DRIVING ASSISTANCE SYSTEM

Abstract

Driver assistance system for a vehicle, comprehensive: an image capture device (2) to capture an image of an external view area of ​​the vehicle (1) facing forward; an object recognition processing device (64) to identify a candidate for a traffic sign in the image; and a processing output processing unit (65) to process the identified candidate for the traffic sign, characterized by the fact that the driver assistance system includes a management device (5) for geographic information to store static geographic information which contains location-related information linked to respective road links, each link being an area connecting nodes which are the junctions or intersections of the road to or with other roads; and the processing output processing unit (65) in a case in which the object recognition processing unit (64) detects a candidate for a no-entry traffic sign in the image and receives one-way traffic information associated with another, preceding connection of a current connection on a route from the stored static geographical information, forwards the detected candidate for the no-entry traffic sign to a warning process.

Description

[Technical field]

[0001] The present invention relates to a driver assistance system. [Previous state of the art]

[0002] JP 2017 - 102 665 A discloses a driver assistance system in which, provided that no-entry traffic signs are located on one side of a road, a display / warning device is prevented from providing a message regarding the presence of a no-entry traffic sign. [State of the art]

[0003] JP 2016 - 224 714 A discloses an entry detection device for a vehicle, comprising a position detection unit, a sign detection unit, and an entry determination unit. Based on the vehicle's position and map data containing information about whether a given road segment is a no-entry zone, the position detection unit detects the presence of a no-entry road in front of the vehicle. Based on an image captured by an image sensor mounted on the vehicle, the sign detection unit detects whether a pair of no-entry signs is present on both sides of the vehicle's lane and determines whether the vehicle has passed between the no-entry signs.The entry detection unit ultimately determines that the vehicle has entered a no-entry street when the position detection unit detects the presence of the no-entry street and the sign detection unit determines that the vehicle has driven between the no-entry signs.

[0004] JP 2013 - 198 065 A discloses a sound presentation device comprising an interior sound detection device that detects interior sound in a passenger compartment of a vehicle, an ambient presentation sound generator that produces ambient presentation sound, and an ambient presentation sound output device that outputs the ambient presentation sound. The ambient presentation sound meets the condition that a sound pressure level of the ambient presentation sound is higher in a predetermined frequency band and lower or equal to that of the interior sound in another frequency band, and the ambient presentation sound is provided by means of stereophony in which a sound visual localization direction is directed approximately towards a virtual sound source. [Brief description of the invention][Technical problem]

[0005] The familiar driver assistance system, however, controls an image recognition process for each of the candidate "no entry" traffic signs found in a stream of images captured by a forward-facing camera. Sometimes it is difficult to find candidates in every image, and it is difficult to eliminate false detections, thus complicating the elimination of false alerts that warn the driver of an approaching "no entry" traffic sign.

[0006] One object of the present invention is to provide a driver assistance system that is able to provide a message in a suitable manner, irrespective of the incorrect detection of a candidate for a no-entry traffic sign. [Solution to the problem]

[0007] According to the present embodiment, a driver assistance system for a vehicle is provided, comprising: an image acquisition device for capturing an image of the vehicle's external forward field of view; an object recognition processing device for recognizing a candidate traffic sign in the image; and a processing output processing device for processing the recognized candidate traffic sign, wherein the driver assistance system includes a geographic information management device for storing static geographic information containing location-related information associated with respective road links, each link being an area connecting junctions which are interchanges or intersections of the road with or to other roads;and wherein, in a case where the object recognition processing unit detects a candidate for a no-entry traffic sign in the image and receives one-way street information associated with another, preceding connection of a current connection on a route from the stored static geographic information, the processing output unit forwards the detected candidate for the no-entry traffic sign to a warning process. [Advantageous effect of the invention]

[0008] The present embodiment enables the driver assistance system to provide a message in a suitable manner, irrespective of the incorrect detection of a candidate for a no-entry traffic sign. [Brief description of the drawings] Fig. Figure 1 is a block diagram to illustrate a driver assistance system according to the invention; Fig. Figure 2 is a schematic diagram to illustrate an example of an advertisement; Fig. 3 illustrates a set of given traffic signs; Fig. 4 is a flowchart of a procedure for notifications to a driver of a vehicle, which is part of a warning process for use in the Fig. The system described in section 1 is; Fig. 5 is a flowchart of another procedure for notifications to the driver, which is part of the warning process; Fig. Figure 6 is a schematic diagram of the image of an external field of view, which includes an object that can be interpreted as a no-entry traffic sign and a speed limit traffic sign, which differ from the specified traffic signs of the Fig. 3 illustrated sentences differ; Fig. Figure 7 is a schematic diagram of three parallel roads to illustrate an example of the application of the discrimination process implemented in the driver assistance system; Fig. Figure 8 is a schematic diagram of two parallel roads to illustrate another example of the application of the discrimination process. [Detailed description]

