• 专利附录
  • 专利说明
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  • 类似技术
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    • 专利摘要:
    The invention relates to a method for controlling and / or training the driving behavior of a driver when driving a motor vehicle, the motor vehicle comprising: (i) at least one driver-related vision device, (ii) headlight means or at least one front light, and (iii) means for detecting the current traffic situation, wherein the method comprises: continuous detection of at least one driver's visual parameter by means of the at least one eye-tracking device, and at least one alert signal for the driver is triggered, if the detected visual parameters and / or the traffic situation in comparison to stored in this regard normal values have deviations beyond predetermined limits addition, wherein the method is characterized in that the indication signal is transmitted to the driver by means of the "Attractive Flicker" method. The invention also relates to a driver assistance system (601) for a motor vehicle (600) for carrying out the method for controlling and / or training the driving behavior of a driver (602) and to a motor vehicle (600) comprising a driving assistance system (601) according to the invention.
    公开号:AT519767A4
    申请号:T50382/2017
    申请日:2017-05-10
    公开日:2018-10-15
    发明作者:Hartmann Peter；Grüner Markus；Ansorge Ulrich；Büsel Christian；Bednar Ingeborg；Altmann Johann
    申请人:Zkw Group Gmbh；
    IPC主号:
    专利说明:

    Summary
    The invention relates to a method for controlling and / or training the driving behavior of a driver when driving a motor vehicle, the motor vehicle comprising: (i) at least one eye detection device relating to the driver, (ii) headlight means or at least one front light, and (iii) means for detecting the current traffic situation, the method comprising: continuous detection of at least one gaze parameter of the driver by means of the at least one gaze detection device (eye tracking device), and at least one warning signal for the driver is triggered if the detected gaze parameters and / or the traffic situation compared stored normal values in this regard have deviations beyond predefinable limits, the method being characterized in that the information signal is transmitted to the driver by means of the “attractive flicker method”. The invention also relates to a driver assistance system (601) for a motor vehicle (600) for executing the method for controlling and / or training the driving behavior of a driver (602) and a motor vehicle (600) comprising a driver assistance system (601) according to the invention.
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    Method and system for controlling or training a driver's driving behavior via his gaze guidance
    The invention relates to a method for controlling and / or training the driving behavior of a driver when driving a motor vehicle, the motor vehicle comprising: (i) at least one eye detection device relating to the driver, (ii) headlight means which are set up to provide at least one predeterminable light distribution generate in front of the motor vehicle, or at least one front light, and (iii) means for detecting the current traffic situation, the method comprising: continuously detecting at least one driver's gaze parameter using the at least one gaze detection device (eye tracking device), the gaze parameter from the Group consisting of a gaze direction, a gaze movement and a gaze duration of the driver as well as a combination of these gaze parameters is selected, and at least one warning signal is triggered for the driver if the gaze parameters and / or the traffic situation compared to ab stored normal values in this regard have deviations beyond predeterminable limits.
    The invention also relates to a driver assistance system for a motor vehicle for executing the method for controlling and / or training the driving behavior of a driver according to the invention, comprising (i) at least one eye detection device (eye tracking device) relating to the driver, which is used for the continuous detection of at least one The driver's gaze parameter is set up, the gaze parameter being selected from the group consisting of a gaze direction, a gaze movement and / or a gaze duration, (ii) headlight means which are set up to generate at least one predeterminable light distribution in front of the motor vehicle, or at least one Front light, (iii) means for detecting the current traffic situation, and (iv) a control and evaluation device which is set up to control the headlight means or the at least one front light.
    The invention further relates to a motor vehicle which has an inventive
    Driver assistance system as described herein includes.
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    There is not absolutely or under all circumstances a general connection between more light on the road, such as modern Adaptive Frontlighting Systems (AFS) or. Definitely offer adaptive driving beam (ADB) headlights these days, and a safety gain in traffic. In order to meet the economic goal of increasing traffic safety on the one hand and, of course, economically targeted product development in the area of conflict between costs and complex, technically risky solution variants, a deep understanding of the effect of light on perception and, subsequently, the behavior of the driver is essential of high, if not decisive, importance, because only with this understanding and the algorithms based on it can targeted “vision systems for night driving be made possible.
    The problem of why more illumination from AFS or ADB headlights does not have to go hand in hand with a direct gain in safety is of a fundamental, cognitive-psychological nature:
    Often a different intention and the background of experience overlay a perception of weakly contrasted objects that could (or might represent) a danger due to the fundamentally improved recognizability.
    The dynamic in the light image brought in by modern headlight technologies (recognizable switching on / off of light segments) is often perceived as unpleasant and disruptive (change in contrast within the light distribution; sudden or continuous change in position of light-dark transitions in ADB headlights; flashes due to self-glare on signs or panes; annoying flickering in sensitively adjusted pixel-light systems; play of colors in the case of aperture edges to be imaged due to LED lens defects) and can also distract from essential visual recognition tasks.
    Adaptation: More illumination is not always perceived as such, because the eye adapts.
    Habit and experience shape the driving behavior very much, this is not (always) improved by better illumination, but can also tend to be shifted into riskier behavior.
    A certain “loss of control over the light is perceived by some drivers as annoying.
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    Methods and devices for influencing the line of sight or for attracting the attention of human individuals through optical stimuli are known from the prior art.
    US20030181822 A1 discloses a system and a method for the visual
    Recognizing a driver's attention and activating a human machine interface (HMI) device in order to direct the driver's line of sight in a certain direction using optical, possibly subtle, eye stimuli (in the relevant specialist literature also as "gaze redirection or" subtle gaze referred to as redirection). LED array displays and head-up displays (HUD) are mentioned as projection means for generating attention-grabbing light signals.
    DE 60009057 T2 discloses a training system for users, whereby on the one hand an eye tracking system the viewing direction e.g. of a motor vehicle driver, and by displaying an adaptive event, this driver can be trained to change his point of view and consequently to condition it to a desired behavior.
    Various designs of optical stimuli are disclosed in US 2015 355805 A1, with different outline shapes, colors, flashing frequencies and flashing duration being proposed as parameters in order to attract the attention of a subject.
    JPH08153284 A describes, among other things, useful frequencies for visual stimuli for use in a warning display, the optical flashing signals of which are designed to appropriately stimulate a person's attention.
    WO 2013 136374 A1 discloses a device with which the viewing direction of a driver can be steered by displaying a target viewing point in a HUD. The position of the optical signal, e.g. in the form of a point of light or a line of light, is brought into the driver's field of vision depending on the vehicle speed and the course of the road.
    The US 2013 0241747 A1 uses a projection unit built into the dashboard, the points of different colors and / or intensity glowing in the driver's field of vision
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    P15834 can be faded in to activate the driver's attention and to direct the gaze in a certain direction. The inner surface of the windshield is used as the projection surface. By varying the intensity and driving of the light points, the driver's gaze is directed to different areas in front of the vehicle.
    DE 10 2010 041961 Al describes optical display devices in
    Vehicle interior with which the driver's attention is drawn to a dangerous situation. For this purpose, the screen of the vehicle information display system arranged in the center of the dashboard is used to display a
    Light movement / light animation in the direction of the driver's field of vision, e.g. to generate sequential activation of luminous dots.
    DE 10 2005 036002 A1 describes a method for controlling the
    Illumination device of a headlight system in which the driver's line of sight is recorded and the controllable motor vehicle (motor vehicle) headlights are then oriented in this line of sight.
    It is an object of the present invention to provide a method for controlling and / or training the driving behavior of a driver when driving a motor vehicle, by means of which the driver is influenced by targeted eye guidance so that the driver can visually influence the needs of the three according to the situation and in a personalized manner basic cognitive tasks of (night) driving - namely controlling motor skills, assessing the situation, navigating in the traffic area - can react. In particular, it is desirable to use this method to reduce or eliminate the problems mentioned above in connection with the illumination by AFS or ADB headlights.
    Another object of the invention is to provide a driver assistance system for a motor vehicle for executing the method according to the invention.
