Driver assistance system and driver assistance procedures for a vehicle

Abstract

The present disclosure relates to a driver assistance system (100) for a vehicle (10), comprising an environmental sensor (110) configured to acquire environmental data specifying a vehicle environment (FU); an analysis module (120) configured to determine, based on the environmental data, at least one first color characteristic of a foreign vehicle (20) in the vehicle environment (FU) and at least one second color characteristic of a background (HG) of the foreign vehicle (20) in the vehicle environment (FU); and a control module (130) configured to control at least one vehicle function (12) based on the at least one first color characteristic and the at least one second color characteristic.

Description

[0001] The present disclosure relates to a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. In particular, the present disclosure relates to color matching of objects in a vehicle environment for targeted driver attention. State of the art

[0002] Modern vehicles increasingly use driver assistance systems that warn the driver of potentially dangerous situations. Examples of such situations include insufficient driver attention and following too closely to a vehicle in front. However, such driver assistance systems aim to objectively monitor driver behavior. For example, driver behavior can be monitored with a camera to detect insufficient attention. Similarly, a distance sensor can be used to detect insufficient distance to the vehicle in front.

[0003] However, potentially dangerous situations can also arise due to the human ability to perceive a vehicle's surroundings, which cannot be clearly identified by observing objective driver behavior. In particular, it may happen that the driver is unable to immediately recognize certain situations due to their limited ability to perceive, leading to potentially dangerous situations. Particularly in large cities, the driver is confronted with a complex vehicle environment, so that, for example, relevant other road users may not be immediately recognized due to their limited ability to perceive. Disclosure of the invention

[0004] It is an object of the present disclosure to provide a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method, which can warn a driver of potentially dangerous situations, particularly when the potentially dangerous situations cannot be immediately recognized by the driver due to human perception. Furthermore, it is an object of the present disclosure to increase road safety.

[0005] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0006] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises an environmental sensor system configured to acquire environmental data indicating a vehicle environment; an analysis module configured to determine, based on the environmental data, at least one first color characteristic of a foreign vehicle in the vehicle environment and at least one second color characteristic of a background of the foreign vehicle in the vehicle environment; and a control module configured to control at least one vehicle function based on the at least one first color characteristic and the at least one second color characteristic.

[0007] The analysis module and the control module can be implemented in a common software and / or hardware module. Alternatively, the analysis module and the control module can each be implemented in separate software and / or hardware modules.

[0008] According to the invention, a color characteristic of the other vehicle and a color characteristic of the background against which the other vehicle is located from the driver's perspective are compared. The comparison of the color characteristics enables an assessment of whether the driver perceives or can perceive the other vehicle. If the other vehicle and its background have the same or at least similar color characteristics, it can be assumed that the driver does not perceive the other vehicle due to limited human perception. Appropriate measures can then be taken, such as issuing a driver message alerting the driver to the other vehicle. As a result, potentially dangerous situations can be avoided and road safety can be increased.

[0009] The at least one first color characteristic and the at least one first color characteristic indicate a color, in particular in the visible wavelength range. For example, if a dark green vehicle is located in front of a dark green house wall, the driver may not be able to see the vehicle due to the lack of color difference. Suitable measures can then be taken, such as issuing a driver warning alerting the driver to the vehicle. However, if the dark green vehicle is located in front of a white house wall, the driver can see the vehicle due to the color difference. No measures can then be taken.

[0010] Preferably, the at least one first color characteristic and the at least one second color characteristic relate to or are spectral colors. A spectral color is the color impression of human color perception, which is generated by narrowband light of a specific wavelength. This allows the driver assistance system to be specifically designed for human color vision, so that it can be reliably determined whether the driver can perceive the other vehicle or not.

[0011] The environmental sensor system preferably comprises at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system. The environmental sensor system can provide the environmental data (also referred to as "surrounding data") that maps an area surrounding the vehicle.

[0012] The ambient data from the ambient sensor system is used to determine the at least one first color characteristic and the at least one second color characteristic. Image data from the at least one camera is particularly suitable for this purpose.

