DE102018209809A1 - Process for creating a light map - Google Patents

Abstract

The invention relates to a method for creating a light map (390) of an environment (100), in particular a light map (390), which can be used, for example, to control a headlight (150) of a vehicle (140). The method has the following steps: a) illuminating the environment (100) with the headlight (150) of the vehicle (140); b) capturing the environment (100) as an environment image (300) using a camera (200); c) Dividing the surrounding image (300) into a predefined number of analysis areas (310); d) determining a brightness for each analysis area (310), the light map (390) determining the brightness of each analysis area (310).

Description

The invention relates to a method for producing a light card, in particular a light card, which can be used, for example, to control a headlight of a vehicle. It also relates to uses, a program element and a computer-readable medium.

Methods for controlling a headlight of a vehicle use information that describes where the light of the headlight should not fall or with reduced brightness. However, this does not allow an overview of the lighting situation, so that the control of the headlights becomes less efficient and also does not allow any optimization of the lighting situation.

It is an object of the present invention to at least partially overcome the disadvantages. The object is achieved by the subject matter of the independent claims. Advantageous embodiments are the subject of the dependent claims, the following description and the figures.

1. a) Beleuchten der Umgebung mit dem Scheinwerfer des Fahrzeugs. Dies kann bei Nacht oder auch bei Tag geschehen. Insbesondere weil dieses Verfahren für eine Vielzahl von Verwendungen geeignet ist, kann es auch sowohl künstliche Lichtquellen - wie z.B. andere Scheinwerfer oder Straßenbeleuchtung - als auch natürliche Lichtquellen berücksichtigen. Das Verfahren kann daher z.B. auch Blendung durch Reflexionen verhindern.
2. b) Erfassen der Umgebung als Umgebungsbild, mittels einer Kamera. Die kann mittels einer Kamera, aber auch mittels mehrere Kameras geschehen. Die Kamera, bzw. Kameras, können in einer Ausführungsform, einen Erfassungswinkel von kleiner oder gleich 180° aufweisen, sie können - in einer anderen Ausführungsform - einen Erfassungswinkel von größer 180° aufweisen, in einer Ausführungsform auch eine Rundumerfassung realisieren, d.h. einen Erfassungswinkel von 360° aufweisen. Vertikal kann die Kamera einen Winkel bis zum Zenit aufweisen.
3. c) Aufteilen des Umgebungsbildes in eine vordefinierte Anzahl von Analysegebieten. Dabei können die Analysegebiete gleich groß oder auch unterschiedlich groß sein. In einer Ausführungsform wird nicht das gesamte Umgebungsbild berücksichtigt, sondern es bleiben Teile, z.B. in Bodennähe, unberücksichtigt.
4. d) Bestimmen einer Helligkeit für jedes Analysegebiet, wobei die Lichtkarte die Helligkeit jedes Analysegebiets ermittelt. Dieses Verfahren ermöglicht damit einen Überblick über die Beleuchtungssituation in Art einer Karte. Auch kann diese Karte genutzt werden, um damit eine gezielte Optimierung der Beleuchtungssituation durchzuführen, sowohl um eigene Blendung zu reduzieren als auch um die Blendung anderer zu reduzieren. Eine weitere Optimierung, die damit möglich ist, ist eine möglichst energiesparende Beleuchtung.

A method for creating a light map of an environment for controlling a headlight of a vehicle has the following steps:

1. a) Illuminate the surroundings with the headlights of the vehicle. This can happen at night or during the day. In particular, because this method is suitable for a large number of uses, it can also take into account both artificial light sources - such as other headlights or street lighting - and natural light sources. The method can therefore also prevent glare from reflections, for example.
2. b) Capturing the surroundings as a surrounding image using a camera. This can be done with one camera, but also with multiple cameras. In one embodiment, the camera or cameras can have a detection angle of less than or equal to 180 °, they can - in another embodiment - have a detection angle of greater than 180 °, and in one embodiment can also realize an all-round detection, ie a detection angle of Have 360 °. Vertically, the camera can have an angle up to the zenith.
3. c) dividing the surrounding image into a predefined number of analysis areas. The analysis areas can be the same size or different sizes. In one embodiment, the entire environment is not taken into account, but parts, for example near the ground, are disregarded.
4. d) determining a brightness for each analysis area, the light map determining the brightness of each analysis area. This method thus provides an overview of the lighting situation in the form of a map. This card can also be used to perform a targeted optimization of the lighting situation, both to reduce your own glare and to reduce the glare of others. Another optimization that is possible with this is the most energy-saving lighting possible.

