Method for recognizing a turn-off maneuver

• US 9,020,747 B2
• Filed: 03/13/2012
• Issued: 04/28/2015
• Est. Priority Date: 03/16/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Bonne, Uwe
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US13/418,772
• Publication Number:
  US 20120239269A1
• Time in Patent Office: 1,141 Days
• Field of Search: 701/96, 701/300, 701/301, 340/435, 340/436, 382/103, 382/104, 382/107
• US Class Current: 701/301
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driver assistance system of an observing vehicle uses a method that includes, but is not limited to recognizing a turn-off maneuver of a vehicle preceding the observing vehicle and further includes, but is not limited to identifying at least one first and one second reference point on the preceding vehicle in pictures of the preceding vehicle taken successively by a camera, where the reference points, in transverse direction of the preceding vehicle, are spaced apart, determining the distance from the images of the reference points in the pictures. and recognizing a turn-off maneuver if it is determined that there is a reduction in distance.

Claims

1. A method for recognizing a turn-off maneuver of a preceding vehicle and an observing vehicle, comprising:

identifying a first reference point and a second reference point that are spaced apart in a transverse direction from the preceding vehicle in pictures taken by a camera;

ascertaining a distance from images of the first reference point and the second reference point in the pictures; and

recognizing the turn-off maneuver if a reduction in the distance is determined.

2. The method according to claim 1 wherein the first reference point and the second reference point are two rear lights of the preceding vehicle.

3. The method according to claim 1, wherein a distance between the observing vehicle and the preceding vehicle is monitored and in the recognizing the turn-off maneuver is recognized only if the reduction in the distance between the first reference point and the second reference point is more than a possible simultaneous increase in the distance between the preceding vehicle and the observing vehicle.

4. The method according to claim 3, wherein the distance between the observing vehicle and the preceding vehicle is measured with respect to a third reference point, which is located on the preceding vehicle between the first reference point and the second reference point.

5. The method according to claim 3, further comprising monitoring an indicator of the preceding vehicle, wherein a factor by which the reduction in distances between the first reference point and the second reference point is greater at least than the increase in the distance between the preceding vehicle and the observing vehicle in order to recognize the turn-off maneuver is smaller for an activated indicator than it is for a non-activated indicator.

6. The method according to claim 3, further comprising examining the pictures for a presence of a turning-off lane, wherein a factor, by which the reduction in the distance between the first reference point and the second reference point must be greater at least than the increase in the distance between the preceding vehicle and the observing vehicle in order to lead to recognition of the turn-off maneuver, is smaller when the turning-off lane is present, than when it is not.

7. The method according to claim 6, further comprising:

ascertaining a position and a driving direction of the observing vehicle in a map; and

examining the map for the presence of the turning-off lane, wherein a second factor, by which the reduction in the distance between the first reference point and the second reference point must be greater at least than the increase in the distance between the observing vehicle and the preceding vehicle in order to lead to the recognition of the turn-off maneuver, is smaller when the turning-off lane is present than when it is not.

8. The method according to claim 3, further comprising examining the pictures for a sideways movement of the preceding vehicle, wherein a factor, by which the reduction in the distance between the first reference point and the second reference point must be greater at least than the increase in the distance between the preceding vehicle and the observing vehicle in order to lead to recognition of the turn-off maneuver, is smaller if the sideways movement is recognized than if it is not recognized.

9. The method according to claim 3, further comprising controlling a speed of the observing vehicle in order to maintain the distance between the preceding vehicle and the observing vehicle over a minimum distance.

10. The method according to claim 9 further comprising lowering the minimum distance if the turn-off maneuver is not recognized as compared to another minimum distance if the turn-off maneuver is recognized.

11. A driver assistance system for a motor vehicle comprising:

a measuring device configured to measure a first distance to a preceding vehicle;

a camera configured to take picture of the preceding vehicle;

a slowing device configured to take an action if the first distance to the preceding vehicle is below a minimum distance;

a determining device configured to;

determine a second distance from images of reference points of the preceding vehicle in pictures of the camera;

recognizing a turn-off maneuver if the second distance in the images decreases;

lower the minimum distance if the turn-off maneuver is recognized.

12. The driver assistance system according to claim 11, wherein the action is to slow the motor vehicle down.

13. The driver assistance system according to claim 11, wherein the action is to generate a warning signal.

14. A non-transitory computer readable medium embodying a computer program product, said computer program product comprising:

a recognition program for recognizing a turn-off maneuver of a preceding vehicle and an observing vehicle, the recognition program configured to;

identify a first reference point and a second reference point that are spaced apart in a transverse direction from the preceding vehicle in pictures taken by a camera;

ascertain a distance from images of the first reference point and the second reference point in the pictures; and

recognize the turn-off maneuver if a reduction in the distance is determined.

15. The non-transitory computer readable medium embodying the computer program product according to claim 14, wherein the first reference point and the second reference point are two rear lights of the preceding vehicle.

16. The non-transitory computer readable medium embodying the computer program product according to claim 14, wherein the recognition program is configured to monitor the distance between the observing vehicle and the preceding vehicle and the turn-off maneuver is recognized only if the reduction in the distance between the first reference point and the second reference point is more than a possible simultaneous increase in the distance between the preceding vehicle and the observing vehicle.

17. The non-transitory computer readable medium embodying the computer program product according to claim 16, wherein the recognition program is configured to measure the distance between the observing vehicle and the preceding vehicle with respect to a third reference point, which is located on the preceding vehicle between the first reference point and the second reference point.

18. The non-transitory computer readable medium embodying the computer program product according to claim 16, wherein the recognition program is further configured to monitor an indicator of the preceding vehicle, wherein factor by which the reduction in distances between the first reference point and the second reference point is greater at least than the increase in the distance between the preceding vehicle and the observing vehicle in order to recognize the turn-off maneuver is smaller for an activated indicator than it is for a non-activated indicator.

19. The non-transitory computer readable medium embodying the computer program product according to claim 16, wherein the recognition program is further configured to examine the pictures for a presence of a turning-off lane, wherein a factor, by which the reduction in the distance between the first reference point and the second reference point must be greater at least than the increase in the distance between the preceding vehicle and the observing vehicle in order to lead to recognition of the turn-off maneuver, is smaller when the turning-off lane is present, than when it is not.