EP2462005A1 - Method and device for distance-based debouncing of light characteristic changes - Google Patents

Method and device for distance-based debouncing of light characteristic changes

Info

Publication number
EP2462005A1
EP2462005A1 EP20100745192 EP10745192A EP2462005A1 EP 2462005 A1 EP2462005 A1 EP 2462005A1 EP 20100745192 EP20100745192 EP 20100745192 EP 10745192 A EP10745192 A EP 10745192A EP 2462005 A1 EP2462005 A1 EP 2462005A1
Authority
EP
Grant status
Application
Patent type
Prior art keywords
light
characterized
vehicle
light characteristic
distance
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Withdrawn
Application number
EP20100745192
Other languages
German (de)
French (fr)
Inventor
Tobias Ehlgen
Petko Faber
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle
    • B60Q1/08Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically
    • B60Q1/085Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10Indexing codes relating to particular vehicle conditions
    • B60Q2300/11Linear movements of the vehicle
    • B60Q2300/112Vehicle speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30Indexing codes relating to the vehicle environment
    • B60Q2300/31Atmospheric conditions
    • B60Q2300/314Ambient light
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30Indexing codes relating to the vehicle environment
    • B60Q2300/33Driving situation
    • B60Q2300/332Driving situation on city roads
    • B60Q2300/3321Detection of streetlights

Abstract

A method and device for debouncing light characteristic changes (105, 110, 111, 112) (for example street lamps, headlights of other vehicles) which are determined for a vehicle (102) from image data from a camera (31), wherein light characteristic changes are identified in a continuous sequence of images and a temporal distance between the light characteristic changes is ascertained, wherein a spatial distance between the light characteristic changes is ascertained with reference to the speed (37) of the vehicle and from the temporal distance between the light characteristic changes, and wherein the debouncing is based on the spatial distance.

Description

description

title

Method and apparatus for distance-based debouncing of

Light characteristic change

State of the art

is The invention relates to a method and apparatus for debouncing light characteristic change (for example, street lamps, headlights of other vehicles) that are detected from image data of a camera for a vehicle, said light characteristic change can be detected in a continuous image sequence, and a time interval between the light characteristic change determined wherein based on the speed of the vehicle and from the time interval between the light characteristic change, a spatial distance between the light characteristic change is determined, and wherein the

Debouncing on the spatial distance is based, according to the preamble of the independent claims.

For some time now systems available on the market that actively control the lighting of a vehicle (headlights). The aim of this measure is firstly to provide the driver with an optimal view of the road ahead of him or the relevant traffic and secondly (subordinated) the

(Building) as far as possible to avoid obstructing the view of other road users or persons (pedestrians, cyclists) or objects. Especially systems that prevent dazzling oncoming vehicles and automatically switch between high and low beams have been known for some time.

Less long known are systems that adapt the light distribution specifically to the current driving situation or to the traveling area. For the former, the active headlight range control, and the cornering light to be mentioned as an example of the latter more specific light distributions such as motorway light or

City light. The light distribution of the city of light is expressed by a large, wide Ausleuchtcharakteristik which makes it better view in intersections and illuminate the sidewalks, because especially in urban (or residential)

Areas, multiplies road users reside. Such a headlamp made possible by corresponding control of a variable luminous characteristic is described for example in WO 2006/116960 Al. To control such headlamps correctly and automatically, the vehicle must have the means to determine the current driving situation or the whereabouts of the vehicle. For different purposes, there is already such systems, which by means of a camera (eg Dual Purpose Camera (DPC) or Multi Purpose Camera (MPC)) detects objects at night.

In US 6861809 B2, a detection of whether a vehicle is in an urban area, carried out based on the light intensity which is measured by means of a specific intensity sensor. At a high

Ambient light intensity is assumed that the vehicle is in an illuminated area and is therefore recommended in the city and an activation of the city light. This ambient light sensors detect in particular, whether the light has a non-visible alternating voltage characteristics arising from the mains frequency. This is described in claim 12th This method fails if LED street lamps are used, as these have their own or no clocking.

