DE102019101037A1 - Driver assistance method and driver assistance system - Google Patents

Abstract

The invention relates to a driving support method, the driving support method using a camera monitoring system of a vehicle (10), and the method comprising the steps of: a) capturing the surroundings of the vehicle (10) with at least one camera (16) of the camera monitoring system, with camera-based surroundings data b) transmitting the camera-based environmental data to a control unit of a driving support system (11); andc) performing active driving support using the camera-based environment data.

Description

The present invention relates to a driving support method. The present invention relates in particular to a driving support method that uses a camera monitoring system to improve safety behavior. Apart from this, the present method relates to a driving support system that is capable of performing such a method.

Several driving support systems and driving support methods are known in the art. Technologies to improve vehicle safety in particular are of increasing interest for car manufacturers, especially with the continuous enforcement of new laws, such as by the NHTSA and the European Commission. Most high-end and medium-end vehicles implement safety functions that include some of the technologies, such as warning of leaving the lane (lane keeping assistance), lane change assistant (blind spot monitoring) or forward collision warning ( FCW) or a variation thereof. The aim of such technologies is to recognize dangers in the surroundings of the vehicle and to warn the driver of the vehicle in order to ultimately prevent an accident.

DE 10 2012 012 783 A1 relates to a camera monitoring system for monitoring the blind spot or the surroundings of motor vehicles. The camera monitoring system comprises a one-piece or two-piece system in which a camera module with the monitor is integrated at a suitable angle to the roadside. The two-part system consists of a mirror surface and an additional display on a glass surface. The rear view takes place through the mirror surface and the rear side view through the display. In the one-piece monitoring system, a large display in a rectangular frame is provided as a replacement for the exterior mirrors on the left and right vehicle exterior, which is used for the side and rear view of the vehicle. For the complex solution of the defined blind spot angle ranges, the rear, side and front cameras are connected to the camera surveillance system, to which the transmission of video images with and without cables is possible. This document therefore relates to blind spot detection.

US 2005/0146607 A1 basically describes structural elements and advantages of camera-based security systems and focuses mainly on the functions for avoiding blind spots.

US 2017/0120841 A1 describes a rear view camera system with a vehicle with an ignition. The vehicle has a first side, a second side and a rear. A pair of cameras are provided and each of the cameras is coupled to the vehicle. Each of the cameras is positioned on an associated one of the first side and the second side. Each of the cameras is oriented so that it faces the back. Thus, each of the cameras can monitor an associated blind spot of a pair of blind spots with respect to the vehicle. A monitor is positioned in the vehicle and the monitor can be observed while the vehicle is being driven. The monitor is connected to each of the cameras. Thus, the monitor can display each of the two blind spots, which can improve the safe operation of the vehicle.

It is an object of the present invention to overcome at least one disadvantage of the prior art. It is a particular object of the prior art to improve at least one driving support functionality.

This object is at least partially achieved by a driving support method with the features of independent claim 1. This object is further at least partially achieved by a driving support system with the features of independent claim 10. Advantageous embodiments are specified in the dependent claims, in the further description and in the figures, wherein the described embodiments, alone or in any combination of the respective embodiments, can represent a feature of the present invention, unless this is clearly excluded.

1. a) Erfassen der Umgebung des Fahrzeugs mit mindestens einer Kamera des Kameraüberwachungssystems, wobei kamerabasierte Umgebungsdaten erzeugt werden;
2. b) Übertragen der kamerabasierten Umgebungsdaten an eine Steuereinheit eines Fahrunterstützungssystems; und
3. c) Durchführen einer aktiven Fahrunterstützung unter Verwendung der kamerabasierten Umgebungsdaten.

In particular, the present invention provides a driving support method, the driving support method using a vehicle camera monitoring system (CMS), and the method comprising the steps of:

1. a) capturing the surroundings of the vehicle with at least one camera of the camera surveillance system, camera-based surroundings data being generated;
2. b) transmitting the camera-based environmental data to a control unit of a driving support system; and
3. c) performing active driving support using the camera-based environment data.

Such a procedure can be an effective measure to ensure a particularly safe To enable driving support in various functionalities.

The vehicle that is equipped with a corresponding system for carrying out the method is referred to as an ego vehicle if it must be distinguished from other vehicles.