    This object is achieved by a method for controlling and / or training the driving behavior of a driver when driving a motor vehicle as mentioned at the beginning, which is characterized according to the invention in that the information signal is transmitted to the driver by means of the “attractive flicker method, which does the following Steps include:
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    P15834 • by means of the headlight means or the at least one front light, generating an alternating light orientation signal which is defined in a predeterminable position in the traffic area in front of the motor vehicle and the driver's amplitude of the light intensity clearly stands out from a local ambient brightness currently in front of the motor vehicle , • maintaining the alternating light orientation signal until a change in at least one driver's gaze parameter is detected by the gaze detection device, as a result of which an indication of the driver's attention to the alternating light orientation signal is determined, and • converting the alternating light Orientation signal into an alternating light maintenance signal by reducing the frequency and the amplitude of the alternating light orientation signal to a maintenance value recognizable for the driver who has become aware of the orientation light signal.
    This object is further achieved by a driver assistance system for a motor vehicle for carrying out the method according to the invention, comprising (i) at least one eye detection device (eye tracking device) relating to the driver, which is set up to continuously record at least one eye parameter of the driver, the eye parameter from the Group consisting of a direction of gaze, a gaze movement and / or a gaze duration is selected, (ii) headlight means that are set up to generate at least one predeterminable light distribution in front of the motor vehicle, or at least one front light, (iii) means for detecting the current traffic situation , and (iv) a control and evaluation device which is set up to control the headlight means or the at least one front light, the driver assistance system being characterized according to the invention in that the control and evaluation device is set up for this The following steps must be carried out if the recorded eye parameters and / or the traffic situation show deviations beyond predefinable limits compared to the normal values stored in this regard:
    • Transmission of a first control signal to the headlight means or the at least one front light in order to receive an alternating light orientation signal which is in
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    P15834 a predeterminable position is defined in front of the motor vehicle and the amplitude of the light intensity for the driver stands out clearly from a local ambient brightness currently in front of the motor vehicle, • maintaining the alternating light orientation signal until a change in at least one of the driver's gaze parameters by the driver Eye detection device is detected, whereby a sign of the driver's attention to the alternating light orientation signal is determined, and • transmitting a second control signal to the headlight means or the at least one front light in order to convert the alternating light orientation signal into an alternating light maintenance signal Lowering the frequency and the amplitude of the alternating light orientation signal to one for that
    Orientation light signal to convert drivers who have become aware of conservation value.
    An “attractive flicker” can be defined as a flashing sequence that draws a driver's visual attention. The “attractive flicker” method was described in detail by Waldner et al. (M. Waldner et al., Attractive Flicker - Guiding Attention in Dynamic Narrative Visualizations, 2014, IEEE Transactions on Visualization and Computer Graphics, 20 (12): 2456-2465). For the purpose of the present invention, targeted gaze guidance to influence driver behavior is made use of the “attractive flicker” technique, which is preferably developed for narrative context and is effective for large displays; This means that the driver should not necessarily be torn out of the narrative context, that is, the "understanding of the environment or the" awareness of the situation, by means of the alternating light signals generated according to the invention by means of the headlight means or front light.
    The principle of the “attractive flicker method in a headlight application is explained in more detail below in FIG. 1 (based on the basic principle presented in Waldner et al., 2015). Basically, in this multi-stage methodology within the scope of the present invention, a very intense and relatively high-frequency alternating light orientation signal (“orientation”) generated by the headlamp means is used to steer the gaze, which immediately as soon as that is installed in the motor vehicle
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    Gaze detection device measures a correspondingly directed change in one or more of the above-mentioned gaze parameters, in a lower frequency, which is pulsating around a basic intensity value and is not very salient in itself, i.e. Compared to the alternating light orientation signal, the alternating light preservation signal (“preservation”), which is not very noticeable but is nevertheless accessible to the consciousness, is converted. The transition phase between “orientation and” preservation is referred to in FIG. 1 as “transition.
    An established model for a person's situation awareness in a dynamic environment is that described by Endsley (see MR Endsley, 1995, Toward a Theorey of Situation Awareness in Dynamic Systems, Human Factors: The Journal of Human Factors and Ergonomics Society, 37.1, 32-64). According to this model, a "scene (e.g. the road with semantic attributes and driving-related changes) in the area surrounding the vehicle is assumed. This scene is captured by the driver of the vehicle. In this "scene there are still objects to be identified, such as obstacles or other road users. In a first stage ("object orientation), the properties, the state and dynamics of relevant elements are now recorded in the" scene (e.g. own and third-party vehicles;
    Obstacles). In a subsequent second stage (“understanding”), the scene is understood by the driver based on the connection of individual elements of the first stage, whereby patterns are formed. This leads to a holistic mapping of the environment, including the assessment of the significance of objects and events, taking experience and relevant objectives into account. In the third stage ("future state"), the driver finally estimates the future state (e.g. possible collisions) on the basis of the first and second stages and can make a decision based on this and take appropriate actions (e.g. braking, evasive action, adapting the lane).
    Driving itself is influenced by various visual and cognitive groups of tasks. The vehicle-related tasks (e.g. steering, gear shifting, accelerating, braking, blinking) are overlaid by scene-related tasks that affect the driver's perception (e.g. keeping lane, keeping distance, assessing distance, assessing speed). All of the above tasks are in turn based on situation-related and conscious driver understanding parameters
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    P15834 (e.g. consideration of traffic rules, assessment of traffic flow, adaptation to
    Weather and light conditions, identification and assessment of a risk) overlay.
    The driver's visual attention, which shapes his perception and thus his awareness of the situation, can be directed to tasks on the one hand by the above-mentioned visual and cognitive groups, and on the other hand by means of salient stimuli. In the present invention, the guidance / control of the visual perception takes place via the path of salient stimuli for eye guidance, i.e. by means of the "attractive flicker."
    The use of the “attractive flicker” method in the method or in the driver assistance system according to the invention has enormous advantages over the methods and systems known from the prior art. On the one hand, thanks to the invention, the dynamics of the eye-guiding light signals generated (alternating light orientation signal, alternating light maintenance signal) are not perceived as disturbing, and on the other hand the possible basic intention of the general situation assessment is only minimally, if at all, impaired cognitively, i.e. Instead of the gaze-guiding light signal that is generated, the cognitive context of the situation assessment can be used to direct attention to possible moments of danger. The method and driver assistance system according to the invention is of great advantage especially when driving at night and is therefore primarily used. Another advantageous application situation is, for example, driving in tunnels or at dusk.
    In principle, the current distribution of the driver's cognitive load can thus be controlled by the method or driver assistance system according to the invention. This can be done, for example, in the sense that inexperienced drivers, who are primarily, disproportionately and mostly excessively, involved in vehicle steering, are introduced early to situation-assessing seeing and recognizing (i.e. the strength of experienced vehicle drivers) and thus trained.
    In return, very experienced vehicle drivers, who work cognitively with previously learned and internalized schemes according to top-down approaches, can be re-sensitized to critical situations; For example, experienced drivers may experience suboptimally trained, typically dominant behavior patterns and
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    Situation assessments ("I drive with low beam at 100 km / h because nothing has ever happened to me) can be trained or an efficient in-situ assessment with age-related decrease in sensory and cognitive performance can be maintained.
    The expression “normal value as used herein” means values that have been identified as meaningful depending on the current traffic situation.
    Eye detection devices or eye tracking devices are well known from the prior art and typically include a set of VIS and IR cameras (VIS camera: environment, head orientation; IR camera: pupils) and a control unit for coordinating and calculating data records relating to the Eyes (e.g.
    Pupil diameter, state of accommodation,) and the gaze parameters (e.g. fixations, smooth tracking processes, saccades, microsacades, as well as their direction / orientation, amplitude, duration, etc.). As known manufacturers of remote and glasses-based eye tracking systems, which are also suitable for the present invention, Smart Eye (eye tracker "Aurora), SensoMotoric Instruments (" EGT, "redn) or Tobii Tech can be mentioned. In this case, the at least one gaze parameter can be continuously acquired by means of gaze detection devices installed in the motor vehicle and / or using gaze detection data glasses. Accordingly, the at least one gaze detection device relating to the driver can be implemented as a gaze detection device installed in the motor vehicle or as gaze detection data glasses. The gaze detection device is expediently a gaze detection device installed in the motor vehicle, since the driver perceives this as less annoying than data glasses. Due to the appropriately designed control and the immediate, permanent feedback of the gaze detection device, the evaluation of current driver states (e.g. tired, distracted, inattentive) and the evaluation of typical driving vision behavior patterns as well as the evaluation of the training effectiveness is possible.
