Procedure for determining unlawful driving behavior by a vehicle

Abstract

Method (26) for detecting unlawful driving behavior of at least one road user (4, 6) in the vicinity (A) of a vehicle (2), wherein - the environment (A) is detected by vehicle sensors (10) (27), - based on the sensor data from the vehicle sensors (10) an environment model is created (28), - from the environment model, unlawful conduct of which at least one road user (6) is identified (29), - the sensor data are stored as evidence within a time window of the detected unlawful conduct (30), - where the environment model is created from the sensor data using perception algorithms, which features a separation between static environment and moving objects.

Description

[0001] The invention relates to a method for detecting unlawful driving behavior by at least one road user in the vicinity of a vehicle. Furthermore, the invention relates to a control unit, a computer program, and a machine-readable storage medium. State of the art

[0002] Drivers are frequently endangered and harassed by road users through unlawful driving behavior, which can constitute an administrative offense or a criminal offense. Such unlawful driving behavior can occur, for example, through excessive speed, illegal overtaking, or following too closely. While such offenses often do not result in accidents, they can cause fear and anxiety among the affected drivers. Such offenses are often not reported due to a lack of evidence and the bureaucratic burden.

[0003] Methods for monitoring the speed of road users are already known. In particular, such methods are used for conducting official speed checks. Such methods can be divided into stationary and mobile systems.

[0004] In mobile systems, such as civilian emergency vehicles, the so-called "Police Pilot System" is often used. The emergency vehicle must drive behind a road user at a constant or increasing distance. This occurs within a defined period of time and is monitored by cameras. After the period has elapsed, the speed of the tracked road user can be calculated.

[0005] DE 10 2017 115 309 A1 discloses an autonomous police vehicle that automatically performs routine police tasks, such as issuing tickets for speeding or ignoring a stop sign. Further prior art is known from DE 10 2011 015 945 A1, DE 10 2008 041 166 A1, DE 198 24 855 A1, and US 2011 / 0234749 A1.

[0006] From EP 3 141 926 A1 a method for automatically detecting a dangerous drift of a vehicle based on the detection of lane markings is known.

[0007] The solutions known so far involve a high administrative burden and require the respective operators to actively implement them. In particular, there is no way for affected drivers to secure evidence of such a situation and forward it to the authorities. Disclosure of the invention

[0008] The object underlying the invention can be seen in proposing a method for detecting and proving traffic violations.

[0009] This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent subclaims.

[0010] According to one aspect of the invention, a method is provided for determining illegal driving behavior by at least one road user in the environment of an automated vehicle. In one step, the environment of the vehicle is detected by vehicle sensors. Based on the sensor data from the vehicle sensors, an environment model is created, in particular by a control unit of the vehicle. In a further step, illegal behavior by at least one road user is detected from the environment model. After the illegal behavior is detected, the sensor data is stored as evidence in a time window of the detected illegal behavior.

[0011] According to a further aspect of the invention, a control unit is provided which is configured to carry out all steps of the method according to the invention.

[0012] According to a further aspect of the invention, a computer program is provided, comprising instructions which, when the computer program is executed by a computer or a control unit, cause the computer or a control unit to carry out the method according to the invention.

[0013] According to a further aspect of the invention, a machine-readable storage medium on which the computer program according to the invention is stored is provided.

[0014] Automated vehicles, especially semi-automated, highly automated, or fully automated vehicles, have a multitude of vehicle sensors. Such vehicle sensors can include camera sensors, radar sensors, LIDAR sensors, ultrasonic sensors, and the like. As part of their automated driving function, these vehicles continuously calculate an environment model, a so-called perception. This environment model calculation includes tracking other vehicles and following the trajectories of neighboring road users.

[0015] The environment model calculated by the automated vehicles can be used to detect illegal driving behavior by other road users. In particular, road users in the vicinity of the automated vehicle can be continuously monitored for illegal behavior.

[0016] If a violation is detected, the collected sensor data for the relevant time frame can be cryptographically signed and stored. The sensor data can, for example, contain video recordings or images that allow the identification of road users via a license plate. Furthermore, the driver can also be recorded in the sensor data. Optionally, facial recognition can be used to identify the driver.

[0017] The following traffic violations can, for example, be detected by an automated vehicle: - driving too close and thus causing coercion, - excessive speed, - illegal overtaking, - Braking of road users, - Obstruction to overtaking, - overtaking on the right, - Disregard of the right-hand driving rule,

[0018] If such a traffic violation is detected, the sensor data required as evidence is stored in a storage unit. The storage unit can be located inside or outside the vehicle. This allows for automated evidence preservation, which can reduce bureaucratic effort.

