WO2003008232A1 - Disposition de detection d'un environnement et procede de detection de l'environnement d'un vehicule automobile - Google Patents

Disposition de detection d'un environnement et procede de detection de l'environnement d'un vehicule automobile Download PDF

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Publication number
WO2003008232A1
WO2003008232A1 PCT/EP2002/006531 EP0206531W WO03008232A1 WO 2003008232 A1 WO2003008232 A1 WO 2003008232A1 EP 0206531 W EP0206531 W EP 0206531W WO 03008232 A1 WO03008232 A1 WO 03008232A1
Authority
WO
WIPO (PCT)
Prior art keywords
radiation
detection device
motor vehicle
environment detection
radiation pulses
Prior art date
Application number
PCT/EP2002/006531
Other languages
German (de)
English (en)
Inventor
Martin Enders
Original Assignee
Bayerische Motoren Werke
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 Bayerische Motoren Werke filed Critical Bayerische Motoren Werke
Priority to EP02754674A priority Critical patent/EP1406790A1/fr
Publication of WO2003008232A1 publication Critical patent/WO2003008232A1/fr

Links

Classifications

    • 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
    • B60Q1/18—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 being additional front lights
    • 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
    • B60Q1/08—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 automatically
    • B60Q1/085—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 automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers

Definitions

  • the invention relates to an environmental detection device for the detection of an environmental area of a motor vehicle with a radiation source for illuminating the environmental area of the motor vehicle and with a recording unit for recording image data of the environmental area of the motor vehicle.
  • Such a generic environment detection device includes a lighting unit having a headlamp, a fog lamp, a cornering lamp and the like, and an image pickup device for photographing the route.
  • a lighting unit having a headlamp, a fog lamp, a cornering lamp and the like, and an image pickup device for photographing the route.
  • other units can also be used to provide information about the driving environment of the vehicle.
  • a mode determination device for determining a driving mode is provided and a lighting control device for controlling the lighting unit. The determined driving environment and the specific driving mode determine how the lighting unit is controlled. Headlights, fog lights, cornering lamps and the like can thus be optimally adapted to the respective conditions.
  • EP 0 571 529 describes a system in which a headlight of a vehicle emits periodic light pulses.
  • a headlight of a vehicle emits periodic light pulses.
  • Variable permeability coefficient arranged, which is permeable to the duration of the light pulses, and the permeability coefficient between the light pulses is significantly smaller. This ensures that the driver can see the lighting generated by his headlights extremely well, while the headlights of other vehicles or other light sources that continuously emit visible light appear dim. While this system may ensure that the driver of the vehicle equipped with this system is not blinded, it in no way prevents other road users from being blinded by the vehicle equipped with this system if the light pulses actually provide reliable detection of objects and obstacles in the dark should guarantee.
  • a first solution to this problem is a generic environmental detection device, the radiation source of which is designed to generate radiation pulses with intervals therebetween, the duration of the radiation pulses and the duration of the intervals being such that a human eye perceives a radiation intensity which is less than one actual radiation intensity of the individual radiation pulses and which does not dazzle the human eye.
  • the recording unit of the environmental detection device according to the invention is designed in such a way that it records image data from the environmental region illuminated by a radiation pulse in each case.
  • a radiation intensity and a radiation distribution can therefore be selected for the radiation pulses, which would lead to glare for the driver and / or other road users in the case of a continuously light-emitting radiation source. Due to the lighting effect of the radiation pulses Obstacles and other objects can therefore be optimally detected by the recording unit, while glare is excluded.
  • the radiation pulses and the intervals between them can also be dimensioned such that the radiation signal composed of them is perceived by the human eye as essentially continuous radiation. In this case, road users are not irritated by perceptible differences in brightness.
  • the radiation source emits visible light and / or infrared light.
  • the wavelengths of the light emitted by the radiation source are selected so that precisely those objects are recognized which are important for the further driving behavior. This includes, for example, oncoming vehicles or the course of the road.
  • the radiation source can comprise a flash lamp and / or a pixel light modulator and / or a high beam and / or a headlight.
  • a usable pixel light modulator is known from DE 197 37 653.
  • the lighting device described in this document is characterized in that different lighting functions can be implemented in that a mirror surface, which consists of several electronically controllable micromirrors, can be switched to at least two different mirror settings.
  • a headlight function and the function of the radiation source for generating radiation pulses can thus be implemented by the pixel light modulator.
  • other pixel light modulators known to those skilled in the art can also be used.
  • the environmental detection device has a clock unit for clocking the radiation pulses, the clock unit being connected to the recording unit in such a way that the recording unit can be controlled by the clock unit in such a way that the recording unit is in particular for the duration of the Radiation pulses are ready to receive.
  • the recording unit with its adapted dynamics is triggered on the radiation pulses and can thus record information, in particular during the duration of the radiation pulses. If the recording unit is only ready to record for the duration of the radiation pulses, the recording of non-optimally illuminated surrounding areas is prevented.
  • radiation pulses are also to be understood as bursts, so that the recording unit can also be controlled in such a way that it is ready for recording, in particular during the bursts.
  • the environment detection device can advantageously have a computer unit which is designed to evaluate the image data and, depending on the evaluated image data, to initiate at least one support measure to assist the driver of the motor vehicle.
  • This at least one support measure can include, for example, acoustic and / or optical information transmission to the driver, in particular by means of a display unit.
  • a so-called head-up display or a pixel software can be used for the optical information transmission, on which words, word sequences and / or other characters are shown.
  • the transmission of information to the driver can also be realized in that the image data recorded by the recording unit and evaluated by the computer unit are displayed on a screen in the form of an image or in the form of an image sequence.
  • the driver can be made aware of certain situations by means of acoustic signals, such as, for example, the voice signals “oncoming traffic”, “right turn”, “left turn” or “obstacle”.