In particular, the present method uses a camera monitoring system to provide active driving support and is therefore clearly superior to the solutions of the prior art. In this regard, the prior art that deals with the camera surveillance system essentially focuses on blind spot surveillance and continues to simply describe the surveillance of the environment including blind spots. However, active use of the information provided by the camera monitoring system for driving support is not an issue in the prior art. In other words, the use of the camera-based environment data to provide the driver with information that goes beyond the mere reproduction of the environment is not an issue in the prior art relating to camera surveillance systems.

As described in more detail below, the present invention is concerned with the use of environmental data provided by the camera surveillance system and uses this information to actively provide driving support.

In this context, the active provision of driving support within the meaning of the present invention should not only mean the representation of the environment, but also the use of the data provided by the camera monitoring system and the processing of the data to support the driver, e.g. through autonomous driving or by giving notifications to the driver to enable or prevent different driving functionalities and thus to give active support that goes beyond the mere reproduction of the environment.

It is thus clear that the present method can be carried out, starting from the output of information to a driver, up to the implementation of a completely autonomous driving, without departing from the meaning of the present invention.

As described in more detail below, however, it can generally be provided, regardless of the specific embodiment, that a camera surveillance system is only used to detect other vehicles in addition to the ego vehicle. The detection can be realized on the rear and on the sides of the ego vehicle within a field of view, which is provided in particular by the cameras. Such a field of view is typically larger than the field of view of most conventional vehicle mirrors, such as car mirrors. This enables a hazard detection system to be created.

As mentioned above, the present method is carried out using a camera surveillance system (CMS) of a vehicle. In this regard, a camera monitoring system is, in particular, a system which comprises at least one camera and in particular comprises a plurality of cameras for observing the surroundings of the vehicle. In this context, it is often the case that the camera monitoring system comprises cameras that at least partially replace the rear-view mirrors of a vehicle and thus the rear-view mirrors that are arranged on the outside of the vehicle on the left side and on the right side of the vehicle, and / or the rearview mirror, which is arranged inside the vehicle. A camera surveillance system is therefore able to provide a complete picture, in particular of the area behind the vehicle, and in particular can provide this picture without a blind spot in the desired field of view.

Furthermore and in addition to the at least one camera, a camera monitoring system comprises at least one display and preferably a plurality of displays on which the field of view of the at least one camera can be at least partially shown. For example, it can be preferred that a corresponding display is provided for each camera provided. In this context, especially if the camera monitoring system replaces the conventional rear view mirror, the rear field of vision should be displayed to the driver of the vehicle. This can be done easily and very effectively by using a display for each camera view. These can then be adapted to the desired needs, such as in terms of their size and their position on the vehicle or in the vehicle.

It should also be noted that the displays can be used in addition to showing the rear view of the cameras, for example to inform the driver and, for example, to provide warning symbols or warning messages, as described in more detail below.

To be an effective measure to allow safe driving support for various To provide functionalities as described above, the described method comprises the following steps. In this connection it should be noted that the defined steps can be carried out strictly in the order described or in a different order or two or more steps can be carried out at least partially at the same time without leaving the scope of the present invention.

According to method step a), the method described comprises the step of capturing the surroundings of the vehicle with at least one camera of the camera monitoring system, camera-based surroundings data being generated. According to this step, the surroundings of the vehicle are captured by at least one camera and preferably by a plurality of cameras. In this context it can be provided that the surroundings are captured in such a way that an image of the surroundings can be achieved with an enlarged field of view, this relating in particular to the fact that blind spots can be significantly reduced.

According to the further method step b), the method comprises the further step of transmitting the camera-based environmental data to a control unit of a driving support system. In this context it can be provided that the control unit is included in the camera monitoring system or is a part separate from the camera monitoring system. In this context, the environmental data can be used by the control system to provide driving assistance as described below. To achieve this, the environmental data can either be transmitted to the control unit in a state in which they are generated by the at least one camera, or they can be processed, for example, by the camera before the transmission to the control unit. In addition, it can be provided that the environmental data are transmitted via corresponding physical data connections, i.e. by cable, or it can be provided that the data is transmitted from the camera to the control unit by means of a wireless data connection.

According to the further method step c), the present method comprises the further step of performing active driving support using the camera-based environment data. In this regard, the specific driving assistance used here is not limited as long as it is an active driving assistance as described above. This driving support can lead to a significant improvement in safety behavior when the vehicle is being driven.