    At least one saccade of the driver is preferably detected by means of the at least one eye detection device. A saccade is understood by experts to mean a quick and leaping gaze movement.
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    The expression “alternating light orientation signal, which clearly distinguishes the driver's amplitude of the light intensity from a local ambient brightness currently in front of the motor vehicle, means that the amplitude of the light intensity of the alternating light orientation signal has a minimum value of a difference in brightness compared to the brightness of an existing one in front of the vehicle has local ambient brightness so that the human visual apparatus can perceive the “alternating light orientation signal. The "locality of the ambient brightness can, for example, by the
    Image evaluation of the vehicle environment, e.g. by a light intensity measurement using a camera system. The brightness of the ambient brightness in front of the vehicle is primarily determined by the light distribution currently generated by the headlamp means (e.g. headlight with a central maximum brightness, low beam and thus a zone separation due to the light-dark boundary generated by the headlamp into a light or dark area , etc.) and the ambient light conditions (e.g. street lighting, oncoming vehicles, dazzling objects, ambient light and weather conditions) are determined and are available as a comparison variable.
    The conservation value of the alternating light conservation signal can be superimposed on a largely constant “constant component of the local ambient brightness currently in front of the motor vehicle. This is to be understood in the sense that the perceived RMS value of the oscillating signal brightness approximately corresponds to the “direct component of the environment or has a desired difference in brightness.
    According to Weber's law, the threshold perception depends on the initial stimulus, i.e. on the local ambient brightness (Io). The value of the Weber constant k for the light intensity is 0.08. The value of the brightness difference (AI) of the alternating light orientation signal to the local ambient brightness (Io) currently in front of the motor vehicle is therefore preferably at least 8%, more preferably the value of the brightness difference (AI) is in the range of 8-15%. The amplitude of the light intensity of the alternating light orientation signal is therefore always adapted to the respective value of the brightness difference (AI) of the alternating light orientation signal to the local ambient brightness (Io). Crucial for that
    Threshold perception is the contrast caused by the illuminance of the
    Alternating light orientation signal arises, i.e. depending on the ambient brightness (e.g. bright
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    Environment with high beam distribution, dark environment in the area above the light-dark limit with low beam distribution), an increase or decrease in intensity of the alternating light orientation signal is selected. In the examples below, various traffic scenes are described, in which this aspect is explained in more detail.
    In addition to the above, Bloch's law should also be mentioned, which relates the brightness or light intensity and the duration of a visual stimulus presentation to a threshold perception of the observer, as long as the duration of the stimulus presentation is less than 100 ms. If the duration is longer, the Pieron law applies, according to which the threshold for visual perception increases with the square root of time. Both Bloch's Law and Pieron's Law state that a less intense light stimulus must be presented longer in order to be perceived by an observer as well as a more intense light stimulus.
    The value of the difference in brightness between the alternating light conservation signal and the local one currently in front of the motor vehicle is preferably
    Ambient brightness at least 5%, preferably 5-10%.
    According to the method according to the invention it can be provided that the alternating light orientation signal has a frequency of 10 Hz to 100 Hz. In practice, it has proven to be advantageous if the alternating light orientation signal is an on / off flashing signal with a frequency of approximately 20 Hz.
    According to the method according to the invention it can be provided that the alternating light maintenance signal has a frequency of 0.5 Hz to 50 Hz. In practice, it has proven to be advantageous for the alternating light maintenance signal to be an on / off flashing signal with a frequency of approximately 2 Hz.
    In order to attract the driver's attention to the alternating light orientation signal, it is advantageous if the alternating light orientation signal lasts for at least 60 milliseconds. The alternating light orientation signal can last up to 500 milliseconds in certain variants of the method according to the invention.
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    In certain variants of the method according to the invention it can be provided that the alternating light orientation signal is adapted if no change in the at least one gaze parameter of the driver is detected by the gaze detection device within a predefinable time period. If, for example, no saccade of the driver is measured by the eye tracking device within a predeterminable period of time, which is, for example, at least 60 milliseconds, the alternating light orientation signal is subsequently adjusted in order to achieve the driver's gaze and attention. The alternating light orientation signal can be adapted in particular by changing the amplitude of the light intensity, the frequency, the duration or the angular range of the alternating light orientation signal or by a combination thereof.
    In a further development of the method according to the invention, further information signals can be transmitted to the driver, which are selected from subtle optical light stimuli to influence the driver's line of sight (subtle gaze direction (SGD) technology) and / or flashing light signals and / or acoustic signals. An SGD notification signal can be, for example, a sustained, less salient 10 Hz signal. Depending on the desired reaction, simple flashing light signals can have a frequency of e.g. 1, 2 or 3 Hz.
    The alternating light orientation signal and / or the alternating light maintenance signal is or are advantageously realized as an animated light symbol, which may differ in color from the currently generated light distribution. The animated light symbol can be, for example, a rotating asterisk and, if necessary, change to another symbol or marker light depending on the situation. By appropriate selection of the light flashing frequency and the light intensity of the animated light symbol, which bring about the difference in brightness and the contrast change to the local ambient brightness surrounding the light symbol, the light symbol cannot be made dominant in consciousness most of the time (especially in curves without oncoming traffic), so that it is not perceived as a nuisance, but nevertheless the “use of light dynamics in teaching can expand the view space used and direct vision.
    The position of the alternating light orientation signal and the alternating light maintenance signal, which can be implemented, for example, as animated light symbols as described above, is
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    P15834 always exactly where the driver's visual attention should be in the driver's field of vision, but is obviously not due to the detected eye behavior. In the examples below, various traffic scenes are described in detail, in which the respective position of the light signals is described as a function of the target position of the visual driver's attention. The position of the alternating light signals is basically independent of the current basic light image. The only restrictions are that no other road user may be blinded and that this position can be illuminated by any part / module of the controllable headlight means or the controllable front light (s).
    It can be provided in the method according to the invention that the alternating light orientation signal and / or the alternating light maintenance signal has or have an angular range of 0.1 ° to 3 °, preferably <1 ° in the vertical and in the horizontal direction. In a further development it can be provided that the alternating light orientation signal and the alternating light maintenance signal have an angular range of 0.1 ° to 3 °, preferably <1 ° in the vertical and in the horizontal direction. Accordingly, it is advantageous if the headlamp means comprise at least one headlamp, the angular resolution of at least the area of the field of view illuminated by the headlamp being affected by the signaling in a vertical and horizontal direction in a range from << 0.01 ° to 1 °, is preferably <0.2 °.
    In an advantageous embodiment of the method or
    The driver assistance system generates the alternating light orientation signal and the alternating light maintenance signal by means of at least one LED light source (briefly referred to as LED) arranged in the headlight means or in the front light. The “attractive flicker signals, comprising the alternating light orientation signal and the alternating light maintenance signal, are advantageously generated by pulse-width modulation (PWM) of the at least one LED. A schematic representation of a pulse-width-modulated “attractive flicker signal” can be found in FIG. 1 a and the description below. Accordingly, the headlamp means or the at least one front light advantageously have at least one pulse-width-modulatable LED for generating the alternating light orientation signal and the alternating light maintenance signal. The pulse width modulation (PWM) of LEDs, also known in the technical field as PWM dimming, is well known to the relevant experts. In
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    In headlamp applications, PWM dimming is commonly used in matrix and pixel light headlamps, with the LEDs in the matrix and pixel light modules of these headlamps being controlled via PWM signals. In principle, as an alternative to PWM dimming of the LEDs, it would also be possible to control LED light pulses by means of a direct analog current change; However, this alternative variant has the disadvantage, compared to PWM dimming, of the formation of disturbing color variations due to color locus shifts.
