DE102015208889A1 - Camera apparatus and method for imaging an environment for a motor vehicle - Google Patents

Abstract

The present invention relates to a camera apparatus (100) for imaging an environment for a motor vehicle, the camera apparatus comprising: image sensor means (10) adapted to receive an image in the form of a pixel image (PB); a processor device (20) which is designed to combine adjacent pixels (P1, P2, ..., Pn) of the pixel image (PB) in a matched pixel image (APB1, APB2, ..., APBn).

Description

Technical area

The present invention relates to optical image sensing devices for motor vehicles. In particular, the present invention relates to a camera apparatus and a method for imaging an environment for a motor vehicle.

Technical background

Advanced driver assistant systems (abbreviated as ADAS) include: advanced driver assistance systems, electronic auxiliary devices for motor vehicles to assist the driver in certain driving situations. Camera sensors for environment detection for driver assistance systems are well known.

Furthermore, camera arrangements are known which have a plurality of optical modules and are provided to cover the near area and / or to cover the far area with a respectively adapted field of view, also referred to as "field of view" in English.

Disclosure of the invention

It is an object of the present invention to provide an improved camera apparatus and method for imaging an environment for a motor vehicle.

This object is solved by the subject matters of the independent claims. Embodiments and further developments can be taken from the dependent claims, the description and the figures of the drawings.

A first aspect of the present invention relates to a camera device for imaging an environment for a motor vehicle, the camera device comprising: an image sensor device which is designed to record an image in the form of a pixel image. Furthermore, the camera device comprises a processor device which is designed to combine pixel values of neighboring pixels of the pixel image in a matched pixel image.

For example, the term "pixel image" as used by the present invention refers to raster graphics, or raster graphics image, digital image, bitmap, or pixmap, and is a form of describing an image in the form of computer-readable data.

Pixel images are formed, for example, as a grid-shaped arrangement of so-called pixels (pixels), to each of which a color in the form of pixel values is assigned. The main features of a raster graphics are therefore the image size (width and height measured in pixels, colloquially also called image resolution) and the color depth.

The term "processor means" as used by the present invention means, for example, a signal processor for data processing or image recognition or a graphics processor for processing image data, such as in the form of pixel images.

Furthermore, the processor device can be formed as a digital signal processor (DSP) and enable continuous processing of digital signals (for example video or video signals).

For processing analog signals, the processor unit's digital signal processor can be used in conjunction with analog-to-digital converters and digital-to-analog converters or with a multiplexer.

The present invention advantageously allows both high resolution objects in the far field, such as more distant obstacles on the road, and nearby objects, such as traffic lights or other traffic lights or vehicles in the immediate vicinity of the motor vehicle, with a the requirements appropriately adjusted resolution.

In this case, the correspondingly adapted resolution in different areas of the image, so-called sub-areas, vary and also vary according to the respective requirements in time. In other words, in a certain subarea, for example, bottom right, depending on the driving situation, a different resolution may be required.

The present invention advantageously allows both to be able to image a sufficiently wide field of view and to be able to adapt the resolution as required.

The present invention advantageously makes it possible to enable images with partial areas with different resolutions and thus to reduce the memory requirement of the pixel images.

The present invention advantageously avoids the entire field of view over the entire Display image area high resolution and thus advantageously reduces the recorded, processed and stored data volume.

Furthermore, the present invention advantageously makes it possible to dispense with mechanical and / or movable components in the camera device.

The present invention advantageously makes it possible to use different resolution levels in different subareas of the captured image of the vehicle environment.

According to a further, second aspect of the present invention there is provided a method of imaging an environment for a motor vehicle, the method comprising the steps of: taking an image in the form of a pixel image by means of an image sensor device; and summarizing pixel values of adjacent pixels of the pixel image in a matched pixel image by means of a processor device.

Advantageous embodiments of the present invention are characterized in the respective subclaims.

In an advantageous embodiment of the present invention, it is provided that the processor device is designed to generate at least two adapted pixel images by combining the pixel values from the neighboring pixels. This advantageously makes it possible to enable the resolution and thus the required memory and computing power requirements for the storage or processing of the recorded images.

In a further advantageous embodiment of the present invention, it is provided that the at least two adapted pixel images are generated with different resolution. This advantageously makes it possible to represent the entire viewing angle with a correspondingly adapted resolution. In this case, a first adapted pixel image can have an increased resolution, for example in the area of a street sign, if the first adapted pixel image is to be used for positioning purposes, for example, and a second adapted pixel image has increased resolution, for example in the area of a preceding motor vehicle, if the second matched pixel image is approximately to be used for a brake assistant.

