Method for detecting the direction of travel of a vehicle in the vicinity of an ego-vehicle

Abstract

The invention relates to a method for detecting the direction of travel (F') of a vehicle (3) in the vicinity of an ego-vehicle (1), wherein a light cone (5) of at least one front light (4) of the vehicle (3) is detected by a camera (2), wherein two sides (12, 13) of the light cone (5) are determined, wherein the camera (2) on the ego-vehicle (1) has an installation height such that it can detect the light cone (5) projected onto a roadway (6) from the side and above, wherein positions of intersection points (10, 11) of an imaginary line (9) extending from the camera (2) with the two sides (12, 13) are determined, wherein, starting from a position of the front light (4) determined by means of the camera (2), an orientation line (7) is determined as the direction of travel (F') which intersects the imaginary line (9) at a point midway between the two intersection points (10, 11). educates.

Description

[0001] The invention relates to a method for detecting a direction of travel of a vehicle in the environment of an ego vehicle according to the preamble of claim 1 and to a vehicle according to the preamble of claim 5.

[0002] US 2009 / 184844 A1 describes a device for detecting a passing vehicle in the dark. A camera detects a light cone that moves laterally offset from the vehicle. An analysis device assigns the relatively moving light cone to the passing vehicle.

[0003] The invention is based on the object of specifying a novel method for detecting a direction of travel of a vehicle in the environment of an ego vehicle and a novel ego vehicle.

[0004] The object is achieved according to the invention by a method for detecting a direction of travel of a vehicle in the environment of an ego vehicle having the features of claim 1 and by an ego vehicle having the features of claim 5.

[0005] Advantageous embodiments of the invention are the subject of the subclaims.

[0006] A method is proposed for detecting a direction of travel of a vehicle in the surroundings of an ego vehicle, wherein a light cone of at least one headlight of the vehicle is captured by a camera, wherein two flanks of the light cone are determined. According to the invention, it is proposed that the camera on the ego vehicle has an installation height such that it can capture the light cone projected onto a roadway from the side above, wherein positions of intersection points of an imaginary line emanating from the camera with the two flanks are determined, wherein an orientation line is determined as the direction of travel of the other vehicle, starting from a position of the headlight determined by means of the camera, which orientation line forms an intersection point with the imaginary line in the middle between the two intersection points.

[0007] The presented method provides a way to calculate the orientation and / or direction of vehicles in the surrounding area based solely on their headlights. This eliminates the need for image processing of the vehicle. This allows for a more precise determination of the direction of travel.

[0008] Embodiments of the invention are explained in more detail below with reference to drawings.

[0009] Showing: Fig. 1 a schematic view of an ego vehicle with a camera for capturing an environment of the ego vehicle, and Fig. 2 another schematic view of the ego vehicle.

[0010] Corresponding parts are provided with the same reference numerals in all figures.

[0011] Fig. 1 is a schematic view of an ego vehicle 1, for example a commercial vehicle, a bus or a passenger car, with a camera 2 for capturing an environment of the ego vehicle 1, in particular in a direction of travel F. In the direction of travel F in front of the ego vehicle 1, another vehicle 3 is traveling at least partially transversely to the direction of travel F of the ego vehicle 1.

[0012] Fig. 2 is a schematic plan view of the scenery of the Fig. 1 with the camera 2 of the ego vehicle 1 and the other vehicle 3. The other vehicle 3 has front lights, for example headlights 4 with dipped beam, which are switched on at least in the dark.

[0013] The camera 2 or a control unit connected to it in the host vehicle 1 is configured to capture the width of a light cone 5 emitted by the headlights 4 of the other vehicle 3 at any desired location. For this purpose, the installation height of the camera 2 is selected to be as high as possible, which is particularly feasible in a commercial vehicle or bus, so that the camera 2 can capture the light cone 5 projected onto a roadway 6 from the side and above. It is assumed that the light cone 5 is symmetrical. In this case, an orientation line 7 can be drawn from the light cone source, i.e., the headlight 4, to an intersection point 8 with an imaginary line 9 emanating from the camera 2, for example, an optical axis of the camera 2, in the center of the light cone 5. The center does not refer to the center from the perspective of the camera 2, but rather to that of the light cone 5.

[0014] The imaginary line 9 forms intersection points 10, 11 with the flanks 12, 13 or light-dark transitions of the light cone 5. Both flanks 12, 13 of the light cone 5 can be equidistant from the light cone source, i.e., the headlight 4. The intersection point 8 of the imaginary line 9 with the orientation line 7 is equidistant from both intersection points 10, 11, so that the orientation line 7, and thus a direction of travel F' of the other vehicle 3, can be determined knowing the position of the intersection points 10, 11 and the position of the light cone source, i.e., the headlight 4. This allows the direction of travel F' of the other vehicle 3 to be calculated exclusively based on the detection of the vehicle's light.

[0015] This can provide advantages in detection and redundancy to other sensors.

[0016] Alternatively, in a further embodiment, a conversion of the image captured by camera 2 can be used to convert the flanks 12, 13 of the light cone 5 into a coordinate system of camera 2. This simplifies the calculation of the orientation of the other vehicle 3.

[0017] The camera 2 can be designed as a stereo camera. List of reference symbols 1 ego vehicle 2 cameras 3 other vehicle 4 Front light, headlight 5 light cones 6 Roadway 7 Orientation line 8 Intersection 9 imaginary line 10 intersection point 11 Intersection point 12 flank 13 flank F Direction of travel F' Direction of travel QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2009 / 184844 A1

[0002]

Claims

[1] Method for detecting a direction of travel (F') of a vehicle (3) in the surroundings of an ego vehicle (1), wherein a light cone (5) of at least one headlight (4) of the vehicle (3) is detected by a camera (2), wherein two flanks (12, 13) of the light cone (5) are determined, characterized by that the camera (2) on the ego vehicle (1) has an installation height such that it can capture the light cone (5) projected onto a roadway (6) from the side above, wherein positions of intersection points (10, 11) of an imaginary line (9) emanating from the camera (2) with the two flanks (12, 13) are determined, wherein an orientation line (7) is determined as the direction of travel (F') starting from a position of the front light (4) determined by means of the camera (2), which forms an intersection point (8) with the imaginary line (9) in the middle between the two intersection points (10, 11). [2] Method according to claim 1, characterized bythat a conversion of the image captured by the camera (2) is used to convert the flanks (12, 13) of the light cone (5) into a coordinate system of the camera (2). [3] Method according to claim 1 or 2, characterized by that an optical axis of the camera (2) is used as the imaginary line (9). [4] Method according to one of the preceding claims, characterized by that a stereo camera is used as camera (2). [5] Ego vehicle (1), comprising a camera (2) and a control unit coupled thereto, characterized by that the control unit is configured to carry out the method according to one of claims 1 to 4.

Images