DE102008062154B4 - Control of a camera system of a motor vehicle and driver assistance system - Google Patents
Control of a camera system of a motor vehicle and driver assistance system Download PDFInfo
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- DE102008062154B4 DE102008062154B4 DE102008062154.4A DE102008062154A DE102008062154B4 DE 102008062154 B4 DE102008062154 B4 DE 102008062154B4 DE 102008062154 A DE102008062154 A DE 102008062154A DE 102008062154 B4 DE102008062154 B4 DE 102008062154B4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- Signal Processing (AREA)
- Automation & Control Theory (AREA)
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Abstract
Verfahren zur Steuerung eines Kamera-Systems (1) eines Kraftfahrzeugs, wobei mindestens eine Applikation eines Fahrerassistenzsystems des Kraftfahrzeugs auf der Auswertung der Bilder des Kamera-Systems (1) beruht,jeder Applikation des Fahrerassistenzsystems ein Parametersatz von Bildaufnahmeparametern zugeordnet ist, der zur Steuerung der Bildaufnahme des Kamera-Systems (1) verwendet wird,die Bildaufnahmeparameter eines Parametersatzes eine Funktion der Umgebungssituation des Kraftfahrzeugs sind, unddie Umgebungssituation durch eine Situationsanalyse des Umfelds des Kraftfahrzeugs bestimmt wird,dadurch gekennzeichnet, dassdie Situationsanalyse auf einer Datenfusion der Daten der Umgebungssensoren (3) des Kraftfahrzeugs und den Daten des Kamera-Systems (1) des Kraftfahrzeugs basiert, und die Kameradaten einer Autokalibrierung unterzogen werden.A method for controlling a camera system (1) of a motor vehicle, wherein at least one application of a driver assistance system of the motor vehicle is based on the evaluation of the images of the camera system (1), each application of the driver assistance system is assigned a parameter set of image recording parameters that is used to control the Image recording of the camera system (1) is used, the image recording parameters of a set of parameters are a function of the surrounding situation of the motor vehicle, and the surrounding situation is determined by a situation analysis of the surroundings of the motor vehicle, characterized in that the situation analysis is based on a data fusion of the data from the surrounding sensors (3) of the motor vehicle and the data of the camera system (1) of the motor vehicle, and the camera data are subjected to an auto calibration.
Description
Die vorliegende Erfindung betrifft ein Verfahren zur Steuerung eines Kamera-Systems eines Kraftfahrzeugs sowie ein Fahrerassistenzsystem mit einem derartig gesteuerten Kamera-System.The present invention relates to a method for controlling a camera system of a motor vehicle and to a driver assistance system with a camera system controlled in this way.
Derzeit sind Kamera- oder bilderzeugende Systeme im automotiven Bereich zur Fahrstreifen- und Objektdetektion im Einsatz, insbesondere bei Fahrzeugen der gehobenen Klasse.Camera or image-generating systems are currently in use in the automotive sector for lane and object detection, especially in upper-class vehicles.
So wird in der
Des weiteren beschreibt die
Ferner beschreibt die
Die Druckschrift
Die Kamera-Systeme in den genannten bekannten Anwendungen sind abgestimmt auf die Anforderungen der speziellen Applikation und haben festgelegte Kameraeinstellungen. Da nun Kameras nach und nach immer weiter Einzug in Kraftfahrzeuge halten werden, um damit komplexere Fahrerassistenzfunktionen zu unterstützen, ist es aus wirtschaftlichen Gründen und Gründen des verfügbaren Bauraums geboten, dass ein einzelnes Kamera-System für mehrere Fahrerassistenzfunktionen gleichzeitig genutzt wird.The camera systems in the known applications mentioned are tailored to the requirements of the special application and have fixed camera settings. Since cameras are now gradually finding their way into motor vehicles in order to support more complex driver assistance functions, it is necessary for economic reasons and reasons of the available installation space that a single camera system is used for several driver assistance functions at the same time.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren zur Steuerung eines Kamera-Systems eines Kraftfahrzeuges sowie einen entsprechenden Fahrerassistenten zu schaffen, so dass das Kamera-System für verschiedene Fahrerassistenzapplikationen verwendet werden kann.The invention is therefore based on the object of creating a method for controlling a camera system of a motor vehicle and a corresponding driver assistant so that the camera system can be used for various driver assistance applications.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Anspruchs 1 sowie durch einen Fahrerassistenten mit den Merkmalen des Anspruchs 6 gelöst. Bevorzugte Ausführungsformen der Erfindung sind Gegenstand der Unteransprüche.This object is achieved by a method with the features of
