Method for operating a driver assistance system of a vehicle

Abstract

The invention relates to a method for operating a driver assistance system of a vehicle (1). According to the invention, while the vehicle (1) is traveling, the vehicle (1) checks for the presence of at least one pedestrian traffic light (3; 4) of a traffic light system (2) in the immediate vicinity of the vehicle (1). Upon detection of at least one pedestrian traffic light (3; 4) in the immediate vicinity of the vehicle (1), the vehicle (1) evaluates the acoustic traffic light signal of the at least one pedestrian traffic light (3, 4) of the traffic light system (2). Upon detection of an acoustic release signal of the at least one pedestrian traffic light (3, 4) of the traffic light system (2) and when the vehicle (1) is stationary in a stationary position within a specific danger zone (5) of the traffic light system (2), a starting process of the vehicle (1) intended by a driver assistance system of the vehicle (1) to carry out movement processes of the vehicle (1) is prevented.

Description

[0001] The invention relates to a method for operating a driver assistance system of a vehicle.

[0002] Driver assistance systems are increasingly being used in vehicles to support or relieve the driver in certain driving situations or during certain vehicle movements. Such driver assistance systems are now used in vehicles in a wide variety of forms, for example, as electronic stability programs such as ESP or ESC, emergency braking assistants, lane keeping assistants, overtaking assistants, distance assistants, turning assistants, start-off assistants, traffic jam assistants, or parking assistants.

[0003] In connection with the execution of vehicle movements in road traffic, a priority assistant is known from DE 10 2013 214 481 A1. This system uses an indicator device to indicate to a pedestrian who wishes to cross a certain road section with priority, such as a pedestrian crossing, the intention of a vehicle traveling on the road section to stop.

[0004] The invention is based on the object of specifying a method for operating a driver assistance system of a vehicle, in which the driver assistance system of the vehicle is operated while observing safety aspects.

[0005] This object is achieved according to the invention by a method for operating a driver assistance system of a vehicle having the features recited in patent claim 1.

[0006] Advantageous further developments of the method according to the invention are part of the further patent claims.

[0007] In the method according to the invention for operating a driver assistance system of a vehicle, while the vehicle is moving, the vehicle uses input data to check the presence of at least one pedestrian light of a traffic light system in the immediate vicinity of the vehicle, in particular whether the vehicle is spatially close to at least one traffic light system with two pedestrian lights on opposite sides of the road. Upon detecting at least one pedestrian light in the immediate vicinity of the vehicle, the vehicle evaluates the acoustic traffic light signal of the at least one pedestrian light of the traffic light system. In particular, the vehicle evaluates the acoustic traffic light signal of the two pedestrian lights of a traffic light system located on opposite sides of the road. Upon detecting an acoustic release signal as a traffic light signal from at least one pedestrian light of the traffic light system, the position of the vehicle relative to the traffic light system is checked.If a country-specific release signal from the traffic light system is present and the vehicle is stationary in a stationary position within a specific danger zone of the traffic light system, an automated start-up process of the vehicle intended by a driver assistance system of the vehicle to carry out movement processes of the vehicle is prevented.

[0008] This prevents an automated start of the vehicle that would otherwise be initiated by a driver assistance system, for example, an automated start of the vehicle initiated by a driver assistance system intended for longitudinal or lateral control of the vehicle. This, in particular, prevents the risk of a collision between the starting vehicle and a pedestrian, cyclist, or other road user crossing the road with the traffic lights when the pedestrian light is green.

[0009] In a preferred development of the invention, the presence of at least one pedestrian traffic light in the immediate vicinity of the vehicle is checked by the vehicle using swarm data from other vehicles and / or sensor data from the vehicle's own vehicle. To determine the at least one pedestrian traffic light of a traffic light system in the immediate vicinity of the vehicle, the data generated by other vehicles are used as swarm data and / or sensor data of the vehicle generated by the vehicle itself are used. The sensor data generated by the vehicle itself is preferably obtained via the interaction of several sensor systems of the vehicle; in particular, the sensor data is obtained from the vehicle as part of an environmental sensor system optically using cameras and / or acoustically using microphones.

