DE10303010A1 - Method and device for automatic speed adjustment - Google Patents

Abstract

The invention relates to a method and a device for automatically adjusting the speed of a motor vehicle, according to the preamble of claims 1 and 19. In order to achieve that an electronic detection of the traffic sign or the traffic situation is improved and thereby a more efficient adaptation to automatic speed controls is given, it is proposed according to the invention that the automatic speed adjustment is carried out on the basis of an automatic traffic sign recognition, such that the traffic sign recognition is logically coupled with an automatic recognition of the route-related validity range.

Description

 The invention relates to a method and a device for automatic speed adjustment in a motor vehicle, according to the preamble of claims 1 and 19.

For automatic adjustment or Influencing the speed of motor vehicles is a process and facilities known to be on automatic detection of Traffic signs are coupled. These are mostly via camera systems, which are arranged in the vehicle are automatically recorded and via on-board Pattern comparison method evaluated.

A method as well as a device of this type is known from DE 199 52 153 A1 known. Automatic traffic sign recognition is proposed there with camera support. The recognized speed limits can also be taken into account in the operation of the distance control to the vehicle in front.

The signage is recognizable a question of complexity, with which the said pattern comparison procedures are operated.

In addition to the optical detection of the signage with subsequent electronic image pattern evaluation, a transponder-based recognition is also known from the DE 39 11 916 A1 ,

However, the system is not complete consistent and required in all cases driver intervention. A driver intervention is then without further possible and so the actually targeted driver assistance is after all on interventions instructed, especially if by the route, but not by appropriate Resolution signage the scope a limitation is unclear.

The invention is therefore the object is based on a method and a device of the generic type to improve that an electronic recording of the Traffic sign, or the traffic situation improved, and thereby a more efficient adaptation to automatic speed controls given is.

The task is at a Method of the generic type according to the invention the characterizing features of claim 1 solved.

Further advantageous configurations of the method according to the invention are in the dependent claims 2 to 18 specified.

With regard to an establishment of the generic type is the task according to the invention by the characterizing Features of claim 19 solved.

Further advantageous configurations the device according to the invention are in the dependent claims 20 to 33 specified.

Furthermore, the features of the invention both in procedural as also in terms of furnishings be solved by a software program product according to claim 34th

Core of the method according to the invention is based on the automatic speed adjustment automatic traffic sign recognition is carried out, such that the traffic sign recognition logically with an automatic Detection of the route-related validity coupled is.

This is now control engineering for the first time and without the need for driver intervention a traffic sign, i.e. a restriction clearly included. this leads to thus also for efficient traffic management.

Moves a vehicle with the system according to the invention in a speed-restricted area on so the speed limit is automatically recognized and controlled as a control target. Has such a speed limit always a scope. This is not always marked with a resolution symbol, but can also be done by routing, for example Passing a junction or an intersection. The system is supposed to do this automatically recognize and take into account.

In a further embodiment it is provided that the control of the driver assistance systems is also linked to it. This results in an effective integration not only in automatic recognized speed limits, but also in the recognition of when these are to end is a very useful input for the regulation of driver assistance systems.

Furthermore, it is advantageously designed that the automatic brake application or support and / or the automatic accelerator pedal actuation and / or the automatic Distance control can be coupled with it. So the intervention is comprehensive and therefore extremely comfortable on the one hand and extremely safe on the other hand.

In addition, the system can also overlaid by manual intervention become.

Furthermore, it is advantageously designed that the system is coupled to a cruise control system in such a way that a setting speed is defined as the basis, which either manually controlled, or automatically based on the traffic signs or the traffic situation is determined, with a freely selectable temporary offset speed can be added.

The selectable offset speed is advantageously as a percentage of the setting speed selected.

It is advantageous in certain Situations that the automatic control can also be switched off.

Advantageously, it results from a further embodiment that the automatic distance and / or speed control dynamically in this way to the automatically recognized Ver road traffic is customizable.

To create a cognitively logical Function is specified in a further advantageous embodiment, that with automatic detection of leaving a limited section of the route automatic acceleration to the original setting speed he follows. The setting speed is the permissible maximum speed, to which an adjustable percentage offset, if any, by the driver can be opened yourself.

To support driver alertness is stated in an advantageous embodiment that the automatically recognized Traffic signs in the vehicle are displayed optically and / or acoustically become.

Another advantage is the option that the set offset in the vehicle is optical and / or acoustic is shown.