Das erfindungsgemäße Verfahren zur Steuerung eines Kamera-Systems eines Kraftfahrzeugs, wobei mindestens eine Applikation eines Fahrerassistenzsystems auf der Auswertung der Bilder des Kamera-Systems beruht, ordnet jeder Applikation des Fahrerassistenzsystems einen Parametersatz von Bildaufnahmeparametern zu, der zur Steuerung der Bildaufnahme des Kamera-Systems verwendet wird. Dabei sind die Bildaufnahmeparameter eines Parametersatzes eine Funktion der Umgebungssituation des Kraftfahrzeugs, wobei die Umgebungssituation durch eine Situationsanalyse des Umfelds des Kraftfahrzeugs bestimmt wird.The method according to the invention for controlling a camera system of a motor vehicle, with at least one application of a driver assistance system based on the evaluation of the images from the camera system, assigns each application of the driver assistance system to a set of image recording parameters that are used to control the image recording of the camera system will. The image recording parameters of a parameter set are a function of the surrounding situation of the motor vehicle, the surrounding situation being determined by a situation analysis of the surroundings of the motor vehicle.
Damit wird für jede vom Fahrerassistenzsystem gerade ausgeführte Applikation der entsprechende Parametersatz in das Kamera-System geladen und zur Ausführung gebracht, so dass das Kamera-System die für die jeweilige Applikation notwendigen Bilder liefern kann. In this way, for each application currently being executed by the driver assistance system, the corresponding parameter set is loaded into the camera system and executed so that the camera system can supply the images required for the respective application.
Dabei basiert die Situationsanalyse auf einer Datenfusion der Daten der Umgebungssensoren des Kraftfahrzeugs und den Daten des Kamera-Systems des Kraftfahrzeugs, wobei die Kameradaten einer Autokalibrierung unterzogen werden.The situation analysis is based on a data fusion of the data from the environmental sensors of the motor vehicle and the data from the camera system of the motor vehicle, with the camera data being subjected to an auto calibration.
Vorzugsweise enthält ein Parametersatz mindestens einen Bildaufnahmeparameter. Dabei können die folgenden Bildaufnahmeparameter in Frage kommen: die Belichtungszeit, der zu analysierende Bildausschnitt, die Abtastung des Bildes oder des gewünschten Bildausschnitts, die Reichweite und der Öffnungswinkel des Kamera-Systems, der Zoomfaktor des Kamera-Systems. Die Liste der aufgezählten Bildaufnahmeparameter des Kamera-Systems erhebt dabei keinen Anspruch auf Vollständigkeit, weitere Bildaufnahmeparameter, wie Schwenkwinkel der Kamera seitwärts oder nach oben oder unten, Änderung der Bildaufnahme und der Abtastfrequenz des Kamera-Systems fallen hier ebenfalls darunter. Mit anderen Worten, ein derartiger Parametersatz für eine Applikation des Fahrerassistenzsystems enthält die zur Steuerung der Kamera notwendigen Bildaufnahmeparameter.A parameter set preferably contains at least one image recording parameter. The following image acquisition parameters can be considered: the exposure time, the image section to be analyzed, the scanning of the image or the desired image section, the range and the opening angle of the camera system, the zoom factor of the camera system. The list of the enumerated image recording parameters of the camera system does not claim to be complete, Other image recording parameters, such as the tilt angle of the camera sideways or up or down, changes in the image recording and the scanning frequency of the camera system are also included here. In other words, such a parameter set for an application of the driver assistance system contains the image recording parameters necessary for controlling the camera.
Vorzugsweise sind die Parametersätze der einzelnen Applikationen unterschiedlich, wobei dies der Extremfall ist. Es kann sein, dass mehrere Applikationen für die Steuerung des Kamera-Systems denselben Parametersatz verwenden, es kann jedoch auch sein, dass jede Applikation einen Parametersatz benötigt, der von allen anderen Parametersätzen unterschiedlich ist.The parameter sets of the individual applications are preferably different, this being the extreme case. It is possible that several applications use the same parameter set to control the camera system, but it is also possible that each application requires a parameter set that is different from all other parameter sets.