    As mentioned, the position of the alternating light orientation signal or the
    Alternating light maintenance signal can be appropriately illuminated by any part / module of the controllable headlight means or by the at least one independent front light, which is accommodated in a housing separate from the headlight means. This can be done, for example, by an integrated part of a matrix, pixel, DLP or laser scanner headlight. The independent front light can, for example, be an independent "flashing light indicator light unit, which - in addition to solutions with segmented LED arrangements - can also consist of mechanically orientable modules which can project defined objects.
    The alternating light orientation signal and / or the alternating light maintenance signal can be generated, for example, by a projection lighting device integrated in the headlamp, which either has basic functionality for generating light distributions and also has imaging properties or carries it out separately from basic functions. For example, the projection illumination device can be implemented as a scanning laser beam. A laser beam projection enables the generation of an alternating light orientation signal or alternating light maintenance signal which differs in color from the ambient brightness; For example, a green alternating light orientation or maintenance signal could also be used during the day. Attractive flicker signals generated by a laser beam can also be advantageous when driving in tunnels or at dusk or in backlight conditions. Although there is talk of a projection device, the invention is not restricted to systems which project the light image via imaging optics. Systems are also conceivable that use the street as a projection surface for the laser beams and there the light image, e.g. a light symbol, "draw by periodically deflecting the laser beam, for example via a micromirror, and by modulating the laser power appropriately for the human eye
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    P15834 flicker-free and freely selectable image is created. An alternative embodiment is a laser projection system for virtual imaging elements in the form of holographic representations. In one embodiment variant, it can be provided that the projection illumination device is an adaptive projection device with which the alternating light orientation signal or alternating light maintenance signal is generated the light distribution of the projected alternating light orientation signal and / or the alternating light maintenance signal is adapted adaptively and situation-related to the state of motion of the vehicle or, if appropriate, also to the state of motion of objects or road users present in the driver's field of vision.
    Driver assistance systems are additional devices in vehicles that support and relieve the driver in certain driving situations and help to identify critical situations in advance, in particular to reduce the risk of accidents. For this purpose, driver assistance systems typically have a number of subsystems, e.g. a reversing camera, a park assist system (“park assist)
    Blind spot monitoring system, environment monitoring system ("front assist) / a
    Lane change assistance system (“lane assist” etc.) These subsystems use data from environment sensors installed on or in the vehicle at different positions, which use sensors such as cameras, radar sensors, lidar sensors or the like to record and monitor the surroundings of the vehicle. A typical functionality of
    Driver assistance systems consist of informing the driver of the surroundings of the vehicle on the basis of data from the surroundings sensors using one of interfaces for data transmission, e.g. to transmit a human-machine interface (HMI). The HMI interface can then provide the driver with the relevant information, e.g. transmit in optical, haptic or acoustic form. In addition, data from external mobile connections ("connectivity") such as position / navigation data (e.g. GPS), data relating to communication with the vehicle and its surroundings (e.g. car2x, car2car) or from other external databases accessible via a network connection can be used as an example Traffic volume and / or road conditions are taken into account.
    Driver assistance systems based on assistance from lighting by means of lighting modules arranged on the front of the motor vehicle (e.g. headlights or independent front lights) have the advantage that assistance from lighting
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    P15834 is intuitive and, especially at night or dusk, is the only aid that acts on and on the location that is in the focus of the driver's visual perception and attention, as well as on the location where this focus should favorably be. The assistance provided by lighting therefore integrates the driver much more directly than all other assistance approaches (e.g. HMI interface in the form of a display arranged inside the vehicle).
    The above also essentially applies to the driver assistance system of the present invention, the information being passed on to the driver according to the invention in the form of light signals using the “attractive flicker” method using the headlight means or using at least one front light. As defined above, the driver assistance system according to the invention comprises means for detecting the current traffic situation; these means for acquiring the current traffic situation expediently comprise environment sensor means for acquiring vehicle surroundings data, the control and evaluation device being set up to receive the vehicle surroundings data, to evaluate them and to take them into account in the control of the headlight means. The environment sensor means can comprise any sensor means known to a person skilled in the field of environment sensors. The environment sensor means advantageously comprise at least one of the following sensor means: optical sensor means, ultrasonic sensor means, radar sensor means, LiDAR sensor means,
    Infrared sensor means. Such sensor means are well known to the relevant expert. The optical sensor means preferably comprise at least one camera system with at least one camera, such as front and front sensors
    Environment cameras. The at least one camera of the camera system is expediently arranged such that the camera system can record images and / or videos in the driver's field of vision. The camera can perform the functions of a normal camera, a night vision camera and / or a thermal imaging camera, which, based on the use of, for example, long-wave IR in the range of 8-12μιτι (according to N.Pichon et.al. "All-weather vision for automotive safety: which spectral band in VISION 2016 proceedings) reliably allows pedestrian detection at night and in fog conditions and can therefore be used as a “fog camera”, so that in all lighting conditions and weather conditions, reliable and qualitatively adequate detection of the vehicle's surroundings and objects located within them or other road users is possible.
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    Furthermore, the at least one camera can also be set up to
    To carry out light intensity measurements with regard to the ambient brightness.
    In particular, the local ambient brightness in which the alternating light orientation signal or alternating light maintenance signal is to be positioned can be determined by a light intensity measurement via the camera system.
    As mentioned above, the environment data generated in the detection area of the respective environment sensor means are forwarded to the control and evaluation device for evaluation. The environment sensor means can also be used in combination with one another to take advantage of the various advantages, e.g. a combination of the data from a camera and an infrared sensor, and to be able to better detect people and animals based on their body heat.
    In a development of the invention, it is provided that the control and evaluation unit is assigned a database based on an expert system or an artificial intelligence logic (AI logic), preferably comprising personal characteristics of the driver, the control and evaluation device is set up to take into account data from the database in the control of the headlight means or the at least one front light. In this way, the training status or the training result or the personal standard behavior of the respective driver can be taken into account when controlling or training the driving behavior. In practical use, the driver assistance system can have a teaching effect on the specific behavior of the driver (primarily the gaze behavior and the driving behavior derived from it, taking into account existing database data) and, on the one hand, can learn from the driver's behavior as a self-learning system. In addition, this data can also be transferred from the database, e.g. via an expert system with personal characteristics of the driver on a data carrier. The control or training of driving behavior both via direct feedback on driver behavior and via a forward-looking assessment based on evaluated experience data, in combination with the “attractive flicker” method, results in a particularly efficient training effect in comparison to pure salience effects known from the prior art. That identified beneficial driving behavior is supported by effect-oriented “attractive flicker light signals; the "attractive flicker light signals are not considered distracting or
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    P15834 can be (potentially) stressful and affect the general
    Situation assessment cognitive, if at all, only minimally.
    An exemplary diagram of the control system underlying the driver assistance system, taking into account the recorded environment data, the driver's gaze behavior and existing driver and situation data, is shown in the accompanying figures and explained in detail.
    The invention further relates to a motor vehicle which comprises a driver assistance system according to the invention as described herein. The motor vehicle expediently comprises two headlights as headlight means for generating the alternating light orientation signal or alternating light maintenance signal. Instead of the headlight means, at least one independent front light can also be provided for generating the alternating light orientation signal or alternating light maintenance signal. The at least one front light can be positioned on the motor vehicle, for example in the immediate vicinity of the headlight or headlights and / or also in the central position in the upper region of the windshield of the motor vehicle (see, for example, FIG. 8). The alternating light orientation signal or alternating light maintenance signal can, as described above, be generated, for example, by means of an (adaptive) projection lighting device mounted in one or both headlights. Each of the two headlights preferably includes exactly one adaptive projection lighting device, since the construction of the headlights is thereby simplified and space-saving.
    The invention and its advantages are explained below on the basis of non-limiting examples according to the accompanying drawing. The drawing shows in:
    La-d a schematic representation of the basic principle of the “attractive flicker method” used according to the invention using the example of pulse width modulation (PWM) of an LED of a headlight,
    2 shows an exemplary configuration of the functional units for controlling the driver assistance system according to the invention, taking into account the detected environmental data, the driver's gaze behavior and predetermined driver data,
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    3 shows a first exemplary traffic scene, in which the method according to the invention is illustrated,
    4 a-c a second exemplary traffic scene, in which the method according to the invention is illustrated,
    5 shows a third exemplary traffic scene, in which the method according to the invention is illustrated,
    6 shows a fourth exemplary traffic scene, in which the method according to the invention is illustrated,
    7 shows a fifth exemplary traffic scene, in which the method according to the invention is illustrated, and
    Fig. 8 is a schematic representation of a motor vehicle which is equipped with a driver assistance system according to the invention.
