The invention relates to a method for the combined output of a
the vehicle apron of a motor vehicle image showing a
first image recording device with at least one in the vehicle apron
located traffic sign information on a display device
in a motor vehicle, taking into account the information
at least one image information of a second image recording device
detected image is determined.
the driver assistance
serving navigation devices, it is known to the driver as well
to point to dangerous situations. For example, the navigation device
in front of a sharp turn, before a crossroads with a right of way-eighth bid
or even before a speed limit to be met in a section of the route
to warn. Therefor
However, it is necessary that the underlying data be updated regularly
becomes. Especially in the field of construction sites or other temporary
this at a disproportionate expense,
to keep the data up to date.
and other traffic related regulations will be
transmitted in the form of traffic signs.
Such traffic signs can also be found as warnings before construction sites and
other obstacles and, for example, point to speed limits
out. It is therefore known in the image data of a camera pattern recognition
to be able to determine existing traffic signs in the image. This procedure
However, it is computationally expensive and unreliable because the traffic sign recognition
strong from the resolution
the camera, the image background and the shape and color of the traffic sign
DE 10 2007 004 349 A1
concerns a camera system including an infrared illuminator, an infrared (lean camera and a PMD camera.) By means of the data of the PMD camera, the image of the infrared imager camera can be provided with distance data or depth information.
DE 10 2004 061 998 A1
discloses a stereo camera for a motor vehicle, comprising a first camera and a second camera, the cameras being different in at least one camera characteristic. For traffic sign recognition, pattern recognition is performed in the image data of the second camera. Correspondingly recognized traffic signs are displayed in the display device of the motor vehicle.
From the DE 10 2006 008 656 A1
a motor vehicle is known with a device for traffic sign recognition, which comprises a camera and a control device. For traffic sign recognition, the control device has suitable detection algorithms with which the traffic signs on the image data of the camera are extracted. The representation of the traffic signs is made on a display depending on the probability of correctness of the detection of the traffic sign.
DE 197 36 774 A1
describes a method for displaying information in a motor vehicle, in which sections of the image of a vehicle-side camera are displayed on a display unit. In the image section, a traffic sign is shown, with additional information can be displayed for information of the driver.
Invention is therefore the object of a method of the initially
specify type mentioned, with a traffic sign recognition in
A picture can be made faster and improved to the driver
to be able to display corresponding information.
the object is provided according to the invention in a method of the type mentioned,
that second image capture device as a photonic mixer device camera
is formed and as image information, the signal intensity of
the second image pickup device recorded image taken into account
According to the invention is thus
provided, instead of a complex pattern recognition in an image information
from a second source to the relevant image area
to be included in the image of the first image recording device. in this connection
it goes without saying
necessary that the image data with the second image capture device
be absorbed, have other properties or characteristics,
as the images of the first image pickup device. This is
a so-called photonic mixer device (PMD) camera as a second image recording device
used. PMD cameras
emit modulated infrared light to accept the reflection signals
to capture. Due to runtime differences, individual picture elements can
Distance information can be assigned.
According to the invention, the signal intensity of the image recorded by the second image recording device is taken into account as image information. While a distance can be determined due to the differences in transit time, the infrared light as the electromagnetic wave also has an amplitude or signal strength which in the image obtained from these signals as signal intensity Days occurs. The signal strength of the reflected infrared light depends essentially on the reflection properties of the objects depicted in the image. Traffic signs on the one hand have a flat surface and on the other hand are usually designed as a retroreflector, which is why they have a particularly high reflectance and accordingly the signal strength of the infrared light reflected at a traffic sign is particularly high. Therefore, a particularly high signal strength in the image of a PMD camera indicates a traffic sign.
particular advantage can be as information a the traffic sign
containing and enlarged compared to the rest of the image displayed subarea
the image of the first image pickup device can be used.
the image information of the second image pickup device
recorded image on the image of the first image pickup device
is of course one
Registration of the two image recording devices necessary as well
a knowledge of the respective image resolutions. If you know this
It's the size
then relatively easy,
a high signal intensity area im with the second image pickup device
recorded image on the image of the first image pickup device
can use a square shape as the geometry of the section
become. Alternatively, it is also possible
that the geometry of the subsection to the geometry of the traffic sign
is adjusted. The use of a square shape allowed
in a particularly simple and fast way, in the image of the first image recording device
to select a corresponding subarea. For example, in the
Image detected with the second image pickup device set a threshold value
be with that between a for
distinguished a traffic signal signal intensity and lower values
can be. Optionally, as additional information from
a PMD camera in addition
supplied distance indication to be close to high signal intensities
Objects not mistakenly
to interpret as a traffic sign. By means of the threshold value
or further information can be a mask
are generated, which transfer to the image of the first image pickup device
can be. Around this mask can then more pixels
also with selected
so that a total of a quadratic sub-range results.