  • the at least one support measure comprises an intervention in a control of the motor vehicle, in particular in a steering and / or a brake. If, for example, an obstacle on the roadway is recognized by the environment detection device, it makes little sense to only inform the driver that an obstacle has appeared. Rather, it is necessary to immediately intervene in the control of the motor vehicle. to prevent accidents or other dangerous situations.
  • the environment detection device has a lighting unit, the lighting unit being controllable by means of the at least one support measure in such a way that a detected object can be selectively illuminated in the surrounding area. If, for example, it is recognized by the evaluation of the image data that there is an object on the road, this object can be illuminated or illuminated by the lighting unit in such a way that it is easily recognizable for the driver. The driver can then take the necessary steps.
  • the function of the lighting unit can be carried out by the radiation source. This is particularly useful if the radiation source is implemented by a pixel light modulator and can therefore perform various functions anyway.
  • the computer unit is designed to control the radiation source as a function of the evaluated image data, in particular with regard to an intensity of the radiation pulses and / or a radiation composition of the radiation pulses and / or the duration of the radiation pulses and / or the duration of the intervals , This ensures that the radiation pulses and the intervals are always optimally matched to the surrounding area to be recorded and to the recording unit.
  • a second solution to the above problem is an environmental detection method for the detection of at least one environmental area of a motor vehicle, which comprises the following steps:
  • radiation pulses are generated with intervals between them for illuminating the at least one surrounding area of the motor vehicle, the duration of the radiation pulses and the duration of the intervals being such that a human eye perceives a radiation intensity which is less than an actual radiation intensity of the individual radiation pulses and which does not dazzle the human eye.
  • image data of the at least one surrounding area of the motor vehicle illuminated by the radiation pulses are recorded.
  • the environmental detection method according to the invention has all the advantages which have already been listed above in relation to the environmental detection device according to the invention.
  • An embodiment of the environmental detection method according to the invention provides that image data are recorded in particular during the radiation pulses.
  • the figure shows an embodiment of the environmental detection device according to the invention in a motor vehicle.
  • the environmental detection device comprises a radiation source 12, which is formed by a flash lamp. Alternatively, a pixel light modulator can also be used.
  • the flash lamp 12 is positioned in such a way that it illuminates a relatively large area of the surroundings of the motor vehicle 10, this region particularly including the road ahead of the motor vehicle 10.
  • the flash lamp 12 is connected to a computer unit 14.
  • This computer unit 14 comprises a clock unit 16, by means of which it is determined when and with what duration radiation pulses are generated by the flash lamp 12.
  • the duration of the radiation pulses and the duration of intervals between them are chosen so that a human eye perceives a radiation intensity which is less than an actual radiation intensity of the individual radiation pulses and which does not dazzle the human eye.
  • a clock frequency of the radiation pulses of approximately 70 Hz or a clock frequency above 70 Hz (depending on the luminance presented)
  • the human eye can no longer resolve the individual radiation pulses, and the radiation signal composed of the radiation pulses and the intervals acts for a viewer like essentially continuous radiation.
  • the flash lamp 12 emits visible light. Alternatively, it can also emit infrared radiation or radiation of a different and / or wider wavelength range.
  • the intensity of the radiation pulses, like the composition can be controlled by the computer unit 14.
  • the environmental detection device also has a recording unit 18 which is very precisely matched to the flash lamp 12.
  • the recording unit 18 In order to be able to record a surrounding area illuminated by a radiation pulse, the recording unit 18 must be equipped with a comparatively high dynamic, in particular with a high response speed.
  • the recording unit 18, in this embodiment of the environment detection device according to the invention a camera, can also be controlled by the clock unit 16, so that it is only ready for recording for the duration of the radiation pulses.
  • the image data recorded by the camera 18 are forwarded to the computer unit 14 and, at the same time, evaluated and analyzed therein. If this evaluation reveals that the radiation pulses from the flash lamp 12 are not sufficient to adequately illuminate the surrounding area, the computer unit 14 can control the flash lamp 12 accordingly in order to make a correction.
  • the computer unit 14 is also coupled to a display unit 20, through which information is transmitted to the driver of the motor vehicle 10. For example, an image or an image sequence that shows at least one surrounding area captured by the camera 18 can be displayed on this display unit 20.
  • a support measure can be provided to support the driver, by means of which certain optical signals are presented to the driver on the display unit 20. These optical signals can include single or multiple words or other characters. If it is recognized by the computer unit 14, for example, that the motor vehicle 10 is approaching an intersection, "Caution intersection" could be displayed on the display unit 20. Since the computer unit 14 is also connected to a system 22 for generating acoustic impressions, acoustic signals can also be transmitted to the driver which inform him about processes or characteristics of the environment relevant to him. The computer unit 14 is also coupled to a control unit 24, by means of which an intervention in a control of the motor vehicle 10 can be carried out.
  • control unit 24 can intervene in a steering and / or a brake of the motor vehicle 10. This is particularly necessary if the camera 18 and the computer unit 14 recognize a dangerous situation.
  • the computer unit 14 can also be connected to other control devices of the motor vehicle 10, so that the motor vehicle 10 can automatically react to a wide variety of situations in the environment. If, for example, an object is recognized by evaluating and analyzing the image data in the computer unit 14, an illumination unit 26 of the environmental detection device according to the invention can be controlled in such a way that this object is specifically illuminated by the illumination unit 26 so that the driver can recognize the object with ease. This can also be achieved by deliberately not illuminating the object while the surroundings of the object are illuminated. Such an object can be an obstacle on the road or a road marking.
  • a pixel light modulator is provided as the radiation source instead of the flash lamp 12, a separate lighting unit 26 can be dispensed with and the pixel light modulator can take over the function of the lighting unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

