DE102019118106A1 - Procedure for determining a visibility range - Google Patents
Procedure for determining a visibility range Download PDFInfo
- Publication number
- DE102019118106A1 DE102019118106A1 DE102019118106.2A DE102019118106A DE102019118106A1 DE 102019118106 A1 DE102019118106 A1 DE 102019118106A1 DE 102019118106 A DE102019118106 A DE 102019118106A DE 102019118106 A1 DE102019118106 A1 DE 102019118106A1
- Authority
- DE
- Germany
- Prior art keywords
- determined
- vehicle
- weather conditions
- intensity distribution
- light intensity
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000000007 visual effect Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000007613 environmental effect Effects 0.000 claims abstract description 13
- 230000004927 fusion Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
- G06F18/2413—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on distances to training or reference patterns
- G06F18/24133—Distances to prototypes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/141—Control of illumination
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/31—Atmospheric conditions
- B60Q2300/312—Adverse weather
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Evolutionary Computation (AREA)
- Software Systems (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Artificial Intelligence (AREA)
- Data Mining & Analysis (AREA)
- Computing Systems (AREA)
- Databases & Information Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Ermittlung einer Sichtweite zumindest einer Erfassungseinheit einer Umgebungssensorik eines Fahrzeuges (1). Erfindungsgemäß ist vorgesehen, dass- eine Lage und Orientierung zumindest eines vor dem Fahrzeug (1) befindenden Objektes mittels einer dreidimensionalen Karte ermittelt werden,- das zumindest eine Objekt mittels einer Lichtquelle des Fahrzeuges (1) beleuchtet wird,- eine erwartete Lichtintensitätsverteilung im Bereich des zumindest einen Objektes anhand der ermittelten Lage und Position des zumindest einen Objektes und vorliegender Eigenschaften der Lichtquelle berechnet wird,- eine tatsächliche Lichtintensitätsverteilung im Bereich des zumindest einen Objektes anhand erfasster Bilddaten einer fahrzeugseitigen Kamera ermittelt wird,- eine Abweichung zwischen der erwarteten Lichtintensitätsverteilung und der tatsächlichen Lichtintensitätsverteilung bestimmt wird und- anhand der Abweichung mittels eines Klassifikationsverfahrens vorliegende Wetterbedingungen und eine Sichtweite zumindest der Kamera als Erfassungseinheit der Umgebungssensorik ermittelt werden.The invention relates to a method for determining a visual range of at least one detection unit of an environmental sensor system of a vehicle (1). According to the invention it is provided that - a position and orientation of at least one object located in front of the vehicle (1) is determined by means of a three-dimensional map, - the at least one object is illuminated by means of a light source of the vehicle (1), at least one object is calculated based on the determined location and position of the at least one object and the existing properties of the light source, - an actual light intensity distribution in the area of the at least one object is determined based on captured image data from a camera on the vehicle, - a deviation between the expected light intensity distribution and the actual one Light intensity distribution is determined and based on the deviation by means of a classification method, existing weather conditions and a visual range of at least the camera as the detection unit of the environmental sensor system are determined.
Description
Die Erfindung betrifft ein Verfahren zur Ermittlung einer Sichtweite zumindest einer Erfassungseinheit einer Umgebungssensorik eines Fahrzeuges.The invention relates to a method for determining a visual range of at least one detection unit of an environmental sensor system of a vehicle.
Aus der
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Ermittlung einer Sichtweite zumindest einer Erfassungseinheit einer Umgebungssensorik eines Fahrzeuges anzugeben.The invention is based on the object of specifying a method, which is improved over the prior art, for determining a visual range of at least one detection unit of an environmental sensor system of a vehicle.
Die Aufgabe wird erfindungsgemäß durch die in Anspruch 1 angegebenen Merkmale gelöst.The object is achieved according to the invention by the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the subclaims.
