220), where the characteristic is detected in an actual road course to be driven by a vehicle. An intersection signal is generated (240), if that the characteristic represents a stationary traffic management feature. A movable light characteristic is represented by the detected characteristic and generated by a foreign vehicle, where the light characteristic represents different color, which move transverse respect to a direction of travel of the vehicle. Independent claims are also included for the following: (1) a device for determining a presence of an intersection in a road course driven by a vehicle (2) a computer program product having a set of instructions for performing a method for determining a presence of an intersection in a road course driven by a vehicle.

Description

State of the art

The present invention relates to a method for determining the presence of an intersection in a roadway traveled by a vehicle, to a method for using an intersection signal for controlling a light emission of at least one headlight of a vehicle and / or for pre-parameterization of at least one driver assistance system of the vehicle and on a corresponding device.

Intersection assistance systems may for example be based on visual detection of the intersecting road users. The basis here is that the vehicles must be visible, which may lead to a relatively late recognition of the vehicles. In Car2Car systems, the road users can be identified on the basis of the transmitted position data. Adaptive High-Beam Assist reacts to other road users who can be detected by using headlights or taillights. These are bright enough at night and have a sufficiently large contrast to the environment. At intersections, the headlights are often obscured until the vehicles have passed. Likewise, if you drive to an intersection and crossing vehicles are only briefly visible. In general, a high-beam assistant fades after a certain period of time when no vehicle is visible. This can lead to a flickering in the control, which can be annoying for the driver.

The document DE 102 54 806 B4 shows a method for information processing of at least two information sources in a motor vehicle.

Disclosure of the invention

Against this background, the present invention provides an improved method for determining an occurrence of an intersection in a vehicle-traveled road, an improved method of using an intersection signal generated by the above method to control a light emission of at least one headlight of a vehicle and / or Preparametrisierung at least one driver assistance system of the vehicle, further an improved device that uses this method, and finally presented a corresponding improved computer program product according to the main claims. Advantageous embodiments emerge from the respective subclaims and the following description.

The invention is based on the recognition that in a vehicle, the presence of an intersection can be determined using recognized features of a roadway currently being driven by the vehicle. For this purpose, the characteristics are subjected to a check as to whether they are suitable for providing an indication of the presence of an intersection. In this case, criteria or conditions are used for checking purposes, on the basis of which, for example, a validity of the recognized characteristics with regard to the presence of an intersection results.

One advantage of the present invention is that an intersection can be reliably and reliably detected on the basis of the recognized features that have been checked for their significance in the roadway currently being traveled by the vehicle. This vehicle systems can be used, which are already present in a vehicle anyway, so that there is a saving of costs, space and material. Consequently, since a variety of recognized features can be utilized, the presence of an intersection can be reliably and flexibly determined under a variety of environmental conditions and situations in the course of the road.

High-beam assistants, which can also be designed as adaptive high-beam assistants, adapt the light distribution of vehicle headlights to the current environmental situation. In addition to environmental characteristics, such as the road type, the other road users are to be recorded. The other road users are z. B. in the detection algorithm VDD (VDD = Vehicle Detection at Darkness) on their headlights or taillights, ie generally detected their lighting system. The detection is usually only reliable if the other road users move parallel to their own direction of travel, so you see perpendicular to the lighting system. If the other road users are transverse to their own direction of travel, you can see the lighting system only in front of the side, which is the case for example at intersections. On the side, only a small amount of light is radiated from the lighting system, making it difficult to recognize the other road users using conventional systems. For the detection of other road users a certain amount of time is required - when crossing traffic, the duration is often not enough to detect the vehicle. Dazzling other road users may be the result, since a high-beam assistant, for example, switched to high beam, if he does not recognize another vehicle for a certain period of time. Since vehicle detection at darkness (VDD) at intersections has difficulty detecting headlights or taillights, there are several approaches to detecting the intersections. At intersections can then be dispensed with a fade or even be actively dimmed. One approach to detecting intersections is to use navigation devices to detect intersections in the digital maps on the route being traveled. On navigation information, you can not always build the algorithm, because on the one hand map data are often outdated and on the other not in all vehicles navigation devices are available.