In one embodiment, the number of analysis areas is determined by the number of headlights. For example, two headlights can be divided into two, four, six or eight analysis areas. In the case of matrix headlights, there can be a division into, for example, 10 to 100 analysis areas. With so-called “pixel light”, which can have hundreds of spotlights, the division can take place in a similar number of analysis areas. Oversampling is also possible, i.e. there may be more analysis areas than spotlights to improve optimization.

In one embodiment, the brightness determined for each analysis area is the arithmetic, geometric or weighted average of the measured analysis area. The weighting can be done geographically, e.g. by the upper, i.e. the part of an analysis area pointing to the sky is weighted differently than the lower one, i.e. the section of the analysis area facing the ground.

In one embodiment, the environment is recorded several times, in particular regularly. For example, the environment can be recorded more than 10 times per second, in particular more than 1000 times per second. This is particularly advantageous in order to understand the migration of a light source. However, this can also be used to improve the quality of analysis, e.g. when a surrounding image has become blurred, for example caused by the vehicle shaking vigorously. Or short flashes of light, e.g. caused by brief reflections can be neglected.

In one embodiment, steps a) to d) are carried out several times, in particular regularly. This enables a dynamic reaction to changes in the lighting conditions, in particular together with a frequent recording of the surroundings.

• a) ersetzt durch einen Schritt a*), mit
• a*) Reduziertes Beleuchten der Umgebung, durch kurzzeitiges Ausschalten oder Dimmen des Scheinwerfers.

In one embodiment, the step becomes every Nth time

• a) replaced by a step a *), with
• a *) Reduced lighting of the surroundings by briefly switching off or dimming the headlamp.

For example, the N can be between 10 and 1000 lie. In this embodiment, a distinction can advantageously be made between light sources, for example from other vehicles, and reflecting surfaces which reflect the light from the driver's headlight.

This reduced lighting of the environment is a very short pause, e.g. a brief switch-off of one, several or all of your own headlights. In one embodiment, the headlights are not switched off completely, but their brightness is only reduced by a defined amount. The length of the break also depends on the type of headlights; halogen lamps have a longer afterglow time than e.g. LEDs.

In one embodiment, the brightness of the headlights is reduced for less than 500 ms, for example for less than 100 ms, in particular for less than 10 ms. This is particularly advantageous if, because of the short pause, the driver does not notice the switch-off and therefore does not bother him.

• e) Erstellen einer erweiterten Lichtkarte, durch Attributieren der Analysegebiete mit Eigenschaften eines Umgebungsmodells, wobei jedes der Analysegebiete des Umgebungsbildes einem der Teilgebiete des Umgebungsmodells entspricht.

In one embodiment, the method has a further step:

• e) Creation of an extended light map, by attributing the analysis areas with properties of an environment model, each of the analysis areas of the environment image corresponding to one of the sub-areas of the environment model.

An environmental model of a vehicle uses data that have been derived, for example, from cameras, radar devices, laser devices, navigation data, etc. They include e.g. a model of the road. For some vehicles, the environmental model is e.g. used for distance or collision assistants. When attributing the analysis areas, some of the properties of the environment model are used, for example the property "oncoming lane". An extended light card in particular enables faster and / or easier identification of whether certain light sources, e.g. from other vehicles or from street lights. In one embodiment, the properties of the environment model can be used to recognize people and illuminate them more than the environment. This further improves possible reactions to the lighting conditions.

• f) Senden der Lichtkarte an ein Steuergerät und Ansteuerung des Scheinwerfers, abhängig von der Lichtkarte, mittels des Steuergeräts.

In one embodiment, the method has a further step:

• f) sending the light card to a control device and controlling the headlight, depending on the light card, by means of the control device.

This is particularly advantageous to protect other road users from glare. However, this can also help the driver to be less blinded by reflections from his own headlights, e.g. on a window glass or a highly reflective traffic sign or the rear of a vehicle in front. In one embodiment, headlights with invisible light - e.g. Infrared or ultraviolet - can be used, for example, to show potential sources of danger particularly clearly on a head-up display.