[0019] The method according to the invention enables comprehensive and cost-effective traffic checks to be carried out, which can replace or at least reduce the costly official controls that have been carried out previously. By increasing the number of checks, the collection of evidence for such offenses can be optimized and a deterrent effect can be achieved. The number of traffic offenses and accidents can thus be reduced, and road safety can be increased.

[0020] According to one embodiment of the method, the sensor data is stored encrypted and / or cryptographically signed as evidence. Preferably, the vehicle software and the vehicle software, at least in the area of ​​the at least one responsible control unit, can be designed to be tamper-resistant or tamper-proof. This ensures and safeguards the integrity of the sensor data stored as evidence.

[0021] According to a further embodiment of the method, the sensor data in the time window of the detected illegal behavior are stored either internally in the vehicle in a control unit memory or externally in the memory of a server unit. This allows the relevant sensor data to be stored quickly and efficiently internally in the vehicle. Alternatively, the acquired sensor data, which serves as evidence of illegal behavior by a road user, can be transmitted via a communication connection to a server unit external to the vehicle and stored or further processed in the server unit. For example, the sensor data can be analyzed and evaluated externally in the vehicle.

[0022] According to a further embodiment of the method, the sensor data stored as evidence is transmitted to an external server unit via a communication link for preparing or creating a report to a supervisory authority. The method according to the invention can provide a driver with an option that simplifies the process of filing a report. This can be implemented, in particular, by automatically recording evidence in the event of unlawful driving by other road users and by automatically reporting the unlawful behavior to the authorities.

[0023] The detection of an illegal incident can be communicated to the driver via a so-called human-machine interface. At the push of a button, the driver can initiate a report to the authorities. For this purpose, the sensor data relevant to the incident is transmitted via the communication connection, which can be a cellular connection, to backend software or the external server unit, which can then generate a report from the transmitted data in accordance with official requirements.

[0024] According to a further embodiment of the method, to detect illegal behavior by at least one road user, distances between the road users and between the vehicle and the road users are determined and evaluated based on the speed of the respective road users. The vehicle can use the vehicle's internal sensors for this purpose. The vehicle sensors can be, for example, cameras, radar sensors, LIDAR sensors, ultrasonic sensors, GPS sensors, wheel sensors, and the like. The vehicle sensors continuously generate sensor data or measurement data. The sensor data can be, for example, in the form of point clouds and Doppler shifts, video recordings, traffic sign recognition, and position data.

[0025] According to the invention, perception algorithms can create an environment model from the sensor data, which distinguishes between the static environment and moving objects. Other vehicles, in particular, are detected as moving objects, and their movements are tracked using tracking algorithms. This involves calculating the positions, speeds, and directions of other road users. The environment model is created within the sensing range of the vehicle's sensors and can extend beyond the sensing limits of the vehicle sensors through predictions. Local information such as speed limits or overtaking bans is available as map data and / or is provided by the vehicle's traffic sign recognition system.

[0026] From the calculated speeds, a speed-dependent safety distance between road users can be defined. Measurement errors from the vehicle sensors and errors in the environment model can be taken into account through tolerance ranges. Based on a threshold comparison, it can be checked whether a sufficient safety distance is being maintained.

[0027] According to a further embodiment of the method, to detect illegal behavior by at least one road user, the speeds of the road users in the vicinity of the vehicle are compared with a permitted maximum speed. This allows the determined speeds of the road users to be compared with local speed limits. The speed limits can be used as a threshold value. The speed limits can be determined by reading signs and / or navigation maps.

[0028] According to a further embodiment of the method, to detect illegal behavior by at least one road user, the trajectories of the road users in the vicinity of the vehicle are detected and checked for local overtaking bans or illegal overtaking maneuvers. The method according to the invention can detect lanes and lane changes of road users and check them for violations of a local overtaking ban. The corresponding trajectories can be extracted from the environment model and saved as evidence.

[0029] In the following, preferred embodiments of the invention are explained in more detail using highly simplified schematic representations. Fig. 1 a schematic representation of a vehicle arrangement for carrying out and illustrating the method according to the invention and Fig. 2 a schematic flow diagram to illustrate the method according to the invention.

[0030] The Fig. Figure 1 shows a schematic representation of a vehicle arrangement 1. For the sake of simplicity, an automated vehicle 2 and two other road users 4, 6 are shown. The other road users 4, 6 are also vehicles located within a scanning area A of the vehicle 2.