It is also known by means of a velocity threshold, ie when exceeding or falling short of a certain speed with the vehicle, purchase a certain light distribution on or off. Especially when exceeding a certain speed is a possible

City lighting mode is disabled, as described in claim fourteenth

In column 12, lines 17-21 of writing short the use of a will

mentioned imaging sensor are detected with the street lights and the city light is activated when a certain number of street lights within a certain time are detected. In this teaching is disregarded if a vehicle travels during this time a big way, and thus has already passed through a considerable distance into the city before the city light is activated. The mentioned at this point

Consideration of the vehicle speed refers to the previously described speed threshold at which overwriting generally the town light and standard light is turned on.

Definitions

Known light distributions for example, have the self-explanatory

Designations motorway light, adverse weather light or city light. Under

Standard light is presently understood in most cases low or high beam.

Under a street lighting unit refers to a light source that illuminates the road and / or can be perceived by the camera of the vehicle. For the present invention it must fulfill the purpose to be characteristic of an illuminated area. Typically, street lights, or lanterns are meant, in particular those having a

illuminate street or one block at a greater length and not only selectively to dangerous situations. They exclude those lights that are not necessary for this purpose, especially those that are mobile such. B. headlights of other vehicles. Even light sources (active or passive) can be suitable for this purpose such. As traffic lights, signal lights or reflection of other

Describe. Eg indicated a high incidence of traffic lights also indicate an illuminated and built-up area.

A light characteristic change is the change of a current lighting condition (lighting change), that is, a change in the strength, distribution, color, frequency,

Modulation (for example, AC supply voltage) of from the environment to the vehicle, and the detecting sensor (light sensor, camera) incident light. The characteristic may be determined by particular light changes, for example, the incidence of light when passing an oncoming vehicle, or the change of light already described by the change when passing on stationary objects such as street lamps. Also a characteristic of more than one change of light can be embossed,

For example, a certain number of light changes within a certain time, or a sequence of different colors of light.

A possible pattern may be changing a light-dark, like eg in the

Exit from an illuminated tunnel; Another characteristic can be change, a dark-light-dark, as when passing on a

Street lamp. Such pass-by can'll interpreted as two characteristic changes: dark-light and subsequently chiaroscuro.

The term "stationarity" of objects whose location is to be understood strength, that is, the stationarity of the object is given when the object is a stationary object. The concept of the debouncing is used herein such that it correctly

should be called hysteresis. In Encyclopedia this is defined as follows: "hysteresis characterizes a system whose output depends not only on the type of input, but also on the history that had the input. The system proves characterized

Path dependence. "

Light characteristic changes are dependent on the prior occurrence of

Light characteristic change and states one of which is influenced system (eg current headlight adjustment) processes.

Classically, a debouncing known to a switch which can produce several undesirable bounce pulses during installation or switching-off. Against this may be for example a Schmitt trigger, which has a Hysteresefunktionalität, remedy by waiting a defined period after a last pulse of whether there is another pulse occurs. If not, the switching operation is considered to be executed and completed and output / reported.

Another type of debouncing may be a wait for a certain number of

its events before an action is in progress and the debouncing is terminated.

Similarly, a certain time may be for a light characteristic change to be serviced, for example. A further (n or more) lamp (s) to identify, or a message (eg. To activate a special light distribution of a headlamp) output. This "wait after time" is known from the prior art, therefore, the present invention deals with the waiting and debouncing for the way or the speed, as explained hereinafter.

The terms region and area to be used synonymously, in particular an urban area designated an urban area, equivalent to an area in town or an inhabited area of ​​a city

Environment, but not limited to city limits, or community denunciations, but to villages or populated or busy areas in general.