[0013] Preferably, the environmental data from the environmental sensors is also used to distinguish between the other vehicle and the background, or to detect the other vehicle and the background. A classification algorithm can be used for this purpose, for example.

[0014] The term "classification," as used in the present disclosure, refers to the assignment of observations ("data points") into predefined categories ("classes") by a classifier. The label of a data point contains information about the class to which the classifier has assigned the data point. The assignment of the data points by the classifier is limited to a set of discrete classes.

[0015] Preferably, classification is performed using semantic segmentation. The term "semantic segmentation" generally refers to the classification of image segments or pixels of an input image into a (fixed) number of classes. In particular, semantic segmentation assigns a semantic meaning to each pixel of an image, for example, to distinguish between cars, pedestrians, bicycles, roads, curbs, buildings, poles, signs, etc. Semantic segmentation can assign a meaning to each individual pixel of the input image, both for uncountable "stuff" classes (e.g., roads) and for countable "thing" classes (e.g., vehicles or people).

[0016] Preferably, the control module is configured to control the at least one vehicle function based on a difference between the at least one first color characteristic and the at least one second color characteristic. This allows a targeted response to a color difference between the other vehicle and its background in order to provide the driver with the best possible driver assistance.

[0017] Preferably, the control module is configured to activate the at least one vehicle function when the difference between the at least one first color characteristic and the at least one second color characteristic is equal to or less than a threshold. In particular, if the color difference is small, an active response can be initiated to avoid potentially dangerous situations that arise because the driver overlooks the other vehicle due to the similar colors.

[0018] Preferably, the control module is configured not to activate the at least one vehicle function if the difference between the at least one first color characteristic and the at least one second color characteristic is (equal to or) greater than the threshold. In particular, if the color difference is large, no active reaction of the vehicle can occur, since it can be assumed that the driver can see the other vehicle due to the large color difference.

[0019] Preferably, the driver assistance system further comprises a driver monitoring module configured to determine a viewing direction of the driver.

[0020] Preferably, the control module is configured to further control the at least one vehicle function based on the driver's line of sight. For example, the line of sight can be both toward the other vehicle and toward the background, so that it can be assumed that the other vehicle is located against this background for the driver when viewed from this direction. In other words, the driver's perspective can be taken into account to determine whether or not the other vehicle is located against a specific background for the driver.

[0021] Preferably, the driver monitoring module comprises at least one sensor configured to detect the driver and provide detection data. The at least one sensor may be an optical sensor, such as a camera, in particular an interior camera. Optionally, the driver monitoring module may comprise at least one light source. In some embodiments, the light source may be an infrared light source, and the at least one sensor may be an infrared sensor, such as an infrared camera.

[0022] The driver monitoring module is configured to evaluate the detection data provided by the at least one sensor, such as image data. By evaluating the detection data, the driver's viewing direction can be determined.

[0023] Typically, the driver monitoring module can be configured to detect the direction of gaze using eye tracking. The term "eye tracking" specifically refers to the recording of eye movements, which are detected, for example, by a camera in the interior sensor system. This allows insights into where a person is looking.

[0024] Preferably, the background of the other vehicle in the vehicle's surroundings includes, or is, a structural element (e.g., a building, a building wall, etc.) and / or vegetation (e.g., a meadow). However, the present disclosure is not limited thereto, and the background can also be the sky, a body of water (e.g., the sea), or another other vehicle.

[0025] Preferably, the at least one vehicle function comprises or relates to at least one output device for providing visual and / or acoustic driver information. The control module can be configured to control the at least one output device to output at least one visual and / or acoustic driver information related to the other vehicle.

[0026] The at least one output device can comprise at least one display device and / or at least one loudspeaker. The at least one display device can comprise a display, in particular an LCD display, a plasma display or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device that is configured to display information directly in the driver's field of vision, in particular to project it onto a windshield. In some embodiments, the at least one display device can be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is permanently installed in the vehicle.

[0027] Preferably, the at least one vehicle function includes or relates to at least one driver assistance function. The at least one driver assistance function may include or be, for example, a lane change assistance function, but is not limited thereto.

