Optical parking detection and assistance in detecting approaching vehicles

Abstract

The invention relates to a system for a vehicle (1) for securing a planned section of travel, comprising a control unit (3), a sensor device (5) and a projection device (7), characterized in that the control unit (3) is designed to determine whether the vehicle (1) has right of way over other vehicles on the planned section of travel, and if this is detected, to control the projection device (7) to output a projection image (9) onto the planned section of travel to represent its own driving intention, and after the projection image (9) has been output, to analyze data from the sensor device (5) to determine whether a response signal (11) from another road user (13) is detected, and if so, to initiate a predetermined reaction.

Description

[0001] The invention relates to a system for a vehicle for securing a planned journey section.

[0002] In confusing traffic situations, such as when a vehicle is pulling out of a parking space, two vehicles can approach each other until a potential accident occurs without an immediate reaction, as the other vehicle cannot be seen from the position of one vehicle due to obscuration. While there are approaches to this problem in the prior art using car-to-car communication via radio waves, it is also generally known in the prior art to enable communication between road users by projecting light signals onto a roadway.

[0003] DE 10 2009 009 473 A1 relates to a method for assisting a driver of a vehicle and other road users, in which other road users in the vicinity of the vehicle are detected, it is analyzed whether another road user represents a risk of collision for the vehicle, if another road user represents a risk of collision for the vehicle, a light signal is projected from the vehicle onto the roadway to alert the other road user to the risk of collision.

[0004] The solutions for projections known in the prior art, such as those in DE 10 2009 473 A1, relate to unidirectional communication, i.e. only a light signal is projected so that it is visible to others.

[0005] DE 10 2018 212 056 A1 discloses a method in which information is projected onto an image area in an environment of the vehicle by means of a vehicle, wherein the vehicle optically detects at least one interaction with the image area by an object in the environment and the vehicle automatically executes a process depending on the interaction.

[0006] The object of the invention is to enable an improved prevention of possible collision scenarios between two vehicles by means of a light projection onto the ground, which approach each other in particular from hidden areas.

[0007] The invention is based on the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims.

[0008] A first aspect of the invention relates to a system for a vehicle for securing a planned journey section, comprising a control device, a sensor device and a projection device, characterized in that the control device is designed to determine whether the right of way of others must be observed on the planned journey section of the vehicle and, if this is detected, to control the projection device to output a projection image onto the planned journey section to represent the vehicle's own driving intention and, after the start of the output of the projection image, to analyze data from the sensor device to determine whether a response signal from another road user is detected and, if this is the case, to initiate a predetermined reaction.

[0009] The control unit first determines the planned route. Data from the vehicle's navigation system, for example, is used to determine the planned route. Lanes ahead of the vehicle, along with the current steering angle, can also be used to predict the vehicle's location. Furthermore, the control unit checks whether other vehicles' right of way must be observed on the section of the route the vehicle will use in the future. Accordingly, the control unit then controls the projection device to output a projection image of precisely this planned section of the route if it is assumed that the vehicle's own vehicle must observe the right of way of others.

[0010] Thus, the projection device, upon actuation of the control device, projects the projection image into such a planned section of travel for the vehicle in which the right of way of others must be observed for the vehicle, but at the same time there is a high probability that the others with right of way can recognize the projection image, even while the vehicle is not yet recognizable, for example because the rear light of the vehicle is still obscured when it is reversing out of a parking space.

[0011] A similar situation can occur at intersections when the view from one's own vehicle of other road users with right of way is obscured, be it the view of a driver of the vehicle or the view of the vehicle's sensors.

[0012] The control device then continuously checks whether the projection image transmitted by the vehicle's own vehicle is followed by a response signal from another road user. The response signal is preferably also a projection from another road user, preferably in the exact section of the vehicle's planned journey where the vehicle's own projection image has already been projected.

[0013] This response signal signals the host vehicle that another road user also plans to travel along the vehicle's planned section of travel and assumes they have the right of way. Thus, upon triggering the control device, the host vehicle can initiate a corresponding predefined reaction, for example, delaying, slowing down, completely aborting the planned journey along the planned section of travel, or pausing to project a new image onto the planned section of travel after a predefined period of time, then wait for another response signal. If no response signal is received, the host vehicle can proceed to the planned section of travel.