    1a-d show a schematic representation of the principle of the “attractive flicker method” used according to the invention using the example of pulse width modulation of an LED light source (LED for short) over time (t). The principle of the “attractive flicker method” illustrated in FIG. La-d is based on the basic principle presented in Waldner et al., 2015. With reference to the diagram in FIG. 1 a, a very intensive and relatively high-frequency alternating light orientation signal (“orientation”) is first generated with this multi-stage methodology within the scope of the present invention for eye guidance, which immediately as soon as the eye detection device installed in the motor vehicle has a correspondingly directed direction Change of one or more driver's gaze parameters measures, in a low frequency, pulsating around a basic intensity value, which is not very salient in itself, ie Compared to the alternating light orientation signal, the alternating light preservation signal (“preservation”), which is not very noticeable but is nevertheless accessible to the consciousness, is converted. The transition phase between "orientation and" conservation is referred to in Fig. La as "transition. According to the invention, the alternating light orientation signal and the alternating light maintenance signal can be achieved by means of headlight means such as headlights or by means of a
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    P15834 independent front light can be generated. In the example shown in FIG. 1 a, the generation of these signals over time (t) is shown by means of a pulse-width-modulated LED, which is installed in the headlight or in the front light. The ordinate corresponds to the intensity / brightness Im perceived by humans (drivers), which is achieved by pulse width modulation (PWM) dimming of the LED. The intensity of a light spot or the light distribution is controlled in the example shown via PWM dimming with an LED pulse width T = 5ms and a clocking of 200 Hz. The 5 ms individual pulses, which are only to be regarded as examples, are integrated over a period of time and perceived as the only brightness value.
    First of all, in the “attractive flicker method” as mentioned above, a very intensive and relatively high-frequency alternating light orientation signal (“orientation”) is generated by means of the LED. In the example shown, the LED is switched on or off at 65 ms intervals (At = 65 ms) over a period of 500 ms; this signal is perceived by the driver as a relatively high-frequency on / off flashing light signal. In the example shown, the light intensity of the LED in the switched-on / energized state is 100% of the intensity value Iorientation (in the example shown at “100% -PWM) over the period At = 65 ms; This is shown in FIG. 1b in a detailed view of a 65 ms time period (100% PWM; LED pulse width T = 5 ms, clock frequency f = 200 Hz; At = 65 ms). The intensity value Iorientation of the alternating light orientation signal is identical to 100% PWM in the example shown in FIG. 1a. In practical implementation, however, the intensity value Iorientation of the alternating light orientation signal is based on the local ambient brightness (see description above or the following description) and is not automatically identified with 100% PWM
    With regard to the choice of the light intensity of the alternating light orientation signal, it is again noted - with reference to the above explanations - that the amplitude of the light intensity (cf.intensity value Iorientation in Fig. La) of the alternating light orientation signal generated by the LED is a minimum value of a difference in brightness to the brightness must have a local ambient brightness in front of the vehicle so that the human visual apparatus can perceive the alternating light orientation signal. As already mentioned above, the brightness of the ambient brightness in front of the vehicle is primarily determined by the light distribution currently generated by the headlight means (e.g. high-beam headlights, low-beam headlights and the associated headlights
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    Brightness in the light or dark area of the cut-off line etc.) as well as the ambient light conditions (e.g. street lighting, oncoming vehicles, dazzling objects, ambient light and weather conditions) are determined. According to Weber's law, the threshold perception depends on the initial stimulus, i.e. on the local ambient brightness (Io). The value of the is preferably
    Brightness difference (AI) of the alternating light orientation signal to the local ambient brightness (Io) currently in front of the motor vehicle is therefore at least 8%, more preferably the value of the brightness difference (AI) is in the range of 8-15%. The amplitude of the light intensity of the alternating light orientation signal generated by the LED is therefore preferably adapted to the respective value of the difference in brightness (AI) of the alternating light orientation signal to the local ambient brightness (Io). The decisive factor for threshold perception is the contrast that arises from the illuminance of the alternating light orientation signal, i.e. Depending on the ambient brightness (e.g. bright surroundings with high beam distribution, dark surroundings in the area above the light-dark limit with low beam distribution), an increase or decrease in intensity of the alternating light orientation signal is selected. In the examples below (Fig. 3-7) different traffic scenes are described, in which this aspect becomes clear.
    As soon as the alternating light orientation signal is perceived by the driver, i.e. As soon as the gaze detection device installed in the motor vehicle measures an appropriately directed change in one or more gaze parameters, the alternating light orientation signal is turned into a lower frequency by means of PWM, pulsating around a basic intensity value (represented by the arrow denoted by ΔΙελ), in itself not very salient, i.e. in comparison to the alternating light orientation signal, little noticeable, but nevertheless accessible to the consciousness, alternating light conservation signal ("conservation") converted. The gaze parameter can be, for example, a change in the gaze direction, a gaze movement and a gaze duration of the driver, as well as a combination of these gaze parameters (see the explanations above in the description). The transition phase between “orientation and” conservation in the example shown, which lasts approximately 1000 ms, is referred to as “transition” in FIG.
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    1c shows an example of a 10% PWM dimming (10% PWM; LED pulse width T = 5ms / f = 200Hz; At = 65 ms) during the transition phase (see time axis at t = 565 - 640 ms); if the intensity of the LED or the light distribution is therefore 10% of the intensity value Iorientation over the period At = 65 ms, the LED is operated in this period in 10% of the time. In analogy to FIG. 1c, FIG. 1D shows an example of 75% PWM dimming (75% PWM; LED pulse width T = 5 ms / f = 200 Hz; At = 65 ms) during the maintenance phase. 65 ms periods with a 75% PWM dimming can be seen in FIG. 1 a in the rising and falling edges of the alternating light maintenance signal; if the intensity of the LED or the light distribution is to be 75% of the intensity value Iorientation over the period At = ms, the LED is only operated in this period as shown in FIG. Id in 75% of the time. It should be noted once again that the PWM dimming of LEDs is generally known in the technical field, which is why an even more detailed explanation of this principle does not appear to be necessary.
    2 shows an exemplary configuration of the functional units and
    Control units for controlling the driver assistance system according to the invention, taking into account the recorded environment data, the driver's gaze behavior and existing driver and situation data, in the form of a flow chart.
    The configuration shown in FIG. 2 includes environment sensor means for acquiring the current vehicle environment data, five sensors 1-5 being shown in this example. However, it will be clear to a person skilled in the art that the environment sensor means can also comprise fewer or more sensors. The sensors 1-5 can, for example, optical sensor means e.g. in the form of video cameras (sensor 1, sensor 2) as well as IR, radar and LiDar sensors (sensors 3-5). The vehicle surroundings data recorded by sensors 1-5 in each case are processed as raw data or optionally prepared accordingly (data preparation 1, 2, 3, 4 and 5) and processed (sensor data fusion). The sensor data fusion also includes data from external mobile connections ("connectivity") such as position / navigation data (e.g. GPS), data relating to communication with the vehicle and its surroundings (e.g. car2x, car2car) or from other external databases that are accessible via a network connection taken into account, for example, the volume of traffic and / or the state of the road. The in the
    Sensor data fusion collected data sets are a vehicle control unit as well as the
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    Headlight control units supplied and in the control of the vehicle or in the
    Control of the headlights taken into account.
    The driver assistance system also includes an eye tracking system, which is typically a set of VIS or IR cameras (VIS camera: surroundings, head orientation; IR camera: pupils) and a control unit for coordinating and calculating data records relating to the eyes (e.g. Pupil diameter, state of accommodation,) and the gaze parameters (e.g. fixations, smooth tracking processes, saccades, microsacades etc. as well as their direction / orientation, amplitude, duration, etc.). As known manufacturers of remote and glasses-based eye tracking systems, which are also suitable for the present invention, Smart Eye (eye tracker "Aurora), SensoMotoric Instruments (" EGT, "redn) or Tobii Tech can be mentioned. The data sets generated by the eye tracking system are subjected to a gaze pattern evaluation, the merged sensor data and data from a driver and situation database also being taken into account in the gaze pattern evaluation.
