DE102013211637A1 - System for a vehicle for determining a risk of icing in advance - Google Patents

Abstract

A system for a vehicle, in particular a country motor vehicle, comprising an optical device for recording relative temperatures, an evaluation device for evaluating relative temperatures, and a display device for displaying an icing hazard warning. In this case, the optical device is set up to record and provide a large number of relative temperature images of a viewing area of an environment around the vehicle, preferably a roadway area of the viewing area of the optical device. The recorded relative temperatures in the plurality of recorded relative temperature images are dependent on a recording temperature. The system is set up to provide a large number of relative temperature image information on the basis of the large number of relative temperature images. The system is further configured to clean up the multitude of relative temperature image information provided by a recording temperature and to provide a multitude of absolute temperature image information as a result. The evaluation device is also set up if an absolute temperature image information from the plurality of absolute temperature image information has a temperature that indicates a risk of icing, to instruct the display device to issue a risk of icing warning.

Description

The present invention relates to a system for determining a potential risk of icing in a motor vehicle ahead.

Vehicles, in particular Massenfortbewegungs- and -transportmittel such as passenger cars (cars, buses) and trucks (trucks) are traveling in all seasons and weather conditions.

At present it is possible, due to an ambient temperature of the vehicle sensed by a sensor, to detect a possible risk of icing if the temperature drops to ≈ + 4 ° C or below.

Depending on where the sensor is installed in or on the vehicle, the temperature detected by the sensor deviates more or less from the actual ambient temperature. Furthermore, the accuracy of the sensor is a criterion in the assessment of the detected ambient temperature.

The icing warning is thus currently purely due to a strongly averaged temperature measurement of the air. The real road surface temperature and fast fluctuations are not detected. In addition, therefore, that by means of these temperature sensors, no further environmental conditions can be detected, such as whether the road ahead or lane track is wet or dry.

Since traffic on the roads has increased sharply in recent years and a further increase is to be expected, potentially increasing the risk of accidents, it would therefore be desirable to be able to determine more precisely whether there is a risk of icing.

It is an object of the invention to provide an improved solution for detection of a possible risk of icing, which more reliably and precisely indicates a possible risk of icing and at least avoids or at least reduces some of the disadvantages known in the prior art.

The object is achieved by means of a system according to the main claim, and a method according to a sibling claim.

The subject of the main claim relates to a system for a vehicle, in particular a land vehicle, comprising an optical device for recording relative temperatures, an evaluation device for evaluating relative temperatures, and a display device for displaying a risk of icing warning. In this case, the optical device is adapted to receive and provide a plurality of relative temperature images of an environment around the vehicle, preferably a roadway area of the visual range of the optical device. The recorded relative temperatures in the plurality of recorded relative temperature images are dependent on a recording temperature. The system is configured to provide a plurality of relative temperature image information based on the plurality of relative temperature images. The system is further configured to clean up the plurality of relative temperature map information provided by the recording temperature and, as a result, to provide a plurality of absolute temperature picture information. The evaluation device is further configured, if absolute temperature image information of the plurality of absolute temperature image information has a temperature indicative of a risk of icing, to instruct the display device to issue a risk of icing warning.

A motor vehicle in the sense of the invention means an engine or turbine-driven land vehicle. In particular, a land vehicle such as an automobile or two-wheeler is meant.

An environment in the sense of the invention means a closer space around the vehicle, preferably that space which is ahead of the vehicle.

A viewing area of the environment around the vehicle in the sense of the invention means the area around the vehicle which can be viewed and / or detected by a vehicle driver, a vehicle sensor and / or a vehicle device. Preferably, this may be an area ahead of the vehicle.

An icing warning in the sense of the invention means an indication to a vehicle system, to a vehicle device and / or to a driver, which is suitable to indicate a risk of icing. This may be, for example, a warning light and / or another displayed and / or activated indication in the dashboard of the vehicle. On the other hand, such a risk of icing warning can also generally be informational information, for example a trigger, the setting of a variable, the activation of a current or current pulse and / or the application of a voltage or a voltage pulse and the like.

An optical device according to the invention means a device that is set up to capture the environment of the vehicle. This may preferably be a camera, particularly preferably a camera and / or a sensor device, which is set up to detect temperatures of an environment.

