Method and device for classifying a behavior of a pedestrian when crossing a roadway of a vehicle as well as passenger protection system of a vehicle

• US 9,734,390 B2
• Filed: 01/23/2015
• Issued: 08/15/2017
• Est. Priority Date: 01/23/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Gavrila, Dariu M, Buerkle, Lutz, Maurer, Thomas, Gussner, Thomas
• Primary Examiner(s): Park, Soo
• Application Number:
  US14/604,130
• Publication Number:
  US 20150206001A1
• Time in Patent Office: 935 Days
• Field of Search: None
• CPC Class Codes: G06F 18/24 Classification techniques
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/23 Recognition of whole body movements, e.g. for sport training

Abstract

A method for classifying a behavior, of a pedestrian when crossing a roadway of a vehicle, includes reading in a sensor signal to detect the pedestrian and at least one piece of surroundings information regarding surroundings of the pedestrian. The sensor signal represents here a signal of at least one sensor of the vehicle. The method further includes ascertaining at least one physical variable of a correlation between the pedestrian and the at least one piece of surroundings information. Finally, the method includes classifying the behavior of the pedestrian using the at least one physical variable.

Claims

1. A method for classifying a behavior of a pedestrian when crossing a roadway of a vehicle, the method comprising:

reading in sensor signals, from surroundings sensors of the vehicle, to detect the pedestrian and at least one piece of surroundings information regarding surroundings of the pedestrian;

ascertaining at least one physical variable of a relationship between the pedestrian and the at least one piece of surroundings information;

classifying the behavior of the pedestrian using the at least one physical variable;

determining at least one possible trajectory of the pedestrian as a function of the behavior of the pedestrian classified in the classifying; and

providing an activation signal to activate at least one component of a passenger protection system of the vehicle as a function of the possible trajectory;

wherein the passenger protection system includes;

(i) an air-bag arrangement, and (ii) a pedestrian protection device having an automatic braking arrangement and an evasive maneuvering arrangement, and

wherein the at least one component of the passenger protection system includes at least one of the automatic braking arrangement, the evasive maneuvering arrangement, and the air-bag arrangement.

2. The method of claim 1, wherein a surroundings model is determined based on the sensor signals from the surroundings sensors and a preprocessing of corresponding sensor data, and wherein the classifying of the behavior is based on the surroundings model.

3. The method of claim 1, wherein in the reading in at least one possible stop line of the pedestrian is detected as surroundings information, and wherein in the ascertaining a velocity of a relative movement between the pedestrian and the possible stop line is ascertained as a physical variable and the behavior of the pedestrian is classified using the velocity of the relative movement in the classifying.

4. The method of claim 1, wherein in the reading in at least one pedestrian crossing the roadway is detected as surroundings information, in the ascertaining a distance between the pedestrian and the pedestrian crossing the roadway being ascertained as a physical variable and the behavior of the pedestrian being classified using the distance in the classifying.

5. The method of claim 1, wherein in the reading in at least one possible crossing point of the pedestrian is detected as surroundings information, in the ascertaining a distance between the pedestrian and the possible crossing point being ascertained as a physical variable and the behavior of the pedestrian being classified using the distance in the classifying.

6. The method of claim 1, wherein in the reading in, a possible line of sight between the vehicle and the pedestrian is detected as surroundings information, a time span of the possible line of sight being ascertained as a physical variable in the ascertaining and the behavior of the pedestrian being classified using the time span in the classifying.

7. The method of claim 1, wherein in the reading in a body size and/or a viewing direction of the pedestrian is further detected, the behavior of the pedestrian being further classified in the classifying as a function of the body size and/or the viewing direction.

8. The method of claim 1, wherein the classifying includes classifying into one of behavior classes the behavior of the pedestrian using the at least one physical variable, wherein an indicator of the behavior includes a body size of the pedestrian, and wherein the behavior classes include at least one of:

(i) the pedestrian stops;

(ii) the pedestrian crosses the roadway;

(iii) the pedestrian changes a movement direction;

(iv) the pedestrian does not change the movement direction;

(v) the pedestrian sees the vehicle;

(vi) the pedestrian does not see the vehicle;

(vii) the pedestrian behaves cooperatively with respect to the vehicle; and

(viii) the pedestrian does not behave cooperatively with respect to the vehicle.