L'invention concerne un dispositif de détection d un environnement conçu pour détecter l'environnement d'un véhicule automobile (19), et comportant une source de rayonnement (12) destinée à éclairer l'environnement du véhicule automobile (10), ainsi qu'une unité d'enregistrement (18) destinée à enregistrer des données image de l'environnement du véhicule automobile (10). Ladite source de rayonnement (12) est configurée pour produire des impulsions de rayonnement espacées par des intervalles. La durée des impulsions de rayonnement et des intervalles est définie de manière à ce que l'oeil d'un être humain perçoive une intensité de rayonnement inférieure à l'intensité de rayonnement réelle de chaque impulsion de rayonnement, et que cette intensité de rayonnement n'éblouisse pas l'oeil humain. L'unité d'enregistrement (18) est conçue pour enregistrer des données image de l'environnement respectivement éclairé par une impulsion de rayonnement. L'invention se rapporte en outre à un procédé de détection d'un environnement correspondant.
PCT/EP2002/006531 2001-07-17 2002-06-14 Disposition de detection d'un environnement et procede de detection de l'environnement d'un vehicule automobile WO2003008232A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP02754674A EP1406790A1 (fr) 2001-07-17 2002-06-14 Disposition de detection d'un environnement et procede de detection de l'environnement d'un vehicule automobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10134596.8A DE10134596B4 (de) 2001-07-17 2001-07-17 Umgebungsdetektionsvorrichtung und Umgebungsdetektionsverfahren zur Detektion eines Umgebungsbereichs eines Kraftfahrzeugs
DE10134596.8 2001-07-17

Publications (1)

Publication Number Publication Date
WO2003008232A1 true WO2003008232A1 (fr) 2003-01-30

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PCT/EP2002/006531 WO2003008232A1 (fr) 2001-07-17 2002-06-14 Disposition de detection d'un environnement et procede de detection de l'environnement d'un vehicule automobile