[0009] A driver assistance system for a vehicle is disclosed, comprising: an image capture device for capturing an image of the vehicle's external forward view; an object recognition processing device for recognizing a candidate traffic sign in the image; and a processing output processing device for processing the recognized candidate traffic sign, wherein the driver assistance system includes a geographic information management device for storing static geographic information containing location-related information associated with respective road connections, each connection being an area connecting junctions which are interchanges or intersections of the road with or to other roads;and wherein, in a case where the object recognition process detects a candidate for a no-entry traffic sign in the image and receives one-way street information associated with another, preceding connection of a current connection on a route from the stored static geographic information, the processing output processing unit forwards the detected candidate for the no-entry traffic sign to a warning process.

[0010] As described, the present embodiment can provide a message in a suitable manner regardless of the incorrect identification of a candidate for a no-entry traffic sign. [Version(s)]

[0011] With reference to the accompanying drawings, various embodiments of a driver assistance system according to the present invention are described. As shown in Fig. As set forth in Figure 1, a road vehicle incorporating an embodiment of a driver assistance system according to the present invention is designated by reference numeral 1. The vehicle 1 includes an image acquisition device 2, a display / warning device (display / warning devices) 3, a communication device (communication devices) 4, a management device 5 for geographic information, and a control unit 6.

[0012] The image capture device 2, which may be a camera, for example, is generally forward-facing and oriented to capture images of approaching traffic signs within a suitable range. An image stream captured by the image capture device 2 is provided to the control unit 6.

[0013] The display / warning device 3, which may include, for example, a monitor, a loudspeaker, a lamp, a measuring instrument and an acoustic display, provides a driver or a vehicle occupant of the vehicle 1 with various partial information visually and / or audibly.

[0014] The communication device 4 communicates with external servers and with street-side communication devices to exchange information with them.

[0015] The Geographic Information Management Unit 5 is a computer unit that includes a central processing unit (CPU), random access memory (RAM), read-only memory (ROM), flash memory, hard disk drive (HDD), input ports, and output ports.

[0016] Along with various types of parameters and different types of characteristic maps, the ROM of the Geographic Information Management Unit 5 contains programs configured to allow the computer unit to perform functions as required by the Geographic Information Management Unit 5. In other words, the computer unit acts as the Geographic Information Management Unit 5 by enabling the CPU to execute the stored programs to perform the required functions.

[0017] The input terminals of the geographic information management unit 5 are connected to a receiver 53 for a global navigation satellite system (GNSS) and various sensors, including an accelerometer (not shown).

[0018] The GNSS receiver 53 can receive radio waves from GNSS satellites via a GNSS antenna (not shown) to determine its location (longitude, latitude, and altitude / height above sea level). The accelerometer is positioned to detect the acceleration of the vehicle 1.

[0019] The geographic information management unit 5 and the control unit 6 are interconnected to exchange signals, including control signals, via a local area network (LAN).

[0020] The administrative unit 5 for geographic information serves as a storage unit 51 for static information. The storage unit 51 for static information can manage static geographic information, which is stored, for example, on a hard drive and contains information relating to traffic signs, traffic signal systems, lanes, and the like concerning respective road connections.

[0021] Each of the road connections is an area that connects junctions, which are points of connection or intersection of the road to or with other roads.

[0022] The Geographic Information Management Unit 5 serves as a Dynamic Information Collection Unit 52. Dynamic Information Collection Unit 52 can collect dynamic information from the servers and / or roadside communication devices via Communication Device 4. The dynamic information collected includes traffic information, traffic control information, road construction information, traffic disruption information, accident-related information, intelligent transportation systems (ITS) information, weather information, and the like.

[0023] The administrative unit 5 for geographical information can determine a current location of the vehicle 1 based on outputs from the aforementioned GNSS receiver 53 and the accelerometer.

