EP3967030A1 - Method for generating an image of vehicle surroundings, and apparatus for generating an image of vehicle surroundings - Google Patents

Method for generating an image of vehicle surroundings, and apparatus for generating an image of vehicle surroundings

Info

Publication number
EP3967030A1
EP3967030A1 EP20727143.8A EP20727143A EP3967030A1 EP 3967030 A1 EP3967030 A1 EP 3967030A1 EP 20727143 A EP20727143 A EP 20727143A EP 3967030 A1 EP3967030 A1 EP 3967030A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
image
hdr
cameras
images
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.)
Pending
Application number
EP20727143.8A
Other languages
German (de)
French (fr)
Inventor
Martin Bürker
Markus Friebe
Andreas Panakos
Danilo Djordjevic
Markus EICH
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.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Conti Temic Microelectronic 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
Application filed by Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of EP3967030A1 publication Critical patent/EP3967030A1/en
Pending legal-status Critical Current

Links

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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4053—Scaling of whole images or parts thereof, e.g. expanding or contracting based on super-resolution, i.e. the output image resolution being higher than the sensor resolution
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/90—Dynamic range modification of images or parts thereof
    • G06T5/92—Dynamic range modification of images or parts thereof based on global image properties
    • 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
    • H04N23/741—Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20172—Image enhancement details
    • G06T2207/20208—High dynamic range [HDR] image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging

Definitions

  • the invention relates to a method and a device for generating an image of a vehicle environment.
  • Driver assistance systems that support the driver in performing driving maneuvers.
  • Some of these driver assistance systems contain camera surround view systems that allow the driver of the vehicle to see the surroundings of the vehicle.
  • Such camera surround view systems include several vehicle cameras which deliver real images of the vehicle environment, which are combined in particular by a data processing unit of the camera surround view system to form an image of the surroundings of the vehicle. The image of the vehicle surroundings is then advantageously displayed to the driver on a display unit.
  • Adjacent cameras of surround view systems usually have overlapping fields of view. Since more information is available in these areas than is required, the images in these areas are usually mixed by alpha blending. This can lead to strong transitions in the mixing areas if the brightness in the adjacent images varies too much.
  • one known approach is to equalize the brightness in the images before mixing. This is done in particular through image harmonization. Image harmonization has some disadvantages, however. For example, it is computationally intensive; the sampling must be close to perfect; the brightness cannot be easily adjusted in some color formats to adjust; and the sample pattern must be random enough not to match a pattern in the images. Overall, the results are heavily dependent on the current situation.
  • the object of the invention is to provide a method and a device with which the existing problems based on the differences in brightness between neighboring cameras can be eliminated.
  • Embodiments are the subject of the subclaims.
  • a device is the subject of the independent claim.
  • the present invention relates to a method for generating an image of a vehicle environment, comprising the steps:
  • the method according to the invention ensures, in particular, that the very complex and relatively error-prone image harmonization can be dispensed with, since in particular the differences in brightness in the individual images are eliminated.
  • the multiple vehicle cameras each capture at least a partial area of the vehicle environment.
  • the vehicle cameras or the viewing areas of the vehicle cameras point in particular in different directions, with adjacent vehicle cameras normally having viewing areas that overlap at least in certain areas.
  • HDR images are understood to mean in particular images with a high dynamic range. These are also known to the person skilled in the art as high dynamic range images. Such images make it possible for large differences in brightness to be reproduced in great detail in the camera's field of view.
  • a single, entire HDR image is made from the multiple, individual HDR images.
  • the joining of the individual images to form the overall image works in a manner known to the person skilled in the art, preferably by stitching. This also applies in particular to the areas of overlap.
  • LDR images are understood to mean in particular images with a low dynamic range. These are also known to the person skilled in the art as low dynamic range images.
  • the LDR image is obtained in particular by compressing the dynamic range of the HDR image.
  • the individual HDR images are transmitted to a control unit.
  • the control unit preferably creates the entire HDR image from the multiple, individual HDR images. In particular finds that Merging of the individual HDR images into a single, complete HDR image takes place in the control unit.
  • the calculation and / or generation of the individual HDR images takes place in the individual vehicle cameras.
  • the calculation of the individual HDR images takes place outside the vehicle cameras.
  • the raw data of the images or the image data can be sent to a device that can be located, for example, in the vehicle, but also outside the vehicle, where the calculation then takes place.
  • the LDR image is calculated from the HDR image using tone mapping.
  • the calculation is not limited to any specific tone mapping process.
  • the use of global operators is basically conceivable.
  • a function is used here which assigns a dynamically compressed value to each HDR value and which is then applied to each pixel.
  • the pixels of the HDR image or the output image are processed independently of one another.
  • the HDR image is linearly compressed; a factor is used for all pixels.
  • the use of local or frequency-based operators is also possible.
  • image regions with high contrast are compressed more strongly and image regions with low contrast less strongly.
  • the neighborhood, in particular neighboring pixels is preferably included.
  • each vehicle camera records several exposures per image.
  • the individual HDR images are preferably reconstructed from an exposure series, advantageously from an exposure series of images with a low dynamic range, in particular low dynamic ranks.
  • exposure series is understood to mean, in particular, a graduated series of exposures.
  • the same motif is preferably imaged, in particular several times, with different exposure settings.
  • Each image region is preferably correctly exposed in at least one of the individual images.