A recording temperature within the meaning of the invention means the temperature of a recording device, for example, the temperature of a camera, which can record ambient temperatures and display as ambient temperature images. Depending on how and where the recording device is arranged on the vehicle, the temperature of the recording device can also correspond to a temperature of the environment or be very similar. Then the recording temperature would be the same or similar with the temperature of the environment. The pick-up temperature in this case would be the same or at least very similar to the temperature of traffic signs along the road surrounding or trees, bushes, shrubs and the like. However, the temperature of the recording device may also be a completely different temperature than the temperature of the environment. In this case, this would have to be determined separately elsewhere. This could for example be done by means of a sensor which is arranged on the receiving device.

A temperature of the environment in the sense of the invention means a temperature which is decisive for the environment.

This may in particular be the temperature of air in the environment. For example, however, a traffic sign may also have a temperature which may be the same or very similar to the temperature of ambient air.

A relative temperature in the sense of the invention means a temperature of an environment or in the environment, which differs from the temperature of reception. In particular, the relative temperature may be a temperature of the road surface, preferably that roadway and / or that roadway area which is ahead of the vehicle. Further, however, the relative temperature may also be a temperature of another object of the environment, such as objects on the road such as water or ice, and / or objects along the road such as traffic signs, trees, shrubs and the like.

A relative temperature image in the sense of the invention means a composition of temperature information of the environment, preferably the representation of the environment based on the relative temperatures of the individual environment objects.

Relative temperature image information in the sense of the invention means information about the relative temperature distribution of the image. In this case, a relative temperature distribution may correspond to a representation of different temperatures in the image and / or a representation of the distribution of the temperatures in the image. Such a distribution may be, for example, a condensed information about the temperatures occurring in the image.

An absolute temperature within the meaning of the invention means a temperature that can be obtained as a result of a correction of a relative temperature to a receiving temperature.

An absolute temperature image information in the sense of the invention means information about the absolute temperature distribution of the image. This can correspond, for example, to the relative temperature distribution of the image adjusted by the absorption temperature.

The teaching according to the invention achieves the advantage that a detection of a possible risk of icing can be made more reliable and precise by means of the system according to the invention.

The subject matter of the independent claim relates to a method for an icing hazard warning for a system according to the main claim, comprising: recording and providing a plurality of relative temperature images of an environment around a vehicle, preferably a roadway area of a field of view of the environment, depending on a temperature of reception, providing a plurality relative temperature image information based on the plurality of relative temperature images and cleaning the plurality of relative temperature image information provided by the recording temperature. Further, the method comprises providing a plurality of absolute temperature image information as a result of clearing the plurality of relative temperature image information provided, and outputting a risk of icing warning if absolute temperature image information of the plurality of absolute temperature image information has a temperature indicative of a risk of icing.

The teaching according to the invention achieves the advantage that detection of a possible risk of icing can be made more reliable and precise with the method according to the invention.

Hereinafter, further exemplary embodiments of the device and the method will be explained.

According to another exemplary embodiment, the system further comprises the evaluation device configured to translate the plurality of relative temperature images provided into a plurality of relative temperature histograms and to purge the plurality of relative temperature histograms for the reception temperature, and as a result, a plurality of absolute temperature histograms as absolute temperature image information.

A relative temperature image information in the sense of the invention can also be, for example, a relative temperature histogram of the relative temperature image.

For example, the absolute temperature distribution of the image may be an absolute temperature histogram of the relative temperature image. This would be obtainable, for example, by the fact that the relative temperature histogram is adjusted by the recording temperature.

This refinement has the advantage that an uncomplicated, computer-aided evaluation of the absolute temperature image information can thus be made possible.

According to a further exemplary embodiment, the system has the further feature that the system is set up to provide a temperature determined by the system as the recording temperature to the evaluation device.

This refinement has the advantage that a recording temperature which can be determined in various ways can thus be provided in a standardized manner.

According to another exemplary embodiment, the system further comprises a pattern recognition device for recognizing patterns, wherein the pattern recognition device is adapted to recognize patterns in the plurality of relative temperature images. The pattern recognition apparatus is further configured, when a recognized pattern matches an object of a plurality of predefined classified objects, to assign that object to the matching pattern, wherein at least one of the plurality of classified objects corresponds to a reference object for which it is assumed whose average temperature corresponds to the temperature of absorption. The pattern recognition device is further configured to provide, upon detection of a pattern corresponding to the reference object, the average temperature of that pattern as the recording temperature to the evaluation device.

