Method and device for determining the passability of a narrow passage with a vehicle

Abstract

The present invention relates to a method and a device for determining the drivability of a narrow passage (12) with a vehicle (20), comprising a first step for detecting a road section (10) which is potentially passable with the vehicle (20) by means of at least one environmental sensor (30) of the vehicle (20), a second step for determining a drivable area (14) within the detected road section (10), a third step for dividing the drivable area (14) into a plurality of successive segments (40), a fourth step for determining the drivability for each segment (40) of the drivable area (14) by comparing external dimensions (22) of the vehicle (20) with the respective dimensions of the drivable area (14) in the respective segment (40), and a fifth step for outputting information representing the drivability of the road section (10) with the vehicle (20).if the external dimensions (22) of the vehicle (20) in each segment (40) are smaller by a predefined safety distance than the respective limits (16) of the drivable area (14) and otherwise output information representing a non-given drivability of the road segment (10).

Description

State of the art

[0001] The present invention relates to a method and a device for determining whether a narrow passage can be traversed by a vehicle.

[0002] Assistance systems for vehicles such as cars, trucks, etc. are known from the state of the art, which can, for example, perform automatic parking in parking spaces and / or prevent collisions between vehicles by displaying objects in the vicinity of the vehicles and / or by visualizing a parking environment and / or by using a maneuvering braking function.

[0003] Furthermore, there is an increasing need to provide drivers of vehicles with more extensive support for complex driving tasks, for example in difficult-to-assess driving situations. Disclosure of the invention

[0004] According to a first aspect of the present invention, a method for determining the traversability of a narrow passage with a vehicle is proposed, wherein the vehicle is preferably designed as a road vehicle (e.g. motorcycle, car, van, truck).

[0005] In a first step of the method according to the invention, a road segment that the vehicle could potentially travel through is detected by means of at least one environmental sensor of the vehicle. The at least one environmental sensor is, for example, a 2D and / or a 3D camera (e.g., each configured as an RGB and / or infrared and / or black-and-white camera) and / or a lidar and / or an ultrasonic and / or a radar sensor and / or a different environmental sensor of the vehicle. Advantageously, a plurality of environmental sensors of the same or different types can be used, which are particularly advantageously arranged at different positions on the vehicle and / or with different orientations on the vehicle. In this way, road segments that the vehicle could potentially travel through can be detected independently of the position and / or orientation of the vehicle with respect to the respective road segment. For example,A front-facing camera can capture a section of road as the vehicle approaches it, while a section of road running perpendicular to the current direction of travel is more advantageously captured using a camera mounted on the side of the vehicle. Furthermore, measurement signals from a multitude of environmental sensors can be combined using a suitable algorithm to obtain, for example, more accurate and / or reliable information about the road section.

[0006] In a second step of the method according to the invention, a drivable area within the detected road segment is determined based on the acquired information regarding the potentially traversable road segment. The drivable area is understood to be an area within the road segment that can, in principle, be driven on by a vehicle (e.g., a car or a two-wheeler). This basic drivability can be assumed, for example, if a suitable firmness and / or evenness, etc., of the ground surface within the road segment is present. Furthermore, numerous other criteria can be used to determine the drivable area, which are explained in more detail below in the description of advantageous embodiments of the invention.

[0007] The drivable area can be defined, for example, by left and right boundary lines, whereby the boundary lines can be defined by polylines, etc., which represent a usable "driving tube" for the vehicle.

[0008] In a third step of the method according to the invention, the drivable surface is divided into a plurality of successive segments. Advantageously, the respective segments have a uniform length in one longitudinal direction of the drivable surface, without, however, being limited to this. Furthermore, the length of the respective segments is advantageously determined as a function of the vehicle's length.

[0009] In a fourth step of the method according to the invention, the drivability for each segment of the drivable area is determined by comparing the vehicle's external dimensions with the respective dimensions of the drivable area in each segment. The vehicle's external dimensions can be derived, for example, from a provided 2D and / or 3D model of the vehicle (e.g., via a storage unit) and / or based on an external contour of the vehicle, in particular an external contour from a top view of the vehicle. Alternatively or additionally, it is also conceivable that the vehicle is represented by a simplified geometric description or shape (e.g., a rectangle that completely encompasses the vehicle's external dimensions, etc.) in order, for example, to reduce the computational effort required to compare the respective dimensions.