    The driver and situation database can include, for example, an expert system or artificial intelligence logic (AI logic; together with the buffer and the gaze pattern evaluation, the ability for "machine / deep learning methods according to the state of the art) and also take into account the driver's personal characteristics , The driver and situation database can be external e.g. can be configured by the driver or another operator (e.g. driving instructor).
    When evaluating gaze patterns, the contextualization takes place through the
    Eye tracking system generated data sets taking into account the sensor data merged - directly at the same time - in interactive coordination (shown schematically by the overlap of the fields "gaze pattern evaluation" and "sensor data fusion") as well as the data from the driver and situation database with regard to the formation of a "machine situation awareness. There is access to stored properties and behavior, scene and situation patterns from the driver and situation database, as well as to data records in the sensor data fusion relating to a currently mechanically perceived traffic situation or surrounding scene
    Object allocation. The gaze pattern evaluation can, for example, take place in three stages: (1) perception / understanding of a situation - (2) anticipation of the situation development - (3)
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    Decision for action. The data from the gaze pattern evaluation, compared and supplemented with the results of the general sensor data fusion, is stored in a buffer for the formation of situation awareness (SB-ZS); The machine situation awareness that is formed in it is read out immediately and in turn transfers newly learned situation patterns to the driver and situation database or the eye pattern evaluation.
    Not only the control values of a currently valid lighting characteristic are output to the headlight control units, but also a situation-based procedure decided on the basis of all merged signals, which is either stored in the driver and situation database or in the buffer to generate situation awareness as an algorithm. The term “currently valid lighting characteristic is to be understood as a light distribution adapted to the traffic situation; For example, corner illumination by a cornering light / cornering lights or a glare-free high beam (see e.g. Adaptive Driving Beam (ADB) light distribution in the example in FIG. 7). In accordance with the control signals that are transmitted to the headlight control units, the headlights can generate situation-adapted attractive flicker light signals (alternating light orientation and maintenance signal) as described herein (see, for example, FIG. 1 and description of this), which results in targeted eye guidance for influencing driver behavior in a dynamic environment.
    By means of the configuration described in FIG. 2, the training status or the training result or the personal standard behavior of the respective driver can be taken into account when controlling or training the driving behavior. The data on the driver behavior are expediently stored with a time stamp, so that an evaluation of the training results is made possible. Taking existing data into account in the driver and situation database, the driver assistance system can have a "teaching effect on the specific behavior of the driver (primarily the gaze behavior and the driving behavior derived from it) and, on the one hand, learn from the behavior of the driver as a self-learning system. Through the appropriately designed control system and direct, permanent feedback via the eye tracking system or the
    Gaze pattern evaluation is the evaluation of current driver states (e.g. tired, distracted, inattentive) and the evaluation of typical driving gaze behavior patterns as well as the
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    Evaluation of training effectiveness possible. The control or training of driving behavior both via immediate feedback on driver behavior and via a forward-looking assessment based on evaluated experience data in the gaze pattern evaluation, in combination with the "Attractive Flicker" method, results in a particularly efficient training effect compared to those known from the prior art pure salty effects. That identified beneficial driving behavior is supported by effect-oriented “attractive flicker light signals; As mentioned, the “attractive flicker light signals” will not be perceived as disturbing or (potentially) stressful and only minimally, if at all, impair the general assessment of the situation by the driver himself.
    3 to 7 show various traffic scenes which are described in detail below and in which the respective position of the “attractive flicker light signals (alternating light orientation signal, alternating light maintenance signal) is explained in more detail depending on the desired position of the visual driver attention , The terms “attractive flicker light signal” or “attractive flicker signal” used in the disclosure and also in the description of FIGS. 3-7 refer comprehensively to the eye-directing light signals generated using the “attractive flicker method” and already described in detail above Alternating light orientation signal and alternating light maintenance signal; reference is made to the detailed description in this disclosure. The position of the alternating light orientation signal and the alternating light maintenance signal is always exactly where the visual driver attention should be in the driver's field of vision, but, as is evident from the detected eye behavior, is not. 3 to 7, the actual position of the driver's visual attention (i.e. the actual gaze position) is shown schematically in the form of a circle. The target position of the visual driver attention (i.e. the desired gaze position) and thus the position of the alternating light orientation signal and the alternating light maintenance signal (attractive flicker light signals) is shown schematically as a black star. In practical implementation, the alternating light orientation signal and the alternating light maintenance signal can be realized, for example, as an animated light symbol, which may differ in color from the currently generated light distribution or may change to another symbol or marker light depending on the situation.
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    In principle, the position of the attractive flicker light signals is independent of the current basic light image. The only restrictions are that no other road user may be blinded and that this position can be illuminated by any part / module of the controllable headlight means or the controllable front light (s). By appropriate selection of the flashing light frequency and the light intensity of the attractive flicker signals, in particular the alternating light orientation signal, the difference in brightness and the change in contrast to the surrounding local
    Cause ambient brightness, you can not let the alternating light orientation signal dominate most of the time (especially on bends without oncoming traffic) in the consciousness, so that it is not perceived as annoying, but nevertheless the "use of light dynamics can expand and use the viewing area a gaze guidance can be effected.
    FIG. 3 shows a first exemplary traffic scene 100 of a night drive from the perspective of the driver with a central projection of a road 101 with a left road edge 102 and a right road edge 103 and a median strip 104. The light-dark boundary 105 of the low beam is also shown. Due to the continuous change in position of light-dark borders, the driver's actual gaze position 106 is often in this “restless area of the light-dark border. Using attractive flicker light signals 107a-c according to the invention, the gaze position and thus the driver's visual attention can be directed to relevant areas in the traffic scene. For example, the attractive flicker light signals 107a, 107b can be positioned in the area above the light-dark boundary, so that oncoming vehicles can be quickly perceived by the driver. Furthermore, the driver's line of sight can be directed to the tree group 108 on the left-hand side of the road 102 by means of the attractive flicker light signal 107c in order to draw the driver's attention to this tree group 108 and possible game changes.
    4 ac show a second exemplary traffic scene 200 of a night drive from the driver's perspective with a central projection of a road 201 with a left road edge 202 and a right road edge 203 and a median strip 204. The driver's actual viewing position 206a and thus his visual attention is standard Driving behavior mostly directed towards the rear lights of the preceding vehicle 205 (see FIG. 4a). To the driver now on relevant objects or
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    P15834 drawing attention to possible obstacles in the vehicle surroundings or in one's own driving area, such as a person 208 on the left-hand side of the road 202 or a tree 209 located on the right-hand side of the road 203, can improve the driver's gaze position and thus his visual attention using the attractive Flicker signals 207a and 207b (see FIG. 4b) are directed to the person 208 and tree 209 (see desired driver viewing position 206b and 206c in FIG. 4c and directed by means of an attractive flicker light signal 207a and 207b in FIG. 4c).
    FIG. 5 shows a third exemplary traffic scene 300 of a night drive from the perspective of the driver with a central projection of a road 301 with a left roadside 302 and a right roadside 303 as well as a median strip 304 and an oncoming vehicle 305. In FIG. 5 the eye position is also shown ('Eye') of the oncoming vehicle driver of vehicle 305 is shown schematically, ie depending on the respective positions and distances of the two approaching vehicles. The dashed circles illustrate the distances between the two vehicles, i.e. the smaller the distance, the smaller the circle radius. 5 two situations (i) and (ii) are illustrated. According to standard driving behavior, the driver's gaze is usually directed directly at the vehicle headlights of the oncoming vehicle 305 in both situations (see actual gaze position 306), as a result of which the gaze is unnecessarily long in the area of the light cone of the vehicle 305 and therefore very quickly adapts to the Eye to a higher brightness than is useful for your own lane area. This has the disadvantage that the recognizability of objects in the own driving area is reduced. The driver's eyes should now be directed away from the light source, i.e. away from the headlights. In situation (i), oncoming vehicle 305 is still far away; In this situation, the driver's gaze position and thus his visual attention is directed to a gaze position outside the left and right lane edges 302, 303 by means of the attractive flicker signals 307a and 307b. In this way, the driver can be trained not only to pay attention to oncoming vehicles, but also to perceive the surroundings better. The oncoming vehicle 305 is not blinded by the attractive flicker signals 307a, 307b. If the vehicle 305 now comes closer and the distance between the two oncoming vehicles decreases (situation (ii)), drivers normally tend to look directly into the headlight light source of the vehicle 305 and risk being blinded again; in this
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    In this case, an attractive flicker signal 307c is positioned such that the driver's gaze is directed away from the headlights of the vehicle 305 towards the right edge of the road 301a. The oncoming vehicle 305 is not blinded by the attractive flicker signal 307c.
