DE10060734A1 - Spotlight on vehicle, for illumination of roadside traffic sign, is connected to camera which recognizes sign and control system keeping spotlight centered on sign - Google Patents

Spotlight on vehicle, for illumination of roadside traffic sign, is connected to camera which recognizes sign and control system keeping spotlight centered on sign

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Publication number
DE10060734A1
DE10060734A1 DE10060734A DE10060734A DE10060734A1 DE 10060734 A1 DE10060734 A1 DE 10060734A1 DE 10060734 A DE10060734 A DE 10060734A DE 10060734 A DE10060734 A DE 10060734A DE 10060734 A1 DE10060734 A1 DE 10060734A1
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Germany
Prior art keywords
motor vehicle
vehicle
sign
headlight
elements
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE10060734A
Other languages
German (de)
Inventor
Markus Pollert
Dirk Balzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GM Global Technology Operations LLC
Original Assignee
Adam Opel GmbH
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Filing date
Publication date
Application filed by Adam Opel GmbH filed Critical Adam Opel GmbH
Priority to DE10060734A priority Critical patent/DE10060734A1/en
Publication of DE10060734A1 publication Critical patent/DE10060734A1/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/18—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights being additional front lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
    • B60Q1/245—Searchlights, e.g. adjustable from within the vehicle
    • 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
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • 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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/05—Special features for controlling or switching of the light beam
    • B60Q2300/054—Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/32—Road surface or travel path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The vehicle headlights produce a broad beam (7) to illuminate a large area (6) of roadway (2) as usual. The spotlight or searchlight (8) produces a narrow beam (9) which illuminates a roadside traffic sign (4). The electronic control system for the spotlight may include a video camera connected to a computer and actuators.

Description

Die Erfindung bezieht sich auf ein Kraftfahr­ zeug mit Mitteln zur Verbesserung der Beleuchtung von Straßenbeschilderungselementen, wie es aus EP 0 465 330 B1 bekannt ist. In dieser Druckschrift ist vorgeschlagen, Fahrzeugscheinwerfer so auszubilden, dass sie neben dem sichtbaren Licht zusätzlich ultraviolettes Licht abgeben, welches von Verkehrsschildern reflektiert wird. Es wird also grundsätzlich UV-Licht abgegeben, was nicht nur an interessierenden Schildern, sondern an diversen Gegen­ ständen im Fahrzeugumfeld reflektiert wird und damit für Fahrzeugführer eine Vielzahl von Lichtreizen hervorruft. Diese können auch ablenkend wirken.The invention relates to a motor vehicle with tools to improve the lighting of Road signage elements, as is known from EP 0 465 330 B1 is known. This publication proposes Train vehicle headlights so that they are next to the visible light additionally emit ultraviolet light, which is reflected by traffic signs. It will So basically UV light emitted, which is not only about Signs of interest, but on various counter stands is reflected in the vehicle environment and thus for Drivers cause a variety of light stimuli. These can also be distracting.

Alternativ ist es aus US-A-5,021,715 bekannt, dass Verkehrsschilder von stationären Einrichtungen be­ leuchtet werden, wenn sich Fahrzeuge im Bereich der Schilder befinden. Solche Systeme haben sich in der Pra­ xis bislang nicht durchgesetzt.Alternatively, it is known from US-A-5,021,715 that traffic signs from stationary facilities be be lit when there are vehicles in the area Signs are located. Such systems have been used in Pra xis not yet implemented.

Es ist Aufgabe der Erfindung, ein Kraftfahrzeug zu schaffen, das Mittel zur Beleuchtung von Straßenbe­ schilderungselementen aufweist, die zuverlässig nur für das Kraftfahrzeug momentan relevante Schilder beleuchten, ohne den Straßenverkehr - insbesondere entgegenkommende Verkehrsteilnehmer - negativ zu beeinflussen.The object of the invention is a motor vehicle to create the means of lighting street lighting has features that are reliable only for illuminate the motor vehicle currently relevant signs,  without road traffic - especially oncoming vehicles Road users - affect negatively.

Zur Lösung dieser Aufgabe zeichnet sich das er­ findungsgemäße Kraftfahrzeug durch die im Patentanspruch 1 angegebenen Merkmale aus. Weitere Einzelheiten der Er­ findung ergeben sich aus den Patentansprüchen 2 bis 10.To solve this task, he excels Motor vehicle according to the invention by the in the claim 1 specified characteristics. Further details of the Er invention emerge from claims 2 to 10.