[0028] In some embodiments, the control module can be configured to permit or prevent a lane change based on the at least one first color characteristic and the at least one second color characteristic. For example, if the color difference is slight, a lane change may not be permitted or the lane change may be prevented in order to prevent a potential collision with the other vehicle, which could occur because the driver failed to see the other vehicle due to the slight color difference. Preventing the lane change can be achieved, for example, by deactivating automated lane change assistance, a warning during a manual lane change, or counter-steering during a manual lane change.

[0029] According to a further independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0030] The term "vehicle" includes cars, trucks, vans, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0031] According to a further independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is specified. The driver assistance method comprises detecting, by an environmental sensor system, environmental data that indicate a vehicle environment; determining, by an analysis module, at least one first color characteristic of a foreign vehicle in the vehicle environment and at least one second color characteristic of a background of the foreign vehicle in the vehicle environment based on the environmental data; and controlling, by a control module, at least one vehicle function based on the at least one first color characteristic and the at least one second color characteristic.

[0032] The driver assistance procedure can implement the aspects of the driver assistance system described in this document.

[0033] According to a further independent aspect of the present disclosure, a software (SW) program is provided. The SW program can be configured to run on one or more processors and thereby execute the driver assistance method described in this document.

[0034] According to a further independent aspect of the present disclosure, a storage medium is provided. The storage medium may comprise a software program configured to be executed on one or more processors and thereby to execute the driver assistance method described in this document.

[0035] According to a further independent aspect of the present disclosure, software with program code is provided. The software is configured to implement the driver assistance method when the software runs on one or more software-controlled devices.

[0036] According to a further independent aspect of the present disclosure, a driver assistance system is provided. The driver assistance system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to carry out the driver assistance method described in this document.

[0037] A processor or processor module is a programmable computing unit, i.e. a machine or an electronic circuit that controls other elements according to given instructions and thereby drives an algorithm (process). Short description of the drawings

[0038] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show: Fig. 1 schematically shows a vehicle with a driver assistance system according to embodiments of the present disclosure, Fig. 2A schematically shows a foreign vehicle against a background with a large color difference according to embodiments of the present disclosure, Fig. 2B schematically shows a foreign vehicle against a background with a small color difference according to embodiments of the present disclosure, and Fig. 3 a flowchart of a driver assistance method according to embodiments of the present disclosure. Embodiments of the disclosure

[0039] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0040] Fig. 1 schematically shows a vehicle 10 with a driver assistance system 100 according to embodiments of the present disclosure. Fig. 2A schematically shows a foreign vehicle 20 in front of a background HG with a large color difference. Fig. 2B schematically shows a foreign vehicle 20 in front of a background HG with a small color difference.

[0041] Especially in big cities, the narrow streets are lined with large houses. Here, drivers can neither see the horizon nor the surrounding landscape. Instead, the changing colors of the house walls take up a large part of the field of vision. Now, especially after turning, it can happen that other vehicles with the same or a similar color to the surrounding houses are directly in the driver's field of vision (example: both dark green). These are more difficult and delayed to detect, which means that the other vehicle is only detected when the viewing angle of the other vehicle changes (and with it the background of a house changes color; example: white). This causes the driver to be startled or at least surprised by the sudden appearance of another vehicle.

[0042] The driver assistance system 100 according to the invention solves this problem by comparing the colors of other vehicles 20 with their background HG and taking appropriate measures if necessary.

[0043] For this purpose, the driver assistance system 100 comprises an environmental sensor system 110 configured to acquire environmental data indicating a vehicle environment FU; an analysis module 120 configured to determine, based on the environmental data, at least one first color characteristic of a foreign vehicle 20 in the vehicle environment FU and at least one second color characteristic of a background HG of the foreign vehicle 20 in the vehicle environment FU; and a control module 130 configured to control at least one vehicle function 12 based on the at least one first color characteristic and the at least one second color characteristic.

[0044] The ambient data from the ambient sensor system 110 is used to determine the at least one first color characteristic and the at least one second color characteristic. Image data from the at least one camera is particularly suitable for this purpose. The ambient data from the ambient sensor system 110 can also be used to distinguish between the other vehicle 20 and the background HG or to recognize the other vehicle 20 and the background HG. For this purpose, a classification algorithm can be used, for example.