The present invention provides a method for determining the presence of an intersection in a vehicle-driven road, the method comprising the steps of:
Checking whether at least one feature detected in a roadway currently being traveled by the vehicle meets at least one crossing condition; and
Generating an intersection signal when the at least one feature satisfies the at least one intersection condition, wherein the intersection signal indicates the presence of an intersection.

The vehicle may be a motor vehicle, in particular a road-bound motor vehicle, for example a passenger car, lorry, a vehicle for passenger transport or another commercial vehicle. The crossing condition, and therefore also the step of checking the at least one detected feature based on the crossing condition, may be suitable for determining a relevance of the recognized feature with regard to the presence of an intersection. The crossing signal may be generated depending on a result of the step of checking. Thus, the crossing signal may also represent the result of the step of checking. If the at least one feature satisfies the at least one crossing condition, the crossing signal is generated. If the at least one feature does not satisfy the at least one crossing condition, the crossing signal is not generated. In other words, the intersection signal may have a first logical value if the at least one feature satisfies the at least one intersection condition. Consequently, the intersection signal may then have a second logical value if the at least one feature does not satisfy the at least one intersection condition. In this case, the first logical value of the crossing signal can then indicate the presence of an intersection. The method may further comprise a step of recognizing the at least one feature by means of an object recognition device of the vehicle. The object recognition device may be a vehicle camera with suitable object recognition, image processing or a suitable recognition algorithm. The method may also include a step of outputting the intersection signal to a driver of the vehicle and / or to a vehicle system. Thus, the crossing signal can be output as an audible and / or visual warning signal or warning signal to the driver. Alternatively or additionally, the intersection signal can be output as an input variable or influencing variable to a vehicle system. In this case, the crossing signal can serve for example for a pre-parameterization of the vehicle system. The intersection signal can also be output to multiple vehicle systems.

According to one embodiment, the at least one feature may represent a fixed traffic routing feature. The fixed traffic guidance feature may be a traffic sign, a lane marker, a traffic sign, a guard post, a traffic light, a street lamp, and the like. A road sign may include a prohibition sign, bid sign, warning sign, direction sign, town sign, and the like. In this case, an outline, a color, symbols and / or characters of the traffic sign can be detected. Such an embodiment has the advantage that can be reliably and accurately derived from a fixed traffic management feature, such as a traffic sign, the presence of an intersection, as road construction specifications for a uniform equipment of a road with traffic management features, eg. B. signage lead. Thus, the presence of an intersection can be detected with improved accuracy.

According to a further embodiment, the at least one feature may represent a movable light feature caused by at least one other vehicle. The movable light feature caused by at least one third-party vehicle may be an on-vehicle lighting device such as a headlamp, a taillight and / or a turn signal of another vehicle, and additionally or alternately a light cone caused by a headlamp of another vehicle becomes. The light feature can thus also be understood as meaning other light devices. Such an embodiment offers the advantage that the presence of an intersection can be reliably and reliably derived from a movable light feature, such as a vehicle headlight and / or light cone, caused by at least one other vehicle. Thus, the presence of an intersection can be detected with improved accuracy.

In particular, the at least one feature may represent at least two lights of different colors. These can move transversely with respect to a direction of travel of the vehicle. at the two lights can be two headlights of another vehicle. In particular, the two lights may be a headlight and a tail light of another vehicle. Also, one of the two lights of different color may be a flashing light of another vehicle. The other vehicle may cross a road on which the vehicle is located, or to move at an angle to the road on which the vehicle is located.

The other vehicle may also be transverse to the road on which the vehicle is located. Such an embodiment offers the advantage that two lights of different color moving transversely with respect to the direction of travel of the vehicle indicate with great certainty and reliability the presence of an intersection. Thus, the presence of an intersection can be detected with improved accuracy.