  • the change in exposure can take place over the duration of the exposure time.
  • the change in exposure can also be controlled via the f-number or by changing the sensitivity setting.
  • Exposure series are advantageously recorded to calculate the individual HDR images.
  • the entire LDR image is displayed on a display unit.
  • the display unit can be a display, a display and / or a head-up display.
  • the display unit can be part of the vehicle. It is also possible, however, for the display unit to be part of a mobile terminal.
  • cameras of a surround view system supply the image data of the vehicle environment. These are in particular four cameras, which are ideally arranged on different sides of the vehicle.
  • the cameras are preferably fisheye cameras.
  • the invention relates to a device for generating an image of a vehicle environment, comprising:
  • Vehicle cameras which are attached in particular to a vehicle body of a vehicle and are designed in such a way that they generate HDR images or can calculate HDR images, and
  • control unit that is designed to control the multiple Combine individual HDR images into a complete HDR image and calculate an LDR image from this.
  • the device according to the invention is preferably suitable for carrying out a method according to the invention.
  • the device comprises a display unit which outputs the LDR image calculated by the control device.
  • the vehicle cameras are advantageously designed to be identical.
  • identical construction is to be understood in particular to the effect that the vehicle cameras have the same sensor and / or the same optics. It is advantageous if all vehicle cameras use the same values for exposure time (s), sensitivity (s), aperture, AD converter and / or ISP.
  • the vehicle cameras are preferably designed as fisheye cameras.
  • the vehicle cameras are arranged on different sides of the vehicle. It is advantageous if exactly four cameras are used, in particular a vehicle camera being arranged on a front side, a vehicle camera on a rear side, a vehicle camera on the right side and a vehicle camera on a left side of the vehicle body.
  • the vehicle cameras are in particular cameras of a surround view system.
  • FIG. 1 a schematic representation of a flow chart of a method according to the invention for generating an image of a vehicle environment in one embodiment
  • Fig. 2 a schematic representation of an inventive
  • FIG. 1 shows a schematic representation of a flow chart of a method according to the invention for generating an image of a vehicle environment in one embodiment.
  • a first step S1 several vehicle cameras 12, 14,
  • the cameras 12, 14, 16, 18 are arranged in particular on a vehicle body of a vehicle, the vehicle cameras 12, 14, 16, 18 or the viewing areas of the vehicle cameras 12, 14, 16, 18 preferably pointing in different directions. Adjacent vehicle cameras 12, 14, 16, 18 in particular partially have a
  • a second step S2 individual HDR images are calculated and / or generated from image data or images from vehicle cameras 12, 14, 16, 18.
  • the individual HDR images are preferably calculated in each of the individual vehicle cameras 12, 14, 16, 18.
  • the individual HDR images are advantageously obtained in that they are reconstructed from an exposure series, preferably from an exposure series of images with a low dynamic range.
  • each vehicle camera 12, 14, 16, 18 takes in particular several per image
  • a third step S3 the multiple, individual HDR images are combined to form an overall HDR image.
  • the individual HDR images can be combined in a control device 20.
  • an image with a low dynamic range is generated from the entire HDR image. calculated.
  • the LDR image is preferably calculated from the HDR image using tone mapping.
  • the entire LDR image can then be displayed on a display unit 22.
  • FIG. 2 shows a schematic representation of a device 10 according to the invention for generating an image of a vehicle environment in one embodiment.
  • the device comprises several vehicle cameras 12, 14, 16, 18, which are designed such that they can generate HDR images or that HDR images can be calculated therefrom.
  • the vehicle cameras 12, 14, 16, 18 are preferably attached to a vehicle body of a vehicle.
  • the vehicle cameras 12, 14, 16, 18 are arranged on different sides of the vehicle.
  • the vehicle cameras 12, 14, 16, 18 are ideally designed to be identical. In particular, they have the same sensor and / or the same optics.
  • the vehicle cameras 12, 14, 16, 18 can be designed as fisheye cameras. It is advantageous if the vehicle cameras 12, 14, 16, 18 are cameras of a surround view system.
  • the device 10 according to the invention further comprises a control device 20.
  • the control device 20 is designed to combine the multiple, individual HDR images to form an overall HDR image and then to calculate an LDR image therefrom.
  • the device 10 according to the invention can also include a display unit 22 which outputs or displays the LDR image calculated by the control device 20.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)
  • Automation & Control Theory (AREA)
  • Image Analysis (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Image Processing (AREA)

Abstract

The invention relates to a method for generating an image of vehicle surroundings, having the steps of: - providing multiple vehicle cameras (12, 14, 16, 18), which are arranged in particular on a vehicle bodywork of a vehicle (S1), - calculating and/or generating individual HDR images from image data or images from the vehicle cameras (12, 14, 16, 18) (S2), – assembling the multiple individual HDR images to produce an overall HDR image (S3), - calculating an image having a low dynamic range, in particular an LDR image, from the overall HDR image (S4). The invention also relates to an apparatus (10) for generating an image of vehicle surroundings.

Description

Beschreibung description
Verfahren zur Erzeugung eines Bildes einer Fahrzeugumgebung und Vorrichtung zur Erzeugung eines Bildes einer Method for generating an image of a vehicle environment and device for generating an image of a
Fahrzeugumgebung Vehicle environment
Die Erfindung betrifft ein Verfahren sowie eine Vorrichtung zur Erzeugung eines Bildes einer Fahrzeugumgebung. The invention relates to a method and a device for generating an image of a vehicle environment.