[0010] In a further preferred development of the invention, the acoustic traffic light signal of at least one pedestrian light of the traffic light system is evaluated for its clock frequency and / or its intensity and / or its signal direction. This acoustic evaluation of the acoustic traffic light signals takes into account the fact that the acoustic traffic light signals of a traffic light system, i.e., the acoustic location signal and the acoustic release signal of a traffic light system, which differs from it in terms of volume or intensity and signal type, are usually set such that they also drown out traffic noise and can thus be acoustically located. This enables visually impaired or blind people, in particular, to cross a street.In order to locate the traffic light system and the pedestrian traffic light(s) of the traffic light system and to distinguish between the respective traffic light signal currently emitted by the traffic light system and the pedestrian traffic light(s) of the traffic light system, as mentioned, an evaluation of the traffic light signal is carried out in particular with regard to its intensity or volume and additionally also with regard to its clock frequency and with regard to its signal direction.

[0011] In a further preferred development of the invention, the acoustic traffic light signal of at least one pedestrian light of the traffic light system is acoustically evaluated using microphones on the vehicle and / or evaluated based on swarm data from other vehicles or evaluated based on communication between the vehicle and other vehicles. The acoustic traffic light signals of the pedestrian light(s) are thus evaluated in particular using microphones mounted on the vehicle. This also localizes the acoustic traffic light signals of a traffic light system having two pedestrian lights, in particular so that one of the two traffic light signals of the traffic light system must be to the left of the vehicle and one of the two traffic light signals of the traffic light system must be to the right of the vehicle. For the purpose of this localization of the traffic light signals of the traffic light system, several microphones mounted on the vehicle are preferably used.If the frequency and intensity of the relevant traffic light signals at the respective traffic light system are known from swarm data of other vehicles, a comparison can be made with the frequency and intensity of the traffic light signals determined by the vehicle in order to improve the localization of the traffic light system and thus also of the pedestrian crossing(s) of the traffic light system based on the traffic light signals of the traffic light system.

[0012] Preferably, the acoustic traffic light signal of the at least one pedestrian signal of the traffic light system is acoustically evaluated using microphones in the front area of ​​the vehicle. These microphones in the front area of ​​the vehicle can advantageously be used to detect the acoustic traffic light signal of the at least one pedestrian signal when the vehicle is stationary, since the turbulence of acoustic signals that would otherwise be present during vehicle movement is virtually nonexistent when the vehicle is stationary.

[0013] In a further preferred development of the invention, upon detection of an acoustic release signal from at least one pedestrian light of the traffic light system and when the vehicle is stationary in a stationary position within a specific danger zone of the traffic light system, a vehicle start-up maneuver intended by a driver assistance system of the vehicle to carry out movement of the vehicle in order to carry out a straight-ahead travel or a turning maneuver of the vehicle is prevented. Thus, at least one pedestrian light of a traffic light system can be located to the side of the vehicle in the direction of travel of the vehicle when the vehicle is intended to travel straight ahead, or at least one pedestrian light of a traffic light system can be located diagonally in front of the vehicle in the direction of travel of the vehicle when the vehicle is intended to turn.

[0014] The presented method for operating a driver assistance system of a vehicle can be used in particular in a traffic light system having two pedestrian traffic lights on opposite sides of the road.

[0015] In such a traffic light system having two pedestrian traffic lights, the danger zone of the traffic light system is preferably defined relative to the connecting line between the two pedestrian traffic lights of the traffic light system.