A pattern in the sense of the invention means an object of the environment to be detected in a relative and / or absolute temperature image, preferably in a relative temperature image. Such an object to be recognized may be, for example, a tree, a pillar and / or a traffic sign or the like. In this case, the objects to be recognized of a temperature image can be classified so that, for example, various traffic signs can generally be recognized as traffic sign objects. Objects where it is known that their temperature usually corresponds to the temperature of the environment can be classified separately into reference objects. In particular, traffic signs are usually suitable to act as reference objects, unless they are heated extra.

This embodiment has the advantage that different patterns in a temperature image can be recognized as surrounding objects.

A further advantage of this embodiment is that the recognizable objects can serve different purposes, for example for determining the temperature of the environment and thus for eliminating the temperature error arising during the recording in a relative temperature image.

According to another exemplary embodiment, the system further comprises the pattern recognition device configured to recognize a road pattern in the plurality of relative temperature images and to provide the road pattern as relative temperature image information or as relative temperature image information. The evaluation device is further configured to display a range of absolute temperature image information of a temperature indicative of a risk of icing as icing hazard information in the absolute temperature image information.

A pattern, in particular a road pattern in the sense of the invention, can therefore also be, for example, an accumulation of water and / or ice on the roadway and / or the traffic lane. The lane itself can be such a recognizable road pattern, respectively object.

This embodiment has the advantage that objects to be detected can also serve to detect a wet and potentially icy roadway.

A further advantage of this refinement is that the roadway and / or lane can thus also be detected, and thus the determination of an icing warning can be restricted to this area.

According to a further exemplary embodiment, the system has the additional feature that the evaluation device is set up to instruct the display device to output a risk of icing warning on the basis of this risk of icing information.

Issuing a risk of icing warning in the sense of the invention means a visual, audible and / or haptic reference to a driver, that there is a possibility that icing could be present on the road. In addition, output may also mean that information can be output that is further processable. This may then be, for example, information that can be used to adapt a chassis according to the warning.

This embodiment has the advantage that the driver can be informed of a potential icing possibility.

According to a further exemplary embodiment, the system has the fact that the optical device for recording relative temperatures has an error which is less than 2 ° C., preferably less than 1.5 ° C., particularly preferably less than or equal to 1 ° C.

Error in the sense of the invention means that when recording a relative temperature error can occur, which may be within the limits described above as a deviation from the actual relative temperature down or up.

This embodiment has the advantage that even more reliable and even more precise detection of a possible risk of icing can be made possible.

According to a further exemplary embodiment, the system has the optical device preferably having a night vision assistant, particularly preferably a thermal imaging camera.

This embodiment has the advantage that devices already available on the market can be used in the system in order to detect a possible risk of icing, whereby costs can be saved.

Another advantage of this embodiment is that any night vision assistants and / or thermal imaging cameras already in a vehicle may possibly be used, but possibly only after a possibly necessary software or hardware update. As a result, possibly an existing device can be upgraded inexpensively.

According to a further exemplary embodiment, the system further comprises a transmission device that is set up to provide warning information to another vehicle system, another vehicle and / or to a database when an icing warning message appears.

This embodiment has the advantage that it can also be used to warn subsequent vehicle drivers that there is the possibility of a risk of icing the roadway.

The invention thus makes it possible to detect the real road surface temperature as well as rapid fluctuations by means of this measuring method. Thereby, the false giving of a warning at cold temperatures can be avoided when no icing can take place, for example due to dry road conditions. In addition, the invention may also allow a warning if the air of the environment is already warmed up, but the road is still extremely cold. In particular in short forest areas or bridges, conventional detection methods do not warn against rapid road surface temperature fluctuations. These warning possibilities can be made possible by means of the invention.

The invention will be explained in more detail with reference to the figures, show in these

1 a schematic representation of a proposed system for a vehicle according to an exemplary embodiment of the invention;

2 a schematic representation of a vehicle and an environment around the vehicle for a proposed system for a vehicle according to an exemplary embodiment of the invention; and

3 a schematic representation of an evaluation device of a proposed system for a vehicle according to an exemplary embodiment of the invention.