Such a method can offer considerable advantages over the prior art.

In this context, the use of appropriate cameras from a camera surveillance system, such as wide-angle cameras instead of mirrors make it possible to reduce blind spots that are present with most exterior mirrors. A camera surveillance system may be sufficient to reliably detect vehicles in the blind spot of mirrors or in the extended field of view, such as side mirrors, e.g. if no additional sensors, such as infrared sensors, radar sensors, ultrasonic sensors or laser scanners are used. Therefore, performing the driving support based on the camera data can be very safe and reliable.

The latter is possible without a complex periphery. This in turn enables the described method to be carried out in a cost-saving manner and can be easily implemented in existing systems, in particular in existing camera surveillance systems.

The same applies to the identification of potential risks on the road and therefore in the area surrounding the vehicle. In this context, the method enables the identification of actual risks on the road, in contrast to a standard lane departure warning system. However, prior art standard lane warning systems are ignorant of the presence of vehicles and their speed or proximity. However, the latter is possible without problems and very reliably using the method according to the invention.

The system described thereby in particular eliminates the limitation of a standard lane warning system which has only limited functionality on poorly marked roads.

In addition, by using a camera surveillance system, warnings can be classified into right and left visual cues that are displayed above the respective camera view. Therefore, the warning information, for example, is clearly visible and can be assigned to the respective area for the driver in any situation, which in turn offers a particularly high level of safety and reliability.

Apart from this, a method, which is in particular a method for recognizing hazards as described here, offers functions as described above and below, wherein it it may be possible to use only one camera surveillance system as the sensory periphery. In any case, this is less expensive than a system using a combination of laser sensors, ultrasonic sensors and radar sensors, as is known from the prior art.

Therefore, the use of a camera monitoring system, as described above, can provide a varying detection of the surroundings of the vehicle, such as detection of the position and / or speed of vehicles that are in the vicinity of the ego vehicle. Furthermore, the result can be achieved with a limited sensory periphery.

With regard to driving support, it can be particularly advantageous that the driving support comprises at least one of lane keeping support, lane change support, collision warning and speed detection of neighboring vehicles and thus of vehicles that are present in the field of view of at least one camera. It was found that such driving support functionalities in particular are very important in order to improve driving safety. Therefore, these functionalities are of great importance for driving support, both only for the provision of information to a driver or in relation to the provision of autonomous driving, such as, for example, fully autonomous driving.

Apart from this, such functionalities are based on the step of capturing the surroundings, which is carried out at best with reduced blind spots and with an enlarged field of view in order to be particularly reliable. Therefore, the result of the method can be particularly reliable, in particular through the use of a camera monitoring system, and thus driving support can be particularly safe.

With regard to the functionality of the detection of the speed of an adjacent vehicle and in particular with regard to the display of this on the display of the camera monitoring system, the speed of the targets that are detected can be determined by using a camera monitoring system and in detail by using a vehicle detection algorithm as described below on each side of the vehicle are calculated from the relative positions with respect to the ego vehicle. The driver's judgment about the surrounding vehicle can be significantly improved by using visual cues, for example. Furthermore, if the driver of the vehicle or, in the case of autonomous driving, the vehicle as such is always aware of the speed of the neighboring vehicle, dangers can be recognized very quickly, which in turn enables probable accidents to be avoided. Therefore, the functionality of the detection of the speed of a neighboring vehicle can be used alone or additionally in combination with a lane change support and a collision warning, as described.

Furthermore, and in relation to the functionality according to which a lane change support or a lane change warning is given, the following can be determined. Lane changing support provided by using a camera monitoring system is not limited to the following points, but can preferably be performed using the speed and position of surrounding vehicles or vehicles adjacent to the ego vehicle to do so determine whether it is safe for the vehicle to change lanes.

A lane change assistant or blind spot monitoring thus detects vehicles in the blind spot area or in the wider field of vision using the camera monitoring system and can, for example, warn the driver when the turn signal has been activated. The warning may be in the form of a noise, vibration of the steering wheel or the car seat, or a warning sign that is displayed on the main unit and / or the warning may be shown on a display as described above.

