EP2258106A1 - Bildaufnahmesystem für ein fahrzeug, fahrzeug, steuereinrichtung und verfahren zur regelung eines bildsensors eines fahrzeugs - Google Patents
Bildaufnahmesystem für ein fahrzeug, fahrzeug, steuereinrichtung und verfahren zur regelung eines bildsensors eines fahrzeugsInfo
- Publication number
- EP2258106A1 EP2258106A1 EP08873655A EP08873655A EP2258106A1 EP 2258106 A1 EP2258106 A1 EP 2258106A1 EP 08873655 A EP08873655 A EP 08873655A EP 08873655 A EP08873655 A EP 08873655A EP 2258106 A1 EP2258106 A1 EP 2258106A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- image sensor
- control device
- signal
- image
- 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.)
- Withdrawn
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/75—Circuitry for compensating brightness variation in the scene by influencing optical camera components
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/40—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the details of the power supply or the coupling to vehicle components
- B60R2300/402—Image calibration
Definitions
- cameras in driver assistance systems are used to record objects in the exterior of the vehicle. This results in too long exposure times, the problem of motion blur, in particular to the edge of the image, since there is the lateral acceleration at large opening angles largest. To ensure good visibility of structures in z. For example, to ensure traffic signs through the image processing algorithms, the integration time is generally limited, thereby reducing the blurring of motion.
- an image recording system which comprises an image sensor, a camera and means for noise reduction of the image signals generated by the image sensor.
- the means for noise reduction comprise filter means which form a filter value of the images captured by the image sensor. Furthermore, control means for the
- Filtering means are provided which control the number of images to be taken into account by the filter means for filtering, wherein for noise reduction, the number of images used for filtering is changed in dependence on a relative speed between the camera and a detected object.
- the disadvantage of this solution is that the reduction of the movement
- the reduction in noise also reduces the reduction in noise because fewer images are available.
- the signal-to-noise ratio is reduced by reducing the integration time, and this also reduces the separation performance of image processing algorithms.
- DE 102 13 917 A1 describes an image recording system with an image sensor and a processing unit, wherein the image sensor has a characteristic curve of the exposure sensitivity which can be set via the processing unit.
- control parameters for the setting of this characteristic optimal control parameters for the future situation are to be determined in which the vehicle will be located.
- Such a system can thus detect the entry of the vehicle into a tunnel in order to adjust the control parameters for future image acquisition as suitably as possible in changing light conditions.
- At least one control parameter of the image sensor is set as a function of a driving dynamics signal.
- the invention is based on the idea that the respective optimum settings of the image sensor or the camera depend not only on the exposure conditions, but also on different vehicle dynamics variables of the vehicle, in particular on the vehicle speed. According to the invention, a speed-adjusted parameterization is thus advantageously carried out.
- the integration time of the Sensor corresponds to the exposure time.
- the integration time can be increased at a low speed and thus a high degree of recognizability by the subsequent image processing algorithms can be made possible even in the dark or weak intensity of the incident light.
- the integration time or an upper limit of the integration time is reduced. By reducing the integration time to higher vehicle speeds, the motion blur is reduced.
- yaw rate or the steering angle possible because a higher yaw rate, i. Angular velocity around the vertical axis, usually leading to a higher motion blur.
- the control device of the image recording system preferably takes the driving dynamics signal from an in-vehicle communication system, such as a vehicle.
- B a data bus to which it is connected anyway.
- the image sensor has at least one imager chip in CMOS or CCD technology.
- at least one CMOS pixel with a highly dynamic range is provided, which has the advantage that it is sensitive over a wide range of brightness during the exposure. This makes it possible to process images with strong dynamics.
- an aperture, the electrical gain, the black level, and / or the shape of the exposure sensitivity characteristic, ie, the output signal, are changed depending on an exposure.
- a combined setting of several parameters can be made.
- a change in the integration time can be advantageously combined with a variable aperture or aperture of the image sensor, wherein preferably a lower integration time can be compensated by a higher aperture.