Disclosure of the Invention

In contrast, the described method and device having the features of the independent claims have the advantage that can be assessed more precisely, if an area is illuminated, and that this

Information is detected quickly. So it is suggested then be regarded as an area illuminated when two road lighting units occur at least within a certain distance. The average distance of streetlights in Germany is about 25 to 30m. Thus, can. Legs

Threshold of 40 to 50m are selected to the spacing of two

classify streetlights as typical of lit areas. A classification can only take place if more than two

Street lights are detected within a certain distance or a probability for the existence of the irradiated area is determined by the number of detected street lamps. Thus, the detection of the illumination of an area after a certain number streetlights and thus a certain distance traveled is firstly determined and not only after a certain time at which the lighting of an area may only be recognized when due to high speed already a geraumes piece in the illuminated region was driven into it. Second, the lighting of an area may also be determined when the vehicle runs too slow to recognize a certain number of lights within a certain time. Conversely, if the street lights do not arise in this said distance from each other, the assessment of the area to be withdrawn as illuminated. Extracting the information on a

Street lighting unit can be seen in the image data, with

corresponding methods of pattern recognition or other suitable

perform methods that are described in this invention in more detail.

Advantageously, the spatial distance of the

Street lighting units are already determined from a single image image data. For this purpose, can be simplified geometric method are used, which measure the distance of the street lighting units. The evaluation of several images is not necessary here, but an iterative and additional evaluation of an image sequence is also possible. Typically, sometimes three lanterns are detected in a single image in advance with current systems. As a single image can also transfer data to a stereo camera, that is, strictly speaking, two or more images are taken at the same time and from which a

Depth information of the objects (lights) can be eliminated.

Advantageously, if, for example, a plurality of lamps are not in a single image visible, a continuous image sequence are used to identify the street lamps, wherein the time interval is determined to the occurrence of the previous road lighting unit. Since the first detection time of a lantern of the local conditions, and

Environmental influences such. As the weather, can be dependent on the recognition is not always the same distance from (before) the vehicle takes place. Thus, for example, the detection of the second (or further) lantern could be delayed such that in the evaluation of the distance threshold is not reached and an area is erroneously classified as illuminated or not illuminated. To solve this problem, the evaluation of the image information can take place such that a lantern is seen as detected only from a certain point in the image or from a certain distance from the vehicle, although an optical recognition would mostly previously possible. In this way, the distance can be accurately defined, in which a lamp in front of the vehicle must occur and, optionally, at what distance in front of the at least one other lamp the assessment of whether an area is illuminated takes place. This method may be alternatively or additionally carried out by means of looking backward in time or camera. Thus, the change between illuminated and non-illuminated area can be checked for plausibility by means of the rearward-facing camera, together with the forward camera or the image data in particular.

the determination of the spatial distance is advantageous

Street lighting units from an investigative time interval in the continuous image sequence, in which the speed of the vehicle is used as an aid to calculate this. In the simplest case is the distance between two lamps formula = vehicle velocity * time difference of the

Occurrence of the two lanterns determined this result. So that the distance traveled is the critical evaluation parameter. Optionally, in addition, a plausibility check of the distance over other methods such. B. geometric method of the

Image analysis can be performed.

Advantageously, can take place debouncing that enable more accurate detection of an illuminated area. In a first step, a first street lighting unit is detected, in a second step, a second, or, depending on applikativem desired, a n-th,

Street lighting unit detected, determined in a third step, the temporal or spatial distance between these at least two street lighting units and tested in a fourth step, if this distance is below a specified threshold. Alternatively, from the onset of

Street lighting unit also start a time or distance counter, which checks only upon reaching the time or distance threshold, whether at least one (or n-1) additional street lighting unit (s) has occurred. The debouncing described is useful to avoid switching back and forth to the city light, which may give the impression of flicker or misleading as a flasher.

Comparable debouncing would also make sense if back when there is oncoming traffic between main and dipped beam, and would hergeschaltet and a re-aperture would happen immediately after driving past an oncoming vehicle without checking whether further following vehicles are present, otherwise a toggling or flicker would occur.

It is conceivable, generally with changing light conditions, regardless of their origin, to use the path as a standard to debouncing for the light control function, instead of the time.