Fahrzeuge werden zunehmend mit Fahrerassistenzsystemen ausgerüstet, welche den Fahrer bei der Durchführung von Fahrmanövern unterstützen. Diese Fahrerassistenzsysteme enthalten zum Teil Kamera-Surround-View-Systeme, die es erlauben, dem Fahrer des Fahrzeugs die Fahrzeugumgebung anzuzeigen. Derartige Kamera-Surround-View-Systeme umfassen mehrere Fahrzeugkameras, welche reale Bilder der Fahrzeugumgebung liefern, die insbesondere durch eine Datenverarbeitungseinheit des Kamera-Surround-View-Systems zu einem Umgebungsbild der Fahrzeugumgebung zusammengefügt werden. Das Bild der Fahrzeugumgebung wird dann dem Fahrer vorteilhafterweise auf einer Anzeigeeinheit angezeigt. Vehicles are increasingly being equipped with driver assistance systems that support the driver in performing driving maneuvers. Some of these driver assistance systems contain camera surround view systems that allow the driver of the vehicle to see the surroundings of the vehicle. Such camera surround view systems include several vehicle cameras which deliver real images of the vehicle environment, which are combined in particular by a data processing unit of the camera surround view system to form an image of the surroundings of the vehicle. The image of the vehicle surroundings is then advantageously displayed to the driver on a display unit.
Benachbarte Kameras von Surround-View-Systemen weisen normalerweise überlappende Sichtbereich auf. Da in diesen Bereichen mehr Informationen zur Verfügung stehen als benötigt werden, werden die Bilder in diesen Bereichen üblicherweise durch alpha-blending gemischt. Dies kann zu starken Übergängen in den Mischungsbereichen führen, wenn die Helligkeit in den angrenzenden Bildern zu stark variiert. Um dieses Problem zu überwinden, ist ein bekannter Ansatz die Helligkeit in den Bildern vor einer Mischung anzugleichen. Dies wird insbesondere durch Image Harmonization gemacht. Die Image Harmonization weist allerdings einige Nachteile auf. So ist sie beispielsweise rechenintensiv; das Sampling muss nahezu perfekt sein; die Helligkeit lässt sich in einigen Farbformaten nicht einfach einstellen; und das Abtastmuster muss zufällig genug sein, um nicht mit einem Muster in den Bildern übereinzustimmen. Insgesamt sind die Ergebnisse stark von der aktuellen Situation abhängig . Adjacent cameras of surround view systems usually have overlapping fields of view. Since more information is available in these areas than is required, the images in these areas are usually mixed by alpha blending. This can lead to strong transitions in the mixing areas if the brightness in the adjacent images varies too much. To overcome this problem, one known approach is to equalize the brightness in the images before mixing. This is done in particular through image harmonization. Image harmonization has some disadvantages, however. For example, it is computationally intensive; the sampling must be close to perfect; the brightness cannot be easily adjusted in some color formats to adjust; and the sample pattern must be random enough not to match a pattern in the images. Overall, the results are heavily dependent on the current situation.
Ausgehend hiervon ist es nun Aufgabe der Erfindung, ein Verfahren bzw. eine Vorrichtung bereitzustellen, mit dem bzw. mit der die bestehenden Probleme basierend auf den Helligkeitsunterschieden benachbarter Kameras beseitigt werden können. Proceeding from this, the object of the invention is to provide a method and a device with which the existing problems based on the differences in brightness between neighboring cameras can be eliminated.
Die Aufgabe wird durch ein Verfahren mit den Merkmalen des unabhängigen Patentanspruchs 1 gelöst. BevorzugteThe object is achieved by a method with the features of independent claim 1. Preferred
Aus führungs formen sind Gegenstand der Unteransprüche. Eine Vorrichtung ist Gegenstand des nebengeordneten Patentanspruchs. Embodiments are the subject of the subclaims. A device is the subject of the independent claim.
Gemäß einem ersten Aspekt bezieht sich die vorliegende Erfindung auf ein Verfahren zur Erzeugung eines Bildes einer Fahrzeugumgebung, mit den Schritten: According to a first aspect, the present invention relates to a method for generating an image of a vehicle environment, comprising the steps:
- Bereitstellen mehrerer Fahrzeugkameras, die insbesondere an einer Fahrzeugkarosserie eines Fahrzeuges angeordnet sind, - Provision of several vehicle cameras, which are arranged in particular on a vehicle body of a vehicle,
- Berechnen und/oder Erzeugung von einzelnen HDR Bildern aus Bilddaten bzw. Bildern der Fahrzeugkameras, - Calculating and / or generating individual HDR images from image data or images from the vehicle cameras,
- Zusammenfügen der mehreren, einzelnen HDR Bildern zu einem gesamten HDR Bild, - Merge the multiple, individual HDR images into a complete HDR image,
Berechnen eines Bildes mit geringem Dynamikumfang, insbesondere eines LDR Bildes, aus dem gesamten HDR Bild. Calculating an image with a low dynamic range, in particular an LDR image, from the entire HDR image.
Die Verfahrensschritte werden insbesondere in der angegebenen Reihenfolge durchgeführt. The method steps are carried out in particular in the order given.
