Driver assistance system

Abstract

A driver assistance system for a vehicle comprises a control unit, the control unit being configured to, based on images of a surrounding environment of the vehicle, determine whether the vehicle approaches a red traffic light, if it is determined that the vehicle is approaching a red traffic light, determine a distance between the vehicle and a stopping point related to the red traffic light at which the vehicle is required to come to a stop, based on the images of the surrounding environment of the vehicle, receive information about a current speed of the vehicle, determine a braking force that is to be applied to stop the vehicle at the stopping point, based on the distance between the vehicle and the stopping point, and on the current speed of the vehicle, and visualize the braking force on a display of the vehicle.

Description

DRIVER ASSISTANCE SYSTEMTECHNICAL FIELD

[0001] The disclosure relates to a driver assistance system, in particular to a driver assistance system for a vehicle.BACKGROUND

[0002] Driver assistance may include any relief that is provided to an individual associated with a vehicle to increase individual protection and enhance driver experience. For instance, a driver of a vehicle may want a pleasant and comfortable driving experience throughout an entire driving session. This also includes situations where a driver is required to perform a braking maneuver at a red traffic light or due to following a vehicle that is braking.

[0003] There is a need for a driver assistance system that is able to allow smooth and comfortable braking maneuvers when a vehicle is required to brake.SUMMARY

[0004] The driver assistance system and related method according to the various embodiments described herein is able to assist a driver of a vehicle in braking, at a red traffic light or from following a braking vehicle, as smooth and comfortable as possible, thereby increasing the overall driving experience of the chiver during a driving session. The driver assistance system and related method are very' user friendly and provide a very satisfying user experience. At the same time, road safety is significantly increased.

[0005] A driver assistance system for a vehicle is disclosed herein. The driver assistance system includes a control unit, the control unit being configured to, based on images of a surrounding environment of the vehicle, determine whether the vehicle approaches a red traffic light, if it is determined that the vehicle is approaching a red traffic light, determine a distance between the vehicle and a stopping point related to the red traffic light at which the vehicle is required to come to a stop, based on the images of the surrounding environment ofthe vehicle, receive information about a current speed of the vehicle, determine a braking force that is to be applied to stop tire vehicle at the stopping point, based on the distance between the vehicle and the stopping point, and on the current speed of the vehicle, and visualize the braking force that is to be applied to stop the vehicle at the stopping point on a display of the vehicle.

[0006] A method according to embodiments of the disclosure includes, based on images of a surrounding environment of a vehicle, determining whether the vehicle approaches a red traffic light. If it is determined that the vehicle is approaching a red traffic light, the method includes determining a distance between the vehicle and a stopping point related to the red traffic light at which the vehicle is required to come to a stop based on the images of the surrounding environment of the vehicle, receiving information about a current speed of the vehicle, determining a braking force that is to be applied to stop the vehicle at the stopping point, based on the distance between the vehicle and the stopping point, and on the current speed of the vehicle, and visualizing the braking force that is to be applied to slop the vehicle at the stopping point on a display of the vehicle.[ 0007 J Other systems, features and advantages of the disclosure will be or will become apparent to one with skill in the art upon examination of the following detailed description and figures. It is intended that all such additional systems, methods, features, and advantages included within this description be within the scope of the invention and be protected by the following claims.BRIEF DESCRIPTION OF THE DRA WINGS

[0008] The arrangements and methods may be better understood with reference to the following description and drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. Moreover, in the figures, the same reference numerals designate the same components throughout the different views.

[0009] Figure 1 schematically illustrates a stopping event in front of a vehicle as seen from a driver’s perspective;

[0010] Figure 2 schematically illustrates a driver assistance system according to embodiments of the disclosure;

[0011] Figure 3 schematically illustrates a visualization of a braking force according to embodiments of the disclosure;

[0012] Figure 4 schematically illustrates a visualization of a braking force according to further embodiments of the disclosure;

[0013] Figure 5 schematically illustrates a visualization of a braking force according to even further embodiments of the disclosure;

[0014] Figure 6 schematically illustrates, in a flow diagram, a method according to embodiments of the disclosure; and

[0015] Figure 7 schematically illustrates, in a flow diagram, a method according to embodiments of the disclosure.DETAILED DESCRIPTION