In a further advantageous embodiment of the present invention, it is provided that the processor device is designed to record the different resolutions by combining the pixel values of the adjacent pixels in the form of a 2 × 2 picture pyramid, or in the form of a 4 × 4 Image pyramid, or in the form of an 8 × 8 image pyramid, or in the form of an n × × n pyramid image or in the form of an m × × n pyramid image to generate.

In this case, an n × × n picture pyramid denotes, for example, a pyramid having a square base area, that is to say with an equal number of rows or column elements. Correspondingly, an m × -n picture pyramid means an image pyramid with different rows and column values, for example m rows and n columns.

In an advantageous embodiment of the present invention, it is provided that the processor device is designed to combine the pixel values of the adjacent pixels in a predetermined subarea of the pixel image PB. This advantageously makes it possible to modify the area-distributed resolution of the recorded pixel image in accordance with the requirements for further image processing.

In a further embodiment of the present invention, it is provided that the processor device is designed to determine the position and / or size of the predetermined subarea. This advantageously makes it possible to adapt to changing requirements with regard to the high-resolution subarea.

In a further embodiment of the present invention, it is provided that the processor device is designed to determine the predetermined partial area based on a viewing direction of the camera device. In this case, the viewing direction of the camera device can be determined by means of image processing routines or by means of a motion or acceleration sensor which is coupled to the camera device.

In a further advantageous embodiment of the present invention, it is provided that the image sensor device has a resolution of up to 4 megapixels, preferably of up to 16 megapixels, particularly preferably of up to 32 megapixels.

In a further advantageous embodiment of the present invention, it is provided that the camera device has a multiplexer device which is designed to output adapted pixel images with different image resolutions.

The adapted pixel images are output, for example, via a multiplexer in the form of the multiplexer device in different pyramid levels or image resolutions. It can the output of the adjusted pixel images are sequential or parallel.

In a further advantageous embodiment of the present invention, it is provided that the camera apparatus has a camera optics in the form of an optical system, wherein the camera optics is adapted to the image with an angle of view of up to 90 °, preferably up to 120 ° or particularly preferred up to 150 °.

The described embodiments and developments can be combined with each other as desired.

Further possible refinements, developments and implementations of the present invention also include combinations of features of the invention which have not been explicitly mentioned above or described below with regard to the exemplary embodiments.

Brief description of the figures

The accompanying drawings are intended to provide further understanding of the embodiments of the present invention. The accompanying drawings illustrate embodiments and, together with the description, serve to explain concepts of the present invention.

Other embodiments and many of the stated advantages will become apparent with reference to the drawings. The illustrated elements of the drawings are not necessarily shown to scale to each other.

Show it:

1 : A schematic representation of a camera device for imaging an environment for a motor vehicle according to an embodiment of the present invention;

2 : a schematic representation of a camera device for imaging an environment for a motor vehicle according to another embodiment of the present invention;

3 : a schematic representation of a camera device for imaging an environment for a motor vehicle according to another embodiment of the present invention;

4 : a schematic representation of a pixel image with a resolution of 8 × 8 pixels to explain the invention;

5 a schematic representation of a customized pixel image for explaining the present invention;

6 a schematic representation of a customized pixel image for explaining the present invention; and

7 : is a schematic representation of a flowchart of a method for imaging an environment for a motor vehicle according to another embodiment of the present invention.

Detailed description of embodiments

In the figures of the drawings, like reference characters designate like or functionally identical elements, components, components or method steps, unless indicated otherwise.

The 1 shows a schematic representation of a camera device 100 for imaging an environment for a motor vehicle according to an embodiment of the present invention.

In a further advantageous embodiment of the present invention, it is provided that an integration of the camera device 100 in the camera module with a camera optics 40 in a single chip with image sensor as image sensor device 10 he follows.

Further, a companion chip may also be in close proximity to the image sensor device 10 used to calculate the amount of data that is in the processor device 20 is fed to minimize.

The companion chip of the processor device 20 includes, for example, the image pyramid in the form of a logic circuit and the multiplexer or the multiplexer device 30 ,

The companion chip of the processor device 20 For example, it may be implemented as a Field Programmable Gate Array (FPGA) in the form of an integrated circuit. The image pyramid can be constructed, for example, by means of (logic) gate arrangement.

The term "companion chip" as used by the present invention includes, for example, a semiconductor chip that is part of a chipset, or whose functions are effective when it interacts with another chip, such as a main processor of the processor device 20 , is interconnected.

In other words, the processor device 20 can have a main processor and a Coprocessor - also called companion chip - - have, wherein the coprocessor can be designed as an additional microprocessor that supports the main processor (CPU) in its work. These include math coprocessors, graphics processors, and I / O processors. For example, a digital circuit having logic gates in the form of corresponding mxn image pyramids may be considered a coprocessor.