9. A device for classifying a behavior of a pedestrian when crossing a roadway of a vehicle, comprising:

a reading arrangement to read in sensor signals, from surroundings sensors of the vehicle, to detect the pedestrian and at least one piece of surroundings information regarding surroundings of the pedestrian;

an ascertaining arrangement to ascertain at least one physical variable of a relationship between the pedestrian and the at least one piece of surroundings information;

a classifying arrangement to classify the behavior of the pedestrian using the at least one physical variable;

a determining arrangement to determine at least one possible trajectory of the pedestrian as a function of the behavior of the pedestrian classified in the classifying; and

an activation signal arrangement to activate at least one component of a passenger protection system of the vehicle as a function of the possible trajectory;

wherein the passenger protection system includes;

(i) an air-bag arrangement, and (ii) a pedestrian protection device having an automatic braking arrangement and an evasive maneuvering arrangement, and

wherein the at least one component of the passenger protection system includes at least one of the automatic braking arrangement, the evasive maneuvering arrangement, and the air-bag arrangement.

10. The device of claim 9, wherein the classifying includes classifying into one of behavior classes the behavior of the pedestrian using the at least one physical variable, wherein an indicator of the behavior includes a body size of the pedestrian, and wherein the behavior classes include at least one of:

(i) the pedestrian stops;

(ii) the pedestrian crosses the roadway;

(iii) the pedestrian changes a movement direction;

(iv) the pedestrian does not change the movement direction;

(v) the pedestrian sees the vehicle;

(vi) the pedestrian does not see the vehicle;

(vii) the pedestrian behaves cooperatively with respect to the vehicle; and

(viii) the pedestrian does not behave cooperatively with respect to the vehicle.

12. The computer readable medium of claim 9, wherein the classifying includes classifying into one of behavior classes the behavior of the pedestrian using the at least one physical variable, wherein an indicator of the behavior includes a body size of the pedestrian, and wherein the behavior classes include at least one of:

(i) the pedestrian stops;

(ii) the pedestrian crosses the roadway;

(iii) the pedestrian changes a movement direction;

(iv) the pedestrian does not change the movement direction;

(v) the pedestrian sees the vehicle;

(vi) the pedestrian does not see the vehicle;

(vii) the pedestrian behaves cooperatively with respect to the vehicle; and

(viii) the pedestrian does not behave cooperatively with respect to the vehicle.

11. A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code for classifying a behavior of a pedestrian when crossing a roadway of a vehicle, by performing the following;

reading in sensor signals, from surroundings sensors of the vehicle, to detect the pedestrian and at least one piece of surroundings information regarding surroundings of the pedestrian;

ascertaining at least one physical variable of a relationship between the pedestrian and the at least one piece of surroundings information;

classifying into one of behavior classes the behavior of the pedestrian using the at least one physical variable;

determining at least one possible trajectory of the pedestrian as a function of the behavior of the pedestrian classified in the classifying; and

providing an activation signal to activate at least one component of a passenger protection system of the vehicle as a function of the possible trajectory;

wherein the passenger protection system includes;

(i) an air-bag arrangement, and (ii) a pedestrian protection device having an automatic braking arrangement and an evasive maneuvering arrangement, and

wherein the at least one component of the passenger protection system includes at least one of the automatic braking arrangement, the evasive maneuvering arrangement, and the air-bag arrangement.

13. A passenger protection system of a vehicle, comprising:

at least one sensor for detecting a pedestrian and one piece of surroundings information regarding surroundings of the pedestrian;

a device for classifying a behavior of a pedestrian when crossing a roadway of a vehicle, including;

a reading arrangement to read in sensor signals, from surroundings sensors of the vehicle, to detect the pedestrian and at least one piece of surroundings information regarding surroundings of the pedestrian;

an ascertaining arrangement to ascertain at least one physical variable of a relationship between the pedestrian and the at least one piece of surroundings information; and

a classifying arrangement to classify the behavior of the pedestrian using the at least one physical variable;

a passenger protection device which is activatable by an activation signal of the device;

wherein at least one possible trajectory of the pedestrian is determined as a function of the behavior of the pedestrian classified in the classifying,

wherein the activation signal is to activate at least one component of the passenger protection device as a function of the possible trajectory, and

wherein the passenger protection system includes;

(i) an air-bag arrangement, and (ii) a pedestrian protection device having an automatic braking arrangement and an evasive maneuvering arrangement, and

wherein the at least one component of the passenger protection system includes at least one of the automatic braking arrangement, the evasive maneuvering arrangement, and the air-bag arrangement.

14. The passenger protection system of claim 13, wherein the classifying includes classifying into one of behavior classes the behavior of the pedestrian using the at least one physical variable, wherein an indicator of the behavior includes a body size of the pedestrian, and wherein the behavior classes include at least one of:

(i) the pedestrian stops;

(ii) the pedestrian crosses the roadway;

(iii) the pedestrian changes a movement direction;

(iv) the pedestrian does not change the movement direction;

(v) the pedestrian sees the vehicle;

(vi) the pedestrian does not see the vehicle;

(vii) the pedestrian behaves cooperatively with respect to the vehicle; and

(viii) the pedestrian does not behave cooperatively with respect to the vehicle.