Das erfindungsgemäße Verfahren sorgt insbesondere dafür, dass auf die sehr aufwändige und relativ fehleranfällige Image Harmonization verzichtet werden kann, da insbesondere die Helligkeitsunterschiede in den einzelnen Bildern wegfallen. Die mehreren Fahrzeugkameras erfassen insbesondere jeweils zumindest einen Teilbereich der Fahrzeugumgebung. Die Fahrzeugkameras bzw. die Sichtbereiche der Fahrzeugkameras weisen dabei insbesondere in verschiedene Richtungen, wobei benachbarte Fahrzeugkameras normalerweise zumindest bereichsweise überlappende Sichtbereiche aufweisen. The method according to the invention ensures, in particular, that the very complex and relatively error-prone image harmonization can be dispensed with, since in particular the differences in brightness in the individual images are eliminated. In particular, the multiple vehicle cameras each capture at least a partial area of the vehicle environment. The vehicle cameras or the viewing areas of the vehicle cameras point in particular in different directions, with adjacent vehicle cameras normally having viewing areas that overlap at least in certain areas.
Im Sinne der Erfindung werden unter HDR Bildern insbesondere Bilder mit hohem Dynamikumfang verstanden. Diese sind dem Fachmann auch als High Dynamic Range Image bekannt. Solche Bilder machen es möglich, dass große Helligkeitsunterschiede im Sichtbereich der Kamera detailreich wiedergegeben werden können. For the purposes of the invention, HDR images are understood to mean in particular images with a high dynamic range. These are also known to the person skilled in the art as high dynamic range images. Such images make it possible for large differences in brightness to be reproduced in great detail in the camera's field of view.
Aus den mehreren, einzelnen HDR Bildern wird insbesondere ein einziges, gesamtes HDR Bild gemacht. Das Zusammenfügen der einzelnen Bilder zu dem Gesamtbild funktioniert insbesondere auf einer dem Fachmann bekannten Weise, bevorzugt durch Stiching. Dies gilt insbesondere auch für die Überlappungsbereiche. In particular, a single, entire HDR image is made from the multiple, individual HDR images. The joining of the individual images to form the overall image works in a manner known to the person skilled in the art, preferably by stitching. This also applies in particular to the areas of overlap.
Im Sinne der Erfindung werden unter LDR Bildern insbesondere Bilder mit geringem Dynamikumfang verstanden. Diese sind dem Fachmann auch als Low Dynamic Range Images bekannt. Man erhält das LDR Bild insbesondere durch Kompression des Dynamikumfangs des HDR Bildes. In the context of the invention, LDR images are understood to mean in particular images with a low dynamic range. These are also known to the person skilled in the art as low dynamic range images. The LDR image is obtained in particular by compressing the dynamic range of the HDR image.
In einer vorteilhaften Ausgestaltung werden die einzelnen HDR Bilder an ein Steuergerät übertragen. Zur Übertragung der einzelnen HDR Bilder der einzelnen Fahrzeugkameras an ein Steuergerät sind zwar grundsätzlich größere Leistungen als bei den bekannten Verfahren notwendig, was sich folglich erst einmal negativ auf den Prozess auswirkt. Es hat sich aber überraschenderweise herausgestellt, dass sich dies dann wieder durch die anderen bzw. weiteren Schritte ausgleichen lässt. Das Steuergerät macht bevorzugt aus den mehreren, einzelnen HDR Bildern das gesamte HDR Bild. Insbesondere findet das Zusammenfügen der einzelnen HDR Bilder zu einem einzigen, gesamten HDR Bild in dem Steuergerät statt. In an advantageous embodiment, the individual HDR images are transmitted to a control unit. To transmit the individual HDR images from the individual vehicle cameras to a control unit, more power is required than with the known methods, which consequently has a negative impact on the process. However, it has surprisingly been found that this can then be compensated for by the other or further steps. The control unit preferably creates the entire HDR image from the multiple, individual HDR images. In particular finds that Merging of the individual HDR images into a single, complete HDR image takes place in the control unit.
In einer bevorzugten Ausgestaltung erfolgt die Berechnung und/oder Erzeugung der einzelnen HDR Bilder jeweils in den einzelnen Fahrzeugkameras. Es ist grundsätzlich aber auch denkbar, dass die Berechnung der einzelnen HDR Bilder außerhalb der Fahrzeugkameras erfolgt. Hierzu können die Rohdaten der Bilder bzw. die Bilddaten an eine Vorrichtung, die sich beispielsweise im Fahrzeug, aber auch außerhalb des Fahrzeugs befinden kann, gesendet werden, wo dann die Berechnung stattfindet . In a preferred embodiment, the calculation and / or generation of the individual HDR images takes place in the individual vehicle cameras. In principle, however, it is also conceivable that the calculation of the individual HDR images takes place outside the vehicle cameras. For this purpose, the raw data of the images or the image data can be sent to a device that can be located, for example, in the vehicle, but also outside the vehicle, where the calculation then takes place.