- the gain may increase toward higher speeds of the vehicle to compensate for the reduced integration time. Thus, too high or too low light absorption is prevented at measured exposure.
- the shape of the characteristic curve can decrease in its compression toward higher speeds of the vehicle, preferably monotonically.
- a “compression” is understood to mean that a strongly compressed characteristic flattens out more quickly, that is to say is less sensitive in the case of higher exposure, than a characteristic which is only slightly compressed, that is, sensitive over a relatively wide range of exposure.
- Exposure is here understood as a measure of the intensity of the incident light: the exposure can be, in particular, the irradiance which indicates the intensity or the radiation power per area, or the illuminance as the photometric variable of the unit Lux, which takes into account the spectral sensitivity of the human eye ,
- the change in the control parameters can in particular be monotonous with the change in the driving dynamics parameter, ie, for example, a monotonically decreasing with increasing driving speed integration time.
- continuous functions can be used, in particular linear functions or staircase functions, ie with a stepwise change after exceeding certain threshold values.
- a threshold for an upper limit of the speed and a lower limit of the speed is advantageous, since a reduction or increase in the integration time from certain values is no longer technically advantageous or even possibly meaningless.
- FIG. 1 shows a block diagram of an image acquisition system according to the invention for a vehicle
- FIG. 2 shows a diagram with a plurality of exposure sensitivity curves
- FIG. 3 shows a driving scene with a vehicle according to the invention.
- An image acquisition system 1 of a vehicle 12 is used in particular for a driver assistance function and comprises an image sensor 2 or camera 2 and a control device 3 for controlling the image sensor 2.
- the image sensor 2 detects in its detection area 14 an outdoor scene around the vehicle 12, in particular in front of the vehicle 12, wherein it detects in particular a road and possibly objects on or next to the roadway.
- the image sensor 2 has in known manner an imager Cip 2.1 with an array of pixels 11, which are formed in particular in CMOS or CCD technology, preferably in CMOS technology with highly dynamic sensitivity range. Furthermore, the image sensor 2 in a known aperture 13 or aperture with an adjustable aperture 13a on.
- control parameters rp are stored in a memory 4, which are used to set the image sensor 2 and thus the pixels 11.
- the control device 3 outputs control signals Srp to the image sensor 2.
- the imager chip 2.1 or the entire image sensor 2 outputs output signals Sa to the control device 3, which forms image signals Bi therefrom and via a communication system 5, z.
- an integration time Ti of the imager chip 2.1 and its pixels 11 an electrical amplification of the output signals Sa, an offset of the output signals, the aperture 13a and / or a shape of a characteristic of an exposure sensitivity of the image sensor 2 or its pixel 11 is provided.
- the control device 3 furthermore receives at least one driving dynamics signal Sv, which describes a driving dynamics parameter v of the vehicle 12.
- Sv a driving dynamics parameter
- the z. B. is determined directly from a sensor 6 in the vehicle 12, z. B. the provided on a wheel shaft sensor 6, or even from an ABS control unit from measured Radf- numbers is determined as the reference speed.
- a vehicle speed v it is also possible according to the invention for a vehicle speed v to be determined from the image signals Bi itself by a further control device, which in turn is used by the control device 3 as signal Sv.
- the control device 3 of the image acquisition system 1 is set up such that the integration time Ti decreases monotonically toward higher speeds v of the vehicle 12.
- the integration time Ti taking into account the imager chips 2.1 and the camera optics for a speed value of 60 km / h, the time of 40 ms are selected for 100 km / h 25 ms, for 120 km / h 20 ms, for 135 km / h 18 ms, for 160 km / h 15 ms and for 240 km / h 10 ms. In the intermediate areas, linear interpolation is used. For speeds higher than 240 km / h the integration time is kept constant at 10 ms, for speeds in the range of 0-60 km / h the integration time is constant 40 ms.
- the aperture 13a of the image sensor 2 can basically be kept independent of the speed v. In principle, however, it is possible for the change in signal strength resulting from the variable integration time Ti to be modified by a change in another control parameter, for example, B. the diaphragm opening 13 a, be compensated.