Advantageously, this can also resetting the debouncing

Assessment of whether an area is illuminated, take place, ie when moving out of a lighted in an unlit area. Here would be after

Occurrence of a last street lighting unit waiting for a certain time or a certain distance, and if no further (or n-th)

Street lighting unit within that distance occur, carried out the assessment as a non-illuminated area. In debouncing by way may advantageously be switched quickly back to normal light and thus a ride on city light and sub-optimal illumination for the highway as small and short as possible be kept especially at high speed.

Furthermore, a debouncing of the detection of an illuminated area can also be performed with other parameters as a debounce

Recognition of a non-illuminated area, for. Example, an illuminated area after only two street lamps, a non-lit area, however, are classified only after several dependents out street lights. Advantageously, the variation of said threshold or said can

be dependent on environmental conditions, distance, said threshold can be variably adapted in driving mode. Thus, the typical distance of street lights can change depending on traffic country or situations such as turning off every second lamp due to

Energy saving measures to respond in some communities. For the latter case, for example, the time as an additional

Environmental parameters are taken into account, according to which the threshold value for the lantern distance is increased to twice, for example 10:00 p.m. to 6:00. If necessary, but can be achieved then a limit, after which the area must objectively not be assessed adequately lit, so that should be driven in town with a standard light.

It is advantageous that the information, whether it is in the currently driven area is an area in town, can be derived from the degree of illumination of the road, as there are among other relevant provisions of such a stationary lighting, and many areas in many countries, according to are expanded. Depending on the degree of illumination or the number of detected lanterns instead a probability could also be derived with this is an area in town.

For example, the occurrence of a lamp, a probability that

30%, from an occurrence of three lanterns a probability of 100% for being in an area talk in town.

Advantageously, in addition to the relationship between the illumination of an area and the mood in town or further evidence

Parameters are taken into account in order to strengthen the hypothesis that the vehicle is built-up areas. For this purpose, signals from other sensors can be evaluated and a corresponding evaluation logic, or software, lead to a rating. In particular, the map data for. as a

Navigation system lend themselves to urban areas simply read the information on an area from its database. In this way, a correct condition of the vehicle could also be determined when (possibly known map) in some regions,

Street lighting units (temporarily) are off.

On the other hand, a composite with the described method

Absence or failure of the navigation system or a missing update of the map data can be compensated.

Furthermore, the following criteria may, for example, indicate that the vehicle is in an illuminated area or an area in town or whether an activation of the start light is advised: the current density of traffic, information of a brightness sensor, the illumination due to non-stationary street lighting units, in particular the flowing traffic, the detection of pedestrians, and Spurstrich-

Curve detection systems, information exchange via the car-to-X (C2X) or a driving profile of the vehicle and the driving style of the driver. Information about the location or the traffic situation can be communicated from other vehicles or, for example, traffic signs (C2X). The travel profile is expressed in addition to the speed, for example in the steering angle and yaw rate from when it is for example tall, so strong steering angles

be carried out, which is an indication of a built-up area.

it if only the road lighting units are taken into account, which are also characteristic of an internal local area is advantageous. So some exclusions on stationary lights are conceivable, in particular, the lighting of intersections as they occur on national highways, railway crossings, exits or junctions or

Advertising lighting. It may also be useful to consider only the street lights on a street for implementing the method, especially in the lane side. If desired, can take place of blocks which are not taken into account by extended method, a detection of lanterns.

Advantageously, the application of the method of controlling light, a special light distribution (z. B. city light) in a region that is judged to be built-up areas, is performed, and an activation of the standard light and another light distribution or disable, for example, city light in a area outside, or when changing to an area is on the highway performed.

Optionally, instead, or in addition, a sliding

held headlamp leveling device, wherein the headlight is reduced in an area in urban areas, and increases in an area on the highway, optionally additionally taking into account other parameters, such as oncoming traffic. The deactivation of the city such as light can cause or activate standard light and other light distributions, such as those that was active before the activation of the city light or another that seems appropriate due to the current driving situation. About the light control also going well as information on an area in town for activation or deactivation of other systems may alternatively or additionally in

Vehicle or be used outside the vehicle, for example the biasing Insassenschutzsytemen such as a

Pedestrian impact system, since a collision with a pedestrian in a

Area is more likely in urban areas than on the highway.