[0031] The vehicle 2 has an in-vehicle sensor control unit 8, which is data-conductingly coupled to vehicle sensors 10. The sensor control unit 8 is used to read the vehicle sensors 10. The sensor data read by the sensor control unit 8 is transmitted to an in-vehicle control unit 12. Alternatively or additionally, the vehicle sensors 10 or some of the vehicle sensors 10 can be data-conductingly coupled directly to the control unit 12. The control unit 12 is designed to evaluate the sensor data determined by the vehicle sensors 10 and to create an environment model based on the sensor data. Furthermore, the control unit 12, together with the vehicle sensors 10, is configured to carry out the method according to the invention. For example, the control unit 12 can be a driver assistance control unit with an environment model and offense detection.

[0032] According to the exemplary embodiment, the vehicle sensors 10 are radar sensors, but can also be LIDAR sensors, ultrasonic sensors, camera sensors and the like.

[0033] The vehicle sensors 10 detect that a road user 4 is overtaking the ego vehicle 2. At the same time, the vehicle sensors 10 detect that the other road user 6 is maintaining too close a distance AB from the vehicle 2.

[0034] The control unit 12 can communicate this offense to a driver of the vehicle 2. This can preferably be done via a human-machine interface 14.

[0035] In parallel with the notification via the human-machine interface 14, the relevant sensor data relating to the detected violation of road user 6 are signed by the control unit 12 and stored in an internal vehicle memory 16. Preferably, the internal vehicle memory 16 and the control unit 12 are designed to be tamper-proof.

[0036] The relevant and stored sensor data can be sent via a communication unit 18, either automatically or by request from the driver of the vehicle 2. The communication unit 18 can establish a communication connection 20 to an external server unit 22. The communication connection 20 can, for example, be a mobile radio connection according to a GSM, UMTS, LTE, or similar standard.

[0037] The server unit 22 can determine or check the offense of the road user 6 based on the transmitted sensor data and generate a notification 24 for forwarding to authorities.

[0038] In the Fig. 2 shows a schematic flow diagram for illustrating the method 26 according to the invention for determining illegal driving behavior of at least one road user 4, 6 in an environment A of the vehicle 2.

[0039] In a step 27, the environment A is detected by vehicle sensors 10. Based on the sensor data from the vehicle sensors 10, an environment model is created 28 by the control unit 12. Subsequently, illegal behavior by the at least one road user 6 is detected 29 from the environment model. The sensor data in a time window of the detected illegal behavior are stored 30 as evidence in a memory 16. Preferably, the sensor data can be stored in encrypted or protected form in the memory 16, so that legally secure evidence can be secured based on the stored sensor data.

Claims

[1] Method (26) for determining unlawful driving behaviour of at least one road user (4, 6) in an environment (A) of a vehicle (2), wherein - the environment (A) is detected by vehicle sensors (10) (27), - an environment model is created (28) based on the sensor data from the vehicle sensors (10), - the environment model detects unlawful behaviour by at least one road user (6) (29), - the sensor data are stored as evidence in a time window of the detected unlawful behavior (30), - where the environment model is created from the sensor data using perception algorithms, which shows a separation between static environment and moving objects. [2] Method according to claim 1, wherein the sensor data is stored encrypted and / or cryptographically signed as evidence. [3] Method according to claim 1 or 2, wherein the sensor data in the time window of the detected illegal behavior are stored internally in a memory (16) of the vehicle or externally in a memory of a server unit (22). [4] Method according to one of claims 1 to 3, wherein the sensor data stored as evidence are transmitted to the external server unit (22) via a communication link (20) for preparing or creating a notification (24) to a monitoring authority. [5] Method according to one of claims 1 to 4, wherein, in order to detect unlawful behavior of at least one road user (4, 6), distances (AB) between the road users (4, 6) and between the vehicle (2) and the road users (4, 6) are determined and evaluated based on the speed of the respective road users (4, 6). [6] Method according to one of claims 1 to 5, wherein, in order to detect unlawful behavior of at least one road user (4, 6), the speeds of the road users (4, 6) in the surroundings (A) of the vehicle (2) are compared with a permissible maximum speed. [7] Method according to one of claims 1 to 6, wherein, in order to detect an unlawful behavior of at least one road user (4, 6), the trajectories of the road users (4, 6) in the surroundings (A) of the vehicle (2) are detected and checked with regard to local overtaking bans or unlawful overtaking maneuvers. [8] Control unit (12) adapted to carry out all steps of the method (26) according to any one of the preceding claims. [9] Computer program comprising instructions which, when the computer program is executed by a computer or a control unit (12), cause the computer or a control unit (12) to carry out a method (26) according to one of claims 1 to 7. [10] A machine-readable storage medium on which the computer program according to claim 9 is stored.

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