[0014] According to the invention, the control device is designed to continuously check data from the sensor device to determine whether it contains a projection image of another road user and, if this is the case, to control the projection device of the own vehicle to output a response signal superimposed on the projection image of the other road user concerning an existing right of way for the vehicle.

[0015] According to this embodiment, the vehicle not only assumes the role of the person who must observe the right-of-way of others on a section of road ahead, but is itself constantly monitoring projection images of other road users who themselves announce their intention to travel and, in doing so, must pay attention to others with right-of-way. According to this embodiment, it is therefore assumed that the other road user checks the section of road ahead and emits a projection to warn a vehicle with right-of-way. The host vehicle thus continuously monitors the projection images of other road users and responds with a response signal if the host vehicle has right-of-way while the other road user must observe this right-of-way.

[0016] If a projected image of another road user is detected, the system determines whether a potential collision could occur and whether the driver's own vehicle has the right of way over the other road user. If this is not the case, the vehicle can, for example, automatically brake or alert the driver to the approaching vehicle. If the vehicle has the right of way, however, the system sends a response signal to the same location, informing the driver that the road should not be used at this time. Optionally, the response signal can be confirmed again by the driver, allowing the driver's own vehicle to continue driving without restriction.

[0017] However, this method can also be applied if the driver's own vehicle does not have the right of way and only observes the driving intention of another road user, without initially taking into account the assumption of a prevailing right of way rule.

[0018] The reaction advantageously leads to at least preventing the vehicle from entering the section of road ahead and / or triggering the projection device to output a confirmation signal to receive the response from the other road user. As an alternative to the fully automated response of the control device, the driver of the vehicle can detect the response signal themselves or be alerted by the vehicle, for example, via a signal tone, and then react accordingly.

[0019] A camera can be used to detect the response signal using the sensor device, and a high-resolution matrix spotlight or dedicated lights are preferably used to project the projection image - this can potentially also be achieved using existing spotlights.

[0020] An advantageous effect of the invention is that it provides increased safety in situations where the vehicle is concealed, for example, when reversing out of a parking space. Other road users The intention of a vehicle without right-of-way is indicated, even if it is not in the direct line of sight of others. The ability to project the image onto a roadway is advantageously used for two-way communication.

[0021] Furthermore, the projection device is advantageously only activated by the control device when a section of road ahead is detected on which the vehicle must take into account the right of way of a road user. Other conditions can be provided; for example, a further condition can be that the section of road ahead is poorly visible, or that the vehicle is obscured by obstacles for other road users who have right of way. By detecting the road environment, i.e. driveways and parked cars, e.g. with the help of GPS data or in-vehicle ego localization and with the aid of suitable map material, the control device is able to transmit the projection image whenever it is in a potential give-way situation.This makes it unnecessary to directly identify other road users who may potentially be hidden.

[0022] This limited use of the projections leads to a significant reduction in the necessary light emissions compared to the known state of the art, which makes their use in regular road traffic sensible.

[0023] In a further embodiment, the system can be supported by applying special markings to the road surface, which, for example, reflect light better than conventional asphalt in order to make a projection easier to recognize.

[0024] According to an advantageous embodiment, the predetermined reaction comprises preventing the vehicle from entering the planned travel section and / or issuing a warning to a driver of the vehicle and / or repeatedly controlling the projection device to output the projection image into the planned travel section after completion of a predetermined period of time and / or controlling the projection device to output a confirmation signal to receive the response of the other road user.

[0025] According to a further advantageous embodiment, the sensor device serves to detect a further projection of the further road user as a response signal with its detection range on the projection image, wherein the control device is designed to detect the response signal when the further projection is at least partially superimposed on its own projection image.

[0026] According to this embodiment, the response signal of the other road user is recognized when the response signal itself consists of a projection or at least includes one. Preferably, the response signal is recognized as such when the projection for emitting the response signal of the other road user is displayed superimposed on the original projection image of the own vehicle.

[0027] According to a further advantageous embodiment, the control device is designed to check for a risk of collision between the vehicle and the other road user and, if a risk of collision is not detected, to refrain from controlling the projection device to output the response signal.