[0024] The Geographic Information Administration Unit 5 determines a road connection on which the current location is situated, based on the current location. Using this determined connection, the Geographic Information Administration Unit 5 retrieves stored static geographic information to obtain geographic information associated with that connection, such as information relating to traffic signs, traffic signals, road classifications, road features, and the like.

[0025] The Geographic Information Administration Unit 5 receives traffic information around the current location, such as traffic disruption information and information relating to accidents, as well as weather information around the current location from the Dynamic Information Collection Unit 52.

[0026] The Geographic Information Management Unit 5 can transmit the acquired geographic information, traffic information, weather information, and similar data to the Control Unit 6. When Vehicle 1 turns onto a new road, the Geographic Information Management Unit 5 acquires new geographic information associated with that new road. Upon acquiring new information from the servers and / or roadside communication devices, the Geographic Information Management Unit 9 acquires the latest traffic information and weather information for the current location. This newly acquired geographic information, traffic information, and weather information is then transmitted to the Control Unit 6.

[0027] The control unit 6 is a computer unit that includes a CPU, RAM, ROM, flash memory, input ports and output ports.

[0028] Along with various types of parameters and different types of characteristic maps, the ROM of control unit 6 contains programs configured to allow the computer unit to perform functions as required by control unit 6. In other words, the computer unit acts as control unit 6 by enabling the CPU to execute the stored programs to perform the required functions.

[0029] The input terminals of control unit 6 are connected to various sensors and the like, which include the image acquisition device(s) 2. The output terminals of control unit 6 are connected to various systems or devices to be controlled, which include the display / warning device 3.

[0030] The control unit 6 serves as a receiver 61 for an image stream, capable of reading image data acquired by the image acquisition device 2. The control unit also serves as a preprocessing unit 62 for images, preprocessing them to facilitate the identification of candidates for objects of interest.

[0031] The control unit 6 serves as a defining device 63 for objects of interest, which can define an object (objects) of interest in order to carry out a predefined recognition process with respect to each of the candidates found in the preprocessed image data.

[0032] The control unit 6 serves as an object recognition device 64, which can perform the specified recognition process with respect to each of the candidates for various objects found in the preprocessed image data. In this example, the various objects can be selected from one or more of approaching traffic signs, symbols, notice boards, people, road vehicles, traffic signals for vehicles, traffic signals for pedestrians, toll booths, lanes on a road, and the like.

[0033] The control unit 6 serves as a processing / output device 65 that can perform a warning process to cause the display / warning device 3 to provide a message regarding the detected candidate for an approaching traffic sign, which, for example, requires the immediate attention of the driver of the vehicle and immediate compliance by him.

[0034] The control unit 6 serves as a traffic restriction and hazard determination device 66, which can, for example, determine a road restriction (road restrictions) on the current connection.

[0035] The control unit 6 can cause the display / warning device 3 to provide a message regarding the road restriction on an upcoming connection of the current connection.

[0036] The display / warning device(s) 3 provides (provide) a message relating to the detected candidate for a traffic sign, and it may include a display of the image of the traffic sign, as shown in Fig. 2 shown.

[0037] Referring to Fig. Section 2 comprises two sections, A and B. Section A displays the image of one traffic sign, and section B displays the image of the other traffic sign. For example, section A displays one selected image of three traffic signs: a stop sign, a speed limit sign, and an end-of-restriction sign, shown near the end of the arrow, the tip of which points to section A. Section B displays one selected image of three traffic signs: a no-entry sign, a no-overtaking sign, and an end-of-restriction sign, shown near the end of the arrow, the tip of which points to section B.

[0038] In a case where the display / warning device 3 provides a message regarding the presence of a traffic sign, the control unit 6 stops the message when a predefined message termination condition is met.

[0039] The specified message end condition is met when vehicle 1 changes its course or turns into a new route.

[0040] In a case where a candidate for a no-entry traffic sign is detected in an image, and one-way traffic information linked to another, preceding road connection of a current road connection is received from the static geographic information stored in the geographic information management unit 5, the control unit 6 forwards the detected no-entry traffic sign candidate to a warning process. This process can cause the display / warning device 3 to provide a message regarding the detected no-entry traffic sign candidate, for example, by displaying the image of a no-entry traffic sign. In a case where the vehicle 1 is traveling towards a road intersection, there are three different connections that begin at the road intersection as a junction.If the stored static geographic information contains one-way traffic information linked to at least one of the three connections mentioned above, the control unit 6 forwards a candidate for a no-entry traffic sign to the warning process in the same way as mentioned above, if it is detected.