[0045] In some embodiments, the environmental sensor system 110 may include at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system.

[0046] The at least one first color characteristic and the at least one first color characteristic indicate a color, in particular in the visible wavelength range. For example, if a dark green vehicle is located in front of a dark green house wall, the driver may not be able to see the vehicle due to the lack of color difference (schematically shown in Fig. 2B). Appropriate measures can then be taken, such as issuing a driver warning to alert the driver to the other vehicle. However, if the dark green other vehicle is in front of a white house wall, the driver can see the other vehicle due to the color difference (schematically shown in Fig. 2A). No action can be taken in response.

[0047] The at least one first color characteristic and the at least one second color characteristic can relate to or be spectral colors. A spectral color is the color impression of human color perception, which is generated by narrowband light of a specific wavelength. Thus, the driver assistance system 100 can be specifically designed for human color vision, so that it can be reliably determined whether or not the driver can perceive the other vehicle 20 against the background HG.

[0048] The background HG of the foreign vehicle 20 can be, for example, a structural element (e.g. a building, a building wall, etc.), vegetation (e.g. a meadow), the sky, a body of water (e.g. the sea) or another foreign vehicle.

[0049] The control module 130 can be configured to control the at least one vehicle function 12 based on a difference between the at least one first color characteristic and the at least one second color characteristic. This allows a targeted response to a color difference between the other vehicle 20 and its background HG in order to provide the driver with the best possible driver assistance.

[0050] For example, the control module 130 can be configured to activate the at least one vehicle function 12 if the difference between the at least one first color characteristic and the at least one second color characteristic is equal to or less than a threshold. In particular, if the color difference is small, an active response can be made to avoid potentially dangerous situations that arise because the driver overlooks the other vehicle 20 due to the similar colors. In addition, the control module 130 can be configured not to activate the at least one vehicle function 12 if the difference between the at least one first color characteristic and the at least one second color characteristic is (equal to or) greater than the threshold.In particular, if there is a large color difference, no active reaction of the vehicle 10 can take place, since it can be assumed that the driver can see the other vehicle 20 due to the large color difference.

[0051] In some embodiments, the control module 130 is configured to further control the at least one vehicle function 12 based on a viewing direction of the driver of the vehicle 10. For example, the viewing direction may be both toward the other vehicle 20 and toward the background HG, so that it can be assumed that the other vehicle 20 is located directly in front of this background HG for the driver in this viewing direction. In other words, the driver's perspective may be taken into account to determine whether or not the other vehicle 20 is located in front of a specific background for the driver.

[0052] The driver's gaze direction can be determined, for example, using eye tracking. The term "eye tracking" specifically refers to the recording of eye movements, which are detected, for example, by a camera in the interior sensor system. This allows insights into where a person is looking.

[0053] In some embodiments, the at least one vehicle function may relate to or be at least one output device for providing visual and / or acoustic driver information. The control module 130 may be configured to control the at least one output device to output at least one visual and / or acoustic driver information related to the other vehicle 20. For example, an acoustic warning may be issued, the other vehicle 20 may be highlighted on a display, or a blind spot indicator may be activated (e.g., earlier).

[0054] Additionally or alternatively, the at least one vehicle function may relate to or include at least one driver assistance function. The at least one driver assistance function may, for example, include or be a lane change assistance function, but is not limited thereto.

[0055] In some embodiments, the control module 130 may be configured to permit or prevent a lane change based on the at least one first color characteristic and the at least one second color characteristic. For example, if the color difference is slight, a lane change may not be permitted or the lane change may be prevented in order to prevent a potential collision with the other vehicle 20, which could occur because the driver failed to see the other vehicle 20 due to the slight color difference. Preventing the lane change may occur, for example, by deactivating automated lane change assistance, a warning during a manual lane change, or counter-steering during a manual lane change.

[0056] Fig.Figure 3 schematically shows a flowchart of a driver assistance method 300 according to embodiments of the present disclosure. The driver assistance method 300 can be implemented by appropriate software executable by one or more processors (e.g., a CPU).