Insbesondere erfolgt die Berechnung des LDR Bildes aus dem HDR Bild mittels Tonemapping. Die Berechnung ist dabei grundsätzlich auf kein bestimmtes Tonemapping-Verfahren beschränkt. Es ist grundsätzlich die Verwendung von globalen Operatoren denkbar. Hierbei wird insbesondere eine Funktion verwendet, die jedem HDR-Wert einen dynamikkomprimierten Wert zuweist und die dann auf jeden Pixel angewandt wird. Bei der Verwendung von globalen Operatoren werden somit die Pixel des HDR-Bildes bzw. des Ausgangsbildes unabhängig voneinander verarbeitet. Insbesondere wird das HDR-Bild linear komprimiert; für alle Bildpunkte wird ein Faktor verwendet. Ferner ist auch die Verwendung von lokalen oder frequenzbasierenden Operatoren möglich. Hierbei werden insbesondere Bildregionen mit hohem Kontrast stark und Bildregionen mit geringem Kontrast weniger stark komprimiert. Beim Tonemapping wird bevorzugt die Nachbarschaft, insbesondere benachbarte Pixel, mit einbezogen. In particular, the LDR image is calculated from the HDR image using tone mapping. In principle, the calculation is not limited to any specific tone mapping process. The use of global operators is basically conceivable. In particular, a function is used here which assigns a dynamically compressed value to each HDR value and which is then applied to each pixel. When using global operators, the pixels of the HDR image or the output image are processed independently of one another. In particular, the HDR image is linearly compressed; a factor is used for all pixels. The use of local or frequency-based operators is also possible. In particular, image regions with high contrast are compressed more strongly and image regions with low contrast less strongly. In tone mapping, the neighborhood, in particular neighboring pixels, is preferably included.
In einer vorteilhaften Ausgestaltung nimmt jede Fahrzeugkamera pro Bild mehrere Belichtungen auf. Die einzelnen HDR Bilder werden bevorzugt aus einer Belichtungsreihe, vorteilhafterweise aus einer Belichtungsreihe von Bildern mit niedrigem Dynamikumfang, insbesondere low dynamic ränge, rekonstruiert. Im Sinne der Erfindung wird unter Belichtungsreihe insbesondere eine abgestufte Reihe von Belichtungen verstanden. Dabei wird bevorzugt dasselbe Motiv insbesondere mehrmals bei unterschiedlichen Belichtungseinstellungen abgebildet. Bevorzugt wird jede Bildregion in mindestens einem der Einzelbilder korrekt belichtet. Die Veränderung der Belichtung kann über die Dauer der Belichtungszeit erfolgen. Die Veränderung der Belichtung kann aber auch über die Blendenzahl oder über die Veränderung der Empfindlichkeitseinstellung gesteuert werden. Zur Berechnung der einzelnen HDR Bilder werden vorteilhafterweise Belichtungsreihen aufgenommen. In an advantageous embodiment, each vehicle camera records several exposures per image. The individual HDR images are preferably reconstructed from an exposure series, advantageously from an exposure series of images with a low dynamic range, in particular low dynamic ranks. For the purposes of the invention, exposure series is understood to mean, in particular, a graduated series of exposures. In this case, the same motif is preferably imaged, in particular several times, with different exposure settings. Each image region is preferably correctly exposed in at least one of the individual images. The change in exposure can take place over the duration of the exposure time. The change in exposure can also be controlled via the f-number or by changing the sensitivity setting. Exposure series are advantageously recorded to calculate the individual HDR images.
In einer bevorzugten Ausgestaltung wird das gesamte LDR Bild auf einer Darstellungseinheit angezeigt. Bei der Darstellungseinheit kann es sich um ein Display, eine Anzeige und/oder ein Head-Up Display handeln. Die Darstellungseinheit kann Teil des Fahrzeugs sein. Es ist aber auch möglich, dass die Darstellungseinheit Teil eines mobilen Endgeräts ist. In a preferred embodiment, the entire LDR image is displayed on a display unit. The display unit can be a display, a display and / or a head-up display. The display unit can be part of the vehicle. It is also possible, however, for the display unit to be part of a mobile terminal.
In einer vorteilhaften Ausgestaltung liefern Kameras eines Surround-View-Systems die Bilddaten der Fahrzeugumgebung. Es handelt sich hierbei insbesondere um vier Kameras, die idealerweise an unterschiedlichen Seiten des Fahrzeugs angeordnet sind. Bevorzugt handelt es sich bei den Kameras um Fisheye-Kameras . In an advantageous embodiment, cameras of a surround view system supply the image data of the vehicle environment. These are in particular four cameras, which are ideally arranged on different sides of the vehicle. The cameras are preferably fisheye cameras.
Gemäß einem zweiten Aspekt bezieht sich die Erfindung auf eine Vorrichtung zur Erzeugung eines Bildes einer Fahrzeugumgebung, umfassend : According to a second aspect, the invention relates to a device for generating an image of a vehicle environment, comprising:
- Fahrzeugkameras, die insbesondere an einer Fahrzeugkarosserie eines Fahrzeuges angebracht sind und derart ausgebildet sind, dass sie HDR Bilder erzeugen bzw. sich HDR Bilder berechnen lassen, und Vehicle cameras which are attached in particular to a vehicle body of a vehicle and are designed in such a way that they generate HDR images or can calculate HDR images, and
ein Steuergerät, das dazu ausgelegt ist, die mehreren, einzelnen HDR Bilder zu einem gesamten HDR Bild zusammenzufügen und daraus ein LDR-Bild zu berechnen. a control unit that is designed to control the multiple Combine individual HDR images into a complete HDR image and calculate an LDR image from this.