Moderne Kraftfahrzeuge werden mit Kameras aus­ gestattet sein, die zur Analyse des vor dem Fahrzeug lie­ genden Raumes eingesetzt werden. Die Kameradaten sind Ba­ sis für Spurfinder, Hinderniserfassungssysteme oder Cruise-Control-Systeme.Modern motor vehicles are made with cameras be allowed to analyze the lie in front of the vehicle space. The camera data are ba for track finders, obstacle detection systems or Cruise control systems.

Es wird vorgeschlagen, Bilder einer solchen, nach vorne gerichteten Kamera, im Hinblick auf im vor dem Fahrzeug liegenden Raum befindliche Verkehrsschilder aus­ zuwerten und die erkannten Schilder mittels eines spe­ ziellen Scheinwerfers zu beleuchten. Dazu werden die Bil­ der von einem elektronischen Steuergerät analysiert. Wer­ den Straßenbeschilderungselemente eindeutig erkannt (Ver­ gleich mit abgespeicherten Referenzbildern), wird der Scheinwerfer, dessen Strahlungsrichtung steuerbar ist, zur zeitweisen Beleuchtung dieser Schilder angesteuert. Dabei werden Bewegungsparameter des Fahrzeugs berücksich­ tigt, so dass der Scheinwerfer auch bei Annäherung an das Schild auf dieses ausgerichtet bleibt.It is suggested to take pictures of such a forward facing camera, with regard to in front of Traffic signs located in the vehicle evaluate and the recognized signs by means of a spe to illuminate the headlight. For this the Bil which is analyzed by an electronic control unit. Who the street signage elements clearly recognized (Ver same with stored reference images), the Headlights whose direction of radiation can be controlled, controlled to temporarily illuminate these signs. Movement parameters of the vehicle are taken into account so that the headlight even when approaching the Shield remains aligned on this.

Die Anstrahlung von Schildern erfolgt bevorzugt nur dann, wenn eine negative Beeinträchtigung von entge­ genkommenden Verkehrsteilnehmern ausgeschlossen ist. Auch diesbezüglich sind Rückschlüsse aus den Bildanalysen zu ziehen, bevor der Scheinwerfer angesteuert wird. Befindet sich beispielsweise eine Gegenspur in dem Weg zwischen Scheinwerfer und Verkehrsschild (bei Rechtsverkehr beispielsweise in einer Linkskurve), wird der Scheinwerfer nur angesteuert, wenn die Gegenspur frei ist.Signage is preferred only if there is a negative impairment of oncoming road users is excluded. Also In this regard, conclusions can be drawn from the image analyzes pull before the headlight is activated. is For example, there is an opposite lane in the path between Headlights and traffic sign (for example, in right-hand traffic  in a left turn), the headlight only activated if the opposite lane is free.

Von Vorteil ist es auch, wenn der Scheinwerfer zur Beleuchtung von Verkehrsschildern nicht schlagartig ein-/ausgeschaltet wird, da dies andere Verkehrsteilneh­ mer irritieren könnte. Um dies zu vermeiden, wird das Licht des Scheinwerfers mit kontinuierlich zunehmender bzw. abnehmender Helligkeit ein- bzw. ausgeschaltet.It is also an advantage if the headlight not suddenly for illuminating traffic signs is switched on / off as this affects other road users could irritate. To avoid this, it will Headlight light with continuously increasing or decreasing brightness on or off.

Die mögliche Veränderungsgeschwindigkeit der Strahlungsrichtung des Scheinwerfers wird vorzugsweise begrenzt um Flackererscheinungen zu vermeiden, die sowohl den Fahrer des Fahrzeugs als auch andere Verkehrsteilneh­ mer irritieren könnten. In diesem Zusammenhang wird auch eine obere Grenzfrequenz festgelegt, mit der die Strah­ lungsrichtung von einem Verkehrsschild auf ein anderes wechseln kann.The possible rate of change of the Beam direction of the headlamp is preferred limited to avoid flickering that both the driver of the vehicle as well as other road users could irritate. In this context, too set an upper limit frequency with which the beam direction from one traffic sign to another can change.