It is advantageous that a so-called leading or trailing function serves on the recognition of a certain number of lanterns within a certain time or distance addition to verify the assessment more accurate. In this lead or lag, or a further (outer) debouncing, it is checked whether the result of the evaluation, for example, whether an area is illuminated, whether an area is a urban area or whether a certain light distribution should be activated during the pre - covered or follow-up phase, and remains valid. This can be expected with a higher degree of certainty that the assessment is correct.

it when the behavior of the vehicle at very slow speeds with respect to its light characteristic does not change is advantageous. At a very slow driving, the driver would have a changing light characteristic, especially a Fade In, perceive as surprising and inappropriate. Therefore, it makes sense that at very slow speeds, the light characteristic is either not, or not changed toward aufblendend acting light characteristic. Depending on the application the usual light conditions, if the speed threshold is exceeded again be set. The

Debouncing between the occurrence of the lanterns carry from the pathway rather than the time that has particularly at slow rides the advantage that the city of light, where appropriate, maintained a long time. Advantageously, can then maintained standard light in general, or on

be switched standard light when a certain

Speed ​​threshold is exceeded. A typical threshold for example, when it is assumed that the benefits of the city light at such high speeds can not be put to good use and a light characteristic is appropriate that speeding to optimal and further facilitate (rather than wider) illumination 80 km / h. This can be avoided even activation of the city light when it comes to a road, especially an expressway highway. For example, the highways are illuminated in some countries. A distinction between an area in town and such an illuminated highway may be possible via the parabolic distance.

Another embodiment of the method may serve to determine whether an area is illuminated, in the own vehicle (102) is located, by means of image data of at least one camera (31) for the vehicle (102), (for the purpose of light controller 34 ) of the vehicle, wherein at least two (205) stationary street lighting units (105) are detected based on the image data and an area then evaluated as illuminated (206) when at least two street lighting units (105) a spatial distance from one another within predetermined limits (107, 204) have.

A further specialization is characterized in that the spatial distance is determined from a single image image data.

Another alternative specialization is characterized in that an occurrence of another street lighting units (105, 111) in a

continuous image sequence is detected and the time interval between the occurrence of the preceding street lighting unit (110) is determined.

A further specialization is characterized in that the spacing of this street lighting units is determined by the speed of the vehicle (37) from the time interval. A further specialization is characterized in that at

rated below a threshold time or a spatial distance threshold (204, 205) between the occurrence of a first (110) and another (111) road lighting unit as an area illuminated (206). A further specialization is characterized in that upon exceeding of a time threshold or a spatial distance threshold (107, 204) from the occurrence of the first or last street lighting unit (112), rated as non-illuminated without the occurrence of a further street lighting unit comprises a region (207, 113) becomes.

A further specialization is characterized in that the time threshold or the spatial distance threshold (204) due to

Environmental conditions will be adjusted variably.

A further specialization is characterized in that it is assumed that it is in the illuminated area to a metropolitan area, or area within a city. A further specialization is characterized in that is carried out with other sources of information to determine whether it is within an area or highway is to link the information whether the area is illuminated. A further specialization is characterized in that only the

Street lighting units (105) are considered which are characteristic of an internal local area.

A further specialization is characterized in that the town light is activated when the area as a built-up areas (111) and standard light if the

Area as the highway is determined (113, 114) was.

A further specialization is characterized in that an evaluation related. Of the irradiated area or territory in town or city activation of the light (111) or standard light (114) takes place only when the evaluated

State holding (211 108) for a specific period, or distance traveled.

A further specialization is characterized in that at

Slowly trips below a specified speed threshold the activated city light is not disabled, though the area has since been determined to be on the highway.

A further specialization is characterized in that when

Exceed a predetermined threshold speed to the vehicle as does not illuminate the area, and / or is determined as a highway, and / or the city lighting is disabled.