Also, in the step of checking, at least one specification relating to a characteristic of the at least one feature may be used as the at least one crossing condition. The characteristic may be a shape, a color, a number, a movement, a position, a type, a symbolism, a reflection, etc. of the at least one feature. Such an embodiment offers the advantage that the determination of the presence of an intersection can be made on the basis of very accurately and specifically adaptable or adapted intersection conditions, which improves a correct recognition of an intersection.

In this case, the at least one crossing condition may be assigned a probability value with regard to the presence of an intersection. In this case, in the step of generating the crossing signal can be generated depending on the probability value. It can also be checked in the step of checking whether the probability value is above a threshold, and in the step of generating the crossing signal are generated when the probability value is above the threshold. In this case, the probability value may indicate with which probability an intersection exists if a recognized feature fulfills the crossing condition to which the probability value is assigned. Such an embodiment offers the advantage that the presence of an intersection can be determined more reliably and accurately via a different weighting of intersection conditions met by features. According to this embodiment, the generation of an "analog" crossing signal, i. H. a probability value for the presence of an intersection in combination with a subsequent Binarisierung the crossing signal possible. Alternatively, a multi-stage response to the crossing signal or its probability is possible.

According to one embodiment, the crossing signal may carry the probability value. The crossing signal may represent the probability value. This is advantageous, for example, if parameters of lighting controls, eg. B. Waiting times before fading, to be continuously adapted or different levels of activation of the systems before intersection depending on the probability to be activated. For example, an extended waiting time until fade-in can be realized, then a generation of a broader illumination, for example by activating cornering lights, and at the end an active dimming due to the crossing. Thus, the crossing signal can transport the probability value and does not necessarily have to represent two states. Therefore, either several intersection signals can be generated for the different stages, which in turn, if there is a sufficiently large number, can be quasi "analog" behavior, or the intersection signal can transport the probability value.

When generating the crossing signal by means of thresholding, the use of hysteresis is advantageous in order to avoid a rapidly changing signal at an intersection probability in the range of the threshold value. The calmer signal due to the hysteresis is advantageous for further processing, as this allows a smooth system behavior, for example no frequent switching of light distributions, to be achieved.

It can additionally be checked in the step of checking whether sensor data and / or driving data of the vehicle fulfill at least one further crossing condition. In this case, in the step of generating the crossing signal can be generated when the sensor data and / or ride data meet the at least one further crossing condition. The sensor data and / or drive data of the vehicle may represent a speed, an acceleration, a turn signal, a yaw rate, a position, a detection of the vehicle surroundings by radar or the like, etc. The sensor data and / or drive data of the vehicle can therefore be used for a plausibility check or verification of the presence of an intersection. The further crossing condition may relate to the sensor data and / or drive data of the vehicle. Such an embodiment offers the advantage that the security of a correct determination of the presence of an intersection can be further increased.

Thus, the presence of an intersection can be detected with improved accuracy.

The present invention further provides a method for using an intersection signal generated according to the above-mentioned method for controlling a light emission of at least one headlight of a vehicle and / or for pre-parameterization of at least one driver assistance system of the vehicle.

In this case, a light control device of the vehicle and / or the at least one driver assistance system may be configured to receive the intersection signal. Thus, the intersection signal may represent an additional input in a light control and / or at least one driver assistance system. The driver assistance system can be a safety system, a restraint system, an impact warning system, a high-beam assistant or the like. The crossing signal can therefore be advantageously used to increase safety and to reduce or eliminate the risk of dazzling other road users.

The present invention further provides an apparatus configured to perform the steps of a method mentioned above in corresponding devices. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

Also of advantage is a computer program product with program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out a method according to one of the embodiments described above, when the program is run on a computer or computer a device is executed.