[0016] Figure I schematically illustrates a stopping event, 20, for example a red traffic light, in front of a vehicle as seen from a driver’s perspective. It should be noted that the stopping event and red traffic light may be used interchangeably hereinafter. However, it should also be noted that the stopping event 20 is not limited to a red traffic light and may be any event that requires a driver to apply a braking force to stop the vehicle, such as, for example but not limited to, a stop sign and a vehicle being followed that is braking. A driver of a vehicle generally perceives an upcoming stopping event throu gh the windshield of the vehicle. When the stopping event 20 is a traffic light that turns red, the driver is required to brake, in order to bring the vehicle to a complete stop. The driver has to estimate as to how much braking force will be required to stop the vehicle at a certain stopping point 22. The stopping point 22 at which the vehicle is required to come to a stop may be a road marking on the road, representing an official stopping line related to the traffic light e.g., in situations when no other vehicle is driving in front of the vehicle and between the vehicle and the red traffic light 20. If other vehicles are stopping at the red traffic light 20 in front of the vehicle,the stopping point 22 may be a point just behind the last of the preceding vehicles (i.e. , just behind another vehicle directly in front of the vehicle).

[0017] Many drivers are not able to or do not wish to correctly estimate a braking force themselves that is required in a specific situation to stop the vehicle in a smooth and comfortable way. hi some cases, the traffic situation may distract a driver, for example, such that they are not able to completely focus on the task of performing the braking maneuver. Therefore, a vehicle may comprise a driver assistance system. A driver assistance system according to embodiments of the disclosure comprises a control unit 32. This is schematically illustrated in Figure 2. The control unit 32 is configured to, based on images of a surrounding environment of the vehicle, determine whether the vehicle approaches a stopping event 20. If it is determined that the vehicle is approaching the stopping event 20, the control unit 32 is configured to determine a distance between the vehicle and a stopping point 22 related to the stopping event 20 at which the vehicle is required to come to a stop, based on the images of the surrounding environment of the vehicle, receive information about a current speed of the vehicle, and determine a braking force that is to be applied to stop the vehicle at the stopping point 22, based on the distance between the vehicle and the stopping point 22, and on the current speed of the vehicle. To assist the driver to estimate the necessary braking force to stop at, or before, the stopping point 22, the braking force that is to be applied to stop the vehicle at the stopping point 22 is then visualized on a display 34 of the vehicle.

[0018] The visualization of the required braking force assists the driver of the vehicle in stopping the vehicle in a smooth and comfortable way. This can take stress off tire driver in many situations, alert a distracted driver that brake force is to be applied, and reduce a mental load of the driver, especially in complex driving situations. The driver, however, is required to perform the braking maneuver themselves. That is, the vehicle does not actively intervene. The driver assistance system provides guidance for the driver, which the driver may follow, if so desired. The visualization will be described in detail later herein, but effectively it visualizes how much braking force the driver needs to apply as one, or more, of a graphic, audible, or haptic form. This may be, for example, color-coded graphic elements representative of braking force to show the driver how strong the braking force needs to be to stop tire vehicle at the stopping point 22.

[0019] The control unit 32 may receive input from other sensors and units arranged in the vehicle. For example, but not limited to, vehicle sensors such as cameras, lidar, sonar, steering wheel angle, speed, accelerometer, driver assistance such as, but not limited to, GPS, lane assist, lane departure warning, etc. Vehicles today already comprise many different functions for many different applications. For example, many vehicles comprise one or more cameras 302 that are arranged on the vehicle to capture images of a surrounding environment of the vehicle. Such cameras are often used, for example, for road sign detection applications 304, or for lane detection applications 306. That is, the driver assistance system does not necessarily have to comprise one or more cameras but may receive images captured by cameras 302 of other applications 304, 306 instead. The control unit 32 of the driver assistance system may evaluate such images of a surrounding environment of the vehicle, in particular images captured by front facing cameras 302. Front facing cameras 302 are arranged to capture images of a surrounding environment in front of the vehicle. Different techniques for traffic light detection based on images captured of a surrounding environment of a vehicle are generally known. It is even possible that the control unit 32 does not even perform the traffic light detection itself. Traffic lights 20 could also be detected by other applications, e.g., road sign detection applications 304. If a red traffic light 20 is detected, such information could then be transmitted to the control unit 32 of the driver assistance system.

[0020] If it is detected that the vehicle is approaching a red traffic light 20, the control unit 32 may determine or receive further information. In particular, a stopping point 22 related to the red traffic light 20 is determined, at which the vehicle is required to come to a stop. The control unit 32 may either determine the stopping point 22 itself or may receive information about a stopping point 22 from other applications (e.g.. lane detection applications 306). When the stopping point 22 is known, a distance between the vehicle and the stopping point 22 is determined. At the same time, a current speed of the vehicle is determined. The control unit 32 may either determine the distance to the stopping point 22 and the current speed of the vehicle itself or may receive such information from other applications in the vehicle. Based on the distance and the speed, the control unit 32 then determines a braking force that is to be applied to stop the vehicle at the stopping point 22. This braking force is then visualized on a display of the vehicle. For example, the control unit 32 may provideinformation related to the visualization to a display unit 34 of the vehicle. Many vehicles today comprise one or more displays for other applications, which could be used by the driver assistance system as well. That is. the driver assistance system does not necessarily have to comprise a separate, dedicated display, but can make use of other external displays instead.