Before describing embodiments of the invention in more detail below, it should first be noted that the invention is not limited to the described components or the described method steps. Furthermore, the terminology used is not a limitation, but has only exemplary character. Insofar as the singular is used below in the description and claims each case includes the plural, unless the context explicitly excludes this.

1 shows a schematic representation of a proposed system for a vehicle, according to an exemplary embodiment of the invention.

It shows 1 a system 100 for a vehicle 220 , in particular a land vehicle. The system 100 has an optical device 110 for recording relative temperatures, an evaluation device 120 for the evaluation of relative temperatures, and a display device 130 to display a risk of icing warning 131 on. Here is the optical device 110 adapted to a variety of relative temperature images 111 an environment 200 around the vehicle 220 , preferably a roadway area 230 of the field of vision 140 the optical device 110 to record and provide. The recorded relative temperatures in the plurality of recorded relative temperature images 111 are in this case of a recording temperature 210 dependent. The system 100 is set up on the basis of the plurality of relative temperature images 111 a plurality of relative temperature image information 112 provide. The system 100 is further configured to provide the plurality of relative temperature image information provided 112 around the recording temperature 210 and, as a result, a plurality of absolute temperature image information 113 provide. The evaluation device 120 is further arranged, if an absolute temperature image information 113 from the plurality of absolute temperature image information 113 has a temperature indicative of a risk of icing, the display device 130 to instruct 121 , a risk of icing warning 131 issue.

The surface temperature may be, for example, by means of an optical device 110 such as a night vision camera 110 directly measured and plausibilized / fused with further measured values. This can be done with the Night Vision Camera 110 be able to accurately measure by referencing to about 1 ° C. Intelligent fusion approaches and image processing algorithms allow reflections on a road surface 230 So for example a road surface 230 be recognized and taken into account. Predictive surface surveying can proactively reduce speed, if necessary, for example because of distance control systems or possible curve forecasts.

In this case, no absolute temperature measurement takes place, but only a relative temperature measurement, that is, in each case a temperature difference between an object temperature and a camera temperature is measured, respectively. the temperature difference between different objects.

The driver can thus be warned of real existing ice surfaces in front of the vehicle 220 are located. This warning information 1310 can also be passed to security systems such as ESP / DSC / ABS and the like and to systems for highly automated driving.

A pure transition warning due to an ambient temperature such as the outside temperature can thus by an acute / local and adapted to the real conditions warning 131 be supplemented. This warning 131 can also be distributed to other road users through different channels.

• 1. Vereisungen, die sich über die gesamte Straßenbreite ziehen, wie beispielsweise auf Brücken. Hier ist kein Kraftschluss zwischen Fahrzeug 220 und Straße 230 möglich. Durch eine vorherige Verringerung von Antriebsleistung/Bremsleistung kann eine Instabilität verhindert werden. Durch Ansteuern von Fahrzeugsignalisierungseinrichtungen wie Leuchten, Blinker, Warnkanäle wie Funk oder Ausgabe der Information an ein Backend können weitere Verkehrsteilnehmer gewarnt werden.
• 2. Vereisungen, die nur außerhalb der eigenen Spur 230 des Fahrzeuges 220 liegen, wie beispielsweise abschmelzender Schnee auf gesalzener Straße. Hier kann das Verlassen der Fahrspur 230 zum Beispiel beim Überholen zu Instabilität führen. Eine vorzeitige Warnung des Fahrers, dass er zum Beispiel hier seine Fahrspur 230 einhalten sollte, kann die Verkehrssicherheit weiter erhöhen.
• 3. Eine Vereisung wechselnder Bereiche der eigenen Fahrbahn 230, wie lokale Vereisungen aufgrund einer Gefrierung von beispielsweise seitlich einlaufendem Wasser, oder dass die Fahrbahn 230 aufgrund von partieller Sonneneinstrahlung nur teilweise abgetaut ist.