Ein Verfahren zur Ermittlung einer Sichtweite zumindest einer Erfassungseinheit einer Umgebungssensorik eines Fahrzeuges sieht erfindungsgemäß vor, dass eine Lage und Orientierung zumindest eines vor dem Fahrzeug befindenden Objektes mittels einer dreidimensionalen Karte ermittelt werden, das zumindest eine Objekt mittels einer Lichtquelle des Fahrzeuges beleuchtet wird und eine erwartete Lichtintensitätsverteilung im Bereich des zumindest einen Objektes anhand der ermittelten Lage und Position des zumindest einen Objektes und vorliegender Eigenschaften der Lichtquelle berechnet wird. Weiterhin wird eine tatsächliche Lichtintensitätsverteilung im Bereich des zumindest einen Objektes anhand erfasster Bilddaten einer fahrzeugseitigen Kamera ermittelt, eine Abweichung zwischen der erwarteten Lichtintensitätsverteilung und der tatsächlichen Lichtintensitätsverteilung bestimmt und anhand der Abweichung werden mittels eines Klassifikationsverfahrens vorliegende Wetterbedingungen und eine Sichtweite zumindest der Kamera als Erfassungseinheit der Umgebungssensorik ermittelt.A method for determining a visual range of at least one detection unit of an environmental sensor system of a vehicle provides that a position and orientation of at least one object in front of the vehicle are determined using a three-dimensional map, the at least one object is illuminated using a light source of the vehicle and an expected one Light intensity distribution in the area of the at least one object is calculated based on the determined location and position of the at least one object and the properties of the light source present. Furthermore, an actual light intensity distribution in the area of the at least one object is determined on the basis of captured image data from a camera in the vehicle, a deviation between the expected light intensity distribution and the actual light intensity distribution is determined, and on the basis of the deviation, the weather conditions and the visibility of at least the camera as the detection unit of the environmental sensor system are determined using a classification method determined.
Durch Anwendung des Verfahrens können Wetterbedingungen, insbesondere bei Dunkelheit, mittels fahrzeugseitig vorhandener Komponenten ermittelt werden, wobei die ermittelten Wetterbedingungen einer Fahrzeugsteuerung zugrunde gelegt werden können. Insbesondere wird die Sichtweite fahrzeugseitig ermittelt, d. h. geschätzt, ohne eine spezielle Infrastruktur zu nutzen.By using the method, weather conditions, in particular when it is dark, can be determined by means of components present on the vehicle, wherein the determined weather conditions can be used as a basis for vehicle control. In particular, the visibility is determined on the vehicle side, d. H. appreciated without using any special infrastructure.
Ist die Sichtweite der zumindest einen Erfassungseinheit durch Schnee, Regen und/oder Nebel eingeschränkt, wird beispielsweise das Abblendlicht bei einem Fahrbetrieb des Fahrzeuges auch am Tag aktiviert.If the visibility of the at least one detection unit is restricted by snow, rain and / or fog, for example the low beam is also activated during the day when the vehicle is driving.
Beispielsweise werden bei der Berechnung der erwarteten Lichtintensitätsverteilung ein Nicken und Wanken als Eigenschaften der Lichtquelle berücksichtigt, so dass anhand der Lichtintensitätsverteilung erwartete Beleuchtungsmuster bestimmt werden können.For example, when calculating the expected light intensity distribution, nodding and swaying are taken into account as properties of the light source, so that expected lighting patterns can be determined on the basis of the light intensity distribution.
Als Wetterbedingungen werden in einer Weiterbildung des Verfahrens Schnee, Regen und Nebel klassifiziert, da es sich bei diesen Wetterbedingungen insbesondere um die Sichtweite einschränkende Wetterbedingungen handelt.In a further development of the method, snow, rain and fog are classified as weather conditions, since these weather conditions are, in particular, weather conditions that limit visibility.
Eine weitere Ausführungsform des Verfahrens sieht vor, dass in Abhängigkeit der ermittelten vorliegenden Wetterbedingungen und Sichtweite ein Fahrverhalten des Fahrzeuges angepasst wird. Insbesondere wird das Fahrverhalten dahingehend angepasst, dass eine Fahrsicherheit des Fahrzeuges und somit auch eine Verkehrssicherheit für das Fahrzeug und sich in seiner Umgebung befindende Verkehrsteilnehmer erhöht werden.A further embodiment of the method provides that a driving behavior of the vehicle is adapted as a function of the determined prevailing weather conditions and visibility. In particular, the driving behavior is adapted to the effect that driving safety of the vehicle and thus also traffic safety for the vehicle and road users in its vicinity are increased.
In Abhängigkeit der ermittelten Wetterbedingungen und/oder der ermittelten Sichtweite zumindest der Kamera wird in einer Ausbildung zumindest eine zusätzliche Beleuchtungseinheit des Fahrzeuges aktiviert, um eine Sicht der zumindest einen Erfassungseinheit zu verbessern, wodurch die Fahrsicherheit ebenfalls erhöht werden kann.Depending on the determined weather conditions and / or the determined visibility of at least the camera, at least one additional lighting unit of the vehicle is activated in one embodiment in order to improve visibility of the at least one detection unit, whereby driving safety can also be increased.
