DE102008017833A1 - A method of operating an image pickup device and an image pickup device - Google Patents

Abstract

The invention relates to a method for operating an image recording device (1), in which image data (B) are recorded from an environment of a vehicle by means of an image sensor (1.1) and objects in the image data (B) are recognized and highlighted by means of an image processing unit (1.2), wherein a manner of highlighting the recognized objects (0) in the image data (B) is set depending on a relevance of the objects (0) and the relevance is determined on the basis of object parameters, the image data (B) thus processed being displayed on a display unit (1.3). According to the invention, the relevance of the objects (0) is determined on the basis of vehicle parameters and / or environmental parameters. The invention further relates to an image pickup device (1) for a vehicle.

Description

The The invention relates to a method of operating an image pickup device according to the preamble of claim 1 and a Image pickup device according to the preamble of claim 10.

From the German patent application DE 10 2006 047 777 A1 For example, a method of image display and image display are known. For this purpose, image data from the surroundings of a vehicle is recorded by means of a camera and the image data is at least partially displayed on a display after object recognition and image processing. After the image data has been recorded by the camera, these are processed by means of an object recognition in order to recognize objects in the recorded image data. The objects thus recognized are at least partially highlighted in the display of the image data on the display in order to draw attention to the detected objects.

From the DE 10 2005 020 772 A1 a display system for representing an environment of a motor vehicle is known, wherein an image of the environment is taken by an image capture device and at least partially displayed on a display. Furthermore, an image processing device is provided which processes the image of the environment taken by the image capture device. In the image processing device additionally objects are detected and it is detected whether the objects represent a danger. If the objects represent a danger, they are highlighted on the display.

Furthermore, from the DE 103 48 109 A1 a method and a device for visualizing a vehicle environment, in particular for detecting and displaying a situation ahead of a driver traffic situation with a night vision information system known in which video images are detected and weighted with a globally set provisional weighting factor. With the aid of an object recognition system, an object analysis of the video images is carried out, on the basis of which an object-selective local adaptation of the weighting factors in the video images is undertaken. Relevant objects are highlighted in the video images.

From the US 2007 106 475 A1 a driver assistance system is known, by means of which a driver of a vehicle, a hazard potential of an obstacle located in front of the vehicle can be displayed visually and haptically. In order to present to the driver in a clear manner which of the obstacles has a hazard potential, a mark can be displayed at a position of the detected obstacle, whereby at least its size, color, shape and brightness can be set as a function of the danger potential.

Of the Invention is based on the object, a method for operation to provide an image pickup device by means of an increase an attention of a driver on the basis of a Improvement of the way of highlighting recognized Objects in a representation of the image data of a vehicle-side Image pickup device is achieved.

Regarding of the method according to the invention by the features specified in claim 1 solved. Regarding The image pickup device according to the invention by the task the features specified in claim 10 solved.

advantageous Embodiments of the invention are the subject of the dependent claims.

at the inventive method for operating a Image pickup device by means of an image sensor image data taken from an environment of a vehicle and by means of a Image processing unit Detects and highlights objects in the image data. A way of highlighting the detected objects in the Image data is set depending on a relevance of the objects and the relevance on the basis of object parameters, which one direction of movement, Speed, object distance and / or object classification include, determined. The thus processed image data become a display unit is displayed. According to the invention the relevance of the objects based on vehicle parameters and / or Environment parameters determined. This is advantageous possible to more accurately evaluate the relevance of the objects and to investigate.

there be as vehicle parameters, a vehicle speed and / or detects a relative velocity to one or more objects or determined. As environmental parameters are visibility, weather conditions, a location and / or a street type determined. This makes it possible in a profitable manner, hazard potentials identify the objects and display them so that the driver can recognize the objects early and thus it is possible for him is to take measures to prevent or avert the dangers

According to one embodiment of the invention, the vehicle parameters and / or the environmental parameters are at least partially determined from the image data by means of the image processing unit, so that no additional detection units not agile.

In An embodiment of the invention becomes the relevant objects highlighted for highlighting and / or its surroundings is displayed dimmed. In addition, you can the relevant objects with a higher image resolution represented as their environment and / or the relevant objects are marked by a marker. This results in the advantage that the driver or the relevant Clearly distinguish objects from their environment.