    FIG. 6 shows a fourth exemplary traffic scene 400 of cornering at night from the perspective of the driver with a road 401 with a left-hand roadside 402 and a right-hand roadside 403 and a median strip 404. The road 401 makes a left turn. The light-dark boundary 405 of the low beam is also shown. In the case of left-hand bends, drivers orient themselves as standard on the center line or on the left edge of the road; this is represented by the actual gaze positions 406. If a vehicle comes towards you in such a case, the attention with this and unnecessarily the gaze is long in the area of the light cone of the vehicle, which means that the eye is quickly adapted to a higher brightness than is useful for one's own lane area. Attractive flicker light signals 407a, 407b according to the invention can be used to direct the gaze position and thus the driver's visual attention to the right-hand side of the road 403 in the traffic scene during left-hand bends. In the example shown, the attractive flicker light signals 407a, 407b are positioned in the area above the light-dark boundary 405 along the right-hand side of the road 403, so that the driver is alerted to objects in or next to his own lane area. This example illustrates very well how the standard behavior of a driver can be influenced by means of attractive flicker signals without, however, tearing or distracting the driver from the "understanding of the environment or" awareness of the situation, which is particularly important when cornering.
    FIG. 7 shows a fifth exemplary traffic scene 500 of a night drive from the perspective of the driver with a central projection of a road 501 with a left road edge 502 and a right road edge 503 as well as a median strip 504 and an oncoming vehicle 505. The traffic scene described in FIG. 7 illustrates the gaze guidance of the driver by means of attractive flicker light signals when the driver is steering a vehicle with an LED matrix ADB headlight with the high beam switched on (ADB high beam distribution 508). The ADB high beam distribution 508 as a superimposition of an apron illumination 511 and the matrix lighting elements 512 of the ADB headlight can be seen from FIG. 7. In order not to blind the driver of the oncoming vehicle 505 with the high beam
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    P15834, that area of the traffic area is automatically hidden from the high beam distribution in a manner known per se, which would disturb the driver of the oncoming vehicle 505. The vertical light-dark boundary 510 formed by the blanking area 509 is also shown schematically. In the standard behavior, drivers tend to look at the vertical cut-off line 510, the determining contrast difference or directly at the headlights of the oncoming vehicle 505 (see actual viewing positions 506a and 506b), which makes objects recognizable in their own Driving range or in the area illuminated by the high beam distribution 508 is reduced. Using attractive flicker calibration signals 507a or 507b according to the invention, the gaze position and thus the visual attention of the driver can be moved away from the vertical cut-off line 505 or away from the oncoming vehicle 505 to the left or right roadside 502 or 503 to be steered. This example also illustrates very well how the standard behavior of a driver can be influenced by means of attractive flicker signals without, however, tearing or distracting the driver from the "understanding of the environment or" awareness of the situation.
    8 shows a simplified schematic illustration of a motor vehicle 600 that is equipped with a driver assistance system 601 according to the invention for executing the method based on the attractive flicker method according to the invention. The motor vehicle 600 or the driver assistance system 601 comprises an eye detection device 603 (eye tracking system 603) relating to the driver 602, with which at least one eye parameter of the driver is continuously detected. With regard to the details of eye tracking systems and the viewing parameters that can be determined with them, reference is made to the above explanations. The driver assistance system 601 further comprises at least one independent front light 604 installed in the center of the upper area of the windshield 606c and a front camera 605 also installed in the center of the upper area of the windshield 606c as a means of detecting the current traffic situation. The driver assistance system 601 also detects a control and evaluation device, not shown, which is set up to control the front light 604. This control and evaluation device is set up to carry out the following steps on the basis of the attractive flicker method described here if the acquired gaze parameters and / or the traffic situation have deviations beyond predeterminable limits in comparison with stored relevant normal values, namely:
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    P15834 • Transmission of a first control signal to the front light 604 to include an alternating light orientation signal, which is defined in a predeterminable position in front of the motor vehicle 600 and whose amplitude of the light intensity for the driver clearly differs from a local ambient brightness currently in front of the motor vehicle, Maintaining the alternating light orientation signal until a change in at least one of the driver's gaze parameters 602 is detected by the eye tracking system 603, thereby determining the driver's attention to the alternating light orientation signal, and transmitting a second control signal to the operator Front light 604 to convert the alternating light orientation signal into an alternating light maintenance signal by reducing the amplitude of the alternating light orientation signal to a maintenance value which is recognizable for the driver 602 who has become aware of the orientation light signal uwandeln.
    It will be clear to a person skilled in the art that, instead of the front light 604, the light functions of the headlights 606a, 606b of the motor vehicle 606 can be used for the controlled generation of the alternating light orientation signal and the alternating light maintenance signal based on the attractive flicker method. It is also possible to position the front light 604 at a different favorable position than above the windshield 606c in the vehicle, for example below the front headlights 606a, 606b. It will also be clear to a person skilled in the art that the motor vehicle can be equipped with the exemplary configuration of the functional units for controlling the driver assistance system according to the invention described in FIG. 2.
    The examples above are only a few among many and are therefore not to be regarded as restrictive.
    The reference numerals in the claims serve only for a better understanding of the present invention and in no way mean a limitation of the present invention.
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    权利要求:
    Claims (29)
    [1]
    claims
    1. A method for controlling and / or training the driving behavior of a driver when driving a motor vehicle, the motor vehicle comprising: (i) at least one eye detection device relating to the driver, (ii) headlight means which are set up to provide at least one predeterminable light distribution in front of the To produce a motor vehicle or at least one front light, and (iii) means for detecting the current traffic situation, the method comprising:
    Continuous detection of at least one gaze parameter of the driver by means of the at least one gaze detection device (eye tracking device), the gaze parameter being selected from the group consisting of a gaze direction, a gaze movement and a gaze duration of the driver and a combination of these gaze parameters, and at least one information signal for the driver The driver is triggered if the recorded gaze parameters and / or the traffic situation show deviations beyond predeterminable limits in comparison to stored relevant normal values, the method being characterized in that the information signal is transmitted to the driver by means of the “attractive flicker method, which the includes the following steps:
    by means of the headlight means or the at least one front light, generating an alternating light orientation signal, which is defined in a predeterminable position in the traffic area in front of the motor vehicle and whose amplitude of the light intensity for the driver clearly differs from a local ambient brightness currently in front of the motor vehicle,
    Maintaining the alternating light orientation signal until a change in at least one driver's gaze parameter is detected by the gaze detection device, thereby determining an indication of the driver's attention to the alternating light orientation signal, and
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    Converting the alternating light orientation signal into an alternating light maintenance signal by reducing the frequency and the amplitude of the alternating light orientation signal to a maintenance value which can be recognized by the driver who has become aware of the orientation light signal.
    [2]
    2. The method according to claim 1, characterized in that at least one saccade is detected by means of the at least one eye detection device.
    [3]
    3. The method according to claim 1 or 2, characterized in that the conservation value of the alternating light conservation signal is superimposed on a constant component of the local ambient brightness currently in front of the motor vehicle.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that the value of the difference in brightness of the alternating light orientation signal to the local ambient brightness currently in front of the motor vehicle is at least 8%.
    [5]
    5. The method according to claim 4, characterized in that the value of the
    The difference in brightness of the alternating light orientation signal to the local ambient brightness currently in front of the motor vehicle is between 8% and 15%.