[0041] The warning process may include a message regarding the detected candidate for a No Entry traffic sign if the other connection to which the one-way traffic information found in the stored static geographic information is linked is adjacent to the current connection by causing the display / warning device 3, for example, to provide a display of the image of a No Entry traffic sign.

[0042] The warning process can include an initial notification upon detection of a candidate for a No Entry traffic sign, by causing the display / warning device 3, for example, to provide a display of the image of a No Entry traffic sign.

[0043] If it is determined that the current road area through which vehicle 1 is traveling is a no-entry area, the warning process, in a case where it is determined that vehicle 1 has passed the detected candidate for the no-entry traffic sign after the one-way traffic information associated with at least one of the preceding links of the current road link has been received from the static geographic information stored in the administrative facility 5 for geographic information, includes a second message that differs from the first message.

[0044] It should be noted that the first message is in the form of a light switching on, and the second message is in the form of a flashing light. Both the first and second messages can be displayed as warnings or as audible warnings linked to the detected traffic sign. The first message indicates the presence of a "No Entry" traffic sign, and the second message indicates that vehicle 1 is traveling the wrong way down a one-way street.

[0045] If a message regarding the detected candidate for a no-entry traffic sign or a one-way street traffic sign continues, the control unit 6 stops the message regarding the detected candidate for the no-entry traffic sign or the one-way street traffic sign if a candidate for a traffic sign is detected that differs from a predefined set of traffic signs. The predefined traffic signs of the set, which are in Fig. 3. As illustrated, prohibit the passage of vehicle 1. The set of specified traffic signs may include a one-way street traffic sign as well as a pedestrian traffic sign.

[0046] If a message regarding the detected candidate for a no-entry traffic sign or a one-way street traffic sign is continued, the control unit 6 can modify the message regarding the detected candidate for a no-entry traffic sign or a one-way street traffic sign if a candidate for a traffic sign is detected that differs from the set of predefined traffic signs (see Fig. 3) differs. Modifying the message includes, for example, switching on a lamp instead of flashing it, brightening the color of a display, and reducing the size of a display.

[0047] The message relating to a no-entry traffic sign includes a display of the image of the no-entry traffic sign, the aforementioned first message, and the aforementioned second message.

[0048] If a message is continued regarding the detected candidate for a No Entry traffic sign, the control unit will initiate 6 messages regarding all of the detected candidates for the majority of traffic signs that include the No Entry traffic sign if no candidate for a traffic sign is detected that differs from the set of predefined traffic signs (see Fig. 3) differs, and the aforementioned specified message termination condition is met.

[0049] If a message regarding the detected candidate for a no-entry traffic sign is continued, the control unit 6 only stops or modifies the message regarding the detected candidate for the no-entry traffic sign if a candidate for a traffic sign is detected that differs from the set of predefined traffic signs (see Fig. 3) differs.

[0050] Referring to Fig. Section 4 further describes the procedure for notifications to a vehicle driver in response to a candidate for a no-entry traffic sign, which is detected in an image of the vehicle's forward field of view. The execution of the procedure begins when the control unit 6 is started and is repeated at preset intervals.

[0051] Step S1 determines whether a candidate for a no-entry traffic sign is detected in the current image. If a candidate for the no-entry traffic sign is detected, decision step S1 branches to step S2. If no candidate for the no-entry traffic sign is detected, the procedure returns to decision step S1 until a candidate for the no-entry traffic sign is detected.

[0052] The identified candidate for the no-entry traffic sign is forwarded to the first stage of a warning process (step S2). In process step S2, the display / warning device 3 provides an initial message to warn the driver of vehicle 1 with an initial display, for example, with a display of an image of a no-entry traffic sign.

[0053] If the first message is continued, the geographic information stored in storage unit 51 for static information (of management unit 5 for geographic information) is retrieved to determine whether or not one-way traffic information is assigned to an approaching road connection(s), or whether or not one-way traffic information is linked to it. If no one-way traffic information linked to an approaching road connection is found, then decision step S3 branches to an endpoint of the program. If one-way traffic information linked to an approaching road connection is found, decision step S3 branches to step S4.