For advantageous visual support for the driver is further configured that the tachometer scale in its scaling is variable, such that it dynamically adjusts to the currently set one Speed is adjusted.

This can also be done that the speedometer scale by backlighting or by a variable ring of lights dynamically at the currently set speed is adjusted.

There are a number of advantages to one Design linked, in which the traffic sign recognition and the recognition of the valid range for the purpose of data communication with a navigation database is coupled. So can Route data are adaptively entered into the navigation database, so that it is constantly updated. Doing so will not be geographical Data updated, but route-related data, which may also be in shorter Periods of time are updateable than otherwise common. It is important here that on the one hand the current vehicle can evaluate this data, but possibly the transmitted Data is also available as dynamic data for other vehicles.

The traffic sign recognition as this can be done using various techniques. So this can be transponder-based or camera-based carried out become.

With regard to an establishment The essence of the invention is that the automatic Speed adjustment based on automatic traffic sign recognition can be regulated in such a way that the traffic sign recognition is logical with automatic detection of the route-related scope can be coupled. Thus all advantageous means are given to the perform advantageous procedures to be able to.

It is advantageously designed that also the control of the driver assistance systems, and / or the automatic brake application or support and / or the automatic accelerator pedal actuation and / or the automatic Distance control can be coupled with it. This is the automatic intervention option encompassing.

The system can be done manually Intervention also overlaid become.

Existing speed controls, so-called cruise control systems are used so that the system can be coupled with a cruise control in such a way that as a basis a setting speed can be defined, which is either controlled manually, or automatically based on the traffic signs or the traffic situation is set, and a freely selectable temporary Offset speed can be added.

Appropriate switching or actuating means for switching the system on and off or certain options of the system, as well as the control of appropriate display means round off the system functionally.

To get an appropriate display of the different speed limits and / or the setting speed and / or the offset It is stated that the speedometer scale must be implemented in its Scaling is variable, such that it dynamically matches the current set speed is adjustable.

Alternatively, a good overview effect can also be achieved if the tachometer scale is backlit or dynamically to the current with a variable light ring set speed is adjustable.

With the software program product are the specified functions may also be retrofitted into an existing cruise control system importable. There is also the possibility of those essential to the invention Training features as software, which then in connection with the described device effects all functions of the invention.

The invention is in the drawing shown and below in more detail described.

It shows:

1 Clear representation of the logical process relationships

2 Display display in the motor vehicle

3 Traffic sign recognition with passive or active transponders as well as video-based traffic sign recognition.

• – Die aktuell erkannten und somit für einen gewissen Streckenabschnitt gültigen Geschwindigkeitsbegrenzungen können in die fahrzeugautonomen Längsregelsysteme dynamisch einprogrammiert werden. Zu den Längsregelsystemen gehören Geschwindigkeitsregelverfahren, sowie auch Abstandsregelverfahren zu vorausfahrenden Fahrzeugen.
• – Die so variabel programmierten Geschwindigkeiten, die als Setzgeschwindigkeiten bezeichnet werden, können um einen frei wählbaren Wert über oder unterschritten werden, die sogenannten frei wählbaren Offsets. Die Offsets können dabei nominell oder prozentual gewählt werden.
• – Der Offset, sogar ggf. der automatisch zulässige Offset kann aber auch an das Verkehrsgeschehen, an Fahrbahnparametern oder an Straßenzuständen angelehnt sein.

1 shows the logical context of the operating procedure in a clear representation. According to the invention, the traffic sign recognition is integrated into the comprehensive driver assistance system. This results in the following functional relationships.

• - The currently recognized speed limits, which are valid for a certain section of the route, can be dynamically programmed into the vehicle-independent longitudinal control systems. The longitudinal control systems include speed control procedures as well as distance control procedures for driving ahead witness.
• - The so variably programmed speeds, which are referred to as setting speeds, can be exceeded or fallen below by a freely selectable value, the so-called freely selectable offsets. The offsets can be selected nominally or as a percentage.
• - However, the offset, even the automatically permissible offset, can also be based on the traffic situation, on lane parameters or on road conditions.

With regard to certain vehicle related technical conditions can two types can be distinguished.

a) Vehicles with cruise control GRA

When entering a limited speed Area is the setting speed of the cruise control system GRA automatically to the valid one Speed limit set. This is done beforehand an optical detection of the traffic sign with subsequent electronic evaluation, or by transponder signal acquisition.