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that the value of the brightness difference of the alternating light maintenance signal to the local ambient brightness currently in front of the motor vehicle is at least 5, preferably 5-10%.
    [7]
    7. The method according to any one of claims 1 to 6, characterized in that the alternating light orientation signal has a frequency of 10 Hz to 100 Hz.
    [8]
    8. The method according to any one of claims 1 to 7, characterized in that the alternating light orientation signal is an on / off flashing signal with a frequency of approximately 20 Hz.
    [9]
    9. The method according to any one of claims 1 to 5, characterized in that the alternating light maintenance signal has a frequency of 0.5 Hz to 50 Hz.
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    [10]
    10. The method according to any one of claims 1 to 9, characterized in that the alternating light maintenance signal is an on / off flashing signal with a frequency of approximately 2 Hz.
    [11]
    11. The method according to any one of claims 1 to 8, characterized in that the alternating light orientation signal lasts at least 60 milliseconds.
    [12]
    12. The method according to claim 11, characterized in that the alternating light orientation signal lasts up to 500 milliseconds.
    [13]
    13. The method according to any one of claims 1 to 12, characterized in that the alternating light orientation signal is adapted if no change in the at least one gaze parameter of the driver is detected by the gaze detection device within a predefinable time period.
    [14]
    14. The method according to claim 13, characterized in that the adaptation of the alternating light orientation signal is carried out by changing the amplitude of the light intensity, the frequency, the duration or the angular range of the alternating light orientation signal or a combination thereof.
    [15]
    15. The method according to any one of claims 1 to 14, characterized in that the driver further information signals are transmitted, which from subtle optical light stimuli to influence the driver's line of sight (Subtle Gaze Direction (SGD) technology) and / or flashing light signals and / or acoustic Signals are selected.
    [16]
    16. The method according to any one of claims 1 to 15, characterized in that the continuous detection of the at least one gaze parameter takes place by means of a gaze detection device installed in the motor vehicle and / or with gaze detection data glasses.
    [17]
    17. The method according to any one of claims 1 to 16, characterized in that the alternating light orientation signal and / or the alternating light maintenance signal is or are realized as an animated light symbol, which / s may differ in color from the currently generated light distribution.
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    [18]
    18. The method according to any one of claims 1 to 17, characterized in that the alternating light orientation signal and / or the alternating light maintenance signal has or have an angular range of 0.1 ° to 3 ° in the vertical and in the horizontal direction.
    [19]
    19. The method according to any one of claims 1 to 18, characterized in that the alternating light orientation signal and the alternating light maintenance signal are generated by pulse modulation of at least one LED light source, which is arranged in the headlight means or in the at least one front light.
    [20]
    20. Driver assistance system (601) for a motor vehicle (600) for executing the method for controlling and / or training the driving behavior of a driver (602) according to one of claims 1 to 19, comprising:
    (i) at least one eye detection device (603) relating to the driver (eye tracking device), which is used for the continuous detection of at least one
    The driver's gaze parameter is set up, the gaze parameter being selected from the group consisting of a gaze direction, a gaze movement and / or a gaze duration, (ii) headlight means (606a, 606b) which are set up to at least one predeterminable light distribution in front of the motor vehicle ( 600), or at least one front light (604), (iii) means for detecting the current traffic situation (605), and (iv) a control and evaluation device which is set up to control the
    Headlight means (606a, 606b) or to control the at least one front light (604), characterized in that the control and evaluation device is set up to carry out the following steps when the detected eye parameters and / or the traffic situation in the
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    In comparison to stored relevant normal values, there are deviations beyond predefinable limits:
    Transmitting a first control signal to the headlight means (606a, 606b) or the at least one front light (604) in order to provide an alternating light orientation signal which is defined in a predeterminable position in front of the motor vehicle (600) and whose amplitude of the light intensity is for the driver stands out clearly from a local ambient brightness currently in front of the motor vehicle,
    Maintaining the alternating light orientation signal until a change in at least one driver's gaze parameter is detected by the gaze detection device (603), thereby determining an indication of the driver's attention to the alternating light orientation signal, and
    Transmitting a second control signal to the headlight means (606a, 606b) or the at least one front light (604) in order to convert the alternating light orientation signal into an alternating light maintenance signal by reducing the frequency and the amplitude of the alternating light orientation signal to one for which the orientation light signal convert drivers into recognizable conservation value.
    [21]
    21. The driver assistance system as claimed in claim 20, characterized in that the at least one eye-detection device (603) relating to the driver is an eye-detection device installed in the motor vehicle or eye-tracking data glasses.
    [22]
    22. Driver assistance system according to claim 21, characterized in that the
    Gaze detection device (603) is a gaze detection device installed in the motor vehicle.
    [23]
    23. Driver assistance system according to one of claims 20 to 22, characterized in that the means for detecting the current traffic situation (605) comprise environment sensor means for detecting vehicle surroundings data and that the control and evaluation device is set up to receive, evaluate and in the vehicle surroundings data the control of the headlamp means.
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    [24]
    24. Driver assistance system according to claim 23, characterized in that the
    Environment sensor means include at least one of the following sensor means: optical sensor means, ultrasonic sensor means, radar sensor means, lidar sensor means, infrared sensor means.
    [25]
    25. Driver assistance system according to claim 24, characterized in that the optical sensor means comprise at least one camera system with at least one camera.
    [26]
    26. Driver assistance system according to one of claims 23 to 25, characterized in that the control and evaluation unit is assigned a database based on an expert system or an artificial intelligence logic (AI logic), preferably comprising personal characteristics of the driver the control and evaluation device is set up to take account of data from the database in the control of the headlight means.
    [27]
    27. Driver assistance system according to one of claims 20 to 26, characterized in that the headlamp means comprise at least one headlamp, the angular resolution of the field of view illuminated by the headlamp lying in the vertical and horizontal directions in a range from «0.1 ° to 1 ° ,
    [28]
    28. Driver assistance system according to one of claims 20 to 27, characterized in that the headlight means or the at least one front light have at least one pulse-width-modulatable LED light source for generating the alternating light orientation signal and the alternating light maintenance signal.
    [29]
    29. Motor vehicle (600) comprising a driver assistance system (601) according to one of claims 20 to 28.
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102009048619A1|2009-10-06|2010-06-17|Daimler Ag|Method for controlling headlamps of vehicle, involves activating special function of headlamps during collision risk with object, where light source formed from one or multiple light diodes are alternately activated and deactivated|
    DE102013002211A1|2013-02-06|2014-08-07|GM Global Technology Operations LLC |Headlight system for motor car, has detection unit detecting viewing direction of operator of motor car, and motor vehicle headlight formed according to detected viewing direction for producing light with variable spectral composition|
    AT14438U1|2013-07-16|2015-11-15|Zizala Lichtsysteme Gmbh|Method for generating an adaptive light distribution and illumination system|DE102018217183A1|2018-10-09|2020-04-09|Audi Ag|Learn a light distribution for a headlight|
    FR3104235A1|2019-12-09|2021-06-11|Renault S.A.S|Method and system for controlling a low beam adaptive to bends configured to adapt the angle of activation of said light|
    CN111923916A|2020-07-24|2020-11-13|江苏大学|Human-simulated steering modeling method and steering control system based on visual perception behaviors and ANFIS|
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    申请号 | 申请日 | 专利标题
    ATA50382/2017A|AT519767B1|2017-05-10|2017-05-10|METHOD AND SYSTEM FOR CONTROLLING OR BZW. FOR TRAINING THE DRIVING BEHAVIOR OF A DRIVER BY HIS VISION|ATA50382/2017A| AT519767B1|2017-05-10|2017-05-10|METHOD AND SYSTEM FOR CONTROLLING OR BZW. FOR TRAINING THE DRIVING BEHAVIOR OF A DRIVER BY HIS VISION|
    EP18723665.8A| EP3621848B1|2017-05-10|2018-04-24|Method and system for controlling or training the driving behavior of a driver by directing the view of the driver|
    PCT/AT2018/060077| WO2018204960A1|2017-05-10|2018-04-24|Method and system for controlling or training the driving behavior of a driver by directing the view of the driver|
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