DE102008054041B3 - Method for outputting of image of image recording device with information to display device i.e. LCD-device, in motor vehicle i.e. passenger car, involves considering intensity of image recorded by recording device as image information - Google Patents

Method for outputting of image of image recording device with information to display device i.e. LCD-device, in motor vehicle i.e. passenger car, involves considering intensity of image recorded by recording device as image information

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Publication number
DE102008054041B3
DE102008054041B3 DE102008054041A DE102008054041A DE102008054041B3 DE 102008054041 B3 DE102008054041 B3 DE 102008054041B3 DE 102008054041 A DE102008054041 A DE 102008054041A DE 102008054041 A DE102008054041 A DE 102008054041A DE 102008054041 B3 DE102008054041 B3 DE 102008054041B3
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DE
Germany
Prior art keywords
image
information
device
traffic sign
characterized
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.)
Active
Application number
DE102008054041A
Other languages
German (de)
Inventor
Gernot Rüb
Kristin Schönherr
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.)
Audi AG
Audi Electronics Venture GmbH
Original Assignee
Audi AG
Audi Electronics Venture GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Audi AG, Audi Electronics Venture GmbH filed Critical Audi AG
Priority to DE102008054041A priority Critical patent/DE102008054041B3/en
Application granted granted Critical
Publication of DE102008054041B3 publication Critical patent/DE102008054041B3/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/302Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/307Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene

Abstract

The method involves detecting information under consideration of image information of an image recorded by an image recording device (3), where the information relates to traffic signs in a vehicle front end. The recording device is designed as a photonic mixer device-camera, and signal intensity of the image recorded by the recording device is considered as the image information. The representation of a partial area of the image or symbol representation is enlarged during approximation of a motor vehicle (1) to the traffic signs. An independent claim is also included for a motor vehicle comprising two image recording devices and a control device.

Description

  • The 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.
  • From 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 existing obstacles this at a disproportionate expense, to keep the data up to date.
  • speed limits and other traffic related regulations will be Driver usually 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 perform, 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 being affected.
  • 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.
  • Of the 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.
  • to solution 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 becomes.
  • 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.
  • With 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. For transmission 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 transferred to.
  • advantageously, 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.
  • The 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.
  • Preferably can be the representation of the subarea or symbol representation when approaching 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 Size strong is enlarged, 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 a distance-dependent 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. Thereby can 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.
  • Besides 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.
  • Further Advantages, features and details of the invention will become apparent the embodiments described below and with reference to the Drawings. Showing:
  • 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.

Claims (11)

  1. A method for the combined output of a vehicle front apron of a motor vehicle showing image of a first image pickup device with at least one located in the vehicle front traffic sign information on a display device in the motor vehicle, the information taking into account at least one image information with a second Bildaufnah Means device detected image is determined, characterized in that the second image recording device is designed as a photonic mixer device camera and as image information, the signal intensity of the captured by the second image pickup device image is taken into account.
  2. Method according to claim 1, characterized in that that as information containing the traffic sign and in the Compared to the rest of the image enlarged displayed partial area the image of the first image pickup device is used.
  3. Method according to claim 2, characterized in that that the geometry of the subarea uses a square shape becomes.
  4. A method according to claim 2, characterized in that the geometry of the subarea to the geometry of the traffic sign is adjusted.
  5. Method according to claim 1, characterized in that that as information relating to the traffic sign Symbol representation is used.
  6. Method according to one of the preceding claims, characterized characterized in that the traffic sign is classified and dependent From this the presentation of the information is made.
  7. Method according to Claim 6, characterized that the classification is dependent the presence of a red border of the traffic sign is performed.
  8. Method according to one of claims 2 to 7, characterized that the representation of the subarea or the symbol representation when approaching 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 becomes.
  9. Method according to one of the preceding claims, characterized characterized in that the information is from a predetermined distance of the motor vehicle is displayed to the traffic sign.
  10. Motor vehicle comprising at least two image recording devices, a control device and a display device, formed to carry out the method according to any one of the preceding claims, wherein an image pickup device designed as a photonic mixer device camera is.
  11. Motor vehicle according to claim 10, characterized in that that the display device is arranged in the dashboard.
DE102008054041A 2008-10-31 2008-10-31 Method for outputting of image of image recording device with information to display device i.e. LCD-device, in motor vehicle i.e. passenger car, involves considering intensity of image recorded by recording device as image information Active DE102008054041B3 (en)

Priority Applications (1)

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DE102008054041A DE102008054041B3 (en) 2008-10-31 2008-10-31 Method for outputting of image of image recording device with information to display device i.e. LCD-device, in motor vehicle i.e. passenger car, involves considering intensity of image recorded by recording device as image information

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DE102008054041A DE102008054041B3 (en) 2008-10-31 2008-10-31 Method for outputting of image of image recording device with information to display device i.e. LCD-device, in motor vehicle i.e. passenger car, involves considering intensity of image recorded by recording device as image information

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DE102008054041B3 true DE102008054041B3 (en) 2010-06-10

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3039309A1 (en) * 2015-07-24 2017-01-27 Renault Sa Method and system for displaying a direction panel of the road scene for a motor vehicle
DE102016220647A1 (en) * 2016-10-20 2018-04-26 Audi Ag A method of presenting at least one supplementary difference lane equipment

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19736774A1 (en) * 1997-08-23 1999-02-25 Bosch Gmbh Robert Information display method in vehicle
DE102004061998A1 (en) * 2004-12-23 2006-07-06 Robert Bosch Gmbh Stereo camera for a motor vehicle
DE102006008656A1 (en) * 2006-02-24 2007-08-30 Audi Ag Motor vehicle with a device for traffic sign recognition
DE102007004349A1 (en) * 2007-01-29 2008-07-31 Robert Bosch Gmbh Night vision system, especially for a vehicle, and method of creating a night vision image

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19736774A1 (en) * 1997-08-23 1999-02-25 Bosch Gmbh Robert Information display method in vehicle
DE102004061998A1 (en) * 2004-12-23 2006-07-06 Robert Bosch Gmbh Stereo camera for a motor vehicle
DE102006008656A1 (en) * 2006-02-24 2007-08-30 Audi Ag Motor vehicle with a device for traffic sign recognition
DE102007004349A1 (en) * 2007-01-29 2008-07-31 Robert Bosch Gmbh Night vision system, especially for a vehicle, and method of creating a night vision image

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3039309A1 (en) * 2015-07-24 2017-01-27 Renault Sa Method and system for displaying a direction panel of the road scene for a motor vehicle
WO2017017359A1 (en) * 2015-07-24 2017-02-02 Renault S.A.S Method and system for displaying a direction sign of the road scene for a motor vehicle
DE102016220647A1 (en) * 2016-10-20 2018-04-26 Audi Ag A method of presenting at least one supplementary difference lane equipment

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