[0021] The braking force may be visualized on any kind of display in the vehicle. For example, the braking force may be displayed on a head-up display of the vehicle. The visualization in such cases may be presented on a windscreen of the vehicle such that the driver perceives the visualization as being superimposed with the road in front of the vehicle that is visible through the windscreen. Alternatively, it is also possible that images of the surrounding environment of the vehicle in front of the vehicle are presented on a display of the vehicle, and that the visualization is superimposed with such images.

[0022] The visualization of the required braking force may be implemented in any suitable way. A very simple way of visualizing the braking force that is easy to perceive by a driver of the vehicle in any kind of driving situation, however, is to present one or more colored patterns, one or more colored signs, one or more colored numbers, and / or one or more colored letters to the driver. This is schematically illustrated in Figure 3, for example. In this example, a plurality of patterns is illustrated on the road ahead of the vehicle. In the given example, the patterns include triangles, with one corner of the triangle facing towards the stopping point 22 (i.e. in the driving direction of the vehicle). The pattern, however, additionally, or alternatively could include any other kind of regular or irregular pattern instead. As mentioned above, it is also possible to present any kind of signs, numbers, and / or letters.

[0023] A color of the one or more patterns, signs, numbers, and / or letters may indicate an intensity of the determined braking force. That is, for example, if only a comparably low braking force is to be applied to stop tire vehicle at the stopping point 22, one or more green patterns, signs, numbers, and / or letters may be displayed. This is an indication for the driver of the vehicle that the vehicle may be easily and smoothly stopped. This applies in cases, for example, where a distance between the vehicle and the stopping point 22 is comparably large and / or a speed of the vehicle is comparably low. If a medium braking force is to be applied to stop the vehicle at the stopping point 22, one or more orange patterns, signs, numbers, and / orletters may be displayed . This is an indication for the driver of the vehicle, that the braking maneuver may not be entirely smooth, but may require a certain braking force. If a comparably high braking force is to be applied to stop the vehicle at the stopping point 22, one or more red patterns, signs, numbers, and / or letters may be displayed. Red is generally a signal color, which may indicate that a rather severe braking maneuver is required in order to stop vehicle in time.

[0024] It is generally also possible that different colors are used in one and the same visualization. For example, patterns presented directly in front of the vehicle may be presented in red, indicating that initially a rather high braking force is required to reduce the speed of the vehicle to an appropriate speed. Patterns presented as further away from the vehicle and closer to the traffic light (i.e., the stopping point 22) may be presented in orange or green, for example. This may indicate to the driver that if an initially strong braking force is applied, the vehicle may subsequently be brought to a smooth stop with a comparably low braking force. The driver, based on the colors may easily perceive how much braking force they have to apply to stop the vehicle at the stopping point 22 in a way that is as comfortable as possible in a present situation.

[0025] Figure 3 schematically illustrates a situation in which no other vehicles are in front of the vehicle and between the vehicle and the stopping event 20, which is a red traffic light. In this case, the stopping point 22 corresponds to a road marking representing an official stopping line related to the traffic light. Similarly, for a stop sign, the official stopping line related to the stop sing is the stopping point 22. Figure 4 schematically illustrates a situation in which another vehicle is in front of the vehicle and between the vehicle and the stopping event 20 is a traffic light. In this case, the stopping point 22 is a virtual stopping line that may be determined by the driver assistance system, wherein the virtual stopping line is arranged behind a second vehicle 12 stopping at the red traffic light and directly preceding the vehicle. In the example illustrated in Figure 3, the distance between the vehicle and the stopping point 22 essentially corresponds to a distance between the vehicle and the stopping event 20, i.e., traffic light. In the example illustrated in Figure 4, the distance between the vehicle and the stopping point 22 essentially corresponds to a distance between the vehicle and a directly preceding vehicle 12.[ 00261 Now referring to Figure 5, it may be possible that more than one lane is available in front of the traffic light. In such cases, a dri ver may desire to change to another lane before stopping the vehicle at the traffic light. For example, a second vehicle 12 may already be waiting at the red traffic light on the lane the vehicle is currently driving on, while another lane is still free. Or a queue of vehicles on one lane may be longer than on another lane, for example. The control unit 32, therefore, may be further configured to determine whether a driver of the vehicle intends to change to another lane before stopping at the red traffic light. If, for example, a turn indicator of the vehicle is active, and it is determined (e.g., based on images of the surrounding environment of the vehicle) that another lane in the same driving direction is available, this may be considered as an indication that the driver intends to change to another lane. Optionally, a steering wheel position may also be taken into consideration. That is, if the steering wheel remains in a straight position, it may be considered that the driver intends to remain on a current lane. If the steering wheel position changes into a direction corresponding to a direction as indicated by the turn indicator, this may be an indication that the driver intends to change to another lane. If it is determined that the driver intends to change to another lane before stopping the vehicle at the red traffic light, the stopping point 22 at which the vehicle is required to come to a stop may be determined to be arranged on the other lane, as is schematically illustrated in Figure 5. A trajectory between tire vehicle and the stopping point 22 in this case may not be straight, but may be curved instead, as is schematically illustrated in Figure 5.