Further become the relevant objects or their marking for emphasis color-coded, with a change the color depending on the relevance stepless or in Steps is executed. Also, the relevant Objects or their marker are flashing, where a change of a flashing frequency depending of relevance is carried out steplessly or in stages. By this striking for the driver Presentation, this can quickly perceive the objects and timely respond to this.

The Image pickup device according to the invention for a vehicle includes an image sensor for capturing image data from an environment of the vehicle and an image processing unit for detecting objects imaged in the captured image data and to highlight these objects in the image data. The image processing unit is designed such that a way of highlighting the detected objects in the image data depends on one Relevance of objects adjustable and relevance based on Object parameters, comprising a direction of movement, velocity, a Object distance and / or object classification, can be determined is. The image pickup device further comprises a display unit for displaying the thus processed image data. According to the invention the relevance of the objects based on vehicle parameters and / or Environment parameters determined.

According to one Development of the image pickup device according to the invention are one or more detection units for determining the vehicle parameters and / or environmental parameters.

embodiments The invention will be described below with reference to a drawing explained.

there shows:

1 schematically a block diagram of an image pickup device for a vehicle for carrying out the method according to the invention.

The only 1 shows a block diagram of an image pickup device 1 for carrying out the method according to the invention and developments thereof for the operation of such an image pickup device. The image pickup device 1 is preferably arranged in a vehicle, not shown, and includes an image sensor 1.1 for capturing image data B from an environment of the vehicle and an image processing unit 1.2 for recognizing objects O imaged in the acquired image data B and for highlighting these objects O in the image data B. The image pickup device 1 further comprises a display unit 1.3 for displaying the thus processed image data B.

The image processing unit 1 According to the invention is designed such that a way of highlighting the detected objects O in the image data B is adjustable depending on a relevance of the objects O. In particular, object parameters, vehicle parameters and / or environmental parameters are important for determining the relevance of the detected objects O, on the basis of which the manner in which they are emphasized.

The Object parameters include a direction of movement of the image data B recognized and highlighted object O with respect to an actual or the estimated direction of movement of the vehicle, a Speed of the object O, an object distance, d. H. a Distance to the individual recognized objects O and / or a distance to one or more in the image data B recognized and highlighted Object O, and / or an object classification.

The Vehicle parameters include a vehicle speed (= airspeed) and / or a relative speed between the vehicle and one or a plurality of objects recognized and to be highlighted in the image data B. O.

The Environmental parameters include visibility in the environment of the vehicle, a brightness in the surroundings of the vehicle, a location, within which the vehicle moves, and / or a road type.

The vehicle-side image pickup device 1 with the display unit 1.3 for displaying the recorded image data B, such. B. a night vision system, on the one hand provides an image of a real driving situation and on the other by highlighting imaged in the image data B objects O attention of a driver to these objects O depending on their relevance to the current driving task. So can a before the vehicle located object O, z. As a person, a vehicle and / or other road users and obstacles, highlighted by its environment are presented to make the driver to this object O attention and thus to alert him to a possible danger.

ever according to driving and environmental situation, objects O have before, next to or behind the vehicle a different relevance. Objects O with less relevant in the vehicle representation the image data B is not at all or not so clearly highlighted, as is the case for objects O of high relevance. The relevance can also be a potential hazard, starting from the own vehicle for the objects O and / or starting from the Represent objects O for your own vehicle.

The Way of highlighting the detected in the image data B. Objects O are dependent on their relevance to the current driving task.

The Emphasis is preferably given to a lightening of the objects O, a darkening of their surroundings, a representation of the objects O with a higher image resolution than their environment or by marking the objects O by a marker reached.

Further can the relevant objects O or their mark to Highlighting to be marked in color, with a change the color depending on the relevance stepless or in Steps is executed. Also, the relevant Objects or their marker are flashing, where a change of a flashing frequency depending of relevance is carried out steplessly or in stages.

Become simultaneously detects several objects O in the image data, then yields usually within the displayed image data B of the objects O recognized a variance in the emphasis between the individual Objects O. Also, it is very possible that the relevance of a single object O timed, so that also the way of highlighting the single object O over time can vary.