[0054] The detected candidate for the no-entry traffic sign is monitored in a frame stream to determine whether vehicle 1 has passed the detected candidate for the no-entry traffic sign (step S4). If vehicle 1 has passed the detected candidate for the no-entry traffic sign, decision step S4 branches to step S5. If vehicle 1 has not yet passed the detected candidate for the no-entry traffic sign, the procedure returns to decision step S4 until vehicle 1 passes the detected candidate for the no-entry traffic sign. In decision step S4, it is determined whether vehicle 1 has passed the detected candidate for the no-entry traffic sign or not.

[0055] The warning process enters a second stage (step S5). In process step S5, the display / warning device 3 provides a second message, different from the first message, to warn the vehicle driver with a second indication. For example, it warns that vehicle 1 is driving the wrong way down a one-way street.

[0056] If the one-way street traffic information associated with an approaching road connection is not found, then the decision step S3 branches off to a (not shown) process step in order to set the first message before advancing to an endpoint of the program.

[0057] Referring to Fig. Section 5 further describes the procedure for notifications to a driver of a vehicle in response to candidates for various types of traffic signs, including a no-entry traffic sign, detected in an image of the vehicle's forward field of view. To eliminate or mitigate an inaccurate notification to the driver of the vehicle caused by the incorrect detection of a no-entry traffic sign, the execution of the procedure is described as follows: Fig. 5 started when the operation of the control unit 6 is started, and is repeated at preset intervals.

[0058] In the image of the vehicle's forward field of view, candidates for various types of traffic signs are detected. This detection result is provided to the display / warning device(s) 3. The display / warning device 3 then provides various messages regarding the detected candidates for different traffic signs in the image. If a message regarding the detected candidate for the No Entry traffic sign continues to warn the driver that a No Entry traffic sign is present, a decision step S11 branches to step S12. If the message regarding the detected candidate for a No Entry traffic sign does not continue, the procedure returns to decision step S12 until the message regarding the detected candidate for the No Entry traffic sign appears and continues.

[0059] In decision step S12, it is determined whether a traffic sign candidate is recognized or not, which differs from a set of predefined traffic sign candidates (see Fig. 3) differs. If the traffic sign candidate is identified that differs from the set of predefined traffic sign candidates, decision step S12 branches to step S13. In procedural step S13, only the message relating to the identified candidate for the no-entry traffic sign is submitted before the procedure is terminated.

[0060] If no candidate traffic sign is identified that differs from the set of predefined traffic signs, decision step S12 branches to decision step S14. If a predefined message termination condition is not met, decision step S14 branches back to step S12.

[0061] If the specified reporting condition is met, decision step S14 branches into a procedural step S15. In procedural step S15, all reports relating to the identified candidates for traffic signs are stopped before the procedure is terminated.

[0062] The following functionalities are executed, with the following examples shown for illustration: Fig. 6. An object C is located on the left (in the case of left-hand traffic; the opposite applies for right-hand traffic), and a speed limit traffic sign D is located at a greater distance than object C. The image recognition procedure can interpret a candidate for object C as a candidate for a no-entry traffic sign. This recognized no-entry traffic sign candidate is then treated according to the rule described above, in conjunction with the flowcharts of Fig. 4 and Fig. As mentioned in point 5, it was transmitted to the driver. According to Fig. In step 4, decision step S3 branches off towards the endpoint, so that the driver only receives the first message, since no one-way street traffic information linked to an approaching road connection is received from the geographical information stored in memory unit 51 for static information. In other words, in the event of a false detection, no second message is provided, thus preventing the driver from being warned that vehicle 1 is traveling the wrong way down a one-way street.

[0063] Subsequently, after the initial false detection, the image recognition method correctly identifies the speed limit traffic sign D. According to Fig. In step 5, decision step S12 branches into step S13, since the speed limit traffic sign D is not part of the set of predefined traffic signs that are in Fig. Figure 3 is shown. In process step S13, the message (the first message) is set in relation to the identified candidate for the no-entry traffic sign.

[0064] As described, the various discrimination processes are employed and performed for each candidate. The driver assistance system can use the following discrimination process to determine whether all candidates for the No Entry traffic sign are detectable in a current image captured by the image acquisition device 2, or whether they should be discarded. According to this discrimination process, a lateral distance to each candidate for the No Entry traffic sign is calculated to provide an average value. An average value that exceeds a given threshold results in the elimination of all candidates associated with it. An average value that is equal to or less than the given threshold results in the detection of all candidates associated with it.These identified candidates are provided to the warning process, which causes the display / warning device 3 to provide the first message warning the driver to comply with the traffic rule indicated by the No Entry traffic sign.