The camera device 100 comprises an image sensor device 10 and a processor device 20 ,

The processor device 20 For example, it can be designed to obtain the different resolutions by combining the pixel values of the adjacent pixels P1, P2,..., Pn in the form of a 2 × 2 picture pyramid, or in the form of a 4 × 4 picture image. Pyramid, or in the form of an 8 × -8 picture pyramid, or in the form of an n × × n picture pyramid, or to generate in the form of an m × × n picture pyramid.

In this case, the processor device 20 a logic gate circuit which facilitates summarizing the pixel values of the adjacent pixels P1, P2,..., Pn in the form of the mxn picture pyramid by a corresponding gate circuit, for example, a 2 × -2 picture pyramid can be realized by two OR gates with two inputs, wherein for two lines a first OR gate and for two columns, a second OR gate can be used. Likewise, the use of two AND gates is possible, as a result of which a different mean value formation is achieved.

Furthermore, the camera device 100 a multiplexer device 30 exhibit. Furthermore, the camera device 100 a camera optics 40 exhibit.

The image sensor device 10 For example, it is designed to take an image in the form of a pixel image PB.

The processor device 10 is for example designed to combine pixel values of neighboring pixels P1, P2,..., Pn of the pixel image PB in a matched pixel image APB1, APB2,..., APBn.

The summarization of the neighboring pixels P1, P2,..., Pn can be achieved, for example, by the formation of an average of the color or pixel values of the neighboring pixels P1, P2,..., Pn or by the formation of a median, an arithmetic mean, a geometric mean, a harmonic mean, a quadratic mean or a cubic average of the color or pixel values of the adjacent pixels P1, P2, ..., Pn.

The multiplexer device 30 For example, it is designed to output matched pixel images APB1, APB2, ..., APBn with different image resolutions.

The camera optics 40 For example, it is designed in the form of an optical system and is designed, for example, to record the image with an image angle of up to 90 °, preferably of up to 120 ° or particularly preferably of up to 150 °.

The 2 shows a schematic representation of a camera device according to another embodiment of the present invention.

The camera device 100 has, for example, a camera optics 40 on, which may be in the form of a wide-angle lens.

The others in the 2 The reference numbers shown have already been explained in the other figures and will therefore not be further described.

The 3 shows a schematic representation of a camera device 100 according to another embodiment of the present invention.

The camera device 100 includes, for example, a camera lens in the form of a wide-angle lens, which allows using an image sensor array to capture an image of the environment.

The processor device 20 may for example be constructed in the form of a Bildpyramidenauswerteschaltung or an electronic circuit and the evaluated data to a multiplexer in the form of the multiplexer device 30 hand off.

The processor device 20 Further, it may be configured to combine the pixel values of the adjacent pixels P1, P2,..., Pn in a predetermined sub-area TB1, TB2,..., TBn of the pixel image PB. Furthermore, the processor device 20 , Position and / or size of the predetermined portion TB1, TB2, ..., determine TBn.

The multiplexer device 30 can also be configured to output matched pixel images APB1, APB2 with different image resolutions.

The others in the 3 The reference numbers shown have already been explained in the other figures and will therefore not be further described.

The 4 shows a schematic representation of a pixel image PB with a resolution of 8 × -8 pixels. In the illustrated embodiment, for illustrative purposes, a significantly reduced number of pixels of the pixel image PB is displayed.

The resolution of the pixel image PB may be, for example, about 4992 at 3328 pixels P1, P2, P3, P4, Pn, or about 2048 at 1536 pixels, or about 4520 at 2540 pixels, or about 6000 at 4000 pixels, or about 6048 at 4032 pixels.

The 5 shows a schematic representation of a matched pixel image APB1 to illustrate the invention.

For example, in the in 5 illustrated embodiment by the processor device 20 reduces the pixel image PB in the resolution and instead of a resolution of an 8 × 8 image, only a 2 × -2 pixel image is processed further as a matched pixel image APB1 and the subregions TB1 of the adjusted pixel image APB1 are further processed or stored.

The 6 shows a schematic representation of a matched pixel image APB2 with a first portion TB1 with a normal resolution and a second portion TB2 with a - compared to the normal - increased resolution.

The 7 shows a schematic representation of a flowchart of a method for imaging an environment for a motor vehicle, the method comprising the following steps:
As a first step of the method for imaging an environment, picking up S1 of an image in the form of a pixel image PB takes place by means of an image sensor device 10 ,

As a second step of the method for imaging an environment, pixel values of adjacent pixels P1, P2,..., Pn of the pixel image PB are combined in a matched pixel image APB1, APB2,..., APBn by means of a processor device 20 ,

For example, summarization may be in the form of averaging using logic gates.