If the driver at a higher speed drives and he stepped off Accelerator picks up, decelerates the control system automatically sets the vehicle to the set value. The delay can either only by the engine drag torque or by an active automatic brake intervention take place.

The old setting speed before the speed limit is saved so that after the Cancellation or other increase in the permissible driving speed the old setting speed becomes valid again. The driver has to acceleration to the old setting speed e.g. with the Confirm resume button or a short step on the accelerator since the system has no knowledge of has the traffic situation.

At low driving speeds as the approved, the system remains passive.

b) vehicles with adaptive Distance control (ADR / ACC) and GRA.

• – das ADR System die tatsächliche Fahrgeschwindigkeit dynamisch den Verkehrsverhältnissen orientiert anpasst,
• – die programmierte Geschwindigkeit nur den oberen Wert für das ADR-System darstellt,
• – nach Verlassen des beschränkten Bereiches automatisch ohne Quittierung des Fahrers bis auf die alte Setzgeschwindigkeit beschleunigt werden kann, da die adaptive Distanzregelung Kenntnis über ggf. vorausfahrende Fahrzeuge hat.

The functions listed in a) are expanded to a comfortable and fully automatic longitudinal control that

• - the ADR system dynamically adapts the actual driving speed to the traffic conditions,
• - the programmed speed is only the upper value for the ADR system,
• - After leaving the restricted area, the driver can accelerate to the old setting speed automatically without acknowledging the driver, since the adaptive distance control has knowledge of any vehicles traveling ahead.

Due to the automatic in the system The setting speed fed in is also automatic Detection of distance values now makes the system so convenient that from one, for example, through construction sites or otherwise Speed reductions restricted the area's speed is so optimally adapted that it is optimal in terms of traffic technology the limited Area is moved out. The advantage here comes from combination automatic distance control, cruise control and automatic Speed limit detection fully revealed.

This relationship is functional now from the joint evaluation of the traffic sign recognition as such, and the automatic recording of the duration, or the validity routes a limitation. The traffic sign becomes through the camera image at the maximum speed shown or a maximum speed derived from the sign, such as an entrance sign and registered using a sample comparison procedure automatically interpreted. At the same time, the video image can also be viewed Image patterns, like crossroads, resolution / canceling Traffic signs, competing traffic signs etc. are automatic logical evaluation of the end of a limited Route over Provide a sample comparison. This is realized here.

The camera 1 , which is arranged at a suitable location on the motor vehicle, takes a picture of the surroundings, ie essentially in the direction of travel. The images are sent to an image evaluation 3 sent. From there, two detection targets are then logically pursued at the same time. On the one hand, according to a pattern I, the traffic sign is to be evaluated directly or indirectly, ie with the information relevant to speed, for example. The specified speed is therefore recognized logically. At the same time, the image data is evaluated by the evaluation according to a pattern II. This pattern II logically evaluates the image data based on the information about the length of the route of a restriction. Both information, ie the automatically recognized restriction and the duration thereof, are then electronically available in the result and are included in an overall evaluation 6 evaluated together. Accordingly, the electric accelerator pedal is then activated from there via control signals 7 and / or the electric brake 8th driven. In addition, the visual or acoustic information output 9 controlled to the driver. The audio system is activated for acoustic information and a display for visual information.

2 shows the use of a display 9 which is controlled via the information output of the system. The setting speed already described above, ie the detected one The maximum speed can now be controlled in various ways. In this design example, the currently valid maximum speed or the route-related limitation on the display 9 displayed. Additionally or if necessary, instead of the limitation in the motor vehicle can also be reproduced acoustically.

• – Die Anzeige erfolgt für die gesamte Dauer, d.h. während der gesamten Fahrstrecke im Gültigkeitsbereich der Beschränkung.
• – Die Anzeige kann auch abhängig von der Fahrgeschwindigkeit nur bei Überschreitung der gültigen Höchstgeschwindigkeit, oder nur bei Überschreitung eines einstellbaren Offsetbetrages derselben erfolgen, quasi als Erinnerung.
• – Dabei kann der aktuelle Bußgeldkatalog als Datei hinterlegt sein, derart, dass bei Überschreitung der zulässigen Höchstgeschwindigkeit der aktuelle Bußgeldwert, mit dem zu rechnen ist, angezeigt wird.

All design variants have one thing in common.