Vorzugsweise können die Bildaufnahmeparameter eines Parametersatzes einer Applikation variabel sein und beispielsweise eine Funktion der aktuellen Umgebungssituation sein. Dabei kommen als Umgebungssituationen Umgebungslichtbedingungen, Spurwechselsituationen, Kurvenfahrt des Kraftfahrzeugs, die Art der Straße, die Art der Spurmarkierung der Straße und die Art des Verkehrs, d.h., Stadtverkehr oder beispielsweise Autobahnverkehr, in Frage. Es ist offensichtlich, dass die Belichtungszeit der Kamera eine Funktion des Umgebungslichtes sein muss, da beispielsweise eine Kamera eine andere Belichtungszeit im Tunnel oder in der Dämmerung im Vergleich zum Tageslicht benötigt.The image recording parameters of a parameter set of an application can preferably be variable and, for example, be a function of the current environmental situation. Ambient light conditions, lane change situations, cornering of the motor vehicle, the type of road, the type of lane marking of the road and the type of traffic, i.e. city traffic or, for example, highway traffic, come into consideration as ambient situations. It is obvious that the camera's exposure time must be a function of the ambient light, since a camera, for example, requires a different exposure time in a tunnel or in twilight compared to daylight.
Unter Applikationen eines Fahrerassistenzsystems werden vorzugsweise Fahrassistenzfunktionen verstanden.Applications of a driver assistance system are preferably understood to mean driver assistance functions.
Das erfindungsgemäße Fahrerassistenzsystem zur Durchführung des im voran gegangenen beschriebenen Verfahrens umfasst ein Kamera-System zur Bereitstellung von Bilddaten für einzelne Applikationen des Fahrerassistenzsystems, wobei jeder Applikation, die auf einer Auswertung der Bilder des Kamera-Systems beruht, ein Parametersatz vom Bildaufnahmeparametern zugeordnet ist, die zur Steuerung der Bildaufnahme des Kamera-Systems dient.The driver assistance system according to the invention for performing the method described above comprises a camera system for providing image data for individual applications of the driver assistance system, with each application that is based on an evaluation of the images of the camera system being assigned a parameter set of the image recording parameters is used to control the image recording of the camera system.
Weiter wird vorzugsweise das Kamera-System durch eine Einzelkamera oder eine Stereo-Kamera-Anordnung gebildet.Furthermore, the camera system is preferably formed by a single camera or a stereo camera arrangement.
Eine bevorzugte Ausführungsform der Erfindung wird nachfolgend anhand der Zeichnungen beschrieben. Dabei zeigt:
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1 das Konzept der intelligenten Nutzung von Kamera-Systemen in schematischer Darstellung, -
2 ein Beispiel der Steuerung der Belichtungszeit, -
3 ein Beispiel einer individuellen Steuerung des Bildausschnitts, und -
4 ein Beispiel einer individuellen Abtastung des Bildes.
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1 the concept of the intelligent use of camera systems in a schematic representation, -
2 an example of controlling the exposure time, -
3 an example of an individual control of the image section, and -
4th an example of an individual scan of the image.