[0010] In a fifth step of the method according to the invention, information representing the traversability of the road segment with the vehicle is output if the external dimensions of the vehicle (specifically, the model of the vehicle) are smaller in each segment by a predefined safety margin than the respective boundaries of the drivable area. Otherwise, information representing the inability to traverse the road segment is output.

[0011] It should be noted that the predefined safety distance can be determined, for example, depending on the size and / or shape of the vehicle used, and / or on a requirement set by the driver, and / or on the type and / or characteristics of the road section, etc. It should also be noted that the safety distance can be composed of a multitude of safety distances, which can be individually defined for different areas of the vehicle (e.g., front corners, rear corners, sides, etc.) and can be individually assessed in relation to the limits of the drivable area.

[0012] The method according to the invention offers, among other advantages, that the drivability of road sections, which is difficult for a driver to assess, can be reliably and automatically evaluated before the driver even enters such a section. This allows the driver to decide early on, based on the information provided about drivability, whether the road section is suitable for use. This is particularly advantageous for narrow, winding, and / or unevenly wide roads, alleys, mountain passes, etc. For example, it prevents a driver from entering an impassable road section and then having to reverse the vehicle at a narrow point.

[0013] Furthermore, based on the method according to the invention, damage such as scratches and / or dents to the vehicle can be avoided, since roads that are too narrow no longer need to be driven on in the first place.

[0014] The subclaims show preferred developments of the invention.

[0015] In an advantageous embodiment of the present invention, information about whether or not a path is passable is output to the driver of the vehicle via a vehicle interface. The interface is, for example, an acoustic output device (e.g., a vehicle loudspeaker), an optical output device (e.g., a vehicle display), and / or a haptic output device (e.g., a steering wheel vibration device). Alternatively or additionally, the information about whether or not a path is passable is transmitted to a system for semi-autonomous and / or fully autonomous driving of the vehicle, so that the system can determine a suitable trajectory for the vehicle based on this information. When a display is used as the interface, it is, among other things, possible to...It would be conceivable to display a camera image of the road section, marking areas where there is a bottleneck.

[0016] In a particularly advantageous embodiment of the present invention, when comparing the vehicle's external dimensions with the dimensions of the drivable area in the respective segment of the drivable area, the vehicle is virtually rotated about a vertical axis (also called the z-axis of the vehicle) and / or moved within the drivable area, if necessary, in order to position the vehicle as completely as possible within the drivable area. Virtual rotation refers to a rotation of the model, i.e., a virtual representation of the vehicle, relative to the respective segment. Alternatively or additionally, the virtual rotation and / or movement of the vehicle is carried out in accordance with the vehicle's actual movement capabilities between successive segments of the drivable area.The actual movement capabilities result, for example, from the vehicle's geometry, particularly its wheelbase and / or steering capability and / or turning radius, etc. These movement capabilities are stored, for example, as vehicle parameters in a memory unit within the vehicle and can be retrieved from this unit as needed. This allows for a particularly realistic assessment of the actual drivability of the road segment, as the vehicle's real maneuverability is taken into account. Alternatively or additionally, it is possible to determine a suitable trajectory for the vehicle to traverse the road segment based on virtual rotation and / or displacement. This trajectory is then displayed on the vehicle's screen and / or transmitted to a system for semi-autonomous and / or autonomous driving.When displaying information on a screen, it is advantageous to overlay the trajectory of a representation of the road segment on the screen to provide particularly easy orientation for the driver. The road segment can be displayed based on a model and / or a camera image, among other methods.

[0017] Furthermore, it is possible that the segments of the drivable surface are seamlessly adjacent or overlapping segments, which, for example, have an overlap corresponding to a real distance of 20 cm to 1 m, preferably 50 cm, or a different distance. Alternatively or additionally, it is possible that overlapping segments each have a predefined uniform overlap or overlaps adapted depending on the prevailing boundary conditions. For example, it may be useful to reduce overlaps between the segments in areas where curves and / or obstacles, etc., are present within the road section in order to be able to assess drivability in such potentially more critical areas particularly reliably.Furthermore, the degree of overlap of uniformly overlapping segments and / or variably overlapping segments can be defined depending on the available computing power for calculating the drivability and / or the required response time for determining the drivability. The overlaps can also be viewed as the step sizes of a virtual vehicle movement within the road segment.