- the image acquisition system is configured such that the electrical gain monotonically increases toward higher speeds v of the vehicle 12.
- control device 3 is set up so that the gain z. B. is linearly dependent on the speed v.
- control device 3 of the image acquisition system 1 is set up in such a way that the shape of the characteristic curve decreases toward monotonically decreasing in its compression towards higher speeds of the vehicle.
- FIG. 2 illustrates three curves of curves 8, 9, 10 respectively as a function of an ordinate-applied magnitude of an output signal Sa as a function of an illumination or illumination I plotted on the abscissa indicating an intensity or irradiance, ie a radiation power per area - chentician, or an illuminance as a photometric unit in Lux.
- the curves have in known manner a plurality of interpolation points 7, between which they are linearly interpolated.
- the support points of the characteristic curve 8 and 9 have a substantially logarithmic form, the characteristic curve 10 is linear.
- the characteristic of the exposure sensitivity is greatly compressed via the control device 3, represented here by the characteristic curve 9.
- the highly compressed characteristic curve 9 is transformed into a weakly compressed characteristic curve by continuous variation of the support points 7, represented here by characteristic curve 8 , convicted. Below a threshold value for the minimum speed v and above a threshold value for the maximum speed v, the shape of the characteristic curve 9 or 8 remains unchanged.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008000819.2A DE102008000819B4 (de) | 2008-03-26 | 2008-03-26 | Steuereinrichtung zur Steuerung eines Bildsensors, Bildaufnahmesystem und Verfahren zur Regelung eines Bildsensors eines Fahrzeugs |
PCT/EP2008/065341 WO2009118057A1 (de) | 2008-03-26 | 2008-11-12 | Bildaufnahmesystem für ein fahrzeug, fahrzeug, steuereinrichtung und verfahren zur regelung eines bildsensors eines fahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2258106A1 true EP2258106A1 (de) | 2010-12-08 |
Family
ID=40386168
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08873655A Withdrawn EP2258106A1 (de) | 2008-03-26 | 2008-11-12 | Bildaufnahmesystem für ein fahrzeug, fahrzeug, steuereinrichtung und verfahren zur regelung eines bildsensors eines fahrzeugs |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2258106A1 (de) |
DE (1) | DE102008000819B4 (de) |
WO (1) | WO2009118057A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5737306B2 (ja) | 2013-01-23 | 2015-06-17 | 株式会社デンソー | 露出制御装置 |
DE102015012611A1 (de) | 2015-09-29 | 2017-03-30 | Daimler Ag | Sichtverbesserungssystem für ein Kraftfahrzeug |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3742152B2 (ja) * | 1996-08-13 | 2006-02-01 | 日産ディーゼル工業株式会社 | 車両用撮像装置 |
JP2001008195A (ja) | 1999-06-24 | 2001-01-12 | Mitsubishi Motors Corp | 車両後方監視装置 |
US6348681B1 (en) | 2000-06-05 | 2002-02-19 | National Semiconductor Corporation | Method and circuit for setting breakpoints for active pixel sensor cell to achieve piecewise linear transfer function |
DE10213917A1 (de) | 2002-03-28 | 2003-10-23 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Regelung eines Bildsensors |
JP3960146B2 (ja) | 2002-06-27 | 2007-08-15 | 日産自動車株式会社 | 画像認識装置 |
DE10301898A1 (de) * | 2003-01-17 | 2004-08-05 | Robert Bosch Gmbh | Verfahren zur Einstellung eines Bildsensors |
DE10342388A1 (de) | 2003-09-13 | 2005-04-07 | Hella Kgaa Hueck & Co. | Optoelektronische Überwachungseinrichtung für Kraftfahrzeuge |
DE102004021369A1 (de) | 2004-04-30 | 2005-11-17 | Robert Bosch Gmbh | Bildaufnahmesystem |