Darüber hinaus sieht eine weitere mögliche Ausführungsform vor, dass in Abhängigkeit der ermittelten Wetterbedingungen und/oder der ermittelten Sichtweite zumindest der Kamera eine Sensorfusion durchgeführt wird. Insbesondere wird die Sensorfusion durchgeführt, um eine Sicht der Erfassungseinheit zu verbessern.In addition, a further possible embodiment provides that a sensor fusion is carried out as a function of the determined weather conditions and / or the determined visual range of at least the camera. In particular, the sensor fusion is carried out in order to improve a view of the detection unit.
Ferner wird in einer möglichen Weiterbildung des Verfahrens in Abhängigkeit der ermittelten Wetterbedingungen und/oder der ermittelten Sichtweite eine Fahrgeschwindigkeit begrenzt, wobei die Fahrgeschwindigkeit entsprechend der ermittelten Wetterbedingungen und/oder entsprechend der ermittelten Sichtweite angepasst wird, um die Fahrsicherheit und die Verkehrssicherheit zu erhöhen.Furthermore, in a possible development of the method, a driving speed is limited as a function of the determined weather conditions and / or the determined visibility range, the driving speed corresponding to the determined weather conditions and / or corresponding to the determined visibility is adjusted to increase driving safety and traffic safety.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention are explained in more detail below with reference to a drawing.
Dabei zeigt die:
-
1 schematisch einen Verfahrensablauf zur Ermittlung einer Sichtweite zumindest einer Erfassungseinheit einer Umgebungssensorik eines Fahrzeuges.
-
1 schematically, a method sequence for determining a visual range of at least one detection unit of an environmental sensor system of a vehicle.
In der einzigen Figur ist ein Verfahrensablauf zur Ermittlung einer Sichtweite zumindest einer nicht näher dargestellten Erfassungseinheit, insbesondere einer Kamera, einer Umgebungssensorik eines Fahrzeuges
Das Fahrzeug
Für den automatisierten Fahrbetrieb des Fahrzeuges
Herrscht z. B. Nebel mit einer Sichtweite von weniger als 50 m auf einer Fahrstrecke des Fahrzeuges
Um die Sichtweite der Kamera der Umgebungssensorik sowie vorliegende Wetterbedingungen im Fahrbetrieb des Fahrzeuges
Ein die Kamera umfassendes System des Fahrzeuges
Anhand der digitalen Karte wird in einem ersten Verfahrensschritt
Das erfasste Objekt wird in einem zweiten Verfahrensschritt
In einem vierten Verfahrensschritt
In einem sechsten Verfahrensschritt
Diese Abweichung wird in einem siebenten Verfahrensschritt
Insbesondere werden mittels des Klassifikationsverfahrens die Wetterbedingungen klassifiziert, wobei insbesondere Nebel, Regen und/oder Schnee als Wetterbedingungen ermittelt werden. Beispielsweise können bzw. kann anhand der klassifizierten und somit ermittelten Wetterbedingungen die Sichtweite einer lidarbasierten Erfassungseinheit der Umgebungssensorik abgeleitet werden, ein Fahrverhalten des Fahrzeuges
In einem achten Verfahrensschritt
BezugszeichenlisteList of reference symbols
- 11
- Fahrzeugvehicle
- S1 bis S8S1 to S8
- VerfahrensschrittProcess step
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDED IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturPatent literature cited
- DE 10303046 A1 [0002]DE 10303046 A1 [0002]
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019118106.2A DE102019118106B4 (en) | 2019-07-04 | 2019-07-04 | Method for determining a visibility |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019118106.2A DE102019118106B4 (en) | 2019-07-04 | 2019-07-04 | Method for determining a visibility |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102019118106A1 true DE102019118106A1 (en) | 2021-01-07 |
DE102019118106B4 DE102019118106B4 (en) | 2022-09-08 |
Family
ID=74092802
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102019118106.2A Active DE102019118106B4 (en) | 2019-07-04 | 2019-07-04 | Method for determining a visibility |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102019118106B4 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022129413A1 (en) | 2022-11-08 | 2024-05-08 | Bayerische Motoren Werke Aktiengesellschaft | Method for detecting a traffic sign in an environment of a vehicle with regard to a relevance of the traffic sign, computing device and system |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10303046A1 (en) | 2003-01-24 | 2004-10-21 | Daimlerchrysler Ag | Quantitative estimation of visibility in motor vehicle, by using e.g. measurement of sharpness or contrast of image obtained from intensity differences of adjacent pixels |
DE102009011866A1 (en) | 2009-03-05 | 2010-09-09 | Volkswagen Ag | Method and apparatus for determining a range of visibility for a vehicle |
DE102014212216A1 (en) | 2014-06-17 | 2015-12-17 | Conti Temic Microelectronic Gmbh | Method and driver assistance system for detecting a Fahrzeugumfel des |