Werden mehrere beleuchtbare Verkehrsschilder in den aufgenommenen Bildern erkannt, erfolgt in dem Steuer­ gerät eine Auswahl eines zu beleuchtenden Schildes nach zwei Kriterien: Einerseits werden Schilder in einer be­ stimmten Entfernung vor dem Fahrzeug bevorzugt beleuchtet und andererseits erfolgt eine Wichtung der Verkehrsschil­ der nach ihrer Bedeutung. Vorschriftzeichen haben dabei oberste Priorität, Gefahrzeichen werden mit mittlerer Priorität beleuchtet und Richtzeichen mit geringster Pri­ orität, wobei es im Einzelfall zu Überschneidungen der Prioritäten kommen kann. Ist die Bedeutung/der Inhalt von Verkehrsschildern nicht sicher automatisch erkennbar, wird die Auswahl ausschließlich entfernungsabhängig ge­ troffen.Are several illuminated traffic signs in The captured images are recognized in the control adds a selection of a sign to be illuminated Two criteria: On the one hand, signs are placed in a be certain distance in front of the vehicle is preferably illuminated and on the other hand, the traffic signs are weighted which according to their meaning. Have regulation signs top priority, danger signs with medium Priority illuminated and directional signs with lowest price ority, where there is overlap of the Priorities can come. Is the meaning / content of Traffic signs not automatically recognizable, the selection is only dependent on the distance dripped.

Zur Beleuchtung von beweglichen Verkehrszeichen wird der Scheinwerfer generell nicht angesteuert. Des weiteren wird er nur dann eingeschaltet, wenn die Bild­ analyse ergibt, dass das Schild für den Fahrer dunkler als ein vorgegebener Grenzwert erscheint. Nach Einschal­ ten des auf das Schild ausgerichteten Scheinwerfers wird das Bild erneut analysiert. Es wird einerseits überprüft, ob das Verkehrsschild richtig erkannt wurde. Andererseits wird verglichen, ob die Bildqualität mit Verkehrsschild­ beleuchtung besser ist als ohne. Ist die Qualität schlechter, was beispielsweise bei Nebel der Fall sein könnte, wird der Scheinwerfer abgeschaltet.For lighting moving traffic signs the headlight is generally not activated. Of  further it is only switched on when the picture analysis shows that the sign is darker for the driver appears as a predetermined limit. After scarfing of the headlight aligned with the sign reanalyzed the image. On the one hand, it is checked whether the traffic sign was recognized correctly. on the other hand is compared whether the image quality with traffic sign lighting is better than without. Is the quality worse, which may be the case with fog, for example the headlight is switched off.

Das System zur Beleuchtung von Straßenbeschil­ derungselementen sollte mittels eines speziellen Bedien­ elementes vom Fahrer aktivierbar sein, wenn die Fahrzeug­ scheinwerfer eingeschaltet sind.The system for illuminating street signs change elements should be by means of a special control element can be activated by the driver when the vehicle headlights are switched on.

Weitere Einzelheiten der Erfindung ergeben sich aus der folgenden Beschreibung eines Ausführungsbei­ spiels. Die zugehörige Figur zeigt ein erfindungsgemäßes Kraftfahrzeug in einer Fahrsituation auf einer Straße.Further details of the invention emerge from the following description of an embodiment , game. The associated figure shows an inventive Motor vehicle in a driving situation on a street.

Ein Kraftfahrzeug 1 befindet sich auf der rech­ ten Spur 2 einer Straße 3, für die Rechtsverkehr vorge­ schrieben ist. Das dargestellte Teilstück der Straße 3 weist keine Krümmung auf. Am rechten Straßenrand befinden sich vor dem Fahrzeug zwei Straßenbeschilderungselemente 4, 5, wobei es sich bei dem Schild 4 um ein Überholver­ bots-Schild handelt und das Schild 5 ein Zeichen zur Kennzeichnung einer bevorstehenden Doppelkurve ist.A motor vehicle 1 is located on the right lane 2 of a road 3 , for which right-hand traffic is prescribed. The section of road 3 shown has no curvature. On the right side of the road there are two road signage elements 4 , 5 in front of the vehicle, the sign 4 being an overtaking bots sign and the sign 5 being a sign for identifying an upcoming double curve.