On the other hand, a lane keeping device contributes significantly to keeping the vehicle safely in the lane in order to avoid critical situations. In this context, such functionality can mainly be used by a front camera by using an appropriate algorithm for interpreting the camera-based sensor data, which is able to track road markings on the road. The algorithm detects when the vehicle deviates from its lane and the turn signal has not been activated. The functionality can warn the driver if he is steering off course and may use electronic steering assistance to steer the vehicle back onto the road. The functionality as described can also be used for autonomous vehicles.

With regard to a collision warning, it can be particularly advantageous if the surroundings are scanned with reference to corresponding objects. After the surroundings have been scanned and in particular when objects are recognized, such as using suitable algorithms, the driver can be warned, for example, if he is too close or there is a high risk of collision if the Driver assistance includes warning a driver.

To achieve reliable results, it can be provided that a forward collision warning (FCW) uses a front camera and that a rearward collision warning uses a rear camera.

However, it is generally contemplated that the method can anticipate front-end collisions, rear-end collisions, as well as side collisions and can reduce the risk of such collisions by providing appropriate warnings, for example .

Furthermore, and with regard to the detection of the surroundings, in particular according to step a), it can be provided that with respect to the scanning of the surroundings, several options can be provided in order to recognize respective objects, which is necessary for providing the driving support, as described above. can be important. In this context, it can therefore be preferred that the method comprises the further step d), the detection of at least one object in the surroundings of the vehicle based on the camera-based surroundings data. It can be particularly advantageous that this step is carried out before step c), so that driving support can be implemented on the basis of recognized objects. This step is mainly based on the fact that the giving of driving support is particularly effective if corresponding objects are detected and it is therefore known what type of objects are present and in particular at which point.

In this connection it can be provided that the method is carried out using an object recognition algorithm. It can be particularly preferred that step d) is carried out as described above using an object detection algorithm. Such an algorithm can be generated in a manner known to the person skilled in the art, for example by using corresponding camera-based experience data in order to assign the respective camera-based data to a corresponding object. In this context, the object to be recognized and thus the object to which the object recognition algorithm is adapted are generally not restricted. It can further be provided that a multiplicity of objects is to be acquired using one or more algorithms.

For example, and with regard to the object detection algorithm, it may be preferred that the object detection algorithm comprises a vehicle detection algorithm. In this context and as described above, it can be particularly preferred that the object can be a vehicle, such as a car, for example, which is located behind the vehicle or next to the ego vehicle. This can be due to the fact that the described driving support, which is used in the context of the present method, can be particularly effective if vehicles are taken into account. Therefore, the embodiment according to which the object detection algorithm comprises a vehicle detection algorithm can be of considerable importance for performing both lane change support and a collision warning, for example.

Additionally or alternatively and again in relation to the object recognition algorithm, it can further be preferred that the object recognition algorithm comprises an algorithm for recognizing road markings. Therefore, according to this embodiment, road markings should be recognized particularly reliably. Such objects can help assess the position of the ego vehicle on the road or in the lane. Therefore, this embodiment can significantly improve lane keeping support or lane change support, for example, since it can be judged very reliably depending on whether the vehicle is traveling safely within the lane or whether the vehicle is traveling near the lane marking, which can lead to a critical situation the position of another vehicle in an adjacent lane. For example, it can be provided that this embodiment is implemented by using a front camera of the camera monitoring system, or by a camera whose field of vision is in front of the vehicle, or a rear camera, or a camera whose field of vision is in the rear of the vehicle.

It can further be provided that the method is carried out when the vehicle has a speed that is equal to or faster than 30 km / h, such as, for example, equal to or faster than 40 km / h. This embodiment shows in particular that the use of a camera monitoring system can be carried out in conventional driving situations, such as, for example, in a city or outside a city or on a freeway. Thus, the present method is in no way restricted to situations in which the vehicle is stationary or is traveling at a reduced speed, as is known, for example, in relation to a surround view system. Such a system is also known in the prior art and is mainly used to provide a field of view that is limited to the immediate vicinity of the vehicle, which makes it Field of vision clearly different from a camera surveillance system. Image processing applications of a surround view system mainly run at low speeds, such as, for example, bird's-eye views, automatic parking, pedestrian detection, etc. However, such applications are predominantly provided at very low speeds, and the present invention is also helpful and valuable in using higher speeds Speeds, for example if the vehicle has a speed that is equal to or faster than 30 km / h.