[0027] In the examples illustrated in Figures 3, 4 and 5, the patterns that are illustrated to visualize the required braking force are arranged along a trajectory between the vehicle and the stopping point 22. This, however, is only an example. The visualization may be implemented in any other suitable way instead. Arranging a plurality of patterns, signs, numbers or letters along the trajectory, however, may further improve an awareness of the driver concerning a current driving situation with respect to an upcoming red traffic light 20.

[0028] Now referring to Figure 6, a method according to embodiments of the disclosure is schematically illustrated. The method comprises determining whether the vehicle detects a stopping event 20, such as a red traffic light (step 601). Determining whether the vehicle detects a red traffic light may be based on images of a surrounding environment of a vehicle that indicate a red traffic light, a stop sign, and / or brake lights of a vehicle being followed.[ 00291 If it is determined that the vehicle is approaching the stopping event 20, such as a red traffic light, the method comprises determining a distance between the vehicle and a stopping point 22 related to the stopping event 20 at which the vehicle is required to come to a stop based on the images of the surrounding environment of the vehicle (step 602), receiving information about a current speed of the vehicle (step 603), determining a braking force that is to be applied to stop the vehicle at the stopping point 22, based on the distance between the vehicle and the stopping point 22, and on the current speed of the vehicle (step 604), and visualizing the braking force that is to be applied to stop the vehicle at the stopping point 22 on a display 34 of tire vehicle (step 605).

[0030] Now referring to Figure 7, one or more embodiments to execute the step of visualizing the braking force that is to be applied to stop the vehicle (step 605 above) is described in detail. At a point in time when the driver applies braking force, the method determines a threshold (step 701) using information gathered for an initial visualization, which includes an initial distance to the stopping point, an initial speed of the vehicle, and an initial braking force being applied by the driver. The threshold represents a non-variable limit representative of the braking force needed to stop the vehicle at the stopping point.

[0031] As the vehicle approaches lire stopping point, a current distance to the slopping point, a current speed of the vehicle, and a current braking force being applied may be changing. Therefore, the method compares (step 702), at a predetermined interval, the initial visualization with a current visualization. The predetermined interval may be dependent upon tire vehicle sensor or system that is being used to detect the stopping point, the distance thereto, and the current braking force. As an example, the predetermined interval may be th irty frames per second from the perspective of a camera sensor. The current visualization includes the current distance to the stopping point, the current speed of the vehicle, and the current braking force being applied to the driver to the threshold.

[0032] Based on the comparison between the current and threshold visualizations, the method modifies (step 703) the visualization at the display to reflect a current status of the vehicle with respect to the stopping event and the stopping point and displays the updated . The updates may include, for example, modifying the color and intensity of the visualizationto indicate that the driver is applying adequate braking force or that the driver needs to apply more barking force.

[0033] In the event the comparison results in a determination that the driver may not be applying enough braking force to decelerate adequately to stop the vehicle at the stopping point, the visualization may be updated in a manner that communicates an increased urgency to the driver. In the event tire driver is applying adequate braking force, the visualization is updated to include the current distance to the stopping point, the current speed of the vehicle, and the current braking force being applied.

[0034] After the predetermined interval lapses, the method updates the current visualization (step 704) to reflect newly determined current distance to the stopping point, current speed of the vehicle, and current braking force being applied. If a stopping event is still being detected (step 705), the method and returns to step 702 where another comparison is made between the threshold and an updated current visualization that is representative, at the next predetermined interval, of a now current distance to the stopping point, a now current speed of the vehicle, and a now current braking force being applied. The method repeats as necessary and ends 706 a point in time which the method determines 705 that the need for slopping has otherwise ended. The need for slopping ends when a stopping event is not detected or no longer exists. For example, the stopping event no longer exists when the vehicle has successfully been brought to a stop, the traffic light becomes green, the vehicle being followed is no longer braking, or the driver has changed lanes thereby rendering moot tire stopping event 20.