[0065] When one-way traffic information associated with an approaching road connection is received, the warning procedure causes the display / warning device 3 to provide the second message, warning the driver that the vehicle 1 is traveling in the wrong direction through a one-way street, immediately after a determination that the vehicle 1 has passed the candidate for the nearest approaching no-entry traffic sign.

[0066] To illustrate, referring to Fig. 7. Three roads, L1, L2, and L3, run parallel. Two no-entry traffic signs, E and F, are located on road L2. All no-entry traffic signs E and F are located on the right-hand side of road L1 in the case of left-hand traffic. The mean value G associated with the no-entry traffic signs E and F exceeds the given threshold, so candidates for the no-entry traffic signs E and F are discarded and are not detected in a current image of the vehicle 1's forward field of view.

[0067] In the case of left-hand traffic on road L2, the no-entry traffic sign E is located on the left, and the no-entry traffic sign F is located on the right. The mean value associated with the no-entry traffic signs E and F is equal to or below the given threshold, so that candidates for the no-entry traffic signs E and F are detected in a current image of the field of view.

[0068] In the case of left-hand traffic on road L3, all of the no-entry traffic signs E and F are located on the left side. The mean value associated with the no-entry traffic signs E and F exceeds the given threshold, so candidates for the no-entry traffic signs E and F are discarded and not detected in a current image of the field of view.

[0069] To illustrate, referring to Fig. At point 7, two roads, L4 and L5, run parallel. There are two "No Entry" traffic signs, H and I, one (H) for road L4 and the other (I) for road L5. In the case of left-hand traffic on road L4, the "No Entry" signs H and I are located on the right-hand side. A value J of the mean value associated with the two "No Entry" traffic signs H and I is equal to or below the given threshold value, such that candidates for the "No Entry" traffic signs H and I are found and recognized in the current image.

[0070] The two no-entry traffic signs H and I are located on the left side of road L5 in the case of left-hand traffic. The mean value J associated with the two no-entry traffic signs H and I is equal to or below the given threshold value, so that candidates for the no-entry traffic signs H and I are found and recognized in the current image.

[0071] According to the discrimination process, it is possible that candidates for the no-entry traffic signs located on another or other adjacent road(s) may be discarded in the case of traffic on a current road or may not be recognized in the current image captured by the image capture device 2 of vehicle 1.

[0072] Provided that the image capture device 2 detects a candidate for a no-entry traffic sign in an image of an external field of view of the vehicle 1 looking forward, and that one-way traffic information, which is linked to another, preceding connection of a current connection on a route, is received from the stored static geographical information, the detected candidate for the no-entry traffic sign is forwarded in the driver assistance system to a warning process in order to cause the display / warning device 3 to provide a message regarding the presence of a no-entry traffic sign in an appropriate manner.This ensures that, even in the event of a false detection in the image of the external field of view, the display / warning device 3 can provide a message regarding the presence of a no-entry traffic sign in a suitable manner without any error.

[0073] In a case where a candidate for a no-entry traffic sign is detected in an image of an external view area captured by the image acquisition device 2, where one-way traffic information linked to another, preceding connection of a current road connection is received from the stored static geographic information, and where it is determined that the vehicle 1 has passed the detected candidate for the no-entry traffic sign, it is further determined that the current connection on which the vehicle 1 is traveling is a no-entry area. This ensures that the display / warning device 3 can provide a suitable message regarding the presence of a no-entry traffic sign even in the case of a false detection in the image of the external view area without any error.

[0074] Furthermore, the warning process provides an initial message when a candidate for a no-entry traffic sign is detected. Subsequently, if it is determined that vehicle 1 has passed the detected candidate for the no-entry traffic sign, and after receiving one-way traffic information associated with the next adjacent, preceding connection of the current connection, it provides a second message. In this way, the warning process appropriately provides a message regarding the no-entry traffic sign by increasing the reliability level of the second message to attract more attention in a case where vehicle 1 has passed the detected candidate for the no-entry traffic sign, while the first message regarding the presence of the detected candidate for the no-entry traffic sign continues.

[0075] If a message is continued regarding the detected candidate for a no-entry traffic sign or regarding driving in the wrong direction, the message will be stopped or modified if a candidate for a traffic sign is detected that differs from a set of predefined traffic signs (see Fig. 3) differs. Since the report is stopped or modified when a candidate for a traffic sign is detected that differs from a set of predefined traffic signs, an incorrect report derived from a false detection disappears or becomes harmless, as it does not share the presence of a no-entry traffic sign or driving in the wrong direction.