The invention will be described by way of example with reference to the accompanying drawings. Show it:

1 a schematic representation of a vehicle with a device according to an embodiment of the present invention;

2 a flowchart of a method according to an embodiment of the present invention;

3 a representation of a road intersection;

4 to 6 Representations of different traffic signs and their forms as well as extended forms;

7 two different views of a guide post;

8th and 9 schematic representations of a foreign vehicle; and

10 to 12 schematic representations of traffic situations at a road intersection;

In the following description of preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similarly acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of a vehicle 100 with an intersection determination device according to an embodiment of the present invention. The vehicle 100 has a feature recognition device 105 and the crossing determination device 110 on. The crossing determining device 110 has a verification device 120 and a generator 140 on. The feature recognition device 105 and the crossing determination device 110 are interconnected via a communication interface. The checking device 120 and the generator 140 the crossing determination device 110 are connected to each other via another communication interface.

The feature recognition device 105 may comprise a vehicle camera, in particular a video camera or the like, which is designed to perform an object recognition and additionally or alternatively a pattern recognition. Also, the feature recognition device 105 a vehicle camera and a so having associated object recognition means and / or pattern recognition means. The feature recognition device 105 is trained to get in on a current from the vehicle 100 to recognize tracked road characteristic. Furthermore, the feature recognition device 105 configured to generate a feature detection signal representing the recognized feature. The feature recognition device 105 may also be configured to apply the feature detection signal to the intersection determining device 110 issue.

The crossing determining device 110 is configured to receive the feature detection signal that is generated by the feature recognizer 105 recognized feature in the currently of the vehicle 100 represented on the road. The checking device 120 the crossing determination device 110 is designed to check whether the recognized feature meets at least one crossing condition. Even if it is in 1 is not explicitly shown, the verification device 120 a memory device or the like, in which the at least one crossing condition is stored. Alternatively and / or additionally, the checking device 120 be configured to access a memory device or the like to retrieve the at least one crossing condition. The checking device 120 may be configured to generate a result signal for verification and to the generating means 140 issue. The generating device 140 is configured to generate an intersection signal when the at least one feature satisfies the at least one intersection condition. The crossing signal indicates the presence of an intersection. The generating device 140 and additionally or alternatively, the crossing determination device 110 may be configured to apply the intersection signal to at least one other system of the vehicle 100 issue. For this purpose, the generating device 140 and additionally or alternatively, the crossing determination device 110 via an interface with the at least one further system of the vehicle 100 be connected. In the at least one other system of the vehicle 100 it may be a security system, driver assistance system or the like.

2 shows a flowchart of a method 200 for determining an occurrence of an intersection in a roadway traveled by a vehicle, according to an embodiment of the present invention. The procedure 200 has a step of checking 220 on whether at least one detected in a current road used by the vehicle detected feature at least one crossing condition. The procedure 200 also has a step of creating 240 an intersection signal when the at least one feature satisfies the at least one intersection condition. The crossing signal indicates the presence of an intersection. The procedure 200 can in conjunction with the crossing determination device 1 be executed.

3 shows a representation of a road junction 300 , At the intersection 300 Two roads intersect at right angles. A first street is a priority road. A second street is a non-accessible street. In both areas of an intersection of the second street in the first street is always a road sign 350 arranged. At the road sign 350 it is a right of way sign. Furthermore, in 3 Road markings shown. The lane markings are median strips, stop lines and arrow marks in turning lanes. The traffic sign 350 should be representative of other fixed facilities, such as traffic lights and street lighting.

The traffic sign 350 and the lane markings may be formed by means of a feature recognizer such as the feature recognizer 1 be recognized. Using the recognized features, which are the road sign 350 and additionally or alternatively, the lane markers may act, a method for determining an existence of an intersection may be performed, such as the method 2 , The presence of an intersection can be recognized as follows. At intersections, like the intersection 300 , are usually signs, such as the traffic signs 350 giving the right of way regarding the junction 300 regulate. The presence of these signs can be used to indicate intersections. For example, the tags can be fully classified either by pattern recognition or classified by the shape of the tags. If the probability of crossing is high, an intersection signal is generated and output.

