CN113272814A - 具有自适应倒车灯的车辆视觉系统 - Google Patents

具有自适应倒车灯的车辆视觉系统 Download PDF

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CN113272814A
CN113272814A CN201980077529.4A CN201980077529A CN113272814A CN 113272814 A CN113272814 A CN 113272814A CN 201980077529 A CN201980077529 A CN 201980077529A CN 113272814 A CN113272814 A CN 113272814A
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light
vehicle
camera
light source
vision system
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J·巴克尔
M·阿特曼
M·索拉尔
S·格拉夫
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ZKW Group GmbH
Magna Electronics Europe GmbH and Co OHG
Magna Electronics Solutions Gmbh
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Magna Electronics Europe GmbH and Co OHG
Magna Electronics Solutions Gmbh
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    • B60—VEHICLES IN GENERAL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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    • B60—VEHICLES IN GENERAL
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
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    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/103—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using camera systems provided with artificial illumination device, e.g. IR light source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
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    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W2552/00—Input parameters relating to infrastructure
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    • B60—VEHICLES IN GENERAL
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Abstract

车辆视觉系统（1）包括布置在车辆（3）处并具有车辆（3）的后方视场的照相机（2a），布置在车辆（3）处并且可操作以发光的光源（4），以及包括图像处理器的控制。当操作时，由光源（4）发射的光照亮照相机（2a）的视场的至少一部分。光源（4）包括多个灯段（5），并且在操作时，由光源（4）的每个灯段（5）发射的光照亮照相机（2a）的视场的相应部分。由照相机（2a）捕捉的图像数据被提供给控制。响应于由照相机（2a）捕捉的图像数据的图像处理器的图像处理，控制控制由每个灯段（5）发射的光的强度，以经由图像处理器对捕捉的图像数据的处理来提供增强的对象检测。