A Representation of such a variation of relevance based on a For example, variable emphasis may be due to increasing relevance a change from "not flashing" to "flashing" or by means of a continuous variation of the representation with increasing relevance, for example, by gradual variation of "slowly flashing" to "fast flashing".

alternative or additionally, an increasing relevance can be based on a For example, color variation of highlighting from "yellow" over "orange" to "red". But there are others too Color variations conceivable.

Below, by way of example, some driving and / or environmental situations with different object parameters, vehicle parameters and / or environmental parameters are compared, in which individual objects O have different relevance and thus in the representation of the vehicle-side image pickup device 1 recorded image data B are highlighted in different ways.

When first example, driving or environmental situations are shown, on the basis of which the relevance of one or more objects depends on the environment parameters "brightness" and "visibility" and the Vehicle parameter "vehicle speed" is explained.

there For example, the vehicle travels at a vehicle speed of 50 km / h within a closed village with good street lighting. Here are objects O, z. B. people on a well-lit Walkway across the street less relevant than a person out of town a dark country road on which the vehicle with 80 km / h moves.

Moves the vehicle z. B. at dusk, so are Persons depicted in the image data B better perceptible than at full of darkness. Thus, these have the emphasis in the first Case less relevant than in complete darkness.

In a particularly advantageous manner, the assessment of the brightness or the visibility in the vehicle environment by suitable image data processing, in particular by means of the image processing unit 1.2 through the image capture device 1 yourself. It is also conceivable that the image pickup device 1 for determining the ambient brightness or the visibility conditions with another system or suitable detection units in connection stands.

When second example, a driving or environmental situation is called, which determines the relevance of the object O as a function of represents the object parameters "object distance" and "object classification".

The relevance of the object O can also vary with its distance to the own vehicle. As a rule, a less significant object O is assigned a lower relevance than a closer object O, in particular if both objects O are the same type of object (= object classification).

Especially when using the image pickup device 1 As a reversing camera, a distance-dependent variation of highlighting recognized objects O can be profitably employed. For example, if the object O is one meter away, it may still be classified as being of little relevance. On the other hand, if it is only 20 centimeters away, this object O could be blinked so that the viewer of the display unit 1.3 the image pickup device 1 receives a clear indication of the object O.

In A third example shows a driving or environmental situation. which is an evaluation of the relevance of the object O as a function of the vehicle parameters "vehicle speed" and "relative speed" clarified.

For the estimation or evaluation of the relevance of the object It may be important how fast your own vehicle is moved to the object O (= relative speed). The higher a differential speed between the object O and the vehicle is, the more critical the driving situation and the risk potential of the object O for the vehicle or that of the vehicle for the object O, so that the detected object O a higher Relevance is assigned.

The means that, for example, a pass by a pedestrian much less dangerous with a smaller differential speed is as a pass by with higher differential speed.

In Particularly advantageously, it is conceivable that at an elevated Own vehicle speed (= vehicle speed) the objects O recognized in the image data B are generally higher Assign relevance, as for the same objects O the Case would be, if the own vehicle would drive slower.

For determining the relative speed between the vehicle and the recognized object O or also for determining its distance are in addition to special image processing devices, such as stereo camera systems, in particular with the image pickup unit 1 related radar systems such. B. a millimeter wave radar.

in the Frame of a fourth example of a driving or environmental situation the evaluation of the relevance of the object O should be based on its object parameter "Movement direction" are explained.

In Advantageously, to estimate the relevance of recognized object O also its direction of movement or a relative movement evaluated between this object O and the own vehicle. So has a person moving on a sidewalk for the current driving task is less relevant than a person has, which moves on the roadway of the vehicle.

Also will usually be a big distance next to one Roadside moving object O be less relevant, as a person standing right on this roadside.

directs the own vehicle in the current driving situation z. B. straight to the right, then objects are O in that direction for the current driving task more relevant than objects O on the left Page.

In a particularly advantageous manner, it makes sense to predict the direction of movement of the vehicle in particular information about a steering wheel angle, image information about the road and information from a data source such. As a navigation system, and the vehicle-side image pickup device 1 supply.