• g) Senden der Lichtkarte an ein Steuergerät und Ansteuerung eines dimmbaren Fensters, insbesondere einer dimmbaren Windschutzscheibe, abhängig von der Lichtkarte, mittels des Steuergeräts. Dabei sind die Schritte f) und g) im Prinzip unabhängig; sie können aber auch kombiniert werden.

In one embodiment, the method has a further step:

• g) sending the light card to a control device and controlling a dimmable window, in particular a dimmable windshield, depending on the light card, by means of the control device. In principle, steps f) and g) are independent; but they can also be combined.

This makes it possible to further reduce the driver's glare, either as a single measure or together with the dimming of one or more headlights. The windshield, rear window or side windows can be dimmed. The rear view mirror or side mirror can also be dimmed using this procedure.

The invention also includes the use of a light card for controlling a headlight, in particular a plurality of headlights, of a vehicle. With this e.g. effectively prevent the glare of other road users.

The invention further includes the use of a light card for controlling a dimmable window, in particular a dimmable windshield, of a vehicle. In particular, this can reduce the glare of the driver or passengers.

The invention also includes a control unit which is connected to a camera as described above and which is set up to carry out the method described above.

The invention also includes a program element which, when on a control unit is executed, the control unit instructs to carry out the method described above.

The invention further comprises a computer-readable medium on which a program element, as described above, is stored.

For further clarification, the invention is described with reference to the embodiment shown in the figures. These embodiments are only to be understood as an example, but not as a limitation.

• 1: ein Beispielszenario, das ein Fahrzeug mit einer Umgebung mit mehreren Lichtquellen aufweist;
• 2a: ein beispielhaftes Umgebungsbild mit einer Vielzahl von Analysegebieten;
• 2b: ein Beispiel für eine Lichtkarte mit mehreren Messwerten der Helligkeit;
• 3: eine Übersicht über ein Verfahren zur Erstellung einer Lichtkarte.

Show:

• 1 : an example scenario involving a vehicle with an environment with multiple light sources;
• 2a : An exemplary environment image with a variety of analysis areas;
• 2 B : an example of a light card with several measured values of brightness;
• 3 : an overview of a process for creating a light card.

1 shows an example scenario in which the mentioned method can be applied. There is a vehicle 140 pictured that two headlights 150 having. The headlights 150 can be from several, in particular from a variety of (partial) headlights 150 consist. Furthermore is on the vehicle 140 a camera 200 arranged. In the example shown, this points forward. The camera 200 can for example be arranged in the mirror base. This camera 200 is set up to the environment 100 to capture and thus a picture of the surroundings 300 to create. It's just a camera 200 shown; however, several cameras can also be used 200 can be used, for example environmental images 300 from a so-called surround view camera, which captures the surroundings 100 captured at a 360 ° angle.

The headlights 150 and the camera 200 are connected to a control unit 190 connected. This control unit 190 is particularly set up to the surrounding image 300 from the camera 200 to analyze and the headlights 150 to control accordingly. The camera 200 is still with the dimmable windshield 170 connected, also by means of the control unit 190 can be controlled. The environment 100 has two light sources 120 that are operated, for example, by an oncoming vehicle. Furthermore, the environment points 100 from your own headlights 150 reflected light 125 that can be emitted, for example, by a traffic sign or a window reflection. The distinction between light sources 120 and reflected light 125 can happen, for example, that the headlight or headlights 150 be switched off briefly and the surrounding images 300 - with and without shutdown - are compared.

2a : an exemplary picture of the surroundings 300 , for example using a single camera 200 was recorded. The environment picture 300 has a variety of analysis areas 310 on. In this example, the analysis areas show 310 same areas in each case; in one embodiment, however, the areas can also be selected to be of different sizes. There is also an area 320 from the camera 200 was recorded, but is not evaluated. For example, this could be an area near the ground.

2 B shows schematically how from the surrounding picture 300 a light card 390 is created. Thereby, for each of the analysis areas 310 the brightness is determined. Various averaging methods can be used for this. For example, the arithmetic mean of the measured analysis area 310 be used. The area not covered 320 is left out in the analysis. The measured values are thus in the example shown m01 to m16 of brightness.