[0028] According to a further advantageous embodiment, the control device is designed to bring about a reduction in the speed of the vehicle when the projection device is activated to output a response signal superimposed on the projection image of the other road user relating to an existing right of way for the vehicle.

[0029] This reduction in the speed of one's own vehicle is carried out as a precautionary measure in order to avoid potential accident situations as much as possible.

[0030] According to a further advantageous embodiment, the control device is designed to carry out a right-of-way authorization on the basis of a position determination of the vehicle and on the basis of right-of-way regulations stored in a digital map.

[0031] According to a further advantageous embodiment, the control device is designed to carry out a right-of-way authorization on the basis of optically recorded environmental information.

[0032] Such optically recorded environmental information can, for example, include traffic sign recognition or, using a machine learning model, for example, the road traffic situation is considered in a situation-specific manner, including road routing and / or an occlusion analysis.

[0033] According to a further advantageous embodiment, the control device is designed to control the projection device to output such a projection image that indicates information about a planned trajectory of the vehicle in the planned travel section.

[0034] The planned trajectory can be indicated, for example, by outputting a corresponding projected arrow. Other patterns are also possible depending on the situation and design.

[0035] According to a further advantageous embodiment, the control device is designed to control actuators for lateral and longitudinal control of the vehicle depending on the response signal from the other road user. The actuators serve for automated vehicle guidance, so that steering movements and / or acceleration and deceleration are carried out by the vehicle itself, without the driver having to contribute.

[0036] Further advantages, features, and details will become apparent from the following description, which – where appropriate with reference to the drawings – describes at least one embodiment in detail. Identical, similar, and / or functionally equivalent parts are provided with the same reference numerals.

[0037] They show: Fig. 1: A vehicle with a system for securing a planned journey section according to an embodiment of the invention. Fig. 2: A road traffic situation in which the system of Fig. 1 is applied. Fig. 3: The road traffic situation of Fig. 2 with response from a road user. Fig. 4: A road traffic situation with a system of a vehicle according to another embodiment of the invention.

[0038] Fig. 1 shows a system of a vehicle 1 for securing a planned journey section of the vehicle 1. The vehicle 1 has an on-board computer which can be used as a control device 3 of the system in order to control a projection device 7 at the front of the vehicle 1 and also optionally at the rear of the vehicle 1 for outputting a projection image 9 (cf. Fig. 2). The control device 3 checks, based on the current situation—for example, whether a forward gear or a reverse gear of the vehicle 1 is engaged—and with the aid of a digital map and a current position of the vehicle 1 associated with the map data, whether the vehicle 1 is planned, by manual or automatic vehicle guidance, to travel a section of road ahead on which the vehicle 1 must take into account the right of way of others. If this is the case, the control device 3 controls the projection device 7 to output a projection image 9. With the aid of a sensor device 5, which is also connected to the control device 3, the vehicle 1 is able to detect any response signals 11 from another road user 13 to its own projection image 9.For this purpose, the sensor device 5 is aligned with its detection area such that a response signal 11, which is directed towards the area of ​​the road with its own projection image 9 and visually superimposed thereon, is detected as a response to the projection image 9.

[0039] Fig. 2 shows an exemplary traffic situation in which the vehicle 1 is equipped with a system as described under Fig. 1. The vehicle 1 is in the process of reversing out of a parking space. The intention to reverse is indicated by a reversing light, which, however, is obscured from the view of the other road user 13 by other parked vehicles. There is therefore a risk that the vehicle 1 will reverse and the other road user 13, who has the right of way here, will see this too late to be able to safely prevent a dangerous situation with the possible consequence of a collision. The control device 3 of the host vehicle 1 detects the intention to reverse by the driver of the vehicle 1 engaging reverse gear, as well as the steering angle for the vehicle 1 to exit the parking space depending on the steering angle and the current direction of travel of the vehicle 1. Accordingly, the control device 3 of the vehicle 1 controls the projection device 7 to output a projection image 9.This projection image 9 is projected onto the planned section of the road behind the parking spaces, so that the projection image 9 can already be detected at this point by the other road user 13. Furthermore, the projection image 9, with its corresponding shape as a curved arrow, indicates the planned trajectory of the vehicle 1 on the planned section of the road while reversing. The sensor device 5 of the vehicle 1, which is also directed precisely at the zone of the road onto which the projection image 9 is projected, now visually collects data from this zone and forwards it to the control device 3, which monitors for a response signal 11 from a possible other road user 11.