Die erfindungsgemäße Vorrichtung eignet sich bevorzugt zur Durchführung eines erfindungsgemäßen Verfahrens. The device according to the invention is preferably suitable for carrying out a method according to the invention.
In einer vorteilhaften Ausgestaltung der vorliegenden Erfindung umfasst die Vorrichtung eine Darstellungseinheit, welche das durch das Steuergerät berechnete LDR Bild ausgibt. In an advantageous embodiment of the present invention, the device comprises a display unit which outputs the LDR image calculated by the control device.
Vorteilhafterweise sind die Fahrzeugkameras baugleich ausgebildet. Im Sinne der Erfindung ist baugleich insbesondere dahingehend zu verstehen, dass die Fahrzeugkameras den gleichen Sensor und/oder die gleiche Optik aufweisen. Von Vorteil ist es, wenn alle Fahrzeugkameras die gleichen Werte für Belichtungszeit (en) , Empfindlichkeit ( en) , Blende, AD- Wandler und/oder ISP verwenden. The vehicle cameras are advantageously designed to be identical. In the context of the invention, identical construction is to be understood in particular to the effect that the vehicle cameras have the same sensor and / or the same optics. It is advantageous if all vehicle cameras use the same values for exposure time (s), sensitivity (s), aperture, AD converter and / or ISP.
Die Fahrzeugkameras sind bevorzugt als Fisheye-Kameras ausgebildet. In einer bevorzugten Ausgestaltung sind die Fahrzeugkameras an unterschiedlichen Seiten des Fahrzeugs angeordnet. Von Vorteil ist es, wenn genau vier Kameras zum Einsatz kommen, wobei insbesondere eine Fahrzeugkamera an einer vorderen Seite, eine Fahrzeugkamera an einer hinteren Seite, eine Fahrzeugkamera an der rechten Seite und eine Fahrzeugkamera an einer linken Seite der Fahrzeugkarosserie angeordnet ist. Bei den Fahrzeugkameras handelt es sich insbesondere um Kameras eines Surround-View-Systems . The vehicle cameras are preferably designed as fisheye cameras. In a preferred embodiment, the vehicle cameras are arranged on different sides of the vehicle. It is advantageous if exactly four cameras are used, in particular a vehicle camera being arranged on a front side, a vehicle camera on a rear side, a vehicle camera on the right side and a vehicle camera on a left side of the vehicle body. The vehicle cameras are in particular cameras of a surround view system.
Weitere vorteilhafte Ausgestaltungen ergeben sich aus den Further advantageous configurations emerge from the
Zeichnungen. Hierbei zeigen: Drawings. Here show:
Fig. 1: schematische Darstellung eines Ablaufdiagramms eines erfindungsgemäßen Verfahrens zur Erzeugung eines Bildes einer Fahrzeugumgebung in einer Ausgestaltung; Fig. 2: schematische Darstellung einer erfindungsgemäßen1: a schematic representation of a flow chart of a method according to the invention for generating an image of a vehicle environment in one embodiment; Fig. 2: a schematic representation of an inventive
Vorrichtung zur Erzeugung eines Bildes einer Fahrzeugumgebung in einer Ausgestaltung. Device for generating an image of a vehicle environment in one embodiment.
Figur 1 zeigt eine schematische Darstellung eines Ablaufdiagramms eines erfindungsgemäßen Verfahrens zur Erzeugung eines Bildes einer Fahrzeugumgebung in einer Ausgestaltung. In einem ersten Schritt S1 werden mehrere Fahrzeugkameras 12, 14,FIG. 1 shows a schematic representation of a flow chart of a method according to the invention for generating an image of a vehicle environment in one embodiment. In a first step S1, several vehicle cameras 12, 14,
16, 18 bereitgestellt. Die Kameras 12, 14, 16, 18 sind insbesondere an einer Fahrzeugkarosserie eines Fahrzeuges angeordnet, wobei die Fahrzeugkameras 12, 14, 16, 18 bzw. die Sichtbereiche der Fahrzeugkameras 12, 14, 16, 18 bevorzugt in verschiedene Richtungen weisen. Benachbarte Fahrzeugkameras 12, 14, 16, 18 weisen insbesondere teilweise einen16, 18 provided. The cameras 12, 14, 16, 18 are arranged in particular on a vehicle body of a vehicle, the vehicle cameras 12, 14, 16, 18 or the viewing areas of the vehicle cameras 12, 14, 16, 18 preferably pointing in different directions. Adjacent vehicle cameras 12, 14, 16, 18 in particular partially have a
Überlappungsbereich auf. Overlap area.
In einem zweiten Schritt S2 werden einzelne HDR Bilder aus Bilddaten bzw. Bildern der Fahrzeugkameras 12, 14, 16, 18 berechnet und/oder erzeugt. Die Berechnung der einzelnen HDR Bilder findet bevorzugt jeweils in den einzelnen Fahrzeugkameras 12, 14, 16, 18 statt. Die einzelnen HDR Bilder erhält man vorteilhafterweise dadurch, dass sie aus einer Belichtungsreihe, bevorzugt aus einer Belichtungsreihe von Bildern mit niedrigem Dynamikumfang, rekonstruiert werden. Hierfür nimmt jede Fahrzeugkamera 12, 14, 16, 18 insbesondere pro Bild mehrereIn a second step S2, individual HDR images are calculated and / or generated from image data or images from vehicle cameras 12, 14, 16, 18. The individual HDR images are preferably calculated in each of the individual vehicle cameras 12, 14, 16, 18. The individual HDR images are advantageously obtained in that they are reconstructed from an exposure series, preferably from an exposure series of images with a low dynamic range. For this purpose, each vehicle camera 12, 14, 16, 18 takes in particular several per image
Belichtungen auf. Exposures on.