With regard to further advantages and technical features of the method, reference is made to the driving support system, the figures and the further description.

The present invention further relates to a driving support system for a vehicle, comprising a camera monitoring system with at least one camera for scanning the surroundings of the vehicle and comprising a control unit for receiving and processing camera-based environmental data that can be transmitted from the at least one camera to the control unit. The driving support system is characterized in that the control unit is designed to carry out a method as described in detail above.

Such a driving support system is therefore equipped with a camera monitoring system which comprises at least one and preferably a plurality of cameras for scanning the surroundings of the vehicle. A camera, which is set up to receive sensor data provided by the at least one camera, is included in or separately from the camera monitoring system. In this context, the control unit can be connected to the at least one camera via a wired connection or via a wireless connection.

The control unit can be equipped with an object recognition algorithm, for example with an algorithm for recognizing road markings and / or with a vehicle recognition algorithm.

Furthermore, the camera monitoring system comprises at least one display and preferably a plurality of displays in which the field of view of the at least one camera can be at least partially shown. For example, it can be preferred that a corresponding display is provided for each camera provided. In this regard, especially when the camera monitoring system replaces the conventional rear view mirror, the rear field of vision must be displayed to the driver of the vehicle. This is possible without problems and very effectively by using appropriate displays. These can then be adapted to the desired requirements, for example in relation to their size and their position on the vehicle or in the vehicle.

It can also be noted that the displays can be used in addition to the representation of the rear view of the cameras, for example to inform the driver and thus, for example, to provide warning symbols or warning messages, as described in more detail below. On the one hand, this enables the environment to be displayed.

The driving support system is therefore able to provide reliable and safe driving support, such as, in particular, comprising at least one of lane change support, lane keeping support, collision warning and speed detection of neighboring vehicles, whether by providing autonomous driving or by issuing corresponding information or warning notifications. Such a system can offer considerable advantages over conventional camera surveillance systems, as is described in greater detail with reference to the corresponding method.

With regard to further advantages and technical features of the driving support system, reference is made to the method, the figures and the further description.

These and other aspects of the invention will become apparent from and will be explained with reference to the embodiments described below. Individual features that are described in the context of the embodiments may form an aspect of the present invention, alone or in combination. Features of the various embodiments can be transferred from one embodiment to another.

• 1 zeigt eine schematische Ansicht des Innenraums eines Fahrzeugs umfassend ein Fahrunterstützungssystem gemäß der Erfindung;
• 2 zeigt eine Draufsicht auf das Fahrzeug gemäß 1 in einer ersten Situation;
• 3 zeigt eine Draufsicht auf das Fahrzeug gemäß 1 in einer zweiten Situation; und
• 4 zeigt eine Draufsicht auf das Fahrzeug gemäß 1 in einer dritten Situation.

In the figures:

• 1 shows a schematic view of the interior of a vehicle comprising a driving support system according to the invention;
• 2nd shows a plan view of the vehicle according to 1 in a first situation;
• 3rd shows a plan view of the vehicle according to 1 in a second situation; and
• 4th shows a plan view of the vehicle according to 1 in a third situation.

1 shows a vehicle 10th and in detail the interior 12th of the vehicle 10th that an ego Should be vehicle and should perform a procedure as described. Such a vehicle 10th initially includes a dashboard 14 in the interior 12th , which comprises such equipment, as is generally known in the prior art and which is not described here.

It is also contemplated that the vehicle 10th with a driving support system 11 is equipped, which in turn comprises a camera surveillance system. Such a camera surveillance system comprises at least one camera 16 , in the 1 than the right camera 16 and which is in the position of a conventional right rearview mirror. However, it is preferred that the camera surveillance system have more than one camera 16 includes what a 360 ° view around the vehicle 10th can deploy around. In particular, the camera monitoring system comprises at least two cameras 16 that are on each side of the vehicle 10th instead of conventional rear-view mirrors.

To a driver of the vehicle 10th the field of view of the respective camera 16 one or more displays are to be shown 18th , 20 , 22 provided, which can be designed for example as LCD displays. In this context is a display 18th shown, which is connected to a left rear camera, the camera is not shown, and another display 20 is shown this with the camera 16 connected is. The field of view of the camera 16 is the one on the back of the vehicle 10th directed. Therefore, the environment as seen by the camera 16 is captured in the ad 20 are displayed. Furthermore, the display 18th , 20 , 22 used to be a driver of the vehicle 10th To provide information, and in particular, to the driver of the vehicle 10th as described in more detail below. In other words, the camera shots are on the respective displays 18th , 20 , 22 displayed.