4 shows a representation of different traffic signs 350 and their forms 452 as well as advanced forms 454 , At the traffic signs 350 these are signposting signs. The representation in 4 has the shape of a table with three columns and six rows. In the rightmost column in 4 are six different traffic signs 350 or combinations of traffic signs 350 shown. From top to bottom are the traffic signs 350 around a sign for a main road, a sign for a turning right-of-way, a right-of-way sign, a sign for one Roundabout, a stop sign and a driveway forbidden sign. In the leftmost column in 4 are the associated forms 452 the traffic signs 350 displayed. At the forms 452 it is a basic shape, an outline or a silhouette of the traffic signs 350 , In the middle column in 4 are the associated extended forms 454 the traffic signs 350 shown. The extended forms 454 are relative to the forms 452 each a recognized pattern of traffic signs 350 extended. The recognized pattern may be a character, a geometric pattern, and / or a pattern caused by color contrasts.

The traffic signs 350 can by means of a feature recognition device such as the feature recognition device 1 be recognized. Using recognized traffic signs 350 For example, a method for determining an existence of an intersection may be performed, such as the method 2 , In fact, to detect the traffic signs 350 their forms 452 and additionally or alternatively their advanced forms 454 be used. Thus, from the sign for a priority road, a middle probability for an intersection, from the sign for a turning priority road a high probability for an intersection, from the right of way sign or right of way sign, a high probability of crossing, From the sign for a roundabout a high probability for a crossing and from the stop sign a high probability for a crossing are derived.

5 shows a representation of different traffic signs 350 and their shape 452 as well as extended form 454 , At the traffic signs 350 in 5 These are trend-setting signs, as they are common in many crossroads. The traffic signs 350 in 5 have the same shape 452 on. Form 452 in 5 represents a rectangular floor plan. The expanded form 454 in 5 includes the rectangular floor plan and additionally one on the road sign 350 recognized arrow. Directional signs, like the traffic signs 350 in 5 , can be recognized by their shape and / or color. The detection of rectangular, yellow signs, possibly with extraction of the arrow symbol, can be used, for example, according to the method 2 to generate a crossing signal. The arrow symbol can be used to indicate the traffic sign 350 or the signpost of z. B. a billboard to distinguish. The direction of the arrow can be evaluated to indicate the type of crossing, eg T-junction or the like. Instead of evaluating the color at night can also reflect the reflections of traffic signs 350 be evaluated. By evaluating a city signal, z. B. from a navigation device or a city detection system, a distinction can be made by a town sign.

6 shows a representation of a road sign 350 and its shape 452 , at the road sign 350 in 6 it is a signpost. Form 452 corresponds to an outline of the road sign 350 which is characteristic of a signpost. To determine the presence of an intersection, for example, according to the method 2 can also arrow-shaped signposts such as the road sign 350 out 6 be evaluated. Here stands the recognition of the form 452 in the foreground, but it can also be the color and / or the reflectance at night evaluated to determine the presence of an intersection.

7 shows two different views of a Leitpfostens 750 , Shown are a first view at 180 degrees relative to the first view about a vertical axis of the guide post 750 turned, second view of the Leitpost 750 , The first view and the second view may be, for example, a front view and a rear view of the guide post 750 act. At the guide post 750 it can be a guide post, as it is usually installed according to road regulations on roadsides. The in 7 shown guide posts 750 indicates in the first view that in 7 On the left side, there are two round reflector elements and, in the second view, points in 7 shown on the right, an elongate reflector element. Using the guide post 750 or a recognition of the same can be a presence of an intersection according to the method 2 be determined. Guiding posts can be used to detect junctions or intersections. For this purpose, the distance between the guide post, which is normally 50m, is measured. If the measured distance deviates too much from the estimated distance of 50 m and, for example, there is no curve or a forward-looking lane detection based on lane markings and / or guide posts has not detected a curve, an intersection signal is output. Here is exploited that at straight running the guide posts have the same distance, but junctions are usually marked with guide posts. For example, the color of the reflectors changes to yellow when a junction occurs. The color change can also be exploited to output a crossing signal. For plausibility, the distance between the guide posts of the suspected intersection can be measured so as not to output the intersection signal at a too narrow intersection or too wide intersection.

