Classifications

• • 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
  • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
  • B60Q1/0017—Devices integrating an element dedicated to another function
  • B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
• • 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
  • B60Q1/06—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 adjustable, e.g. remotely-controlled from inside vehicle
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F21—LIGHTING
  • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
  • F21S41/00—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps
  • F21S41/60—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
  • G01B11/00—Measuring arrangements characterised by the use of optical techniques
  • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
  • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
• • 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

Definitions

• Illumination system for the determination of geometric properties as well
• the present invention relates to a lighting system for
• the invention also relates to a corresponding
• Driver assistance system a corresponding method and corresponding uses of a projection headlight of a motor vehicle.
• Driver assistance systems in particular of motor vehicles.
• driver assistance systems require means by means of which geometrical properties, such as the spatial distance between certain parts of the environment, can be detected to the vehicle. From the well-known prior art go
• Laser light patterns must be in the visible spectral range, which can be annoying to the driver or other road users and thus leads to danger in road traffic.
• a separate light source for emitting the laser light pattern must be provided.
• the invention includes the technical teaching that a lighting system or a headlight system for a motor vehicle, a lighting unit, which is designed to illuminate a scene in the vicinity of the vehicle by projection of a, consisting of a total number of controllable pixels, total area, wherein the lighting unit or that
• Headlight system is adapted to project a predefined pattern on the scene
• An image acquisition unit adapted to acquire an image of at least a part of the scene; and a computing unit configured to calculate at least one geometric one Property of the scene is formed by the captured image and the predefined pattern has.
• controllability of the pixels is meant that the pixels are controllable in their brightness and / or color.
• the total area or the entire luminous area of all the pixels of the headlight system which is projected or projected onto the scene is, for example, complete or, for example, continuous or, for example, connected.
• the darkening of the subset of pixels remains
• the pixels of the total area which are respectively adjacent to the pixels of the subgroup, may also be switched brighter to increase the contrast.
• the image capture unit has, for example, a camera that is not sensitive to IR or NIR, for example.
• the advantage of the lighting system according to the invention can be
• the patterns thus projected can be detected with conventional cameras that have no (N) IR sensitivity.
• the lighting system comprises one or both headlights of the motor vehicle as
• Projection headlights which project a plurality of controllable pixels in the environment of the motor vehicle.
• the lighting unit is designed to project the predefined pattern by dimming a subset of pixels onto the scene.
• Dimming includes, for example, reducing the brightness relative to neighboring pixels.
• the darkening can be realized, for example, by switching off or dark switching or by dark switching of the respective pixels.
• the darkening of a subset of pixels occurs in such a way that the pattern is imperceptible to the driver - but already for the image acquisition unit.
• the pattern remains invisible to the driver, or imperceptible, for example, because dark pixels or spots attract less attention than
• a preferred embodiment provides that for the realization of switchable pixels a chip with movable micromirrors (DMD - digital micromirror device) - preferably with more than 10, in particular more than 100, in particular more than 1000
• Mirror elements is positioned in the light beam path so that the luminous flux emerging from the headlight locally
• This technology for headlight systems is the expert in principle known as "pixel light" already for headlights of motor vehicles, in which the lighting characteristics of the headlight, for example, depending on the road or other
• the headlamp system has a number of independently switchable illumination sources - in particular LEDs - so that the luminous flux emerging from the headlamp can be locally influenced.
• the headlamp system preferably has more than 10, in particular more than 100, in particular more than 1000 individual illumination sources.
• Lighting characteristics of the headlamp for example, depending on the road or other road users continuously adapted.