Among other things, the system can distinguish between the following cases:

• 1. Icing over the entire width of the road, such as on bridges. Here is no adhesion between the vehicle 220 and street 230 possible. Previous reduction of drive power / braking performance can prevent instability. By driving vehicle signaling devices such as lights, turn signals, warning channels such as radio or output of information to a backend further road users can be warned.
• 2. Icing that just outside your own lane 230 of the vehicle 220 like melting snow on a salted road. Here can leave the lane 230 For example, when overtaking lead to instability. A premature warning from the driver that he is here, for example, his lane 230 should continue to increase traffic safety.
• 3. icing of changing areas of the own roadway 230 such as local icing due to freezing of, for example, sideways incoming water, or that the roadway 230 is partially defrosted due to partial solar radiation.

Again, you can warn the driver, for example, when exceeding a threshold speed depending on the situation. Icy spots, which can lead to critical situations during accelerating / braking but especially in corners, could thus be avoided by the driver simply by avoiding it. For this purpose, it is possible these places in a display device 130 , so for example a display / contact analog display 130 to mark and / or mark for highly automated driving as a critical area.

It may not be determined if the roadway 230 is actually iced, but maybe just that a significant temperature gradient is present. If it was or is also moist, icing may develop.

When converting the relative temperature images into absolute temperature images, the recording temperature 210 via its own sensor, with the optical device 110 So for example a thermal imaging system 110 nothing has to be measured. The system 100 can the recording temperature 210 in this case, for example, from a CAN bus of the vehicle 220 receive. However, there may be other parameters such as the absolute temperature of the sensor and the sensitivity of the sensor. It may be necessary that the sensitivity of the sensor must be determined by means of a calibration in order to determine how large the temperature dispersion is with several sensors.

For some thermal imaging cameras 110 in vehicles 220 can a heated protective glass, for example, germanium in front of the camera lens as a demarcation to the environment 200 to be available. The temperature of this protective glass can also be known by means of its own temperature sensor, and would then possibly also be a parameter for the conversion / error correction of relative temperature image information 112 in absolute temperature image information 113 ,

You may also have more information available, for example, whether the road 230 is wet. Such an estimate may possibly be obtainable from the work of a windshield wiper or a rain-light sensor.

The material of the street 230 and therefore also the temperature coefficient of the road 230 can also affect. Here, however, fixed assumptions could be sufficient as a fixed parameter.

The absolute temperature of the sensors described above may be different than the temperature of the environment 200 be. For example, if the sensor is housed in a camera body. Because within the camera body, it is usually much warmer than in the environment due to the heat dissipation of the electronics 200 , Nevertheless, the temperatures of the sensor and the environment could be 200 be convertible into each other.

2 shows a schematic representation of a vehicle 220 and an environment 200 around the vehicle 220 for a proposed system 100 for a vehicle 220 according to an exemplary embodiment of the invention.

It shows 2 a vehicle environment 200 , with a vehicle 220 on a roadway 230 at the edge of which are objects such as trees and traffic signs. On the vehicle 220 is an optical device 110 attached, which in a field of view 140 Take pictures of temperature images.

3 shows a schematic representation of an evaluation device 120 a proposed system 100 for a vehicle 220 according to an exemplary embodiment of the invention.

It shows 3 an operation of a proposed exemplary evaluation device 120 , The evaluation device 120 is hereby adapted to the large number of provided relative temperature images 111 into a variety of relative temperature histograms 112 to convict and the variety of relative temperature histograms 112 around the recording temperature 210 and, as a result, a plurality of absolute temperature histograms 113 as absolute temperature image information 113 provide.

LIST OF REFERENCE NUMBERS

100

system

110

optical device

111

Relative temperature image (s)

112

Relativtemperarturbildinformation (s)

113

Absolute temperature image information (s)

120

evaluation

121

Instructing the display device 130

130

display device

131

Icing hazard warning

1310

Icing hazard information

140

viewing area

200

Surroundings

210

recording temperature

220

vehicle

230

road area

Claims (10)