8th shows a schematic representation of a foreign vehicle 800 whose headlight is a beam of light 850 cause. The light cone 850 can also be recognized as a feature and used to detect the presence of an intersection according to the method 2 to determine.

9 shows a schematic representation of a foreign vehicle 800 with two headlights 950 , When the headlights 950 are turned on, they may also be recognized as features and used to indicate existence of an intersection according to the method 2 to determine.

10 shows a schematic representation of a traffic situation at a road intersection. The intersection is a substantially rectangular intersection of two roads. Shown are a vehicle 100 , a foreign vehicle 800 , a cone of light 850 of the foreign vehicle 800 , a cone of light 1000 of the vehicle 100 as well as a camera vision area 1005 of the vehicle 100 , In the vehicle 100 it can be the vehicle 1 act. In the foreign vehicle 800 may be the foreign vehicle 8th act.

The vehicle 100 is located on a first street of the two streets. The foreign vehicle 800 is located on a second street of the two streets that crosses the first street. The light cone 1000 as well as the camera vision area 1005 of the vehicle 100 extend from the vehicle 100 to the area of the intersection. The camera vision area 1005 of the vehicle 100 extends further from the vehicle 100 away as the light cone 1000 , The light cone 850 of the foreign vehicle 800 extends from the foreign vehicle 800 not quite to the area of the intersection. The light cone 1000 of the vehicle 100 This can be done by headlights of the vehicle 100 be caused, which are in a high beam mode. The light cone 850 of the foreign vehicle 800 can here by headlights of the other vehicle 800 be caused, which are in a low beam mode. It exists in 10 no overlap of the light cone 850 of the foreign vehicle 800 with the light cone 1000 of the vehicle 100 ,

11 shows a schematic representation of a traffic situation at a road intersection. The representation in 11 corresponds to the illustration 10 with the difference that the vehicle is 100 as well as the foreign vehicle 800 closer to the area of the intersection than in 10 and additionally in 11 an overlap area 1150 is shown. As the vehicle 100 and the foreign vehicle 800 closer to the intersection than in 10 , also have the light cone 850 and the cone of light 1000 approached each other and partially overlap each other. In the overlap area 1150 the light cone overlaps 850 of the foreign vehicle 800 the light cone 1000 of the vehicle 100 , Specifically, the overlap area extends 1150 the light cone 850 of the foreign vehicle 800 in the camera vision area 1005 of the vehicle 100 , Thus, a detection of the light cone 850 of the crossing foreign vehicle 800 possible. Based on this, according to the method 2 the light cone 850 of the foreign vehicle 800 serve as a feature for determining the presence of an intersection.

12 shows a schematic representation of a traffic situation at a road intersection. The representation in 12 corresponds to the illustration 11 with the difference that the light cone 1000 of the vehicle 100 is reduced. The light cone 850 of the foreign vehicle 800 and the cone of light 1000 of the vehicle 100 do not overlap. The light cone 1000 of the vehicle 100 This can be done by headlights of the vehicle 100 be caused, which are in a low beam mode. The light cone 1000 of the vehicle 100 can be considered a reaction to the detection of the light cone 850 of the vehicle 800 in the camera viewing area 1005 be downsized. Such an adaptation of the headlights of the vehicle 100 may be based on an intersection signal, as determined according to the method 2 is produced.

With reference to the 10 to 12 In summary, it should be noted that not on the spotlight on the other vehicle 800 but on the cone of light 850 responds, ie to a rapid change in lighting conditions at the intersection.