-
2019
- 2019-07-04 DE DE102019118106.2A patent/DE102019118106B4/en active Active
Also Published As
Publication number | Publication date |
---|---|
DE102019118106B4 (en) | 2022-09-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102010062633A1 (en) | Method and device for detecting traffic signs in the vicinity of a vehicle and comparison with traffic sign information from a digital map | |
DE102008001551A1 (en) | Device and method for automatically adjusting the luminance of a light emitted by a lighting device of a vehicle light beam as a function of the visibility | |
DE102016208025A1 (en) | Method for detecting traffic signs | |
DE102012107886A1 (en) | Method for the electronic detection of traffic signs | |
DE102007021576A1 (en) | Method and device for determining the position of a traffic sign | |
DE102015010746A1 (en) | Method for self-localization of a vehicle | |
WO2022128014A1 (en) | Correction of images from a panoramic-view camera system in the case of rain, incident light and contamination | |
DE102017010746A1 (en) | Method for avoiding a vehicle | |
DE102008042537A1 (en) | A method of calibrating an image capture system in a motor vehicle | |
DE102006037600B4 (en) | Method for the resolution-dependent representation of the environment of a motor vehicle | |
DE102014000495A1 (en) | Device for projection of navigation information in vehicle environment in e.g. gas station, has evaluation unit, where pre-distortion of information to be projected is carried out by unit independent of determined surface structure | |
DE102019118106B4 (en) | Method for determining a visibility | |
DE102018210812A1 (en) | Method for a sensor- and memory-based representation of an environment, display device and vehicle with the display device | |
DE102009036196A1 (en) | Traffic sign recognition method for vehicle, involves recording traffic signs within surrounding of vehicle by optical detection unit, where estimated current relative position of traffic signs is selected or limited within surrounding | |
DE102010049214A1 (en) | Method for determining lane course for vehicle for e.g. controlling lane assistance device, involves determining global surrounding data from fusion of lane course data with card data, and determining lane course of vehicle from global data | |
DE102007014531A1 (en) | Information displaying method for e.g. motor vehicle, involves producing image data to display information, utilizing image data to discriminate information of categories, and reproducing image data on displays of vehicle | |
WO2022128013A1 (en) | Correction of images from a camera in case of rain, incident light and contamination | |
DE102011081391A1 (en) | Method and device for detecting disturbing objects in the ambient air of a vehicle | |
DE102016119592A1 (en) | Method for detecting objects in an environmental region of a motor vehicle taking into account sensor data in the infrared wavelength range, object recognition device, driver assistance system and motor vehicle | |
DE102010018333A1 (en) | Method for evaluating information of image that is captured by optical camera in driver assisting system in e.g. passenger car, involves evaluating information that contains in determined image region, which comprises track course portion | |
DE102009009904A1 (en) | Object i.e. road sign, identifying method, involves adding images and classifiers, which contain stored samples and sequences, as another set of samples, if sequences correspond to another set of sequences | |
DE102018007114A1 (en) | Method for determining a passability of an object for at least one vehicle | |
DE102020007144A1 (en) | Method for operating an optical detection device of a motor vehicle, as well as optical detection device | |
DE102012222380A1 (en) | Method for determining representation parameter of reference projected as virtual image to windscreen of vehicle, involves determining photometric parameter depending on determined position, precipitation and/or external data source value | |
DE102019008083A1 (en) | Method for determining a fog density |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R012 | Request for examination validly filed | ||
R081 | Change of applicant/patentee |
Owner name: ROBERT BOSCH GMBH, DE Free format text: FORMER OWNERS: DAIMLER AG, 70327 STUTTGART, DE; ROBERT BOSCH GMBH, 70469 STUTTGART, DE |
|
R082 | Change of representative |
Representative=s name: PATENTANWAELTE LIEDTKE & PARTNER, DE |
|
R081 | Change of applicant/patentee |
Owner name: ROBERT BOSCH GMBH, DE Free format text: FORMER OWNERS: DAIMLER AG, STUTTGART, DE; ROBERT BOSCH GMBH, 70469 STUTTGART, DE |
|
R082 | Change of representative |
Representative=s name: PATENTANWAELTE LIEDTKE & PARTNER, DE |
|
R016 | Response to examination communication | ||
R018 | Grant decision by examination section/examining division | ||
R020 | Patent grant now final |