• a preferred embodiment of the invention provides that the number of pixels of the subgroup is less than half, in particular smaller than a quarter, in particular smaller than a tenth, in particular smaller than a hundredth, in particular smaller than a thousandth of the total number of pixels. Also, the number of pixels of the subgroup may be even less than one-thousandth of the total number of pixels.
• a further preferred embodiment provides that the pixels of the subgroup at no point cover a circle with a radius of more than 1, in particular 5, in particular 10, in particular 25, in particular 50, in particular 100 pixels.
• a circle with a radius of one pixel consists of exactly one pixel. For example, a circle having a radius of two pixels would be a 3 by 3 pixel field.
• the ideal maximum width of the adjacent pixels of the subgroup to be selected actually depends on imaging properties of the lighting unit, for example from the one to
• a further advantageous embodiment provides that the pixels of the subgroup form points and / or curved and / or straight lines, for example crosses or triangles or lattice patterns or grid lines. These figures are particularly easy to process for image recognition algorithms.
• a particularly preferred embodiment comprises that the illumination unit is designed to project the pattern only during certain sample time intervals.
• a further improvement of this embodiment provides that the arithmetic unit only uses images acquired during the pattern time intervals. This can be done, for example, by the image acquisition unit acquiring images only during these pattern time intervals, or by the arithmetic unit only using the subgroup of the continuously acquired images for the calculation that were created during the pattern time intervals.
• a further preferred embodiment provides, based on this, that the pattern time intervals are each shorter than one second divided by 1, in particular 2, in particular 4, in particular 10, in particular 24, in particular 30, in particular 60, in particular 120.
• a camera of the image capture unit can also easily capture the short-term patterns.
• a further embodiment provides that the image acquisition unit cyclically to the image
• Refresh rate which corresponds to the invariable minimum detection period, coupled or synchronized with the image acquisition unit.
• the illumination unit is designed to start a sample time interval only then, ie only to darken the pixels of the subgroup if and only if a frame of the
• Image capture unit starts or pending.
• This embodiment is further improved by making the length of a pattern time interval substantially one
• the multiple may be the single, double, triple, or any higher integer multiple.
• the multiple may be the single, double, triple, or any higher integer multiple.
• Pattern time interval but also its end time to the frame rate of the image acquisition unit, or one of these associated camera coupled. This results in a particularly good contrast, while at the same time minimizing the otherwise potentially disruptive display of the pattern.
• the scene is arranged in front of and / or next to and / or behind the motor vehicle.
• surround-view at least one geometric property of the environment can be calculated at any point.
• a further preferred embodiment of the invention provides that the at least one geometric property comprises a position of at least a part of the scene or a spatial distance of at least a part of the scene to a reference point.
• the reference point is for example a part of the motor vehicle or a part of the image capture device or another part of the scene.
• the at least one geometric feature may include unevenness of the scene, for example to detect gravel or potholes.
• the lighting unit as
• Projection headlights are formed, which projects the pattern by means of a micromirror array.
• a particularly fast and high-contrast control of the pixels can be realized with simultaneous bright and effective illumination of the scene.
• the object is likewise achieved by a method for calculating at least one geometric property of a scene, comprising steps in which
• a predefined pattern is projected onto the scene; and capturing an image of at least a portion of the scene; and calculating at least one geometric property of the scene by means of the acquired image and the predefined pattern.
• a projecting headlight of a motor vehicle projecting by means of a micromirror array can be used as illumination device to solve the problem.
• the installation of an independent lighting unit is avoided, and instead the existing micromirror array used, which causes a simpler technical production of the lighting system.
• FIG. 1 a schematically shows a vehicle with a driver assistance system
• Fig. 2 is a diagram of another embodiment of the invention.
• the driver assistance system comprises a
• Motor vehicle with a lighting unit 2 This is designed to illuminate a scene 3 in the vicinity of the vehicle by projection by means of a, consisting of a total number of controllable pixels 4, total area 5.