This quadratic subarea can then be enlarged by software means,
superimposed on it at any point the image of the first image pickup device
to be displayed on the display device in the motor vehicle. This will
it is possible
Road signs are already clearly identifiable to the driver at a distance
on the display device, where they still without aids
are not recognizable. additionally
is through the enlarged view
that attains the driver's attention to the traffic sign
Information is directed to warn him of potential dangers.
But not to the displayed in the display device image
with too much useless
Alternatively, to cover information may alternatively as already described above
also be provided, the geometry of the subsection to the geometry
adapt the traffic sign and thus the enlarged shown
Restrict area to the minimum necessary area. Consequently
Only the information that is needed is shown enlarged.
Magnification of a
Part of the image of the first image pickup device can
but then be problematic, if that in the subarea
existing traffic signs is still very far away and thus
consists of a few pixels. Too high a magnification then leads
easy to smudges and unsightly appearance. Therefore, as
Information is a symbol representation relating to the traffic sign
be used. This allows unlike the use of a
Subarea of the image is a representation that is not due to possible magnification artifacts
is afflicted. It can either the traffic sign in his
present form as a symbol, for simplicity
but it is also conceivable to point out only an approaching speed limit,
without already an indication about
to meet the speed to be met itself. The driver
is therefore merely pointed out, an approaching
Note traffic signs.
However, not every traffic sign is relevant at any time of day or night or season. Rather, some speed limits only relate to certain times, and even black ice warnings are less relevant in the summer months. Preferably, therefore, the traffic sign can be classified and, depending on this, the presentation of the information can be made. In the case of time-related speed limits, it makes sense to represent the start and end times at a time that is not within the speed-limited time range to inform the driver when to observe the speed limit. However, the speed limit to be observed is irrelevant at times when it does not apply and therefore does not need to be highlighted. Even a traffic sign that warns of snowfall, does not need the attention of the driver in the summer months and is therefore only minimally enlarged or represented as a small icon, for example. Compared to such a currently irrele For example, the top icon may display an applicable double page size speed limit. The size representation alone gives the driver information about the relevance of the traffic sign shown in the picture. The time is z. B. on the part of the navigation device anyway known or z. B. be picked up by a vehicle-mounted clock. In a simple embodiment, the classification can be carried out depending on the presence of a red border of the traffic sign. Such traffic signals designed to alert the driver to pay special attention to the traffic sign. In contrast to a "right of way" traffic sign, the negligence of which does not entail any consequences for the driver, since he himself drives the priority road, the observance of the "grant right of way" sign is of considerable importance, since a disregard for this traffic sign may be an accident pulls themselves, as the causer then the driver of the motor vehicle is to be considered. In this respect, the examination of the image area having the traffic sign, whether or not the traffic sign has a red border, already makes possible a simple, meaningful and reliable preclassification.
can be the representation of the subarea or symbol representation
of the motor vehicle to the through the first image pickup device
recorded traffic signs increased proportionally and / or their color and / or
changed their transparency
become. If the traffic sign is already shown enlarged from a great distance,
either by greatly enlarging the subarea or by rendering the icons
compared to the actual
is a proportional enlargement of the
Subarea or symbol representation compared to the image
pictured traffic sign does not make sense. Because when using a
PMD camera is given a distance indication, instead of a proportional
Magnification be selected.
By the color or transparency change
can send the driver an additional distance indication
be represent without a numerical value in the display device
to have to.
The driver will be given additional information without his attention
to claim more.
For the driver
most important is usually the one or more traffic signs. To the
The information can be taken from a given distance
of the motor vehicle are displayed to the traffic sign. For already in the
Image of the first image capture device available, but still far
Road signs removed from the motor vehicle generally exist
no interest in receiving information. The distance-dependent representation
The information can therefore be an irritation of the driver as well
avoid sensory overload.
The invention also relates to a motor vehicle comprising at least
two image recording devices, a control device and a
Display means. With particular advantage, an image recording device
be designed as a photonic mixer device camera. Such cameras
Among other things, they also provide distance information and complete the
from normal cameras so to speak data thus won.
Advantages, features and details of the invention will become apparent
the embodiments described below and with reference to the
1 a motor vehicle according to the invention,
2 a mask information generated with an image,
3 the representation of a combined output on a display device in a first embodiment,
4 the representation of a combined output on a display device in a second embodiment, and
5 the representation of a combined output on a display device in a third embodiment.