[0016] In particular, the traffic light's hazard zone extends longitudinally along the vehicle (vehicle's x-direction) and thus along the road or in the vehicle's direction of travel, a specific distance in front of the connecting line between the two pedestrian lights of the traffic light system and a specific distance behind the connecting line between the two pedestrian lights of the traffic light system. Thus, a vehicle at a standstill must be located in its stationary position in the vehicle's longitudinal direction (vehicle's x-direction) within the traffic light's hazard zone in the longitudinal direction.The standstill position when the vehicle is stationary is specified, for example, with respect to the rear of the vehicle, i.e. a specified position at the rear of the vehicle must be located in the longitudinal direction of the vehicle (in the x-direction of the vehicle) within the danger zone of the traffic light system in the longitudinal direction and thus along the road layout or in the direction of travel of the vehicle.

[0017] For example, the danger zone of the traffic light system is defined in the longitudinal direction and thus along the road layout or in the direction of travel of the vehicle in the area between 1 m in front of the connecting line between the two pedestrian traffic lights of the traffic light system and 10 m behind the connecting line between the two pedestrian traffic lights of the traffic light system.

[0018] The danger zone of the traffic light system in the transverse direction of the vehicle (in the y-direction of the vehicle) and thus transverse to the road layout or the direction of travel of the vehicle, includes in particular a large part of the distance between the two pedestrian traffic lights of the traffic light system, i.e. a significant proportion of the width of the street with the traffic light system, preferably the entire distance between the two pedestrian traffic lights of the traffic light system, i.e. the entire width of the street with the traffic light system.

[0019] Preferably, in a traffic light system with two pedestrian lights, the orientation of the vehicle in the danger zone must also be within a certain angular range around the connecting line between the two pedestrian lights of the traffic light system. This means that when the vehicle is stationary within the danger zone of the traffic light system, the vehicle must be in a certain angular position with respect to the connecting line between the two pedestrian lights of the traffic light system. For example, the orientation of the vehicle in the danger zone must be within an angular range between α = -10° and α = +10° around the connecting line between the two pedestrian lights of the traffic light system. This ensures that in a complex traffic situation with multiple traffic lights and therefore multiple pedestrian lights, the vehicle uses the "correct" traffic light system with its pedestrian light(s) and therefore also the "correct" traffic light signals for evaluation and assessment.

[0020] The method according to the invention is used in particular in a driver assistance system of a vehicle which includes an independent starting process of the vehicle, such as an ACC system of the vehicle (Adaptive Cruise Control System) for longitudinal control of the vehicle as a driver assistance system.

[0021] Furthermore, a vehicle is also claimed which has at least one such driver assistance system.

[0022] With the proposed method for operating a driver assistance system, vehicle movements in the area of ​​pedestrian traffic lights can be advantageously controlled in a simple manner while observing safety aspects.

[0023] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 a schematic view of the traffic situation in the area of ​​a traffic light system with pedestrian traffic lights. Fig. 2 a schematic representation of a detailed view of the area of ​​a traffic light system with two pedestrian lights in the case of a planned straight-ahead travel of the vehicle and. Fig. 3 a schematic representation of a detailed view of the area of ​​a traffic light system with two pedestrian traffic lights in the case of a planned turning maneuver of the vehicle.

[0024] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0025] In the figures, functionally identical elements are provided with the same reference numerals.

[0026] According to the Fig. 1 with the schematic view of a traffic situation in the area of ​​a traffic light system 2 having two pedestrian traffic lights 3, 4, it can be seen that in the case of high traffic volumes and slow-moving traffic in the area of ​​the traffic light system 2, in many cases vehicles 1 come to a standstill in a certain stationary position in the area of ​​the pedestrian traffic lights 3, 4 of the traffic light system 2. In particular, for some of these vehicles 1, the view of the pedestrian traffic lights 3, 4 of the traffic light system 2 is obscured in the stationary position, so that it is not possible for these vehicles 1 to determine which traffic light signal these pedestrian traffic lights 3, 4 of the traffic light system 2 are currently displaying.If these vehicles 1 are equipped with at least one driver assistance system that performs an automated starting process of the vehicle 1 when obstacles such as vehicles ahead are removed, this automated starting process of the vehicle 1 in the direction of travel 7 is carried out independently of the traffic light phase of the pedestrian traffic lights 3, 4 of the traffic light system 2. If these pedestrian traffic lights 3, 4 of the traffic light system 2 display a green light signal that allows waiting road users 10, such as pedestrians or cyclists, to cross the road 11 and these then cross the road 11, this leads to dangerous traffic situations with a vehicle 1 performing an automated starting process from a stationary position in the direction of travel 7.