Based on these measurements m01 to m16 can now adjust the brightness of each headlight 150 and / or dimming the windshield, for example 170 to be controlled. This can reduce glare from other road users and / or your own glare.

3 shows an overview of a method 500 to create a light card 390 ,

In step 501 becomes the environment 100 with the headlight 150 of the vehicle 140 illuminated. In one embodiment, in which the headlights 150 cannot be controlled or at which the procedure 500 even when the headlights are off 150 this step can be omitted.

In step 502 becomes the environment 100 using a camera 200 or a variety of cameras 200 , captured and in a surrounding image 300 converted. The environment picture 300 is then available in electronic form and can, for example, by means of the control unit 190 , to be analyzed.

In step 503 becomes the surrounding image 300 into a predefined number of analysis areas 310 divided up. In some embodiments, the number of analysis areas 310 by the number of (partial) headlights 150 of the vehicle 140 certainly.

In step 504 is for each analysis area 310 determines a brightness. Different averaging methods can be used. For example, the arithmetic, geometric or weighted average of each measured analysis area 310 be used. It can also be measured for each analysis area 310 a separate process can be used. This turns into the light card 390 certainly.

In addition, it should be pointed out that “comprehensive” and “having” do not exclude other elements or steps, and the indefinite articles “a” or “an” do not exclude a large number. Furthermore, it should be pointed out that features or steps that have been described with reference to one of the above exemplary embodiments can also be used in combination with other features or steps of other exemplary embodiments described above. Reference signs in the claims are not to be regarded as restrictions.

LIST OF REFERENCE NUMBERS

100

Surroundings

120

light source

125

reflected light

140

vehicle

150

headlights

170

Windshield

190

control unit

200

camera

300

Umgebungsbild

310

analysis area

320

no analysis area

390

light card

395

advanced light card

400

environment model

410

subspecialty

500

method

501 .. 504

steps

m01 .. m16

Measured values of brightness

Claims (15)

Method for creating a light map (390) of an environment (100) for controlling a headlight (150) of a vehicle (140), the light map (390) having a multiplicity of analysis areas (310), with the steps: a) illuminating the environment (100) with the headlight (150) of the vehicle (140); b) capturing the environment (100) as an environment image (300) by means of a camera (200); c) dividing the surrounding image (300) into a predefined number of analysis areas (310); d) determining a brightness for each analysis area (310), the light map (390) determining the brightness of each analysis area (310). Procedure according to Claim 1 , the number of analysis areas (310) being determined by the number of headlights (150). Procedure according to Claim 1 or 2 , wherein the brightness determined for each analysis area (310) is the arithmetic, geometric or weighted average of the measured analysis area (310). Procedure according to one of the Claims 1 to 3 , the environment being recorded several times, in particular regularly, for example more than 10 times per second, in particular more than 1000 times per second. Method according to one of the preceding claims, wherein steps a) to d) are carried out several times, in particular regularly. Procedure according to Claim 4 , whereby every Nth time step a) is replaced by step a *), with a *) reduced lighting of the surroundings (100), by briefly switching off or dimming the headlamp (150). Procedure according to Claim 5 , the headlight (150) being switched off for less than 500 ms, for example for less than 100 ms, in particular for less than 10 ms. Method according to one of the preceding claims, with the further step: e) creating an extended light map (395) by attributing the analysis areas (310) with properties of an environment model (400), each of the analysis areas (310) of the environment image (300) corresponding to one of the sub-areas (410) of the environment model (400). Method according to one of the preceding claims, with the further step: f) sending the light card (390) to a control unit (190) and controlling the headlight (150), depending on the light card (390), by means of the control unit (190). Method according to one of the preceding claims, with the further step: g) sending the light card (390) to a control unit (190) and controlling a dimmable window, in particular a dimmable windshield (170), depending on the light card (390), by means of the control unit (190). Use of a light card (390) for controlling a headlight (150), in particular a plurality of headlights, of a vehicle (140). Use of a light card (390) to control a dimmable window, in particular a dimmable windshield (170), of a vehicle (140). Control device (190), which is connected to the camera (200) according to one of the preceding claims and which is set up, a method according to one of the Claims 1 to 8th perform. Program element which, when executed on a control unit (190), instructs the control unit (190) to perform the method according to one of the Claims 1 to 8th perform. Computer-readable medium on which a program element Claim 12 is saved.

Images