Das in
BezugszeichenlisteList of reference symbols
- 11
- Kameracamera
- 22
- optische/digitale Steuerungoptical / digital control
- 33
- weitere Sensorenfurther sensors
- 44th
- Kamera-AutokalibrierungCamera auto-calibration
- 55
- SensordatenfusionSensor data fusion
- 66th
- SituationsanalyseSituation analysis
- 77th
- erster Bildausschnittfirst image section
- 88th
- zweiter Bildausschnittsecond image section
- 99
- grobe Abtastungrough sampling
- 1010
- feine Abtastungfine scanning
Claims (7)
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DE102008062154.4A DE102008062154B4 (en) | 2008-12-16 | 2008-12-16 | Control of a camera system of a motor vehicle and driver assistance system |
PCT/EP2009/008836 WO2010075944A1 (en) | 2008-12-16 | 2009-12-10 | Controller of a camera system of a motor vehicle |
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DE102008062154.4A DE102008062154B4 (en) | 2008-12-16 | 2008-12-16 | Control of a camera system of a motor vehicle and driver assistance system |
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DE102008062154A1 DE102008062154A1 (en) | 2010-06-17 |
DE102008062154B4 true DE102008062154B4 (en) | 2021-08-26 |
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DE102015216993A1 (en) | 2015-09-04 | 2017-03-09 | Bayerische Motoren Werke Aktiengesellschaft | Improved process for recording a scene, especially in a critical exposure situation |
Citations (7)
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DE19801884A1 (en) | 1998-01-20 | 1999-07-22 | Mannesmann Vdo Ag | CCTV monitoring system for blind spots around motor vehicle |
DE102004015040A1 (en) | 2004-03-26 | 2005-10-13 | Robert Bosch Gmbh | Camera in a motor vehicle |
DE102004037871B4 (en) | 2004-08-04 | 2006-10-12 | Siemens Ag | Optical module for an outer vestibule in the direction of travel of a motor vehicle detecting assistance system |
DE102006007550A1 (en) | 2005-02-25 | 2006-11-09 | Volkswagen Ag | Roadway markings detecting method for motor vehicle, involves analyzing pixels in such a manner that roadway markings for vehicle are detected, and using ridge-operator as image recognition operator during analysis of pixels |
DE102005050662A1 (en) | 2005-10-20 | 2007-04-26 | Volkswagen Ag | Expressway assistance for semi autonomous driving for motor vehicle, has steering assistance to which additional steering moment of preset dimension and duration is applied in right-hand traffic to left and left-hand traffic to right |
DE102006052059A1 (en) | 2006-11-04 | 2008-05-08 | Leopold Kostal Gmbh & Co. Kg | Method for operating a photoelectric sensor array |
DE102007011276A1 (en) | 2007-03-08 | 2008-09-11 | Volkswagen Ag | Automobile driver assistance system calculates and regulates change of direction |
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JP3287117B2 (en) * | 1994-07-05 | 2002-05-27 | 株式会社日立製作所 | Environment recognition device for vehicles using imaging device |
FR2785434B1 (en) * | 1998-11-03 | 2003-05-16 | Renault | METHOD FOR ASSISTING THE DRIVING OF A VEHICLE AND DEVICE FOR IMPLEMENTING IT |
WO2005006756A1 (en) * | 2003-07-11 | 2005-01-20 | Hitachi, Ltd. | Image processing camera system and image processing camera control method |
DE502005003754D1 (en) * | 2004-05-25 | 2008-05-29 | Vdo Automotive Ag | MONITORING UNIT NEBST ASSISTANCE SYSTEM FOR MOTOR VEHICLES |
JP4979289B2 (en) * | 2006-07-21 | 2012-07-18 | 日立オートモティブシステムズ株式会社 | Image processing device |
ATE519193T1 (en) * | 2006-12-06 | 2011-08-15 | Mobileye Technologies Ltd | DETECTION AND RECOGNITION OF TRAFFIC SIGNS |
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2008
- 2008-12-16 DE DE102008062154.4A patent/DE102008062154B4/en active Active
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- 2009-12-10 WO PCT/EP2009/008836 patent/WO2010075944A1/en active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19801884A1 (en) | 1998-01-20 | 1999-07-22 | Mannesmann Vdo Ag | CCTV monitoring system for blind spots around motor vehicle |
DE102004015040A1 (en) | 2004-03-26 | 2005-10-13 | Robert Bosch Gmbh | Camera in a motor vehicle |
DE102004037871B4 (en) | 2004-08-04 | 2006-10-12 | Siemens Ag | Optical module for an outer vestibule in the direction of travel of a motor vehicle detecting assistance system |
DE102006007550A1 (en) | 2005-02-25 | 2006-11-09 | Volkswagen Ag | Roadway markings detecting method for motor vehicle, involves analyzing pixels in such a manner that roadway markings for vehicle are detected, and using ridge-operator as image recognition operator during analysis of pixels |
DE102005050662A1 (en) | 2005-10-20 | 2007-04-26 | Volkswagen Ag | Expressway assistance for semi autonomous driving for motor vehicle, has steering assistance to which additional steering moment of preset dimension and duration is applied in right-hand traffic to left and left-hand traffic to right |
DE102006052059A1 (en) | 2006-11-04 | 2008-05-08 | Leopold Kostal Gmbh & Co. Kg | Method for operating a photoelectric sensor array |
DE102007011276A1 (en) | 2007-03-08 | 2008-09-11 | Volkswagen Ag | Automobile driver assistance system calculates and regulates change of direction |
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WO2010075944A1 (en) | 2010-07-08 |
DE102008062154A1 (en) | 2010-06-17 |
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