Das Fahrzeug 1 ist mit einer Kamera ausgestat­ tet, mittels derer ein in Fahrtrichtung des Fahrzeugs 1 liegender Raum beobachtet wird. Dieser ist durch ein Oval 6 und Hilfslinien 7 schematisch verdeutlicht, wobei die Kamera hier im Bereich eines Innenrückspiegels des Fahr­ zeugs 1 angeordnet ist. Die Kamera kann voranging Bestandteil eines Systems zu Fahrspurerkennung oder eines anderen Fahrer-Assistenzsystems sein. Sie erfasste den Raum über der Straße 3 und den der Straße 3 benachbarten Raum, in dem sich unter anderem die Schilder 4, 5 befin­ den. Die von der Kamera erfassten Daten werden einem nicht dargestellten elektronischen Steuergerät zur Aus­ wertung zugeleitet. In einem Speicher des Steuergerätes sind Referenzbilder von Straßenbeschilderungselementen abgelegt, und das Steuergerät überprüft, ob eines oder mehrere dieser Schilder in den von der Kamera stammenden Bildern vorkommen. Im Beispiel würden so die Schilder 4, 5 in den Kamerabildern erkannt werden. Im Folgeschritt bestimmt das Steuergerät (Programm im Steuergerät) die Position der Schilder 4, 5 relativ zum Fahrzeug 1. Es wird dann mit Werten aus einer abgespeicherten Referenz­ liste verglichen, ob die Schilder 4, 5 ausreichend hell in den aufgenommenen Bildern erscheinen - das heißt, ob sie damit gut für den Fahrzeugführer sichtbar sind. Un­ terschreitet die Helligkeit der Schilder einen entfer­ nungsabhängigen Grenzwert, wird ein Algorithmus durchlau­ fen, in dem ein Entscheidungsprozess zur automatischen Zusatzbeleuchtung eines Schildes 4 oder 5 stattfindet.The vehicle 1 is equipped with a camera, by means of which a space lying in the direction of travel of the vehicle 1 is observed. This is schematically illustrated by an oval 6 and auxiliary lines 7 , the camera being arranged here in the region of an interior rear-view mirror of the vehicle 1 . The camera can initially be part of a system for lane detection or another driver assistance system. It recorded the space above street 3 and the room adjacent to street 3 , which included signs 4 , 5 , among others. The data captured by the camera are sent to an electronic control unit (not shown) for evaluation. Reference images of road signage elements are stored in a memory of the control device, and the control device checks whether one or more of these signs appear in the images originating from the camera. In the example, the signs 4 , 5 would be recognized in the camera images. In the next step, the control unit (program in the control unit) determines the position of the signs 4 , 5 relative to the vehicle 1 . It is then compared with values from a stored reference list whether the signs 4 , 5 appear sufficiently bright in the recorded images - that is, whether they are thus clearly visible to the vehicle driver. If the brightness of the signs falls below a distance-dependent limit, an algorithm is run through in which a decision-making process for the automatic additional lighting of a sign 4 or 5 takes place.

Ist nur ein Schild 4 oder 5 im Bild vorhanden, wird dieses mittels eines Zusatzscheinwerfers 8, der im Beispiel im Bereich eines rechten Außenspiegels angeord­ net ist, angestrahlt. Sind wie im Beispiel mehrere Schil­ der 4, 5 im Bild enthalten, werden aus der Entfernung des jeweiligen Schildes 4, 5 und der Bedeutung des Schildes 4, 5 (Referenzbildliste) zwei Werte aus Speichern des Steuergerätes abgelesen, aus denen ein Entscheidungswert für jedes Schild 4, 5 berechnet wird. Im Beispiel könnte das Schild 4 70 Meter entfernt vom Fahrzeug sein (Entfer­ nungswert 1,2) und das Schild 5 130 Meter entfernt sein (Entfernungswert 0,6). Beide Schilder haben den Bedeu­ tungswert 3 (Schild 4: Vorschriftzeichen; Schild 5: Gefahrzeichen mit hoher Priorität). Somit ergibt sich für das Schild 4 ein Entscheidungswert von 4,2 und für das Schild 5 ein Entscheidungswert von 3,6. Der Entschei­ dungswert ändert sich während der Annäherung an die Schilder 4, 5 durch den sich verändernden Entfernungswert (siehe die folgende beispielhafte Referenzliste).
If there is only one sign 4 or 5 in the image, this is illuminated by means of an additional headlight 8 , which in the example is arranged in the area of a right-hand exterior mirror. If, as in the example, several shields of 4 , 5 are included in the image, two values are read from the distance of the respective shield 4 , 5 and the meaning of the shield 4 , 5 (reference image list) from the memory of the control unit, from which a decision value for each shield 4 , 5 is calculated. In the example, the sign 4 could be 70 meters away from the vehicle (distance value 1 , 2 ) and the sign 5 could be 130 meters away (distance value 0.6). Both signs have the meaning value 3 (sign 4 : regulation sign; sign 5 : danger sign with high priority). This results in a decision value of 4.2 for the shield 4 and a decision value of 3.6 for the shield 5 . The decision value changes during the approach to the signs 4 , 5 due to the changing distance value (see the following example reference list).