• - The display takes place for the entire duration, ie during the entire route within the scope of the restriction.
• - Depending on the driving speed, the display can only appear if the maximum speed is exceeded, or only if an adjustable offset amount is exceeded, as a reminder.
• - The current catalog of fines can be stored as a file in such a way that the current value of the fine that is to be expected is displayed if the permissible maximum speed is exceeded.

• – dass die Tachometerskala 11 sich dynamisch ändert, d.h. dass sie sich oberhalb der geltenden Geschwindigkeitsbegrenzung in ihrer Beschriftungsfarbe ändert,
• – dass die Tachometerskala 11 dynamisch geändert wird nämlich, dass auf die geltende Höchstgeschwindigkeit, ggf. mit der Einblendung eines Überschreitungsbereiches, also einer Toleranz nach oben,
• – dass die Tachometerskala von einem Leuchtkranz umfasst wird, der Bereiche in verschiedenen Farben markiert, z.B. grüne Farbe von 0 bis zur erlaubten Geschwindigkeit, orange von erlaubter Geschwindigkeit bis zur maximal tolerierten Geschwindigkeit und rot von der maximal tolerierten Geschwindigkeit bis zur maximal angezeigten Geschwindigkeit.

There are other options

• - that the speedometer scale 11 changes dynamically, that is, it changes its label color above the applicable speed limit,
• - that the speedometer scale 11 It is dynamically changed that to the applicable maximum speed, possibly with the display of an exceeding range, i.e. a tolerance upwards,
• - That the speedometer scale is encompassed by a luminous ring that marks areas in different colors, e.g. green color from 0 to the permitted speed, orange from the permitted speed to the maximum tolerated speed and red from the maximum tolerated speed to the maximum displayed speed.

In addition, there can also be an acoustic output either instead or together with the visual rendering respectively.

The acoustic output can be activated when entering or exiting from limited Area.

In addition to or instead of there is also an acoustic output when exceeded the applicable restrictions.

The transfer of information From the traffic sign to the system in the vehicle, the following can be used described ways are done.

3 shows an example in which the information from sensors for detecting the traffic environment, ie by image processing for object and lane detection, laser-based sensors and radar systems, can be used. This means that the respective traffic environments can also be classified according to the grouping of inner-city, extra-urban or motorway. In this way, generally applicable speed limits can be recognized autonomously and fed into the above-mentioned displays and driver assistance systems.

3 therefore shows in the upper part of the picture that the traffic sign recognition can be recognized automatically, for example, with active or passive transponders. The means of identification or transmission placed in the traffic sign 20 communicates appropriately with receivers when one drives past 30 equipped vehicle with the system in it, and the traffic sign is read. The read data are then processed in the manner described above.

Further technical increases are possible through the integration of the existing satellite-based navigation system.

Starting from a satellite 40 become relevant traffic signs in a navigation database 50 stored. An update of the database or a dynamic adaptation to variable message signs requires an additional data receiver or an additional data channel in the satellite navigation system. Database 50 and an associated update service for infrastructural changes must be set up centrally by transport infrastructure operators or the like.

Another option is video-based Traffic sign recognition. The one installed by the vehicle Video camera captured image is taken in relevant areas with appropriate Image processing methods analyzed. Candidates are becoming more possible Traffic signs extracted based on specific characteristics. The classification of the respective traffic sign is carried out with the help of a vehicle integrated database of known characters.

This is done with the help of the video camera 1 a picture of the traffic sign taken and in the in 1 described way by image evaluation 3 , Pattern comparison 4 . 5 and overall evaluation 6 evaluated.

The software program product also specified uses the elements that may already be in the vehicle. So can the vehicle already contains an on-board camera for other purposes. Also an image evaluation. In addition, they are often already in the vehicle contain so-called multi-function controls that have a Comprehensive electronics for image evaluation and for controlling various Prepared units in the vehicle are.

So this way with help this pre-equipped Means the device functions according to the invention by import be implemented by software, so that the equipment means work according to the functions of the process.