[0018] Preferably, each segment is categorized into predefined categories based on its traversability and / or difficulty level (e.g., if the safety distance cannot be maintained or can only be barely maintained, etc.). Examples of such categories include "impassable," "close distance," and "comfortable distance," derived from the respective distances between the vehicle model and the boundaries of the drivable area in each segment. Alternatively or additionally, all or some of the segments are displayed on a vehicle display, indicating their corresponding category. The respective categories can be distinguished, for example, by different colors representing the segments and / or boundaries of the drivable area within the segments and / or sub-areas of the segments and / or trajectories.Alternatively or in addition to coloring the segments and / or trajectories, it is also conceivable to use different textures and / or widths of boundary lines, etc., to distinguish the respective categories.

[0019] The drivable area is determined particularly advantageously based on an image analysis using predefined criteria to identify road boundaries (e.g., natural boundaries, house walls, lampposts, etc.) and / or detected road markings within the road section and / or detected obstacles (e.g., collision-relevant objects such as walls, parked vehicles, etc.) within the road section and / or an assessment of the drivability of detected obstacles and / or potentially variable external dimensions of the vehicle.

[0020] Such potentially variable external dimensions of the vehicle result, for example, from the folded and unfolded states of at least one of the vehicle's exterior mirrors. In such a case, the drivability of the road segment is determined for both the folded and unfolded states of the exterior mirror, and the mirror is prompted to fold in (e.g., automatically and / or by issuing a message to the vehicle user to fold the exterior mirror manually) if the vehicle's external dimensions in the unfolded state of the exterior mirror prevent passage through the respective segment and / or the road segment. The categorization of the respective segments described above can therefore advantageously include an additional indicator for drivability with the exterior mirror folded in a segment affected by this.

[0021] In a particularly advantageous embodiment of the present invention, the method further comprises a step for identifying another road user approaching in the area of ​​the road segment, a step for determining the external dimensions of the other road user, and a step for taking the external dimensions of the other road user into account when determining the passability, by determining passability only if the vehicle and the other road user can simultaneously pass through a given segment. In this case, it can also be advantageous to display a camera image of the preceding road segment on a vehicle display, in which areas are marked where passing the other road user is particularly advantageous and / or where passing is not possible.This can be represented, as described above, on the basis of different color markings and / or in a manner deviating from them.

[0022] In a case where not every segment of the drivable area, as determined above, can be traversed simultaneously by the vehicle and the other road user, one or more simultaneously traversable segments are identified that are suitable as stopping positions for the vehicle and / or the other road user to allow the other road user to pass. Particularly advantageously, alternatively or additionally, time-coordinated sequences and / or suitable trajectories for the vehicle and / or the other road user to traverse the road segment are determined and used in the vehicle and / or transmitted to the other road user (e.g., via car-to-car communication).

[0023] Furthermore, the procedure is advantageously repeated while driving through the road section, so that, for example, a trajectory for the vehicle can be repeatedly planned and displayed in the vehicle to give the driver an improved visual impression of how to drive through the narrow passage.

[0024] According to a second aspect, a device for determining whether a vehicle can pass through a narrow passage is proposed, wherein the device is configured to execute a method according to the first aspect of the invention. The method is executed, for example, on the basis of an evaluation unit of the device, which is configured, for example, as an ASIC, FPGA, processor, digital signal processor, microcontroller, or similar. The method is advantageously implemented in the form of a computer program that is executed by the evaluation unit. The features, combinations of features, and the advantages resulting therefrom correspond to those described in connection with the first aspect of the invention to such an extent that reference is made to the above explanations to avoid repetition. Short description of the drawings

[0025] Exemplary embodiments of the invention are described in detail below with reference to the accompanying drawing. The drawings show: Fig. 1 an exemplary road section which is evaluated by means of a method according to the invention for determining the drivability of a narrow point with a vehicle; Fig. 2 a further exemplary road section which is evaluated by means of a method according to the invention for determining the drivability of a bottleneck with a vehicle and another road user; and Fig. 3 a schematic view of a vehicle in conjunction with a device according to the invention. Embodiments of the invention

[0026] Fig. Figure 1 shows an exemplary road section 10, which is evaluated by means of a method according to the invention for determining the traversability of a narrow point 12 with a vehicle 20, which here is designed as a passenger car.

[0027] In the first step, the road section 10, which is potentially to be driven through by the vehicle 20, is recorded by means of a camera 30 arranged in the front area of ​​the vehicle 20, the camera being designed as a 2D RGB camera.