Description

具有自适应倒车灯的车辆视觉系统
相关申请的交叉引用
本申请要求2018年11月26日提交的美国临时申请系列号62/771,258的申请权益，其全部内容通过引用合并于此。
技术领域
本发明总体上涉及一种用于车辆（vehicle）的车辆视觉系统，并且更具体地，涉及一种利用后备用（backup）照相机的车辆视觉系统。
背景技术
车辆成像系统中的成像传感器的使用是普遍的并且是已知的。此类已知系统的示例在美国专利号5,949,331；5,670,935和/或5,550,677中描述，其全部内容通过引用合并于此。
发明内容
本发明提供了一种用于车辆的驾驶员辅助系统或视觉系统或成像系统，其利用一个或多个照相机（诸如布置在车辆的后部处的并且具有车辆的后方视场的后备用照相机）以捕捉表示车辆的外部图像的图像数据，并提供设置在车辆处并且可操作以发光的光源。光源发射的光在操作时照亮照相机的视场的至少一部分。光源包括多个灯段（lightsegment），并且由光源的每个灯段发射的光在被操作时照亮照相机的视场的相应部分。控制包括图像处理器，该图像处理器处理由照相机捕捉的图像数据。响应于由照相机捕捉的图像数据的图像处理，控制控制由每个灯段发射的光的强度以提供增强的对象检测。
在结合附图回顾以下说明书时，本发明的这些和其他目的、优势、用途和特征将变得清楚。
附图说明
图1是根据本发明的合并了照相机和后光源的视觉系统的示意图；
图2示出了四个单独照明的段；
图3和图4示出了具有照亮多个段的视觉系统的车辆的俯视图。
具体实施方式
车辆视觉系统和/或驾驶员辅助系统和/或对象检测系统和/或警报系统操作以捕捉车辆外部的图像并且可以处理所捕捉的图像数据以显示图像并检测在车辆处或附近以及在车辆的预测路径中的对象，诸如以辅助车辆驾驶员在后方方向上操控车辆。视觉系统包括图像处理器或图像处理系统，其可操作以从一个或多个照相机接收图像数据并且向显示设备提供输出以用于显示代表捕捉的图像数据的图像。可选地，视觉系统可以提供显示器，诸如后视显示器或俯视（top down）或鸟瞰或环视显示器或诸如此类。
现在参考附图，图1示出了车辆视觉系统1或视觉系统，其包括至少一个后方观看成像传感器2（或照相机2a），其捕捉车辆3的外部和后方的图像，具有后方定向光源4，其可以是车辆尾灯4a的部分（如图3和4中所示），其提供照明，该照明包围照相机的后方视场的至少部分。照相机2a包括用于将图像聚焦在照相机2a的成像阵列或成像平面或成像器处或上的透镜。视觉系统1包括控制或电子控制单元（ECU）或处理器，其可操作以处理由照相机2a捕捉的图像数据并且可以检测对象或诸如此类和/或在显示设备处提供显示的图像以供车辆3的驾驶员观看。从照相机2a到ECU的数据传输或信号通信可以包括任何合适的数据或通信链路，诸如装备的车辆3的车辆网络总线或诸如此类。
车辆控制系统可以（半）自主地控制进入和离开停车位的车辆3。车辆3中的控制单元分析若干车辆传感器（例如，照相机、超声传感器、雷达传感器和/或诸如此类）的环境数据并干预车辆3的横向和纵向（cross and length）转向。在具有减少的或低光照条件的情况下，成像传感器2得到光源4（在反向驾驶时的倒车灯）支持。激活光源4时，高反射性对象反射（照相机的视场中的离开高反射性对象）可以导致成像传感器2的过载。这可以导致数据分析中的错误，由此可能没有（正确地）检测到位于道路上的关键对象和/或将反射对象检测为车辆的行进的规划路径中的（较大的）障碍物，虽然其在实际中是较小的对象和/或不位于车辆3的行进的所计算的或计划的路线或后方路径上。
本发明的控制系统使用控制单元、自适应且分段的倒车灯和成像传感器2，并且控制部件以针对特定驾驶情况提供最佳照明。
高反射性对象由成像传感器2检测并被传送至控制单元/倒车灯，包括强度和位置信息。光源4包括若干单独可控制的（和可调光的）灯段5或光源（诸如发光二极管的个体或组），诸如图1中所示的。图2在等照度（isolux）图中示出了四个照明部分，其中每个部分都得到相应的灯段5照明。控制响应于后视照相机2a捕捉的图像数据的处理，调整或控制光源4以调整（增加/减少）在相关区域处的强度的所需的或确定的水平。信息经由车辆的总线系统进行传送。利用该系统，均匀地（homogeneously）照亮区域6是可能的。抑制了来自强反射对象（障碍物）的眩光/致盲效应（通过减少正在照亮该对象的光源4的强度）并实现了具有非常好的对比度条件的无错图像识别。
控制系统响应于经由对捕捉的图像数据的图像处理的对照相机2a的视场的一部分中的高反射性对象的检测，控制由相应灯段5（其正在照亮检测到的高反射性对象）发射的光的强度以减少高反射性对象的照明。控制系统响应于经由对捕捉的图像数据的图像处理的对照相机2a的视场的一部分中的低照明对象的检测，控制由相应灯段5发射的光的强度以增加低照明对象的照明。控制系统在车辆3的诸如停车操控之类的倒车操控期间控制由每个灯段5发射的光的强度，其中控制可以控制由每个灯段5发射的光的强度以在停车操控期间提供对停车位标记的增强检测。例如，控制可以增加由特定灯段5发射的光的强度以增强对相应停车位标记的检测和标识或者可以减少由特定灯段5发射的光的强度以增强对相应停车位标记的检测和标识。在特定情况下，系统可以增加由特定灯段5发射的光的强度以增强对相应停车位标记的检测和标识，并且可以减少由另一特定灯段5发射的光的强度以增强对另一相应停车位标记的检测和标识，这取决于车辆正在停车所处的照明条件和环境。
因此，即使在动态照明条件或反射下，本发明的系统也提供场景的最佳的、均匀的照明。因此，系统限制或避免了成像器或成像传感器2的过载。此外，系统限制或避免了图像数据处理或图像分析中的错误。因此，系统提供了诸如在车辆3的倒车或停车操控期间的对对象的增强检测和对（自由）环境的明确（unambiguous）检测。
在不背离本发明的原理的情况下，可以执行具体描述的实施例中的改变和修改，本发明的原理旨在仅由所附权利要求书的范围来限制，如根据包括等同物原则的专利法的原理所解释的。
光源4可以是高清晰度光源，其包括多个可单独操作的光源，例如LED，其优选地以行和列布置以形成光源的矩阵状布置，其中光源的列对应于多个灯段5中的灯段5。光源的矩阵状布置使得照明区域6可以被划分为多个照明子区域6a。多个子区域6a中的每个子区域6a可以由相应的光源单独照明。图4示出了四个照明区域6，其中每个区域6包括三个子区域6a。标有“X”的对象位于中间子区域，其中照亮所述子区域的相应光源可以操作以增加或减少所述子区域的照明。如果对象被光源照亮并且该对象是高反射性对象，则光可以从对象向照相机2a反射并引起图像传感器2过度曝光。为防止图像传感器2过度曝光，车辆视觉系统1的控制被配置为通过使相应的光源变暗来减少高反射性对象所位于的照明区域6或子区域6a的照明。
光源4优选地是车辆3的倒车灯的部分。照相机2a优选地是车辆3的倒车照相机。