Claims (34)

Method for automatic speed adjustment in motor vehicles, characterized in that the automatic speed adjustment is carried out on the basis of automatic traffic sign recognition, in such a way that the traffic sign recognition is logically coupled with an automatic recognition of the route-related validity range. A method according to claim 1, characterized in that the control of the driver assistance systems is also linked to it becomes. A method according to claim 1 or 2, characterized in that that the automatic brake application or support is coupled with it. Method according to one of the preceding claims, characterized characterized that the automatic accelerator pedal operation with it is coupled. Method according to one of the preceding claims, characterized characterized that the automatic distance control coupled with it becomes. Method according to one of the preceding claims, characterized characterized that the system can be overlaid by manual intervention is. Method according to one of the preceding claims, characterized characterized that the system with a cruise control such is coupled that a setting speed is defined as the basis is either controlled manually or automatically based on the traffic sign or traffic situation is determined, and a freely selectable temporary Offset speed is added. A method according to claim 7, characterized in that the offset speed as a percentage of the setting speed chosen becomes. Method according to one of the preceding claims, characterized characterized that the automatic control can be switched off. Method according to one of the preceding claims, characterized characterized that the automatic distance and / or speed control in this way dynamically to the automatically recognized traffic situation is customizable. Method according to one of the preceding claims, characterized characterized in that upon automatic detection of leaving a limited Section automatically accelerates to the original Setting speed Method according to one of the preceding claims, characterized marked that the automatically recognized traffic signs in the Vehicle are displayed optically and / or acoustically. Method according to one of the preceding claims, characterized characterized that the set offset in the vehicle is visual and / or is displayed acoustically. Method according to one of the preceding claims, characterized characterized that the the tachometer scale in its scaling is variable, such that it dynamically adjusts to the currently set speed is adjusted. Method according to one of the preceding claims, characterized characterized that the the tachometer scale by backlighting or dynamically to the current with a variable light ring set speed is adjusted. Method according to one of the preceding claims, characterized characterized that the traffic sign recognition as well as the recognition of the scope for the purpose of data communication with a navigation database is coupled. Method according to one of the preceding claims, characterized characterized that the traffic sign recognition is transponder-based. Method according to one of the preceding claims, characterized characterized that the traffic sign recognition is carried out with camera support. Automatic speed adjustment device in motor vehicles in which a speed control system and automatic traffic sign recognition is implemented characterized that the automatic speed adjustment adjustable on the basis of automatic traffic sign recognition is such that the traffic sign recognition logically with a automatic detection of the route-related validity can be coupled is. Device according to claim 19, characterized in that the control of the driver assistance systems and / or the automatic brake actuation ( 8th ) or support and / or the automatic accelerator pedal actuation ( 7 ) and / or the automatic distance control can be coupled with it. Device according to one of the preceding claims 19 to 20, characterized in that the system can be overlaid by manual intervention. Device according to one of the preceding claims 19 to 21, characterized in that the system with a cruise control can be coupled in such a way that a setting speed can be defined as the basis is either controlled manually or automatically based on the Traffic sign or traffic situation is set, and a freely selectable temporary Offset speed can be added is. Device according to claim 22, characterized in that the offset speed as a percentage of the setting speed is selectable. Device according to one of the preceding claims 19 to 23, characterized in that the automatic control can be switched off is. Device according to one of the preceding claims 19 to 24, characterized in that the automatic distance and / or Cruise control dynamically in this way to that automatically recognized traffic is customizable. Device according to one of the preceding claims 19 to 25, characterized in that when the Leaving a limited Section automatically accelerates to the original Setting speed. Device according to one of the preceding claims 19 to 26, characterized in that the automatically recognized traffic signs can be displayed optically and / or acoustically in the vehicle. Device according to claim 27, characterized in that the set offset in the vehicle is optical and / or acoustic can be displayed. Device according to one of the preceding claims 19 to 28, characterized in that the tachometer scale ( 11 ) is variable in its scaling, such that it can be dynamically adapted to the currently set speed. Device according to one of the preceding claims 19 to 29, characterized in that the tachometer scale ( 11 ) can be dynamically adjusted to the currently set speed by means of backlighting or a variable illuminated ring. Device according to one of the preceding claims 19 to 30, characterized in that the traffic sign recognition and the recognition of the validity area for the purpose of data-technical intercommunication with a navigation database ( 50 ) can be coupled. Device according to one of the preceding claims 19 to 31, characterized in that the traffic sign recognition is controlled by transponders becomes. Device according to one of the preceding claims 19 to 32, characterized in that the traffic sign recognition is controlled by a camera becomes. Software program product with the functions of a Device according to one or more of claims 19 to 33, by the one Method according to one or more of claims 1 to 18 is implemented, the software program product with on-board means data technology is coupled in the vehicle such that the functions can also be retrofitted an existing speed control system can be imported.