With reference to the 1 - 12 Various embodiments of the present invention will be explained in summary below. According to an embodiment of the present invention, there may be an intersection 300 over signs, reflectors of, for example, guide posts 750 and / or luminous objects, e.g. As street lights, be determined. There are recognized traffic signs 350 used to get to a crossroads 300 close. There are different characteristics of the signs 350 evaluated, mainly the form 452 , but also symbol, color, etc. in the form of the extended form 454 , If the probability of an intersection 300 is high, an intersection signal is output. The crossing signal can z. B. used to headlights of the vehicle 100 not show up. This avoids dazzling traffic that would otherwise be bad or unrecognized. Also, in response to the crossing signal, a special crossing light be turned on. Furthermore, the evaluation of traffic signs 350 used in the form of speed limits to get to an intersection 350 close. If a speed limit is repeated, it is possible to have a crossing just in front of it 300 and the speed is re-displayed to the incoming traffic. It is also possible to output an intersection signal when a speed limit has been classified as such, but the number can not yet be determined accurately, e.g. B. if the distance is too large. Then, even if the speed limit was not repeated, the intersection signal could be output at low speed because of a slow approach to an intersection 300 Is accepted.

Partially crossroads 300 and roundabouts illuminated with individual street lamps. If, for example, a single street lamp is detected in the area of its own roadway, the intersection signal can be output. Traffic lights also point to an intersection 300 or a pedestrian crossing. If one uses a traffic light detection, the crossing signal can be made so plausible. For example, traffic lights are classified as street lights at night. Therefore, a crossing signal is generated when raised luminous objects, such. As street lights, are detected. Sublime luminous objects do not just come at intersections 300 in front. Therefore, the probability of getting to a crossroads 300 when you notice a single luminous object, not too high. However, if in addition to the raised luminous object another feature occurs, e.g. B. a single road sign 350 for a speed limit, which in itself is not a high probability for an intersection 300 but indicating a reduction in speed, the intersection signal may be output.

The crossing signal can be determined by further measured values and / or states of the own vehicle 100 Plausibilized, such as speed, acceleration, turn signal, yaw rate, etc. Furthermore, measured values can be used by other measurement algorithms for plausibility of the intersection detection. For example, the output of the intersection signal can be prevented if the lane recognition recognizes a continuous solid lane marking. Road markings in general may be used to trigger the crossing signal or the likelihood of having an intersection 300 to increase. The invention can be used for example for HMA (High Beam Activation) for switching between dipped beam and main beam, Adaptive High Beam Control (AHC) for a sliding headlamp, CHC (Continuous High Beam Control) for glare-free high beam and AIC (Adaptive Illumination Control) and AFS ( Adaptive Frontlighting System), eg. B. crossing light, are used. Here is the detection of crossings 300 cruising traffic, as some object detection algorithms find it difficult to detect vehicles crossing at night. If by the generated crossing signal z. B. fading is delayed, so a parameter adjustment takes place, dazzling other road users can be avoided. The intersection signal can also serve for pre-parameterization or pretensioning of brake assist, airbag and other driver assistance systems.

According to another embodiment of the present invention, there may be an intersection 300 using a detected light cone 850 a foreign vehicle 800 be determined. Thus, an intersection assistant can be created based on vehicle light cone detection. Thus, on the basis of a visual headlight cone recognition system intersecting traffic can also be determined at non-visible intersections. Also, the own lighting can be adjusted by z. B. the high beam is turned off and / or a headlight cone adjustment is made. In addition, the driver can be warned against crossing traffic and, if necessary, emergency braking systems can also be activated. Advantageously, therefore, an automatic and early adaptation of the lighting to avoid glare of the intersecting traffic, an automatic and early warning of possible and not visible to the driver dangers by intersecting traffic and / or an automatic and early initiation of actions to reduce or avoid Accidents possible.