Another camera can be placed in the rear of the vehicle to capture the rear view leading to the display 22 is directed, which is positioned instead of an interior rear-view mirror adjacent to the top of the windshield.

The driving support system 11 can provide active driving support based on the data from the at least one camera 16 be made available. To achieve this, the camera monitoring system uses, for example, a vehicle detection algorithm for other vehicles 24th identify those around the vehicle 10th are positioned and thus particularly in the field of view of the camera 16 , for example, as described in more detail below.

This enables the vehicle recognized in the field of view of the camera 24th is discovered by the algorithm and the closest on each page is highlighted by drawing an overlay that shows the target in the ad 18th , 20 , 22 surrounds.

1. a) Erfassen der Umgebung des Fahrzeugs 10 mit mindestens einer Kamera 16 des Kameraüberwachungssystems, wobei kamerabasierte Umgebungsdaten erzeugt werden;
2. b) Übertragen der kamerabasierten Umgebungsdaten an eine Steuereinheit eines Fahrunterstützungssystems 11; und
3. c) Durchführen einer aktiven Fahrunterstützung unter Verwendung der kamerabasierten Umgebungsdaten.

This enables a driving support method to be carried out, the driving support method being the camera monitoring system (CMS) of the vehicle 10th used and the method comprising the steps of:

1. a) Detect the surroundings of the vehicle 10th with at least one camera 16 the camera surveillance system, generating camera-based environmental data;
2. b) transmitting the camera-based environmental data to a control unit of a driving support system 11 ; and
3. c) performing active driving support using the camera-based environment data.

In this context, for example, a lane change support, a collision warning support or an accident avoidance support uses the camera monitoring system and uses the same algorithm as described above for information about the speed, proximity, trajectory and acceleration or deceleration of vehicles 24th to extract that in the area surrounding the vehicle 10th are detected to determine if it is for the vehicle 10th it is safe to change lanes at any time and / or to highlight a risk from collisions caused by changing lanes or for other reasons.

In general, regardless of the specific embodiment, it can therefore be provided that a camera surveillance system only for the detection of other vehicles 24th except the ego vehicle 10th rearward and on the sides of the ego vehicle 10th to be detected within a field of view, which is in particular provided by the camera 16 of the camera surveillance system and which is typically larger than the field of view of most conventional vehicle mirrors 10th , such as car mirrors, and to create a system that informs of dangers.

A functionality of such a system or method, in particular in relation to a lane change support, is in relation to 2nd shown and described.

2nd shows the ego vehicle 10th that in a lane 30th a street 26 moves. The lane 30th is between further lanes 28 , 32 , 34 positioned, further showing that another vehicle 24th on an adjacent lane 32 drives in the same direction as the ego vehicle 10th . The respective lanes 28 , 30th , 32 , 34 are indicated by the respective lane markings 36 divided. The vehicle 24th is behind the ego vehicle 10th positioned. In such a situation, the other vehicle is 24th often difficult to see and difficult for a driver to use using conventional mirrors such as side mirrors.

The dashed lines also represent 38 the field of view 40 the right camera 16 the picture in the right display 20 is displayed as with reference to 1 described. It can be seen that the vehicle 24th completely in view 40 the right camera 16 is positioned so that it is from the driving support system 11 can be recognized. In this regard, the camera surveillance system or more generally uses the driving support system 11 a vehicle detection algorithm and recognizes the vehicle 24th in the right neighboring lane 32 of the ego vehicle 10th .

For example, when a driver turns on his right turn signal or a signal indicating a lane change, a lane change attempt is attempted. The situation cannot be assessed in any way, but as an example in response to this step. In detail it can be provided that in particular when the position and the speed of the detected vehicle are known 24th in terms of the ego vehicle 10th , the trajectory of the journey is estimated and the risk that arises when changing lanes is evaluated. It can be particularly advantageous if this assessment is based on the requirements as described in ISO 17387.

After carrying out such an assessment, it can be provided, in the example of providing driving assistance by outputting information or a warning, that a warning symbol appears in the respective display 20 is shown. This is in 1 shown in the right display 20 a warning message is displayed informing the driver that changing lanes is not safe, particularly due to the position and speed of the vehicle 24th in terms of the ego vehicle 10th .