The car 1 according to 1 points next to the image capture devices 2 and 3 also a display device 4 and a controller 15 on. In the image pickup device 3 it is a PMD camera, from whose data not only signal intensities but also distances can be obtained.
This data is therefore well suited for identifying traffic signs or traffic-occupied areas in the image data. Traffic signs are flat, smooth structures, which are additionally made of reflective material and which are set up perpendicular to the roadway direction. Therefore, in images of PMD cameras, the signal intensity of traffic signs is particularly high compared to other objects of the same distance. From the picture 5 the image pickup device 3 , that is, the PMD camera, can thus an area by simple threshold usage 6 and an area 7 be differentiated as in 2 to see is. In the area 6 are image elements of lower signal intensity encountered while in the field 7 there is a higher signal intensity of the picture elements. In the area 7 is therefore most likely a traffic sign. Should such a simple threshold value setting not be sufficient, the distance information available for the picture elements can additionally be used. Then, in addition to the signal intensity, a certain distance distance value would have to be exceeded in order to reach the area 7 from the field 6 to distinguish. Of course, you can also use several areas 7 in the picture 5 depending on how many traffic signs are in the recording area of the PMD camera.
3 shows the representation of a combined output on a display device 8th , The display device 8th (eg LCD display) is between the number of revolutions display 10 and the speedometer 11 arranged in the dashboard of the motor vehicle. In the picture 9 the camera 2 the vehicle apron is shown, evidently the motor vehicle is on a highway 12 with several lanes. In the motor vehicle apron is a traffic sign 13 to recognize, due to the distance between the traffic signs 13 and the motor vehicle 1 in the picture 9 the display device 8th the information content of the traffic sign 13 only with difficulty can be found. To provide the driver now with improved information is the image of the image pickup device 2 the symbol representation 14 superimposed. The symbol representation 14 gives exactly the traffic sign 13 again, with the symbol representation 14 compared to the traffic sign 13 is shown enlarged. Through a quick look at the picture 9 the display device 8th Thus, the driver can detect which traffic sign is in the vehicle apron, although it is barely recognizable to the naked eye.
Alternatively, it is also conceivable how 4 shows only a partial area 16 of the picture 9 magnified and the picture 9 to overlay. The the traffic sign 13 containing image area can via the image pickup device 3 first as an area 7 are identified, wherein the pixels to be displayed enlarged are added to a square area. This procedure allows a representation of the traffic signs without any analysis of the image area, whereby computing capacity can be spared. The enlargement of the subarea 16 of the picture 9 that the traffic sign 13 contains, as is common in digital image data, a coarsening and a raster-like appearance of the subarea 16 , The greater the distance of the motor vehicle 1 to the traffic sign 13 is, the fewer pixels the traffic sign fills 13 in the picture 9 off, and the higher the zoom level must be that the driver is the subarea 16 Information can take. At the same time, the representation of the subarea 16 this, of course, blurred. Fills the traffic sign 13 Too few picture elements, in order to allow a meaningful enlargement, it therefore makes sense, the subarea 16 only from a certain distance to the traffic sign 13 previously to indicate only the presence of a traffic sign by means of a symbol representation.
5 shows the different representability of the information regarding the traffic signs due to a categorization made. While in 4 the sub-area containing the traffic sign 16 has been shown greatly enlarged to inform the driver about the information content of the traffic sign, the procedure is changed upon detection of an intrinsically irrelevant traffic sign. The control device 5 of course has access to many vehicle-relevant information via a bus, in particular also to the time of a clock 17 , Because the traffic sign 13 not only indicates a speed limit, but its validity is limited to a certain time, here 22:00 o'clock-06: 00, the control device 15 by analyzing the traffic sign 13 as well as using the time of the clock 17 notice that the traffic sign at the time of driving the highway 12 not to be considered. Instead of the two-part traffic signs 13 completely and as in 4 show enlarged, now only the time-limiting part of the traffic sign and this is also shown only minimally enlarged. Without the driver the time values of the subarea 16 He has to be able to analyze exactly, so that he can see very quickly that there is a traffic sign in front of him that is subject to a time limit and that is currently irrelevant. This leaves the driver with a more accurate analysis of the subarea 16 spared. Analogously, of course, the representation of the symbol representation 14 be modified. As a result, the driver is always provided with the necessary information without forcing him to analyze useless information. It is also conceivable not to highlight the traffic sign as a result of the non-given relevance.