• the two headlights of the motor vehicle are used as lighting unit 2, the headlights being projection headlights which project a large number of individually controllable pixels into the surroundings of the vehicle.
• the illumination unit 2 is designed in particular to diminish a subgroup 6 of pixels 4
• the subgroup 6 is marked by black pixels 4 and consists of these.
• the pattern has exactly the shape of the darkened pixels 4, ie the subgroup, and consists of these.
• the grid lines between the pixels 4 serve only for better representation and are not part of the total area or the pattern.
• the driver assistance system comprises a
• Image acquisition unit 7 adapted to acquire an image of at least a part of the scene, and a calculation unit 8 arranged to calculate at least one geometric feature 9; 10 of the scene is formed by means of the acquired image and the predefined pattern.
• the arithmetic unit 8 calculates by means of the predefined pattern and its image, which is geometrically recorded by projection onto a cylindrical object 11, both the geometric property 9 in the form of the distance from the image acquisition unit to the object 11 and the geometric property 10 in FIG Shape of its height.
• the radius of curvature of the object can be calculated.
• the arithmetic unit uses, for example, a stored calibration.
• the number of pixels 4 of the subgroup 6 consisting of six pixels is smaller than one-tenth of the eighty-one pixels 4 of the total area 5.
• the markers are not optically noticeable.
• the pixels 4 of the subgroup 6 are arranged such that at no point is a circle with a radius of more than one pixel overlapped. Thus, only thin lines or points are created, which are physically difficult for a road user Circumstances of human perception are less clearly perceptible.
• the lighting unit 2 is designed as a projection headlamp, which projects the pattern by means of a micromirror array. If, for example, a projection headlight of the motor vehicle is used as lighting unit 2, no additional lighting unit has to be provided.
• Fig. Lb illustrates an integration of the elements shown in Fig. La in a motor vehicle.
• Headlight of the motor vehicle provides a
• Lighting unit 2 of the light system 1 is the
• Front headlamp is a projection headlamp, which project a large number of individually controllable pixels 4 in the environment of the motor vehicle.
• imaging detection unit 7 is a forward-facing, preferably monocular, camera, which is arranged in the motor vehicle behind the windshield. The camera detects the surroundings of the motor vehicle together with the pattern projected by the lighting system.
• the lighting unit 2 is designed to project the pattern only during specific pattern time intervals 12a, 12b. These intervals are marked here as black colored fields on a timeline.
• the arithmetic unit 8 uses only images 13a, 13b detected during the pattern time intervals 12a, 12b.
• the image capturing unit 7 may
• the image capturing unit acquires the images 13a, 13b only at detection start times 14a, 14b.
• the start times of the pattern time intervals 12a triggered by the illumination unit are; 12b to the
• the length of a pattern time interval corresponds to 12a; 12b, for example, substantially twice the
• the start time of the first pattern time interval 12a is slightly earlier than the first one
• Sample time interval 12a slightly longer than twice the detection period 15, whereby a maximum high contrast is achieved, but the pattern is also displayed slightly longer than necessary.
• the start time of the first pattern time interval 12b is slightly later than the first one
• Sample time interval 12b slightly shorter than twice the detection period 15, whereby a slightly reduced contrast is achieved, but the pattern no longer than necessary
• the invention is not limited to the above
• the Image capture unit comprises a plurality of cameras or that the illumination unit comprises a plurality of micromirror arrays.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Mechanical Engineering (AREA)
• Multimedia (AREA)
• Theoretical Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Lighting Device Outwards From Vehicle And Optical Signal (AREA)
• Traffic Control Systems (AREA)
• Image Processing (AREA)
• Image Input (AREA)

Applications Claiming Priority (2)

Publications (1)

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Family Applications (1)

Country Status (5)

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• 2016
  • 2016-11-29 DE DE102016223671.7A patent/DE102016223671A1/de not_active Withdrawn
• 2017
  • 2017-11-24 JP JP2019528024A patent/JP7050779B2/ja active Active
  • 2017-11-24 WO PCT/DE2017/200120 patent/WO2018099525A1/de unknown
  • 2017-11-24 US US16/464,803 patent/US10836301B2/en active Active
  • 2017-11-24 EP EP17811194.4A patent/EP3549058A1/de active Pending
  • 2017-11-24 DE DE112017005039.1T patent/DE112017005039A5/de active Pending

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