3rd shows another situation of the vehicle 10th , in which a functionality of a collision warning is shown. According to drives the ego vehicle 10th again in the lane 30th the street 26 . The vehicle continues to drive 24th in the same lane 30th right behind the ego vehicle 10th , the vehicle 24th is too close and could cause a collision.

In such a situation there is knowledge of the position and speed of the surrounding vehicle 24th again the basis for collision warning systems that can be implemented according to the specifications of ISO 15623. Although most known systems use the knowledge to prevent a frontal collision, a camera surveillance system can also be used to identify potential rear and side collisions using the same principle. For vehicles approaching from the rear end, as in 3rd shown, the decision is based, for example, on the driver of the vehicle 10th alarm, based on the same criteria as described in ISO I5623: 20I3. The risk of a collision is identified using information about the relative speed of the vehicle 24th and the distance, i.e. the distance between the ego vehicle 10th and the vehicle 24th and the trajectory of the vehicle's travel 24th . All of this information can be obtained from successive video images of recognized vehicles 24th obtained by the rear camera of the camera surveillance system.

A comparable situation is in 4th shown, which in turn shows a collision warning functionality. According to 4th drives the ego vehicle 10th again in the lane 30th the street 26 . The other vehicle 24th drives in the adjacent lane 32 right behind the ego vehicle. 10. It is also shown that the vehicle 24th want to make a lane change that could possibly lead to a collision.

In this context and for vehicles 24th Approaching from the side, ISO 15623 can be used as the basis for requirements. This standard can be expanded to cover a broader spectrum, including the avoidance of side collisions. The underlying math may vary slightly from ISO I5623: 20I3, but the same principles apply. In any situation, timely use of warning is on the corresponding display 18th , 20 , 22 of the camera monitoring system to indicate a potential hazard that enables the driver to take corrective action by accelerating, decelerating, or changing lanes if possible. In turn, all required information can be obtained from successive video images with recognized vehicles 24th obtained by the rear camera of the camera surveillance system can be obtained.

Reference list

10th

vehicle

11

Driving support system

12th

the inner

14

dashboard

16

camera

18th

Display

20

Display

22

Display

24th

Display

26

Street

28

lane

30th

lane

32

lane

34

lane

36

Road marking

38

line

40

Field of view

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102012012783 A1 [0003]
• US 2005/0146607 A1 [0004]
• US 2017/0120841 A1 [0005]

Claims (10)

Driving assistance method, the driving assistance method using a camera monitoring system of a vehicle (10), the method comprising the steps of: a) capturing the surroundings of the vehicle (10) with at least one camera (16) of the camera surveillance system, camera-based surroundings data being generated; b) transmitting the camera-based environmental data to a control unit of a driving support system (11); and c) performing active driving support using the camera-based environment data. Procedure according to Claim 1 , characterized in that the driving support comprises at least one of lane keeping support, lane change support, collision warning and speed detection of neighboring vehicles (24). Procedure according to one of the Claims 1 or 2nd , characterized in that the method comprises the further step d): detecting at least one object in the surroundings of the vehicle (10) based on the camera-based surroundings data. Procedure according to one of the Claims 1 to 3rd , characterized in that the method is carried out using an object detection algorithm. Procedure according to Claim 4 , characterized in that the object detection algorithm is used in step d). Procedure according to Claim 4 or 5 , characterized in that the object recognition algorithm comprises at least one of a vehicle recognition algorithm and an algorithm for recognizing road markings. Procedure according to one of the Claims 1 to 6 , characterized in that the method is carried out when the vehicle (10) has a speed which is equal to or faster than 30 km / h. Procedure according to one of the Claims 1 to 7 , characterized in that the method is carried out using the step of providing information to a driver of the vehicle (10). Procedure according to one of the Claims 1 to 8th , characterized in that the method is carried out using autonomous driving. Driving support system for a vehicle, comprising a camera monitoring system with at least one camera (16) for scanning the surroundings of the vehicle (10) and comprising a control unit for receiving and processing camera-based surroundings data which can be transmitted from the at least one camera (16) to the control device , characterized in that the control unit is designed to carry out a method according to one of the Claims 1 to 9 to execute.

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