[0076] In a case where an incorrect message regarding driving in the wrong direction is provided, the detection of a candidate traffic sign that differs from the specified traffic signs allows the system to set or modify the incorrect message in order to block the message regarding driving in the wrong direction.

[0077] In the driver assistance system, where messages are set for all detected candidates for multiple traffic signs, including a no-entry sign, only the message relating to the detected candidate for the no-entry sign is set or modified when a candidate for a traffic sign is detected that differs from the predefined traffic signs, in order to determine that the vehicle is not traveling the wrong way through a one-way street, provided a predefined message termination condition is met. This system allows the driver of the vehicle to be provided with correct information by performing the appropriate process regarding messages containing an incorrect message.

[0078] If the predefined message end condition is met when the vehicle changes course, the driver assistance system can differentiate between traffic sign messages to be set and those to be set when a candidate traffic sign is detected that differs from the predefined traffic sign. This system can provide the driver with correct information by initiating the appropriate process for messages containing an incorrect message.

[0079] Although the foregoing disclosure focuses on an example of the present embodiment in which the control unit 6 performs various determinations and calculations based on information from different sensors, the present embodiment is not limited to this example. For example, the vehicle 1 may include a communication device capable of sending detection results from various sensors to an external unit, such as a server, which performs various determinations, and receiving the results of the determinations and calculations performed by the external unit. Based on the results of the determinations and calculations received by the communication device, various types of control can be performed in the present embodiment.

[0080] Although the disclosure relates to, but is not limited to, the present embodiment, it is apparent to a person skilled in the art that modifications can be made without departing from the scope of the present invention. All such modifications and equivalents thereof are said to be covered by the present invention. [Description of reference symbols] 1 vehicle; 2 Image capture device; 3 Display / warning device; 5 Administrative Unit for Geographic Information; 6 control unit; 64 Object recognition device; 65 processing / output unit(s); 66 Traffic restriction and hazard assessment device.

Claims

[1] Driver assistance system for a vehicle, comprising: an image capture device (2) to capture an image of an external view area of ​​the vehicle (1) facing forward; an object recognition processing device (64) to identify a candidate for a traffic sign in the image; and a processing output processing unit (65) to process the identified candidate for the traffic sign, characterized by , that the driver assistance system includes a management device (5) for geographic information to store static geographic information which contains location-related information linked to respective road links, each link being an area connecting nodes which are the junctions or intersections of the road to or with other roads; and the processing output processing unit (65) in a case in which the object recognition processing unit (64) detects a candidate for a no-entry traffic sign in the image and receives one-way traffic information associated with another, preceding connection of a current connection on a route from the stored static geographical information, forwards the detected candidate for the no-entry traffic sign to a warning process. [2] Driver assistance system according to claim 1, wherein the warning process includes a message regarding the detected candidate for a no-entry traffic sign when the other connection is adjacent to the current connection. [3] Driver assistance system according to claim 1 or 2, wherein the warning process includes: an initial message regarding the detected candidate for the No Entry traffic sign, which is provided when the candidate for the No Entry traffic sign is detected by the object recognition processing unit (64), and a second message, different from the first message, is provided when it is determined that the vehicle (1) has passed the detected candidate for the No Entry traffic sign after receiving one-way traffic information associated with at least one preceding connection of the current connection on the route from the stored static geographical information. [4] Driver assistance system for a vehicle, comprising: an image capture device (2) to capture an image of an external view area of ​​the vehicle (1) facing forward; an object recognition processing device (64) to identify a candidate for a traffic sign in the image; and a traffic restriction and hazard assessment processing device (66) to determine traffic restrictions and hazards associated with a route, where the driver assistance system includes a management device (5) for geographic information to store static geographic information which contains location-related information linked to respective road links, each link being an area connecting nodes which are the junctions or intersections of the road to or with other roads; and the traffic restriction and hazard determination processing unit (66) in a case in which the object recognition processing unit (64) detects a candidate for a no-entry traffic sign, receives one-way traffic information associated with another, preceding road connection of a current connection on the route, from the stored static geographical information and determines that the vehicle (1) has passed the detected candidate for the no-entry traffic sign, determines that the current connection on which the vehicle (1) is traveling is a no-entry area.

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