Claims (7)

1.一种车辆视觉系统（1），所述车辆视觉系统（1）包括：
照相机（2a），布置在车辆（3）处并且具有车辆的后方的视场；
光源（4），布置在车辆（3）处并且可操作以发射光，其中，当操作时，由所述光源（4）发射的光照亮所述照相机（2a）的视场的至少一部分；
其中，所述光源（4）包括多个灯段（5），并且其中，当操作时，由所述光源（4）的每个灯段（5）发射的光照亮所述照相机（2a）的视场的相应部分；
包括图像处理器的控制，其中将由所述照相机（2a）捕捉的图像数据提供给所述控制，以用于由所述图像处理器进行处理；和
其中，所述控制响应于由所述图像处理器对由所述照相机（2a）捕捉的图像数据进行的图像处理，控制由每个灯段（5）发射的光的强度，以经由在所述控制处对所述照相机（2a）捕捉的图像数据的处理来提供增强的对象检测。
2.根据权利要求1所述的车辆视觉系统（1），其中，响应于经由在所述控制处对捕捉的图像数据的图像处理的对所述照相机（2a）的视场的一部分中的高反射性对象的检测，所述控制控制由所述光源（4）的相应灯段（5）发射的光的强度以减少高反射性对象的照明。
3.根据权利要求1所述的车辆视觉系统（1），其中，响应于经由在所述控制处对捕捉的图像数据的图像处理的对所述照相机（2a）的视场的一部分中的低照明对象的检测，所述控制控制由所述光源（4）的相应灯段（5）发射的光的强度以增加低照明对象的照明。
4.根据权利要求1所述的车辆视觉系统（1），其中，所述控制在车辆（3）的倒车操控期间独立地控制由所述光源（4）的每个灯段（5）发射的光的强度。
5.根据权利要求4所述的车辆视觉系统（1），其中，倒车操控包括停车操控。
6.根据权利要求5所述的车辆视觉系统（1），其中，响应于经由所述图像处理器对捕捉的图像数据的图像处理的对所述照相机（2a）的视场的一部分中的停车位标记的非最佳照明的检测，所述控制控制由所述光源（4）的相应灯段（5）发射的光的强度以增强对停车位标记的照明，来在停车操控期间提供对停车位标记的增强检测。
7.一种车辆，包括根据前述权利要求中任一项所述的车辆视觉系统（1）。
CN201980077529.4A 2018-11-26 2019-11-25 具有自适应倒车灯的车辆视觉系统 Pending CN113272814A (zh)

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