[0040] Fig. 3 shows a continuation of the road traffic situation of Fig. 2. The other road user 13 has detected and recognized the projection image 9 of vehicle 1 with its sensors and, as a response signal 11, in turn delivers a projection into the zone of the road towards which the projection image 9 of vehicle 1 is directed. The curved arrow as the projection image 9 of vehicle 1 is superimposed by a circle with the diameter shown in order to express a negation of the driving intention of vehicle 1 as a response signal 11. Since the other road user 13 has the right of way in this case, it thus informs vehicle 1 that the desired section of the journey will already be occupied by a vehicle with the right of way. The control device 3 of vehicle 1 can react to this with a corresponding predetermined reaction, for example, refrain from exiting the road from the parking lot.

[0041] Fig. Figure 4 shows another traffic situation in which the role of vehicle 1 is the opposite of the previous traffic situation. Vehicle 1 detects, with the aid of its constantly activated sensor device 5, whether a projection image 9 of another road user 13 is present. The other road user 13 therefore takes over the role of vehicle 1 after Fig. 2. In response, vehicle 1 transmits a response signal 11 to inform the other road user 13 that it intends to travel along the planned section of the other road user 13. With its response signal 11, it not only indicates its planned path but also symbolizes that vehicle 1 is assuming its right of way. The other road user 13 can accordingly wait until vehicle 1 has passed.

[0042] Although the invention has been illustrated and explained in detail by 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 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] System for a vehicle (1) for securing a planned journey section, comprising a control device (3), a sensor device (5) and a projection device (7), wherein the control device (3) is designed to determine whether the right of way of others must be observed on the planned journey section of the vehicle (1), and if this is detected, to control the projection device (7) to output a projection image (9) onto the planned journey section to represent the vehicle's own driving intention and, after the start of the output of the projection image (9), to analyze data from the sensor device (5) to determine whether a response signal (11) from another road user (13) is detected, and if this is the case, to initiate a predetermined reaction, characterized bythat the control device (3) is designed to continuously check data from the sensor device (5) to determine whether it contains a projection image (9) of another road user (13) and, if this is the case, to control the projection device (7) of the own vehicle (1) to output a response signal (11) superimposed on the projection image (9) of the other road user (13) relating to an existing right of way for the vehicle (1). [2] System according to claim 1, wherein the predetermined reaction comprises preventing the vehicle (1) from entering the planned travel section and / or issuing a warning to a driver of the vehicle (1) and / or repeatedly controlling the projection device (7) to output the projection image (9) in the planned travel section after completion of a predetermined period of time and / or controlling the projection device (7) to output a confirmation signal to receive the response of the further road user (13). [3] System according to one of the preceding claims, wherein the sensor device (5) serves to detect a further projection of the further road user (13) as a response signal with its detection range on the projection image (9), wherein the control device (3) is designed to detect the response signal (11) when the further projection is at least partially superimposed on its own projection image (9). [4] System according to claim 3, wherein the control device (3) is designed to check a risk of collision of the vehicle (1) with the other road user (13) and, if a risk of collision is not detected, to refrain from controlling the projection device (7) to output the response signal (11). [5] System according to claim 3, wherein the control device (3) is designed to effect a reduction in the speed of the own vehicle (1) when the projection device (7) is controlled to output a response signal (11) superimposed on the projection image (9) of the further road user (13) relating to an existing right of way for the vehicle (1). [6] System according to one of the preceding claims, wherein the control device (3) is designed to carry out a right-of-way authorization on the basis of a position determination of the vehicle (1) and on the basis of right-of-way regulations stored in a digital map. [7] System according to one of the preceding claims, wherein the control device (3) is designed to carry out a right-of-way authorization on the basis of optically detected environmental information. [8] System according to one of the preceding claims, wherein the control device (3) is designed to control the projection device (7) to output such a projection image (9) which indicates information about a planned trajectory of the vehicle (1) in the planned travel section. [9] System according to one of the preceding claims, wherein the control device (3) is designed to control actuators for the lateral and longitudinal control of the vehicle (1) depending on the response signal (11) of the further road user (13).

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