[0035] It may be understood that the illustrated systems and methods are merely examples. While various embodiments of the invention have been described, it will be apparent to those of ordinary? skill in the art that many more embodiments and implementations are possible within the scope of the invention. In particular, the skilled person will recognize the interchangeability of various features from different embodiments. Although these techniques and systems have been disclosed in the context of certain embodiments and examples, it w ill be understood that these techniques and systems may be extended beyond the specifically disclosed embodiments to other embodiments and / or uses and obvious modifications thereof.Accordingly, the invention is not to be restricted except in light of the attached claims and their equivalents.

[0036] The description of embodiments has been presented for purposes of illustration and description. Suitable modifications and variations to the embodiments may be performed in light of the above description or may be acquired from practicing the methods. The described arrangements are exemplary in nature and may include additional elements and / or omit elements. As used in this application, an element recited in the singular and proceeded with the word “a” or “an” should be understood as not excluding plural of said elements, unless such exclusion is stated. Furthermore, references to “one embodiment” or “one example” of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. The terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements or a particular positional order on their objects. The subject matter of the present disclosure includes ail novel and non-obvious combinations and sub-combinations of the various systems and configurations, and other features, functions, and / or properties disclosed. The following claims particularly point out subject matter from the above disclosure that is regarded as novel and non-obvious.

Claims

CLAIMS1 . A driver assistance system for a vehicle comprises a control unit, the control unit being configured to: based on images of a surrounding environment of the vehicle, determine whether the vehicle approaches a stopping event; upon determining that the vehicle is approaching the stopping event, determine a distance between the vehicle and a stopping point related to the stopping event at which the vehicle is required to come to a stop, based on the images of the surrounding environment of the vehicle; receive information about a current speed of the vehicle; determine a braking force that is to be applied to stop the vehicle at the stopping point based on the distance between the vehicle and the stopping point and based on the current speed of the vehicle; and visualize the braking force that is to be applied to stop the vehicle at the stopping point on a display of the vehicle.

2. The driver assistance system of claim 1, wherein visualizing the braking force comprises displaying one or more colored patterns, one or more colored signs, one or more colored numbers, and / or one or more colored letters.

3. The driver assistance system of claim 2, wherein a color of the one or more patterns, signs, numbers, and / or letters indicates an intensity of the determined braking force.

4. The driver assistance system of claim 3, wherein the control unit is configured to indicate that a comparably low braking force is to be applied to stop the vehicle at the stopping point by displaying one or more green patterns, signs, numbers, and / or letters, indicate that a medium braking force is to be applied to stop the vehicle at the stopping point by displaying one or more orange patterns, signs, numbers, and / or letters, and indicate that a comparably high braking force is to be applied to stop the vehicle at the stopping point by displaying one or more red patterns, signs, numbers, and / or letters.

5. The driver assistance system of claim 2. wherein visualizing the braking force comprises displaying a plurality' of colored patterns, colored signs, colored numbers, and / or colored letters along a trajectory between the vehicle and the stopping point.

6. The driver assistance system of claim 1, wherein the stopping point corresponds to a road marking on the road representing an official stopping line related to a red traffic light.

7. The driver assistance system of claim 1, wherein the stopping point is a virtual stopping line determined by the driver assistance system and arranged behind a second vehicle stopping and directly preceding the vehicle.

8. The driver assistance system of claim 1, wherein the control unit is further configured to determine whether a driver of the vehicle intends to change to another lane before stopping at the stopping point.

9. The driver assistance system of claim 8, wherein the stopping point at which the vehicle is required to come to a stop is determined to be arranged on the other lane, if it is determined that the driver of the vehicle intends to change to the other lane before stopping at the stopping point.

10. A method comprising the steps of: based on images of a surrounding environment of a vehicle, determining whether the vehicle detects a stopping event; upon determining the vehicle detects a stopping event and based on images of the surrounding environment of the vehicle, determining a distance between the vehicle and a stopping point related to the stopping event at which the vehicle is required to come to a stop; receiving information about a current speed of the vehicle; determining a braking force that is to be applied to stop the vehicle at the stopping point based on the distance between the vehicle and the stopping point and on the current speed of the vehicle; and visualizing the braking force that is to be applied to stop the vehicle at the stopping point on a display of the vehicle.

Images