In einem dritten Schritt S3 werden die mehreren, einzelnen HDR Bildern zu einem gesamten HDR Bild zusammengefügt. Das Zusammenfügen der einzelnen HDR Bilder kann in einem Steuergerät 20 erfolgen. In a third step S3, the multiple, individual HDR images are combined to form an overall HDR image. The individual HDR images can be combined in a control device 20.
In einem vierten Schritt S4 wird aus dem gesamten HDR Bild ein Bild mit geringem Dynamikumfang, bevorzugt ein LDR Bild, berechnet. Die Berechnung des LDR Bildes aus dem HDR Bild erfolgt bevorzugt mittels Tonemapping. Das gesamte LDR Bild kann dann auf einer Darstellungseinheit 22 angezeigt werden. In a fourth step S4, an image with a low dynamic range, preferably an LDR image, is generated from the entire HDR image. calculated. The LDR image is preferably calculated from the HDR image using tone mapping. The entire LDR image can then be displayed on a display unit 22.
Figur 2 zeigt eine schematische Darstellung einer erfindungsgemäßen Vorrichtung 10 zur Erzeugung eines Bildes einer Fahrzeugumgebung in einer Ausgestaltung. Die Vorrichtung umfasst mehrere Fahrzeugkameras 12, 14, 16, 18, die derart ausgebildet sind, dass sie HDR Bilder erzeugen können bzw. dass daraus HDR Bilder berechnet werden können. Die Fahrzeugkameras 12, 14, 16, 18 sind bevorzugt an einer Fahrzeugkarosserie eines Fahrzeuges angebracht. Insbesondere sind die Fahrzeugkameras 12, 14, 16, 18 an unterschiedlichen Seiten des Fahrzeugs angeordnet. FIG. 2 shows a schematic representation of a device 10 according to the invention for generating an image of a vehicle environment in one embodiment. The device comprises several vehicle cameras 12, 14, 16, 18, which are designed such that they can generate HDR images or that HDR images can be calculated therefrom. The vehicle cameras 12, 14, 16, 18 are preferably attached to a vehicle body of a vehicle. In particular, the vehicle cameras 12, 14, 16, 18 are arranged on different sides of the vehicle.
Die Fahrzeugkameras 12, 14, 16, 18 sind idealerweise baugleich ausgebildet. Sie weisen insbesondere den gleichen Sensor und/oder die gleiche Optik auf. Die Fahrzeugkameras 12, 14, 16, 18 können als Fisheye-Kameras ausgebildet sein. Von Vorteil ist es, wenn die Fahrzeugkameras 12, 14, 16, 18 Kameras eines Surround-View-Systems sind. The vehicle cameras 12, 14, 16, 18 are ideally designed to be identical. In particular, they have the same sensor and / or the same optics. The vehicle cameras 12, 14, 16, 18 can be designed as fisheye cameras. It is advantageous if the vehicle cameras 12, 14, 16, 18 are cameras of a surround view system.
Ferner umfasst die erfindungsgemäße Vorrichtung 10 ein Steuergerät 20. Das Steuergerät 20 ist dazu ausgelegt, die mehreren, einzelnen HDR Bilder zu einem gesamten HDR Bild zusammenzufügen und daraus anschließend ein LDR-Bild zu berechnen. Die erfindungsgemäße Vorrichtung 10 kann zudem eine Darstellungseinheit 22 umfassen, welche das durch das Steuergerät 20 berechnete LDR Bild ausgibt bzw. anzeigt. The device 10 according to the invention further comprises a control device 20. The control device 20 is designed to combine the multiple, individual HDR images to form an overall HDR image and then to calculate an LDR image therefrom. The device 10 according to the invention can also include a display unit 22 which outputs or displays the LDR image calculated by the control device 20.