Another embodiment of the device may serve to determine whether an area is illuminated in which an own vehicle (102) is located, with first means or an interface for receiving image data (31) and second means for the detection of stationary

Street lighting units (32) or receipt of this information are provided, said second means (32, 33) at least two stationary street lighting units in at least one image or a picture sequence, detect the image data of the first means and in dependence on the spatial

Rate distance (107) and the result or the control (34) of

transmitted lights (35) via an interface.

drawings

Embodiments of the invention are illustrated in the drawings and explained in detail in the following description.

Show it

1, the extension and retraction of a vehicle in an illuminated area, Figure 2 is a flow diagram of an embodiment of the method,

3 shows a block diagram of a possible system configuration with a camera.

1 shows a scene shown on a road 101, on which a vehicle 102 from the bottom up driving in an illuminated area, which is characterized by lamps 105, retracts. Initially, the vehicle travels with standard light 103, while the system recognizes this at the time of traveling of the point 110 from a distance 106 in front of the first lamp. Also in a distance 106, this second lamp is detected at point 111 and turned on at this point, the city light 104 prior to the second lamp. After passing through the illuminated area, the system detects the time being last lantern in point 112, where it still does not know at this point that it is the last lantern. After no further lantern was detected in a Entprellabstand 107, at point 113, the area is no longer evaluated as illuminated. After a lag time or a stopping distance 108, a switching of the city light 104 on the standard light 103 will take place again at the point 114th

2 shows the flow of a refinement of the method is shown where the area as is not illuminated rated or not rated input in a situation two hundred and first In step 202, initial values ​​are set, for example, the distance traveled or the route "X" between two lamps to zero, and the counter "n" for the number of lamps is set to 1. In step 203, it is checked whether the n-th lamp is detected. If this is not the case, it is checked in step 204 whether the distance X has exceeded a certain threshold. This threshold has already been described and is a typical distance of two and n lanterns plus optionally a

Safety offset to. As long as this threshold has not been exceeded, it is to proceed with the step 203, the detection of the n-th lantern. If an n-th lamp is detected, in step 205 the lantern counter is incremented by 1 and checks whether the required number of detected lanterns has been reached. If this is not the case here, the increase of the counter is maintained and proceed with step 204th If the number of lights has been reached, in step 206 an evaluation is performed on an illuminated area. If in step 204, the distance threshold have been exceeded, a detection is performed on a non-illuminated area. Up to here, the figure 2 illustrates a possible implementation of the basic idea of ​​the invention.

In addition, a possible prior to or following function will be described: The evaluation results of the steps 206 and 207 are temporarily stored in a memory in a step 210th Then, a certain time or distance is maintained in accordance with the desired lead or lag time from a step 211 to determine in step 212 a comparison between the stored and the currently present evaluation results

perform. If these results to be equal, then in a step 213, the evaluation as a city area or non-urban area or the activation of the city light and the standard light is performed. In the case of inequality

Results are performed according to other reviews, such as the maintenance of the current rating, or the current light distribution. 3 shows a schematic drawing of a multi or dual purpose is

Camera 36 shown, which receives the image data by a camera or lens 31 and the lanterns extracted from the image data by vehicle and the object detection algorithms 32nd In a signal evaluation unit 33, the evaluation regarding the number of lamps within a given path, or time is now carried out. For this purpose, input signals 37 such. as the

Vehicle speed or the time considered. On

Headlamp control device (ASF control unit) 34 now controls depending on the information, whether the vehicle is built-up areas, the headlight 35 at. The components of the device may also be grouped separately, in particular can, for example outsourced the camera lens 31 and a