System ( 100 ) for a vehicle ( 220 ), in particular a land vehicle, comprising - an optical device ( 110 ) for recording relative temperatures, - an evaluation device ( 120 ) for the evaluation of relative temperatures, and - a display device ( 130 ) for displaying a risk of icing warning ( 131 ), wherein - the optical device ( 110 ) is adapted to a plurality of relative temperature images ( 111 ) an environment ( 200 ) around the vehicle ( 220 ) preferably a roadway area ( 230 ) of the field of vision ( 140 ) of the optical device ( 110 ) and to provide, the recorded relative temperatures in the plurality of recorded relative temperature images ( 111 ) from a recording temperature ( 210 ), - the system ( 100 ) is set up on the basis of the plurality of relative temperature images ( 111 ) a plurality of relative temperature image information ( 112 ), - the system ( 100 ) is further adapted to provide the plurality of relative temperature image information ( 112 ) around the recording temperature ( 210 ) and, as a result, a plurality of absolute temperature image information ( 113 ), and - the evaluation device ( 120 ) is further arranged, if an absolute temperature image information ( 113 ) from the plurality of absolute temperature image information ( 113 ) has a temperature indicative of a risk of icing, the display device ( 130 ) ( 121 ), a risk of icing warning ( 131 ). System ( 100 ) according to claim 1, wherein the evaluation device ( 120 ) is adapted to the plurality of provided relative temperature images ( 111 ) into a plurality of relative temperature histograms ( 112 ) and the plurality of relative temperature histograms ( 112 ) around the recording temperature ( 210 ), and as a result, a plurality of absolute temperature histograms ( 113 ) as absolute temperature image information ( 113 ). System ( 100 ) according to claim 1 or 2, wherein the system ( 100 ) is further set up to receive one from the system ( 100 ) determined temperature as the receiving temperature ( 210 ) to the evaluation device ( 120 ). System ( 100 ) according to claim 1, further comprising a pattern recognition apparatus for recognizing patterns, wherein the pattern recognition apparatus is adapted to recognize patterns in the plurality of relative temperature images, the pattern recognition apparatus is further adapted to match a recognized pattern with an object of a plurality of predefined ones classified objects to assign this object to the matching pattern, wherein at least one of the plurality of classified objects corresponds to a reference object for which it is assumed that its averaged temperature of the recording temperature ( 210 ), and the pattern recognition device is further configured to, upon detection of a pattern corresponding to the reference object, determine the averaged temperature of this pattern as the recording temperature ( 210 ) to the evaluation device ( 120 ). System ( 100 ) according to claim 4, wherein the pattern recognition device is further adapted to be included in the plurality of relative temperature images ( 111 ) Street pattern ( 230 ) and the road patterns ( 230 ) as relative temperature image information ( 112 ), and the evaluation device ( 120 ) is further arranged to set a range of absolute temperature image information ( 113 ) which has a temperature which indicates a risk of icing, as icing hazard information ( 1310 ) in the absolute temperature image information ( 113 ). System ( 100 ) according to claim 5, wherein the evaluation device ( 120 ) is further adapted to the display device ( 130 ), on the basis of this risk information ( 1130 ) a risk of icing warning ( 131 ). System ( 100 ) according to any one of the preceding claims, wherein the optical device ( 110 ) has an error for receiving relative temperatures, which is less than 2 ° C, preferably less than 1.5 ° C, more preferably less than or equal to 1 ° C. System ( 100 ) according to any one of the preceding claims, wherein the optical device ( 110 ) preferably has a night vision assistant, particularly preferably a thermal imaging camera. System ( 100 ) according to any one of the preceding claims, wherein the system ( 100 ) further comprises a transmission device, which is set up in the event of a risk of icing warning ( 131 ), warning information ( 1310 ) to another vehicle system, another vehicle and / or to provide a database. Procedure for an icing hazard warning for a system ( 100 ) according to claim 1, comprising: - receiving and providing a plurality of relative temperature images ( 111 ) an environment ( 200 ) around a vehicle ( 220 ), preferably a roadway area ( 230 ) of a viewing area ( 140 ) the environment ( 200 ), depending on a recording temperature ( 210 ), - providing a plurality of relative temperature image information ( 112 ) based on the plurality of relative temperature images ( 111 ) Cleaning up the plurality of relative temperature image information provided ( 112 ) around the recording temperature ( 210 ), - providing a plurality of absolute temperature image information ( 113 ) as a result of cleaning up the plurality of relative temperature image information ( 112 ), and - issuing a risk of icing warning ( 131 ) if an absolute temperature image information ( 113 ) from the plurality of absolute temperature image information ( 113 ) has a temperature indicative of a risk of icing.

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