[0027] According to the Fig. 2 shows a danger zone 5 in the area of ​​the pedestrian traffic lights 3, 4 of the traffic light system 2, within which such critical and dangerous traffic situations can preferably occur. In particular, the danger zone 5 is defined in the direction of travel 7 or in the longitudinal direction based on the connecting line 6 of the two pedestrian traffic lights 3, 4 of the traffic light system 2. For example, the danger zone extends 10 m from the rear 9 of a vehicle 1 in the longitudinal direction (x-direction of the vehicle 1) to the connecting line 6 and 1 m away from the connecting line 6 in the direction of travel 7 of the vehicle 1. In the transverse direction (y-direction of the vehicle 1), the danger zone 5 extends essentially to the position of the two pedestrian traffic lights 3, 4 of the traffic light system 2.Furthermore, an angular range for the angle α is defined as a measure of the orientation of the vehicle 1 with respect to the two pedestrian traffic lights 3, 4 of the traffic light system 2 and in particular with respect to the connecting line 6 between the two pedestrian traffic lights 3, 4 of the traffic light system 2. For example, the angular range for the angle α extends from +10° with respect to the connecting line 6 to -10° with respect to the connecting line 6. This ensures that the vehicle 1 also relates to the two relevant pedestrian traffic lights 3, 4 of the traffic light system 2, which is particularly relevant in a complex constellation with multiple pedestrian traffic lights 3, 4 and / or traffic light systems 2. If the vehicle 1 is now stationary in the standstill position in the danger zone 5, the acoustic traffic light signal of the two pedestrian traffic lights 3, 4 of the traffic light system 2 is detected by sensor systems of the vehicle 1.For this purpose, microphones arranged in the front area 8 of vehicle 1 are used in particular, which are well suited for detecting the acoustic traffic light signal of the two pedestrian traffic lights 3, 4 of the traffic light system 2 when the vehicle 1 is stationary. If an acoustic release signal from the two pedestrian traffic lights 3, 4 of the traffic light system 2 is detected by the vehicle 1 while the vehicle 1 is stationary within the danger zone 5, an automated start of the vehicle 1 from the stationary position in the direction of travel 7 for straight ahead travel of the vehicle 1 is prevented. For this purpose, for example, a corresponding control signal is transmitted to the ACC system of the vehicle 1, which serves as a driver assistance system for the longitudinal control of the vehicle 1, and by which the ACC system of the vehicle 1 is temporarily deactivated. Such an acoustic release signal can be taken into account as a traffic light signal of the traffic light system 2 on a country-specific basis.For this purpose, the navigation data of vehicle 1 is used to determine the country in which the vehicle is moving and, depending on this, the release signal valid in this country is defined as the traffic light signal of a traffic light system 2.