Interface to be connected to the Auswertesteuergerät 36th

Claims

claims
1. A method
- for the debouncing of at least two light characteristic change (105, 110, 111, 112),
- determined from the image data at least one camera (31) for a vehicle (102)
- said at least two light characteristic change can be detected in a continuous image sequence of the at least one camera
- and a timing difference between the at least two
Light characteristic change is determined,
characterized, in that
- based on the speed of the vehicle (37)
- from the time interval between the at least two
Light characteristic change
- a spatial distance (107) of the at least two light characteristic change is determined,
- wherein the debouncing is based on the spatial distance (107).
2. The method of claim 1, characterized, in that
- if the spatial distance between a first (110) and another (111) or an n-th light characteristic change
- a spatial distance threshold (204, 205) exceeds or falls below,
- then ends the debouncing and evaluation (206) is performed.
3. The method of claim 1 or 2, characterized in that
- caused the light characteristic change due to the passage of the vehicle to stationary objects or light sources (105).
4. The method of claim 2 or 3, characterized in that
- is evaluated with the assessment of whether the area where the vehicle is located,
- is illuminated and / or
- it is an urban area, or area within a city and / or - city light is activated when the area as a built-up areas (111) and standard light if the area on the highway as determined (113, 114) was added.
5. The method of claim 2 to 4, characterized in that
- the spatial distance threshold (204) is adjusted variable due to environmental conditions.
6. The method of claim 1 or 2, characterized in that
- at a known distance of the objects or light sources,
- based on the speed of the vehicle (37)
- the speed or stationarity (v = 0) is determined of the objects or light sources.
7. The method of claim 1 or 2, characterized in that
- the light characteristic changes are verusacht by moving objects or light sources and
- on the basis of the speeds of the objects or light sources of the / their spatial (r) distance is determined.
8. The method of claim 1 or 2, characterized in that
- addition to or instead of the determination of the spatial distance between the at least two light characteristic change and / or debouncing the path between the Lichtcharakterisitkwechseln
- the debouncing takes place on the basis of the distance traveled of the own vehicle (37), after the light characteristic change.
9. The method of claim 8, characterized, in that
- the light characteristic changes caused by oncoming vehicles,
- and after the debouncing based on the distance traveled of their own
Vehicle (37)
- after a last light characteristic change
- there is a change of the headlight control.
10. The method according to claim 4 and 8, characterized in that -. A review regarding the irradiated area or territory in town or city activation of the light (111) or standard light (114) only takes place
- if the evaluated condition persists a certain distance traveled (108, 211) long.
11. The method according to any one of the preceding claims, characterized in that
- instead of the debouncing or in addition to the distance on the speed based.
12. The method according to any one of the preceding claims, characterized in that
- evaluating other systems (ABS, ESP, airbags (controller), etc.) shall be notified for further evaluation.
13. device
- (debouncing to at least two light characteristic changing 105, 110, 111,
112)
- first means or an interface for receiving image data (31) for a vehicle (102) and
- second means (32) or receipt of this information are provided for the detection of light characteristic changing,
characterized, in that
- second means (32, 33) at least two light characteristic change
- recognize at least one image or an image sequence, the image data of the first means and
- based on the speed of the vehicle (37)
- from the time interval between the at least two
Light characteristic change
- determining a spatial distance (107) of the at least two light characteristic change,
- wherein the debouncing is based on the spatial distance (107).
EP20100745192 2009-08-07 2010-08-05 Method and device for distance-based debouncing of light characteristic changes Withdrawn EP2462005A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE200910028342 DE102009028342A1 (en) 2009-08-07 2009-08-07 To debounce light characteristic changes from e.g. street lights, for a vehicle fitted with a camera, action to change the headlight beam is taken according to the vehicle speed and the time interval between the changes
DE200910028344 DE102009028344A1 (en) 2009-08-07 2009-08-07 Method for debouncing of two light characteristic changeovers, involves determining graphic data of camera for vehicle
PCT/EP2010/061419 WO2011015625A1 (en) 2009-08-07 2010-08-05 Method and device for distance-based debouncing of light characteristic changes

Publications (1)

Publication Number Publication Date
EP2462005A1 true true EP2462005A1 (en) 2012-06-13

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EP20100745192 Withdrawn EP2462005A1 (en) 2009-08-07 2010-08-05 Method and device for distance-based debouncing of light characteristic changes

Country Status (3)

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EP (1) EP2462005A1 (en)
CN (1) CN102470793B (en)
WO (1) WO2011015625A1 (en)

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CN102470793A (en) 2012-05-23 application

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