Bei Entfernungen < 10 Meter und < 200 Meter ist der Entfernungswert 0. Wird ein solches Schild erkannt, wird es nicht angestrahlt.At distances <10 meters and <200 meters the distance value 0. If such a sign is recognized, it is not illuminated.

Das Schild 4 mit dem höchsten Entscheidungswert wird angestrahlt, in dem der Scheinwerfer 8 mit steuerba­ rer Strahlungsrichtung von dem Steuergerät auf das Schild 4 ausgerichtet und gedimmt eingeschaltet wird, wenn das Fahrzeug 1 sich auf weniger als 200 Meter dem Schild an­ nähert. Dann wird bei bewegtem Fahrzeug 1 die Strahlungs­ richtung des Scheinwerfers 8 so nachgeführt, dass dieser immer auf das Schild 4 ausgerichtet bleibt. Ist das Fahr­ zeug 1 bis näher als 10 Meter an das Schild 4 herangefah­ ren, würde das Steuergerät den Scheinwerfer 8 auf das Schild 5 ausrichten, da diesem dann der höhere Entschei­ dungswert zugeordnet ist. Das Verschwenken der Strah­ lungsrichtung (Hilfslinien 9) des Scheinwerfers 8 vom Schild 4 auf das Schild 5 erfolgt mit einer geringeren Geschwindigkeit als ein vorgegebener Maximalwert, um Fla­ ckererscheinungen zu vermeiden.The sign 4 with the highest decision value is illuminated in that the headlight 8 with controllable radiation direction is aligned by the control device to the sign 4 and switched on in a dimmed manner when the vehicle 1 approaches the sign at less than 200 meters. Then, when the vehicle 1 is moving, the radiation direction of the headlight 8 is adjusted so that it always remains aligned with the shield 4 . If the vehicle is 1 up to closer than 10 meters to the shield 4 , the control unit would align the headlight 8 on the shield 5 , since this is then assigned the higher decision value. The pivoting of the radiation direction (auxiliary lines 9 ) of the headlamp 8 from the shield 4 to the shield 5 is carried out at a lower speed than a predetermined maximum value in order to avoid flickering.

Die Bilder der Kamera werden zusätzlich im Hin­ blick auf Gegenverkehr ausgewertet. Der Scheinwerfer 8 wird nur dann eingeschaltet, wenn keine Blendwirkung für den Gegenverkehr mit seinem Betrieb verbunden ist.The images from the camera are also evaluated with a view to oncoming traffic. The headlight 8 is only switched on when there is no glare for oncoming traffic associated with its operation.

Das Steuergerät arbeitet nur in einer den Scheinwerfer 8 ansteuernden Weise, wenn Fahrzeugschein­ werfer (Fahrlicht) eingeschaltet sind und ein spezielles Bedienelement zum Einschalten der Schilderbeleuchtungs­ funktion bedient wurde.The control unit only works in a way that controls the headlights 8 when the vehicle headlights (driving lights) are switched on and a special control element for switching on the sign lighting function was operated.