According to a further exemplary embodiment of the present invention, a crossing detection can take place via crossing lights and be used for headlight activation. The detection algorithm VDD (Vehicle Detection in Darkness), for example, detects white lights or pairs of lights as headlights and red lights or pairs of lights as taillights of vehicles. If the detection algorithm detects at least two lights, preferably of different color, moving in the same horizontal direction in the image, these are recognized as crossing vehicles. It can be generated directly or via an estimate of the distance in this distance range, a crossing signal. The lights do not necessarily have to be visible at the same time. The evaluation for the crossing signal can also be about the movement of several vehicles, eg. B. a column of vehicles, which successively in the image of the feature recognition device 105 or vehicle camera appear and disappear again. It is possible one Specify the minimum threshold for the number of crossing lights. In addition to the real movement in space, ie the real movement with the actual speed, movements on the image can preferably be evaluated here. If the horizontal motion in the image is greater than a certain threshold of pixels in the image, which corresponds to a viewing angle in the real world, an intersection signal is output. The detection of intersections can also be supported by other sensors. For example, a radar system can be used to more accurately determine the distance and direction of travel of the crossing traffic, in the longitudinal direction. The intersection signal is used, for example, to adapt the headlamp system. It can be used to create a special light distribution, eg. As crossing light, to control, fade, limit a beam angle and / or adjust parameters such as Entprellzeiten or Entprellstrecken. It can, for example, additional lights are turned on to illuminate side areas better. The intersection signal can continue to be used, for example, to parameterize a forward collision warning system and if necessary trigger a warning or actively intervene.

The embodiments described and shown in the figures are chosen only by way of example. Different embodiments may be combined together or in relation to individual features. Also, an embodiment can be supplemented by features of another embodiment. Furthermore, method steps according to the invention can be repeated as well as carried out in a sequence other than that described.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10254806 B4 [0003]

Claims (10)

Procedure ( 200 ) for determining the presence of an intersection ( 300 ) in one of a vehicle ( 100 ), and the process ( 200 ) has the following steps: Check ( 220 ), whether at least one in a current of the vehicle ( 100 ) traveled road characteristic ( 350 . 750 ; 850 . 950 ) fulfills at least one crossing condition; and generating ( 240 ) of an intersection signal when the at least one feature ( 350 . 750 ; 850 . 950 ) satisfying at least one crossing condition, the crossing signal indicating the presence of an intersection ( 300 ). Procedure ( 200 ) according to claim 1, wherein the at least one feature is a fixed traffic routing feature ( 350 . 750 ). Procedure ( 200 ) according to one of the preceding claims, in which the at least one feature is a movable light feature caused by at least one other vehicle ( 850 . 950 ). Procedure ( 200 ) according to claim 3, wherein the at least one feature comprises at least two lights ( 950 ) of different colors extending transversely with respect to a direction of travel of the vehicle ( 100 ) move. Procedure ( 200 ) according to one of the preceding claims, wherein in the step of checking ( 220 ) at least one specification regarding a characteristic of the at least one feature ( 350 . 750 ; 850 . 950 ) is used as the at least one crossing condition. Procedure ( 200 ) according to one of the preceding claims, wherein the crossing signal transports the probability value. Procedure ( 200 ) according to one of the preceding claims, wherein in the step of checking ( 220 ) is additionally checked whether sensor data and / or trip data of the vehicle ( 100 ) satisfy at least one further crossing condition, and in the step of generating ( 240 ) the intersection signal is generated when the sensor data and / or travel data meet the at least one further intersection condition. Method for using an intersection signal generated according to the method according to one of claims 1 to 7 for controlling a light emission of at least one headlight of a vehicle and / or for pre-parameterization of at least one driver assistance system of the vehicle. Apparatus adapted to perform the steps of a method according to any one of claims 1 to 8. Computer program product with program code for performing a method according to one of claims 1 to 8, when the program is executed on a device.

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