Die Erfindung wurde voranstehend an Ausführungsbeispielen beschrieben. Es versteht sich, dass zahlreiche Änderungen sowie Abwandlungen möglich sind, ohne dass dadurch der durch die Patentansprüche definierte Schutzbereich verlassen wird. Auch eine Kombination der verschiedenen Ausführungsbeispiele ist möglich . Bezugs zeichenliste The invention was described above using exemplary embodiments. It goes without saying that numerous changes and modifications are possible without thereby departing from the scope of protection defined by the claims. A combination of the various exemplary embodiments is also possible. Reference character list
10 Vorrichtung 10 device
12 erste Fahrzeugkamera 12 first vehicle camera
14 zweite Fahrzeugkamera 14 second vehicle camera
16 dritte Fahrzeugkamera 16 third vehicle camera
18 vierte Fahrzeugkamera 18 fourth vehicle camera
20 Steuergerät 20 control unit
22 Darstellungseinheit 22 Display unit
S1-S4 Verfahrensschritte S1-S4 process steps

Claims

Patentansprüche Claims
1. Verfahren zur Erzeugung eines Bildes einer 1. Method for generating an image of a
Fahrzeugumgebung, mit den Schritten: Vehicle environment, with the steps:
- Bereitstellen mehrerer Fahrzeugkameras (12, 14, 16, - Provision of several vehicle cameras (12, 14, 16,
18), die insbesondere an einer Fahrzeugkarosserie eines Fahrzeuges angeordnet sind (Sl), 18), which are arranged in particular on a vehicle body of a vehicle (Sl),
- Berechnen und/oder Erzeugung von einzelnen HDR Bildern aus Bilddaten bzw. Bildern der Fahrzeugkameras (12, 14, - Calculating and / or generating individual HDR images from image data or images from the vehicle cameras (12, 14,
16, 18) ( S2 ) , 16, 18) (S2),
- Zusammenfügen der mehreren, einzelnen HDR Bildern zu einem gesamten HDR Bild (S3), - Merge the multiple, individual HDR images into a single HDR image (S3),
- Berechnen eines Bildes mit geringem Dynamikumfang, insbesondere eines LDR Bildes, aus dem gesamten HDR Bild (S4 ) . - Calculating an image with a low dynamic range, in particular an LDR image, from the entire HDR image (S4).
2. Verfahren nach Anspruch 1, gekennzeichnet durch ein 2. The method according to claim 1, characterized by a
Übertragen der einzelnen HDR Bilder an ein Steuergerät (20), wobei das Steuergerät (20) aus den mehreren, einzelnen HDR Bildern das gesamte HDR Bild macht. Transmission of the individual HDR images to a control device (20), the control device (20) making the entire HDR image from the several individual HDR images.
3. Verfahren nach einem der Ansprüche 1 oder 2, dadurch 3. The method according to any one of claims 1 or 2, characterized
gekennzeichnet, dass die Berechnung der einzelnen HDR Bilder jeweils in den einzelnen Fahrzeugkameras (12, 14, 16, 18) erfolgt. characterized in that the calculation of the individual HDR images takes place in the individual vehicle cameras (12, 14, 16, 18).
4. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass jede Fahrzeugkamera (12, 14, 16, 18) pro Bild mehrere Belichtungen aufnimmt. 4. The method according to any one of the preceding claims, characterized in that each vehicle camera (12, 14, 16, 18) records several exposures per image.
5. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das gesamte LDR Bild auf einer 5. The method according to any one of the preceding claims, characterized in that the entire LDR image on one
Darstellungseinheit (22) angezeigt wird. Display unit (22) is displayed.
6. Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass Kameras (12, 14, 16, 18) eines 6. The method according to any one of the preceding claims, characterized in that cameras (12, 14, 16, 18) one
Surround-View-Systems die Bilddaten der Fahrzeugumgebung liefern . Surround-View-Systems deliver the image data of the vehicle environment.
7. Vorrichtung (10) zur Erzeugung eines Bildes einer 7. Device (10) for generating an image of a
Fahrzeugumgebung aufweisend: Vehicle environment having:
-Fahrzeugkameras (12, 14, 16, 18), die insbesondere an einer Fahrzeugkarosserie eines Fahrzeuges angebracht sind und derart ausgebildet sind, dass sie HDR Bilder erzeugen bzw. sich HDR Bilder berechnen lassen, und Vehicle cameras (12, 14, 16, 18) which are attached in particular to a vehicle body of a vehicle and are designed such that they generate HDR images or can calculate HDR images, and
-ein Steuergerät (20), das dazu ausgelegt ist, die mehreren, einzelnen HDR Bilder zu einem gesamten HDR Bild zusammenzufügen und daraus ein LDR Bild zu berechnen. a control device (20) which is designed to combine the multiple, individual HDR images into a complete HDR image and to calculate an LDR image from them.
8. Vorrichtung (10) nach Anspruch 7, gekennzeichnet durch eine Darstellungseinheit (22), die das durch das 8. The device (10) according to claim 7, characterized by a display unit (22), which by the
Steuergerät (20) berechnete LDR Bild ausgibt bzw. Control unit (20) outputs or outputs calculated LDR image
anzeigt . indicates.
9. Vorrichtung (10) nach einem der Ansprüche 7 oder 8, 9. Device (10) according to one of claims 7 or 8,
dadurch gekennzeichnet, dass die Fahrzeugkameras (12, 14, 16, 18) baugleich sind. characterized in that the vehicle cameras (12, 14, 16, 18) are structurally identical.
10. Vorrichtung (10) nach einem der Ansprüche 7 bis 9, 10. Device (10) according to one of claims 7 to 9,
gekennzeichnet durch genau vier Fahrzeugkameras (12, 14, 16, 18), wobei insbesondere eine Fahrzeugkamera an einer vorderen Seite, eine Fahrzeugkamera an einer hinteren Seite, eine Fahrzeugkamera an der rechten Seite und eine Fahrzeugkamera an der linken Seite der Fahrzeugkarosserie angeordnet ist. characterized by exactly four vehicle cameras (12, 14, 16, 18), wherein in particular a vehicle camera is arranged on a front side, a vehicle camera on a rear side, a vehicle camera on the right side and a vehicle camera on the left side of the vehicle body.
EP20727143.8A 2019-05-08 2020-05-05 Method for generating an image of vehicle surroundings, and apparatus for generating an image of vehicle surroundings Pending EP3967030A1 (en)

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