[0028] In the second step, a drivable area 14 within the recorded road section 10 is determined. This determination is carried out using an evaluation unit 100 designed as a processor (see Fig. 3), which is configured to execute a computer program that implements the method steps according to the invention. Specifically, based on the computer program, boundaries 16 of the drivable area 14 are determined by identifying any existing road markings and / or obstacles such as parked vehicles and / or transitions between a solid surface and, for example, an adjacent green strip, etc., based on images captured by the camera 30 and / or an additional sensor of the vehicle.

[0029] In the third step, the drivable area 14 is divided into a multitude of successive segments 40, wherein each adjacent segment 40 has a predefined minimum overlap and wherein a degree of respective overlaps is appropriately adjusted depending on the course of the road section 10 and / or existing obstacles.

[0030] In the fourth step, the drivability for each segment 40 of the drivable area 14 is determined by comparing the external dimensions 22 of the vehicle 20, which are represented here by a simplified contour of the vehicle 20, with the respective dimensions of the drivable area 14 in the respective segment 40.

[0031] Here, the vehicle 20 is virtually rotated about a vertical axis 24 of the vehicle 20 and / or moved within the drivable area 14 as needed, in order to position the vehicle 20, if possible, completely within the drivable area 14. The virtual rotation and / or movement of the vehicle 20 is carried out in accordance with the real movement capabilities of the vehicle 20 between respective successive segments 40 of the drivable area 14.

[0032] Based on the virtual rotation and / or displacement of vehicle 20 along road segment 10, a suitable trajectory 70 for vehicle 20 to travel through road segment 10 is determined. The trajectory 70 is displayed on a (not shown) display of vehicle 20 by superimposing it on an image of road segment 10 captured by camera 30.

[0033] In the fifth step, information representing the traversability of road section 10 with the vehicle 20 is output if the external dimensions 22 of the vehicle 20 in each segment 40 are smaller by a predefined safety distance than the respective limits 16 of the drivable area 14; otherwise, information representing the lack of traversability of road section 10 is output.

[0034] For this purpose, the trajectory 70 is displayed in each segment 40 in a predefined color, corresponding to the respective categories for the drivability of that segment 40. Thus, the trajectory 70 is displayed green in a segment 40 where the safety distance is maintained. In a segment 40 where the safety distance is not maintained, but drivability is still possible, the trajectory 70 is displayed orange. In a segment 40 where drivability is not possible due to the dimensions of the vehicle 20 and the dimensions of the drivable area, the trajectory 70 is displayed red. In a segment 40 where drivability is just barely possible if at least one exterior mirror of the vehicle 20 is folded in, the trajectory 70 is displayed as a line that alternates between red and orange.

[0035] In this way, a driver of vehicle 20 is shown in a simple and reliable way whether and in what form the potentially passable road section 10 is passable and at which positions particular care must be taken to maneuver.

[0036] Fig. Figure 2 shows another exemplary road section 10, which is evaluated using a method according to the invention for determining the traversability of a narrow point with a vehicle 20 and another road user 90.

[0037] Due to a narrowing 12 caused by an obstacle 80 and due to uneven distances of left and right lateral boundaries 16 of a drivable area 14 in Fig. 2, it is not possible for both vehicles 20, 90 to pass each other at all positions of road segment 10.

[0038] For this reason, based on the method according to the invention, the road section 10 is made passable as in Fig. As described in section 1, in this case, the information is determined for both vehicle 20 and the oncoming road user 90. A suitable trajectory 70 for vehicle 20, a suitable trajectory 70' for the other road user 90, and a suitable stopping position 110 for vehicle 20 are proposed and transmitted to the respective (not shown) control units in vehicles 20 and 90, which are configured to display this information in the respective (not shown) displays of vehicles 20 and 90.

[0039] Determining the combined drivability is also based on a subdivision of road section 10 into individual segments 40. Based on a comparison of the respective external dimensions of the vehicles 20, 90 with the dimensions of the drivable area 14 in the respective segments 40 considered, several segments 50 that can be traversed simultaneously by the vehicles 20, 90 result.

[0040] Fig. Figure 3 shows a schematic view of a vehicle 20 in conjunction with a device according to the invention, wherein the device has an evaluation unit 100 designed as an ASIC, which is configured to carry out the method according to the invention.

[0041] The evaluation unit 100 is connected to an environmental sensor 30 of the vehicle 20, designed as a lidar sensor, in order to detect a preceding road section 10, so that the road section 10 can be assessed for drivability by means of the evaluation unit 100.