Instead of the mean value, a median, an arithmetic mean, a geometric mean, a harmonic mean, a root mean square or a cubic mean of the color values of the neighboring pixels P1, P2, ..., Pn may also be formed.

For example, at least two adapted pixel images APB1, APB2 can be obtained by combining the pixel values from the neighboring pixels P1, P2,..., Pn by means of the processor device 20 to be generated.

The method steps can be repeated iteratively or recursively in any order.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto but is modifiable in a variety of ways.

In particular, the present invention can be varied or modified in a variety of ways without departing from the gist of the present invention.

In addition, it should be noted that "comprising" and "having" does not exclude other elements or steps, and "a" or "an" does not exclude a plurality.

It should also be appreciated that features or steps described with reference to any of the above embodiments may also be used in combination with other features or steps of other embodiments described above.

Reference signs in the claims are not to be considered as limitations.

Claims (14)

Camera device ( 100 ) for imaging an environment for a motor vehicle, the camera apparatus comprising: an image sensor device ( 10 ) which is adapted to receive an image in the form of a pixel image (PB); A processor device ( 20 ) which is adapted to summarize pixel values of adjacent pixels (P1, P2, ..., Pn) of the pixel image (PB) in a matched pixel image (APB1, APB2, ..., APBn). Camera device ( 100 ) according to claim 1, wherein the processor device ( 20 ) is adapted to generate at least two matched pixel images (APB1, APB2) by summarizing the pixel values from the neighboring pixels (P1, P2, ..., Pn). Camera device ( 100 ) according to claim 2, wherein the processor device ( 20 ) is adapted to generate the at least two matched pixel images (APB1, APB2) with different resolution. Camera device ( 100 ) according to claim 3, wherein the processor device ( 20 ) is adapted to the different resolutions by summarizing the pixel values of the adjacent pixels (P1, P2, ..., Pn) in the form of a 2 × -2 image pyramid, or in the form of a 4 × 4 image Pyramid, or in the form of an 8 × 8 picture pyramid, or in the form of an n × × n picture pyramid, or in the form of an m × × n picture pyramid. Camera device ( 100 ) according to one of the preceding claims, wherein the processor device ( 20 ) is adapted to combine the pixel values of the neighboring pixels (P1, P2, ..., Pn) in a predetermined sub-area (TB1, TB2, ..., TBn) of the pixel image PB. Camera device ( 100 ) according to claim 5, wherein the processor device ( 20 ) is designed to determine the location and / or size of the predetermined sub-area (TB1, TB2, ..., TBn). Camera device ( 100 ) according to one of the preceding claims 5 to 6, wherein the processor device ( 20 ) is adapted to the predetermined portion (TB1, TB2, ..., TBn) based on a viewing direction of the camera device ( 100 ). Camera device ( 100 ) according to one of the preceding claims, wherein the image sensor device ( 10 ) has a resolution of up to 3 megapixels, preferably up to 5 megapixels, more preferably up to 16 megapixels. Camera device ( 100 ) according to one of the preceding claims, wherein the camera device ( 100 ) a multiplexer device ( 30 ) adapted to output matched pixel images (APB1, APB2) at different image resolutions. Camera device ( 100 ) according to one of the preceding claims, wherein the camera device ( 100 ) a camera optics ( 40 ) in the form of an optical system, wherein the camera optics is adapted to receive the image with an angle of view of up to 90 °, preferably up to 120 °, or more preferably up to 150 °. Method for imaging an environment for a motor vehicle, the method comprising the following steps: - taking (S1) an image in the form of a pixel image (PB) by means of an image sensor device ( 10 ); and - summarizing (S2) pixel values of neighboring pixels (P1, P2, ..., Pn) of the pixel image (PB) in a matched pixel image (APB1, APB2, ..., APBn) by means of a processor device ( 20 ). Method according to claim 11, wherein at least two adapted pixel images (APB1, APB2) are obtained by combining the pixel values from the neighboring pixels (P1, P2, ..., Pn) by means of the processor device ( 20 ) to be generated. Method according to claim 12, wherein the at least two adapted pixel images (APB1, APB2) with different resolution are processed by means of the processor device ( 20 ) to be generated. The method of claim 13, the different resolutions by combining the adjacent pixels (P1, P2, ..., Pn) in the form of a 2 × -2 pyramid, or in the form of a 4 × -4 image pyramid, or in the form of an 8 × 8 image pyramid, or in the form of an n × × n image pyramid, or in the form of an × × n image pyramid by means of the processor device ( 20 ) to be generated.

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