Claims (10)

1. Kraftfahrzeug (1) mit Mitteln zur Beleuchtung von Straßenbeschilderungselementen (4, 5), gekennzeich­ net durch
eine elektronische Kamera zur Aufnahme eines vor dem Fahrzeug (1) liegenden Raumes,
ein elektronisches Steuergerät zur Auswertung der von der Kamera aufgenommenen Bilder, zur automatischen Erkennung von Straßenbeschilde­ rungselementen (4, 5) in den Bildern und zur Be­ stimmung der räumlichen Lage der Straßenbe­ schilderungselemente (4, 5) relativ zum Fahr­ zeug (1) sowie durch
einen Scheinwerfer (8) mit steuerbarer Strah­ lungsrichtung, der von dem Steuergerät auf die Straßenbeschilderungselemente (4, 5) ausgerich­ tet und zur zeitweisen Beleuchtung dieser Ele­ mente (4, 5) unter Berücksichtigung der Fahr­ zeugbewegung angesteuert wird.1. Motor vehicle ( 1 ) with means for illuminating road signage elements ( 4 , 5 ), characterized by net
an electronic camera for recording a space in front of the vehicle ( 1 ),
an electronic control unit for evaluating the images recorded by the camera, for the automatic detection of road signage elements ( 4 , 5 ) in the images and for determining the spatial position of the road signage elements ( 4 , 5 ) relative to the vehicle ( 1 ) and through
a headlamp ( 8 ) with controllable radiation direction, which is aligned by the control unit on the road signage elements ( 4 , 5 ) and is used to temporarily illuminate these elements ( 4 , 5 ) taking into account the vehicle movement. 2. Kraftfahrzeug (1) nach Anspruch 1, dadurch gekenn­ zeichnet, dass die Kamerabilder von dem Steuergerät auch hinsichtlich entgegenkommenden Verkehrs ausge­ wertet werden und der Scheinwerfer (8) nur derart angesteuert wird, dass keine Blendung des entgegen­ kommenden Verkehrs erfolgt.2. Motor vehicle ( 1 ) according to claim 1, characterized in that the camera images are evaluated by the control unit also with regard to oncoming traffic and the headlight ( 8 ) is only activated such that there is no dazzling of oncoming traffic. 3. Kraftfahrzeug nach einem der Ansprüche 1 oder 2, da­ durch gekennzeichnet, dass der Scheinwerfer (8) nicht schlagartig sondern mit kontinuierlich zuneh­ mender/abnehmender Helligkeit ein-/ausgeschaltet wird. 3. Motor vehicle according to one of claims 1 or 2, characterized in that the headlight ( 8 ) is not suddenly switched on but off with continuously increasing / decreasing brightness. 4. Kraftfahrzeug (1) nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass nur eindeutig von dem Steuergerät erkannte Straßenbeschilderungselemente (4, 5) von dem Scheinwerfer (8) vor der Vorbeifahrt angestrahlt werden.4. Motor vehicle ( 1 ) according to one of claims 1 to 3, characterized in that only clearly identified by the control device road signage elements ( 4 , 5 ) are illuminated by the headlight ( 8 ) before driving past. 5. Kraftfahrzeug (1) nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass bei eingeschaltetem Scheinwerfer (8) die mögliche Veränderungsgeschwin­ digkeit der Strahlungsrichtung des Scheinwerfers (8) auf einen Maximalwert begrenzt ist.5. Motor vehicle ( 1 ) according to one of claims 1 to 4, characterized in that when the headlight ( 8 ) is switched on, the possible change speed of the radiation direction of the headlight ( 8 ) is limited to a maximum value. 