[0057] The driver assistance method 300 comprises, in block 310, detecting, by an environmental sensor system, environmental data that indicate a vehicle environment; in block 320, determining, by an analysis module, at least one first color characteristic of a foreign vehicle in the vehicle environment and at least one second color characteristic of a background of the foreign vehicle in the vehicle environment based on the environmental data; and, in block 330, controlling, by a control module, at least one vehicle function based on the at least one first color characteristic and the at least one second color characteristic.

[0058] According to the invention, a color characteristic of the other vehicle and a color characteristic of the background against which the other vehicle is located from the driver's perspective are compared. The comparison of the color characteristics enables an assessment of whether the driver perceives or can perceive the other vehicle. If the other vehicle and its background have the same or at least similar color characteristics, it can be assumed that the driver does not perceive the other vehicle due to limited human perception. Appropriate measures can then be taken, such as issuing a driver message alerting the driver to the other vehicle. As a result, potentially dangerous situations can be avoided and road safety can be increased.

[0059] Although the invention has been illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned by way of example are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

[1] Driver assistance system (100) for a vehicle (10), comprising: - an environmental sensor system (110) configured to acquire environmental data indicating a vehicle environment (FU); - an analysis module (120) configured to determine, based on the environmental data, at least one first color characteristic of a foreign vehicle (20) in the vehicle environment (FU) and at least one second color characteristic of a background (HG) of the foreign vehicle (20) in the vehicle environment (FU); and - a control module (130) configured to control at least one vehicle function (12) based on the at least one first color characteristic and the at least one second color characteristic. [2] Driver assistance system (100) according to claim 1, wherein the at least one first color characteristic and the at least one second color characteristic relate to or are spectral colors. [3] Driver assistance system (100) according to claim 1 or 2, wherein the control module (130) is configured to control the at least one vehicle function (12) based on a difference between the at least one first color characteristic and the at least one second color characteristic. [4] Driver assistance system (100) according to one of claims 1 to 3, wherein the control module (130) is configured to: - to control the at least one vehicle function (12) if the difference between the at least one first color characteristic and the at least one second color characteristic is equal to or less than a threshold, and / or - not to control the at least one vehicle function (12) if the difference between the at least one first color characteristic and the at least one second color characteristic is greater than the threshold. [5] Driver assistance system (100) according to one of claims 1 to 4, further comprising a driver monitoring module configured to determine a viewing direction of a driver of the vehicle (10), and wherein the control module (130) is configured to further control the at least one vehicle function (12) based on the viewing direction of the driver. [6] Driver assistance system (100) according to one of claims 1 to 5, wherein the background (HG) of the other vehicle (20) in the vehicle environment (FU) comprises or is a structural structure and / or vegetation, in particular wherein the structural structure is a building. [7] Driver assistance system (100) according to one of claims 1 to 6, wherein: - the at least one vehicle function (12) comprises or relates to at least one output device for optical and / or acoustic driver instructions, and wherein the control module (120) is configured to control the at least one output device to output at least one optical and / or acoustic driver instruction with respect to the other vehicle (20); and / or - the at least one vehicle function (12) comprises or relates to at least one driver assistance function, in particular wherein the at least one driver assistance function comprises or is a lane change assistance function, and wherein the control module (120) is configured to permit or prevent a lane change based on the at least one first color characteristic and the at least one second color characteristic. [8] Vehicle (10), in particular a motor vehicle, comprising the driver assistance system (100) according to one of claims 1 to 7. [9] Driver assistance method (300) for a vehicle (10), comprising: - detecting (310), by an environmental sensor system (110), environmental data indicating a vehicle environment (FU); - determining (320), by an analysis module (120), at least one first color characteristic of a foreign vehicle (20) in the vehicle environment (FU) and at least one second color characteristic of a background (HG) of the foreign vehicle (20) in the vehicle environment (FU) based on the environmental data; and - controlling (330), by a control module (130), at least one vehicle function (12) based on the at least one first color characteristic and the at least one second color characteristic. [10] Storage medium comprising a software program configured to be executed on one or more processors and thereby to execute the driver assistance method (300) according to claim 9.

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