[0028] According to the Fig. 3 is a corresponding scenario as in Fig. 2 with the danger zone 5 in the area of ​​the pedestrian traffic lights 3, 4 of the traffic light system 2, within which critical and dangerous traffic situations can occur as described. In contrast to Fig. 2 is in accordance with the Fig.3, an automated start of the vehicle 1 from the stationary position in the direction of travel 7 for a planned turning maneuver of the vehicle 1 is prevented. For this purpose, the danger zone 5 is also defined depending on the connecting line 6 of the two pedestrian traffic lights 3, 4 of the traffic light system 2 and depending on the angular position of the vehicle 1 with respect to the two pedestrian traffic lights 3, 4 of the traffic light system 2. List of reference symbols 1 vehicle 2 traffic lights 3 pedestrian traffic light left 4 pedestrian traffic light on the right 5 Danger zone 6 connecting line 7 Direction of travel 8 front area of ​​the vehicle 9 Rear vehicle 10 other road users 11 Street 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] DE 10 2013 214 481 A1

[0003]

Claims

[1] Method for operating a driver assistance system of a vehicle (1), characterized by , that • while the vehicle (1) is moving, the vehicle (1) checks the presence of at least one pedestrian traffic light (3; 4) of a traffic light system (2) in the immediate vicinity of the vehicle (1), • when at least one pedestrian traffic light (3; 4) is detected in the immediate vicinity of the vehicle (1), the acoustic traffic light signal of the at least one pedestrian traffic light (3, 4) of the traffic light system (2) is evaluated by the vehicle (1), • when an acoustic release signal of the at least one pedestrian traffic light (3, 4) of the traffic light system (2) is detected and when the vehicle (1) is stationary in a stationary position within a specific danger zone (5) of the traffic light system (2), a starting process of the vehicle (1) intended by a driver assistance system of the vehicle (1) for carrying out movement processes of the vehicle (1) is prevented. [2] Method according to claim 1, characterized by that the vehicle (1) checks the presence of at least one pedestrian traffic light (3; 4) in the immediate vicinity of the vehicle (1) using swarm data from other vehicles and / or sensor data from the vehicle (1). [3] Method according to claim 1 or 2, characterized by that the clock frequency and / or the intensity and / or the signal direction of the acoustic traffic light signal of the at least one pedestrian traffic light (3, 4) of the traffic light system (2) is evaluated. [4] Method according to one of claims 1 to 3, characterized by that the acoustic traffic light signal of at least one pedestrian traffic light (3, 4) of the traffic light system (2) is acoustically evaluated by means of microphones on the vehicle (1) and / or is evaluated on the basis of swarm data from other vehicles. [5] Method according to one of claims 1 to 4, characterized bythat when an acoustic release signal of the at least one pedestrian traffic light (3, 4) of the traffic light system (2) is detected and when the vehicle (1) is stationary in a stationary position within a specific danger zone (5) of the traffic light system (2), a starting process of the vehicle (1) intended by a driver assistance system of the vehicle (1) for carrying out movement processes of the vehicle (1) in order to carry out a straight-ahead travel of the vehicle (1) or to carry out a turning process of the vehicle (1) is prevented. [6] Method according to one of claims 1 to 5, characterized bythat when an acoustic release signal of a traffic light system (2) having two pedestrian traffic lights (3, 4) is detected and when the vehicle (1) is stationary in a stationary position within the danger zone (5) of the traffic light system (2), a starting process of the vehicle (1) intended by a driver assistance system of the vehicle (1) for carrying out movement processes of the vehicle (1) is prevented. [7] Method according to claim 6, characterized by that in a traffic light system (2) having two pedestrian traffic lights (3, 4), the danger zone (5) of the traffic light system (2) is defined relative to the connecting line (6) of the two pedestrian traffic lights (3, 4) of the traffic light system (2). [8] Method according to claim 6 or 7, characterized bythat the danger zone (5) of the traffic light system (2) is defined in the longitudinal direction (x-direction) with a specific distance in front of the connecting line (6) of the two pedestrian traffic lights (3, 4) of the traffic light system (2) and with a specific distance behind the connecting line (6) of the two pedestrian traffic lights (3, 4) of the traffic light system. [9] Driver assistance system of a vehicle (1) operated according to a method according to one of claims 1 to 8. [10] Vehicle (1) with at least one driver assistance system operated according to one of claims 1 to 8.

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