When The fifth and last example are driving or environmental situations represented within this the relevance of one or more objects O based on the environmental parameter "location", within which the vehicle is moving, and determines "road type" becomes.

The Evaluation of the relevance of an object recognized in the image data O may also depend on a current traffic situation; especially with regard to the location in and / or the street type on which the own vehicle is located or moved. For example, pedestrians enter on the roadside within closed villages more often on as outside of this, so that's why in the Usually less important to place in urban areas than out of town. That is, as a rule, the recognized objects O am Roadside out of town a higher relevance associated there, for example, less often and usually no walking or bicycle lane is present on the town usually the detected objects O without danger to the current driving task move.

Are located Pedestrians z. B. at a pedestrian crossing, so could these identified persons an increased Be assigned relevance, so that these persons for the driver in the image representation, for example in a night vision system, especially highlighted become.

Profitable can the relevant Informa tion about the location and / or the road type, for example, by a suitable image processing / classification from the camera image data of the image pickup device 1 itself or obtained from a data source, such as a navigation system, and the image capture device 1 be made available for further processing.

1

Imaging device

1.1

image sensor

1.2

Image processing unit

1.3

display unit

B

image data

O

object

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 102006047777 A1 [0002]
• DE 102005020772 A1 [0003]
• DE 10348109 A1 [0004]
• US 2007106475 A1 [0005]

Claims (12)

Method for operating an image acquisition device ( 1 ), in which by means of an image sensor ( 1.1 ) Image data (B) taken from an environment of a vehicle and by means of an image processing unit ( 1.2 ) Objects in the image data (B) are detected and highlighted, wherein a manner of highlighting the recognized objects (O) in the image data (B) is set depending on a relevance of the objects (O) and the relevance based on object parameters, comprising a direction of movement, velocity, an object distance and / or an object classification, the image data (B) thus processed being determined on a display unit ( 1.3 ) are displayed, characterized in that the relevance of the objects (O) is determined on the basis of vehicle parameters and / or environmental parameters. Method according to claim 1, characterized in that as a vehicle parameter, a vehicle speed and / or a relative velocity to one or more objects (O) be detected or determined. Method according to claim 1 or 2, characterized that as environmental parameters visual conditions, a brightness, a location and / or a street type determined become. Method according to one of claims 1 to 3, characterized in that by means of the image processing unit ( 1.2 ) From the image data (B) at least partially the vehicle parameters and / or the environmental parameters are determined. Method according to one of claims 1 to 4, characterized in that the relevant objects (O) for emphasis be displayed brightened and / or their environment darkened is pictured. Method according to one of claims 1 to 5, characterized in that the relevant objects (O) with a higher resolution than their environment become. Method according to one of claims 1 to 6, characterized in that the relevant objects (O) by means of Marked. Method according to claim 7, characterized in that that the relevant objects (O) or their marking are marked in color be, with a change of color depending of relevance is carried out steplessly or in stages. Method according to claim 7 or 8, characterized that the relevant objects (O) or their marker are flashing be, with a change of a flashing frequency depending of relevance is carried out steplessly or in stages. Image pickup device ( 1 ) for a vehicle, comprising an image sensor ( 1.1 ) for capturing image data (B) from an environment of the vehicle, comprising an image processing unit ( 1.2 ) for recognizing objects (O) imaged in the acquired image data (B) and for highlighting these objects (O) in the image data (B), the image processing unit ( 1.2 ) is configured so that a manner of highlighting the recognized objects (O) in the image data (B) is adjustable depending on a relevance of the objects (O) and the relevance based on object parameters including a direction of movement, velocity, an object distance and / or an object classification, and comprising a display unit ( 1.3 ) for displaying the thus processed image data (B), characterized in that the relevance of the objects (O) on the basis of vehicle parameters and / or environmental parameters can be determined. Image recording device according to claim 10, characterized in that by means of the image processing unit ( 1.2 ) from the image data (B) at least partially the vehicle parameters and / or the environmental parameters can be determined. An image pickup device according to claim 10 or 11, characterized in that one or more detection units intended for determining the vehicle parameters and / or environmental parameters are.