[0042] The evaluation unit 100 is also set up to display a result of this evaluation in a display 60 of the vehicle 20.

Claims

[1] Method for determining the passability of a bottleneck (12) with a vehicle (20), comprising: • a first step for detecting a road section (10) which is potentially to be driven through by the vehicle (20), by means of at least one environment sensor (30) of the vehicle (20), • a second step for determining a drivable area (14) within the detected road section (10), • a third step for dividing the drivable surface (14) into a plurality of successive segments (40), • a fourth step for determining a passability for each segment (40) of the drivable surface (14) by comparing external dimensions (22) of the vehicle (20) with respective dimensions of the drivable surface (14) in the respective segment (40), and • a fifth step for outputting information representing the ability of the vehicle (20) to pass through the road section (10) if the external dimensions (22) of the vehicle (20) in each segment (40) are smaller by a predefined safety distance than respective boundaries (16) of the passable area (14) and otherwise outputting information representing the non-passability of the road section (10). [2] Method according to claim 1, wherein the information about the passability or the non-passability • is output to a driver of the vehicle (20) via an interface (60) of the vehicle (20), and / or • is transmitted to a system for partially autonomous and / or fully autonomous driving of the vehicle (20). [3] Method according to one of the preceding claims, wherein • the vehicle (20) is virtually rotated around a vertical axis (24) when comparing its external dimensions (22) with the dimensions of the drivable area (14) in the respective segment (40) if necessary and / or is displaced within the drivable area (14) in order to position the vehicle (20) as far as possible completely within the drivable area (14), and / or • the virtual turning and / or displacement of the vehicle (20) is carried out in accordance with real movement capabilities of the vehicle (20) between respective successive segments (40) of the drivable surface (14), and / or • on the basis of the virtual rotation and / or displacement, a suitable trajectory (70) for the vehicle (20) to drive through the road section (10) is determined, wherein the trajectory (70) is output via a display (60) of the vehicle (20) and / or is transmitted to a system for semi-autonomous and / or autonomous driving. [4] Method according to one of the preceding claims, wherein • the segments (40) of the drivable surface (14) are each seamlessly adjacent or overlapping segments (40), and / or • overlapping segments (40) each have a predefined uniform overlap or overlaps adapted depending on the respective boundary conditions. [5] Method according to one of the preceding claims, wherein • each segment (40) is divided into predefined categories depending on its passability and / or depending on the degree of difficulty when passing through, and / or • all or some of the segments (40) are displayed in a display (60) of the vehicle (20) with identification of their respective corresponding category. [6] Method according to one of the preceding claims, wherein the drivable surface (14) is based on • an image analysis using predefined criteria to identify lane boundaries (16), and / or • detected lane markings within the road section (10), and / or • detected obstacles (80) within the road section (10), and / or • an assessment of the overridability of detected obstacles (80), and / or • potentially variable external dimensions (22) of the vehicle (20) are determined. [7] Method according to claim 6, wherein • the potentially variable external dimensions (22) of the vehicle (20) are each determined by a folded-in and a folded-out state of at least one exterior mirror of the vehicle (20), • a passability is determined for the folded and unfolded state of the exterior mirror, and • the exterior mirror is folded in if the external dimensions (22) of the vehicle (20) prevent the respective segment (40) and / or the road section (10) from being driven through when the exterior mirror is folded out. [8] Method according to one of the preceding claims, further comprising: • Identifying another road user (90) approaching in the area of the road section (10), • Determining the external dimensions of the other road user (90), • Taking into account the external dimensions of the other road user (90) when determining the passability, in that the passability is only determined as given if the respective segment (40) can be passed simultaneously by the vehicle (20) and by the other road user (90). [9] Method according to claim 8, wherein in a case in which not each of the segments (40) of the drivable surface (12) is simultaneously drivable by the vehicle (20) and the further road user (90), • one or more simultaneously navigable segments (50) are determined, which are suitable as a stopping position for the vehicle (20) and / or the other road user (90) in order to allow the other road user (20, 90) to pass, and / or • temporally coordinated sequences and / or suitable trajectories (70) for the vehicle (20) and / or the other road user (90) for driving through the road section (10) are determined and used in the vehicle (20) and / or transmitted to the other road user (90). [10] Method according to one of the preceding claims, wherein the method is carried out repeatedly while driving through the road section (10). [11] Device for determining the passability of a bottleneck (12) with a vehicle (20), wherein the device is designed to carry out a method according to one of the preceding claims.

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