6. Kraftfahrzeug (1) nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass bei Vorhandensein meh­ rerer eindeutig erkannter Straßenbeschilderungsele­ mente (4, 5) in dem von der Kamera aufgenommenen Bildern eine Auswahl eines anzustrahlenden Elementes (4, 5) erfolgt, nach den Kriterien: Entfernung des Elementes (4, 5) und Bedeutung des Elementes (4, 5).6. A motor vehicle (1) according to one of claims 1 to 5, characterized in that elements in the presence meh of exemplary clearly recognized Straßenbeschilderungsele (4, 5) in the image taken by the camera images a selection of one to the radiating element (4, 5), according to the criteria: distance of the element ( 4 , 5 ) and meaning of the element ( 4 , 5 ). 7. Kraftfahrzeug (1) nach Anspruch 6, dadurch gekenn­ zeichnet, dass für einen Wechsel zwischen zwei anzu­ strahlenden Straßenbeschilderungselementen (4, 5) eine obere Grenzfrequenz in dem Steuergerät vorgege­ ben ist.7. Motor vehicle ( 1 ) according to claim 6, characterized in that for a change between two road signage elements to be radiated ( 4 , 5 ), an upper cut-off frequency is predetermined in the control unit. 8. Kraftfahrzeug (1) nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass nur unbewegliche Stra­ ßenbeschilderungselemente (4, 5) von dem Scheinwer­ fer (8) beleuchtet werden, wenn diese in den Bildern mit einer Helligkeit erkannt werden, die einen fest­ gelegten Maximalwert unterschreitet.8. Motor vehicle ( 1 ) according to one of claims 1 to 7, characterized in that only immovable road signage elements ( 4 , 5 ) are illuminated by the headlight ( 8 ) when they are recognized in the images with a brightness that one falls below the specified maximum value. 9. Kraftfahrzeug (1) nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Bildqualität von dem Steuergerät auch während der Beleuchtung der Straßenbeschilderungselemente (4, 5) überwacht wird und der Scheinwerfer (8) im Falle einer Verschlech­ terung der Bildqualität abgeschaltet wird.9. Motor vehicle ( 1 ) according to one of claims 1 to 8, characterized in that the image quality is monitored by the control unit even during the lighting of the road signage elements ( 4 , 5 ) and the headlight ( 8 ) is switched off in the event of a deterioration in the image quality becomes. 10. Kraftfahrzeug (1) nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die Mittel zur Beleuch­ tung von Straßenbeschilderungselementen (4, 5) bei eingeschalteten Fahrzeugscheinwerfern durch Betäti­ gung eines speziellen Bedienelementes aktivierbar sind.10. Motor vehicle ( 1 ) according to one of claims 1 to 9, characterized in that the means for illuminating road signage elements ( 4 , 5 ) can be activated by actuation of a special control element when the vehicle headlights are switched on.
DE10060734A 2000-12-07 2000-12-07 Spotlight on vehicle, for illumination of roadside traffic sign, is connected to camera which recognizes sign and control system keeping spotlight centered on sign Ceased DE10060734A1 (en)