JP2007052114A (ja) | 2005-08-16 | 2007-03-01 | Fujifilm Corp | 撮影装置、撮影コントローラ、および撮影システム |
-
2008
- 2008-03-26 DE DE102008000819.2A patent/DE102008000819B4/de active Active
- 2008-11-12 EP EP08873655A patent/EP2258106A1/de not_active Withdrawn
- 2008-11-12 WO PCT/EP2008/065341 patent/WO2009118057A1/de active Application Filing
Non-Patent Citations (1)
Title |
---|
See references of WO2009118057A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE102008000819A1 (de) | 2009-10-01 |
WO2009118057A1 (de) | 2009-10-01 |
DE102008000819B4 (de) | 2018-12-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1910129B1 (de) | Bildaufnahmesystem | |
EP2517177B1 (de) | Verfahren zur bestimmung der relativbewegung mittels einer hdr-kamera | |
DE102016218843A1 (de) | Bilderzeugungspixel mit hohem Dynamikumfang mit verbesserter Auslesung | |
DE202011005102U1 (de) | Optische Sensorsysteme für Automotive Anwendung | |
DE102016218838A1 (de) | Bilderzeugungspixel mit hohem Dynamikumfang mit verbesserter Auslesung | |
DE102010062496B4 (de) | Verfahren und Vorrichtung zum Verarbeiten von Bildinformationen zweier zur Bilderfassung geeigneter Sensoren eines Stereo-Sensor-Systems | |
DE102013100327A1 (de) | Fahrzeugfahrtumgebungserkennungsvorrichtung | |
DE102013115000A1 (de) | Blendungsminderung für dynamischen Rückspiegel | |
DE102013012810A1 (de) | Verfahren zum Aktivieren und Deaktivieren einer Bildkorrekturfunktion, Kamerasystem und Kraftfahrzeug | |
DE102008063121A1 (de) | Belichtungssteuervorrichtung und Belichtungssteuerprogramm für elektronische Fahrzeugkamera | |
DE112020002319T5 (de) | Bilderkennungsvorrichtung und bilderkennungsverfahren | |
DE112018002395T5 (de) | Optischer sensor und elektronische vorrichtung | |
EP3291172A1 (de) | Verfahren zur ermittlung von ergebnisbilddaten | |
DE102017219694A1 (de) | Bilderzeugungsvorrichtung | |
DE102006055905A1 (de) | Verfahren zur Fahrzeugumfelderkennung und Vorrichtung zur Umfelderkennung in einem Kraftfahrzeug | |
WO2006067005A1 (de) | Vorrichtung und verfahren zur beeinflussung des auf einen bildsensor auftreffenden lichts | |
DE102006014504B3 (de) | Bilderfassungssystem für Kraft- und Schienenfahrzeuge sowie Verfahren zur elektronischen Bilderfassung | |
DE102004010908B4 (de) | Bildaufnahmevorrichtung und Bildaufnahmeverfahren | |
DE102008000819B4 (de) | Steuereinrichtung zur Steuerung eines Bildsensors, Bildaufnahmesystem und Verfahren zur Regelung eines Bildsensors eines Fahrzeugs | |
EP3645343B1 (de) | Kameravorrichtung sowie verfahren zur umgebungsangepassten erfassung eines umgebungsbereichs eines fahrzeugs | |
EP3677019B1 (de) | Verfahren und vorrichtung zur vorhersehbaren belichtungssteuerung zumindest einer ersten fahrzeugkamera | |
EP1654867B1 (de) | Verfahren und vorrichtung zur belichtungssteuerung für eine kamera | |
DE102018207388A1 (de) | Verfahren und Vorrichtung zur Erzeugung eines Anzeigebildes in einem Kraftfahrzeug | |
WO2003066375A1 (de) | Einrichtung zur automatischen einstellung der leuchtdichte des von einer rückwärtigen beleuchtungseinrichtung eines fahrzeugs ausgesandten lichtbündels | |
EP1515547B1 (de) | Optoelektronische Überwachungseinrichtung für Kraftfahrzeuge |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20101026 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA MK RS |
|
DAX | Request for extension of the european patent (deleted) | ||
17Q | First examination report despatched |
Effective date: 20121213 |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
INTG | Intention to grant announced |
Effective date: 20150917 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20160128 |