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EP (1) EP1406790A1 (fr)
DE (1) DE10134596B4 (fr)
WO (1) WO2003008232A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004106112A1 (fr) * 2003-05-28 2004-12-09 University Of Florida Dispositif et procede d'eclairage et d'imagerie de route carrossable invisible
US7045783B2 (en) 2001-06-05 2006-05-16 University Of Florida Research Foundation, Inc. Device and method for object illumination and imaging using light pulses
EP1923261A1 (fr) * 2006-11-10 2008-05-21 GM Global Technology Operations, Inc. Système d'éclairage d'un véhicule automobile
DE102007036081A1 (de) 2007-08-01 2009-02-05 GM Global Technology Operations, Inc., Detroit Beleuchtungseinrichtung für ein Kraftfahrzeug und Verfahren zur Steuerung einer Leuchte
EP2128521A1 (fr) * 2008-05-27 2009-12-02 Valeo Vision Projecteur de véhicule automobile susceptible d'émettre un faisceau lumineux orientable.
EP1944195A3 (fr) * 2007-01-10 2011-01-05 Robert Bosch Gmbh Procédé et dispositif de commande d'un dispositif d'éclairage d'environnement proche pour un système d'assistance du conducteur d'un véhicule automobile
CN105135313A (zh) * 2011-06-29 2015-12-09 夏普株式会社 投射装置及车辆用前照灯

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DE10326358B9 (de) * 2003-06-04 2013-05-29 Volkswagen Ag Vorrichtung zur Fahrerwarnung und zur Anhaltewegverkürzung
DE102007049637B4 (de) * 2007-10-17 2015-10-15 Audi Ag Verfahren zum Betreiben eines Leuchtsystems und eines Bilderfassungssystems eines Fahrzeugs sowie Objekterfassungssystem für ein Fahrzeug
DE102012214637A1 (de) 2011-08-23 2013-02-28 Robert Bosch Gmbh Verfahren und Vorrichtung zur Einstellung einer Leuchtcharakteristik eines Scheinwerfers und Scheinwerfersystem

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US4692798A (en) * 1984-01-09 1987-09-08 Nissan Motor Company, Limited Apparatus and process for improving visibility of object within visual field
EP0571529A1 (fr) 1991-02-19 1993-12-01 Thomson Csf Systeme anti-eblouissement pour vehicules.
US5796094A (en) * 1993-02-26 1998-08-18 Donnelly Corporation Vehicle headlight control using imaging sensor
FR2730035A1 (fr) * 1995-01-30 1996-08-02 Valeo Vision Projecteur infrarouge pour systeme d'aide a la vision pour vehicule automobile et systeme d'aide a la vision le comportant
DE19756574A1 (de) 1996-12-18 1998-10-08 Koito Mfg Co Ltd Beleuchtungseinheit für ein Fahrzeug
DE19737653A1 (de) 1997-08-29 1999-03-04 Patent Treuhand Ges Fuer Elektrische Gluehlampen Mbh Beleuchtungseinrichtung für Fahrzeuge und Betriebsverfahren für eine derartige Beleuchtungseinrichtung

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7045783B2 (en) 2001-06-05 2006-05-16 University Of Florida Research Foundation, Inc. Device and method for object illumination and imaging using light pulses
WO2004106112A1 (fr) * 2003-05-28 2004-12-09 University Of Florida Dispositif et procede d'eclairage et d'imagerie de route carrossable invisible
EP1923261A1 (fr) * 2006-11-10 2008-05-21 GM Global Technology Operations, Inc. Système d'éclairage d'un véhicule automobile
EP1944195A3 (fr) * 2007-01-10 2011-01-05 Robert Bosch Gmbh Procédé et dispositif de commande d'un dispositif d'éclairage d'environnement proche pour un système d'assistance du conducteur d'un véhicule automobile
DE102007036081A1 (de) 2007-08-01 2009-02-05 GM Global Technology Operations, Inc., Detroit Beleuchtungseinrichtung für ein Kraftfahrzeug und Verfahren zur Steuerung einer Leuchte
EP2128521A1 (fr) * 2008-05-27 2009-12-02 Valeo Vision Projecteur de véhicule automobile susceptible d'émettre un faisceau lumineux orientable.
FR2931745A1 (fr) * 2008-05-27 2009-12-04 Valeo Vision Projecteur de vehicule automobile susceptible d'emettre un faisceau lumineux orientable.
CN105135313A (zh) * 2011-06-29 2015-12-09 夏普株式会社 投射装置及车辆用前照灯

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Publication number Publication date
DE10134596B4 (de) 2021-07-01
EP1406790A1 (fr) 2004-04-14
DE10134596A1 (de) 2003-04-10

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