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EP2127944A1 (en) 2008-05-30 2009-12-02 Hella KGaA Hueck & Co. Method and device for controlling the light emission of a front headlamp of a vehicle
EP2193944A3 (en) * 2008-12-03 2010-12-08 Papst Licensing GmbH & Co. KG Antiglare protection for motor vehicles
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CN102951066A (en) * 2011-08-23 2013-03-06 罗伯特·博世有限公司 Method for controlling the light emission of a headlamp of a vehicle
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DE102013102764A1 (en) 2013-03-19 2014-09-25 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for illuminating at least one reflective reference element
US9199574B2 (en) 2012-09-11 2015-12-01 Gentex Corporation System and method for detecting a blocked imager
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DE102006041857B4 (en) * 2005-09-06 2017-10-05 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Method and system for improving traffic safety
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DE102007007467A1 (en) 2007-02-15 2008-08-21 GM Global Technology Operations, Inc., Detroit Motor vehicle, has detection unit for detection of approximation of potentially dangerous place e.g. T crossings, using electronic camera, and navigation system, and illuminant e.g. LED, activated based on detection result
EP1970249A3 (en) * 2007-03-15 2009-07-15 Mazda Motor Corporation Vehicle operation support method and system
FR2931745A1 (en) * 2008-05-27 2009-12-04 Valeo Vision MOTOR VEHICLE PROJECTOR CAPABLE OF EMITTING AN ORIENTABLE LIGHT BEAM.
EP2957825A1 (en) * 2008-05-27 2015-12-23 Valeo Vision Motor vehicle headlamp capable of emitting an adjustable light beam
EP2128521A1 (en) * 2008-05-27 2009-12-02 Valeo Vision Automobile headlight capable of emitting an adjustable light beam.
DE102008025947A1 (en) 2008-05-30 2009-12-03 Hella Kgaa Hueck & Co. Method and device for controlling the light output of a headlight of a vehicle
EP2508391A1 (en) 2008-05-30 2012-10-10 Hella KGaA Hueck & Co. Method and device for controlling the light emission of a front headlamp of a vehicle
EP2508392A1 (en) 2008-05-30 2012-10-10 Hella KGaA Hueck & Co. Method and device for controlling the light emission of a front headlamp of a vehicle
EP2127944A1 (en) 2008-05-30 2009-12-02 Hella KGaA Hueck & Co. Method and device for controlling the light emission of a front headlamp of a vehicle
EP2193944A3 (en) * 2008-12-03 2010-12-08 Papst Licensing GmbH & Co. KG Antiglare protection for motor vehicles
CN102365190A (en) * 2009-04-01 2012-02-29 罗伯特·博世有限公司 Method and device for illuminating lateral road regions
US8721144B2 (en) 2009-04-01 2014-05-13 Robert Bosch Gmbh Method and device for illuminating roadsides
US9428103B2 (en) 2009-08-07 2016-08-30 Robert Bosch Gmbh Method for controlling a light emission of a headlight of a vehicle
EP2562044A3 (en) * 2011-08-23 2014-04-23 Robert Bosch Gmbh Method for controlling a light emission of a headlamp of a vehicle
US9616805B2 (en) 2011-08-23 2017-04-11 Robert Bosch Gmbh Method and device for controlling a headlamp of a vehicle
DE102011081396B4 (en) * 2011-08-23 2020-12-03 Robert Bosch Gmbh Method and control device for adapting a radiation characteristic of at least one headlight
DE102011081396A1 (en) * 2011-08-23 2013-02-28 Robert Bosch Gmbh Method for adjusting directional characteristic of headlamp of vehicle, particularly passenger car, truck or motorcycle, involves identifying highlighted position or highlighted object in image which represents environment of vehicle
EP2562037A3 (en) * 2011-08-23 2014-03-12 Robert Bosch Gmbh Method for controlling the light emission of a headlamp of a vehicle
CN102951066A (en) * 2011-08-23 2013-03-06 罗伯特·博世有限公司 Method for controlling the light emission of a headlamp of a vehicle
WO2013026608A1 (en) * 2011-08-23 2013-02-28 Robert Bosch Gmbh Method and device for controlling a headlamp of a vehicle
CN102951066B (en) * 2011-08-23 2017-05-10 罗伯特·博世有限公司 Method for controlling the light emission of a headlamp of a vehicle
US9545875B2 (en) 2011-08-23 2017-01-17 Robert Bosch Gmbh Method for controlling a light emission of a headlight of a vehicle
EP2698743A1 (en) * 2011-09-07 2014-02-19 Autoliv Development AB Driver assisting system and method for a motor vehicle
EP2568413A1 (en) * 2011-09-07 2013-03-13 Autoliv Development AB Driver assisting system and method for a motor vehicle
US9199574B2 (en) 2012-09-11 2015-12-01 Gentex Corporation System and method for detecting a blocked imager
DE102013001259A1 (en) * 2013-01-25 2014-07-31 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Lighting system for motor vehicle, has control unit that approaches emission color of light in specific portion of spatial angle of complementary color to color of traffic sign color detected by environmental sensor
DE102013102764A1 (en) 2013-03-19 2014-09-25 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for illuminating at least one reflective reference element
US9896022B1 (en) * 2015-04-20 2018-02-20 Ambarella, Inc. Automatic beam-shaping using an on-car camera system
US10427588B1 (en) 2015-04-20 2019-10-01 Ambarella, Inc. Automatic beam-shaping using an on-car camera system
DE102015207543A1 (en) * 2015-04-24 2016-10-27 Conti Temic Microelectronic Gmbh Device and method for controlling a vehicle headlight of a motor vehicle
US9821704B2 (en) 2015-04-24 2017-11-21 Conti Temic Microelectronic Gmbh Device and method for controlling a headlamp of a motor vehicle
DE102017207932A1 (en) * 2017-05-10 2018-11-15 Audi Ag Method for operating a lighting device of a motor vehicle and motor vehicle
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CN111344517A (en) * 2017-11-08 2020-06-26 标致雪铁龙汽车股份有限公司 Lighting device with a main light beam and a narrow light beam that can be directed according to the position of an obstacle detected in front of the vehicle
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EP4249324A1 (en) * 2022-03-22 2023-09-27 Toyota Jidosha Kabushiki Kaisha Vehicle control method, vehicle control system, and non-transitory storage medium

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