WO2006024247A1 - Procede pour detecter des precipitations sur une vitre - Google Patents

Procede pour detecter des precipitations sur une vitre Download PDF

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Publication number
WO2006024247A1
WO2006024247A1 PCT/DE2005/000676 DE2005000676W WO2006024247A1 WO 2006024247 A1 WO2006024247 A1 WO 2006024247A1 DE 2005000676 W DE2005000676 W DE 2005000676W WO 2006024247 A1 WO2006024247 A1 WO 2006024247A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
camera
vehicle
windscreen
target area
Prior art date
Application number
PCT/DE2005/000676
Other languages
German (de)
English (en)
Inventor
Stefan Heinrich
Thomas Fechner
Michael Walter
Matthias Zobel
Original Assignee
Adc Automotive Distance Control Systems 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 Adc Automotive Distance Control Systems Gmbh filed Critical Adc Automotive Distance Control Systems Gmbh
Priority to DE112005001898T priority Critical patent/DE112005001898A5/de
Publication of WO2006024247A1 publication Critical patent/WO2006024247A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • B60S1/0844—Optical rain sensor including a camera
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
    • G06V10/431—Frequency domain transformation; Autocorrelation
    • 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

  • the invention relates to a method for the detection of precipitation on a disk.
  • State of the art are methods with active illumination of the disc, as can be found for example in DE 197 40 364 A1 or DE 198 46 969 A1.
  • light is fed via one or more light sources in the windshield. Since raindrops influence the reflection behavior, the difference between the amount of light coupled in and reflected on the pane can be measured by means of a photosensor and thus rain detected.
  • the detection of dry / dusty precipitation, icing and condensation fitting on the inside of the disc is not possible with the previously known active method.
  • a separate sensor unit with active lighting is required.
  • the object of the invention is to introduce an alternative method for the detection of precipitation, which can preferably detect all types of precipitation.
  • camera sensors for environmental observation e.g. used for lane detection, object recognition, with a view in the direction of travel or in the return area.
  • a camera sensor for environmental observation is focused on a target area in the vicinity of the vehicle, that is outside the dimensions of the vehicle is arranged on the road in a range of typically several meters in front of the front of the vehicle.
  • the camera is currently not focused on the windshield and therefore can not detect precipitation particles directly, as it can not image them sharply.
  • cameras can not only be optical receiver chips on CMOS or PIN diode arrays, but also scanning systems which image the image as lines per line onto a receiver and thus match the image pixels in the swivel position of the scanner, as can be seen in FIG DE 10135107 A1 can be seen.
  • the invention is based on the fact that precipitation on the pane changes the image in its sharpness and local contrast. Raindrops as well as condensation fitting on the inside of the disk form scattering lenses, which create a soft focus effect in the picture. According to the invention, it has been recognized that even with a camera arrangement for environmental observation, which is not focused on the windshield of the vehicle, it is possible to extract information about rainfall on the windshield from the captured image or corresponding sections. For this purpose, image processing algorithms are applied, which are based on the basic effect of softening during precipitation.
  • the analysis in the local area by contrast measurement in particular in predetermined image sections with relatively constant background image or analysis in the time domain by differential image comparison as well as in the frequency domain by means of a Fourier transform (FT) of the entire image or predetermined image sections to the one-dimensional, ie line by line discrete FT.
  • FT Fourier transform
  • the evaluation of local contrast differences of adjacent pixels, with line-by-line detection, for example, limited to the two adjacent pixels or the 9 pixels around a middle pixel in a matrix arrangement already shows significant sensitivity.
  • the measured contrast depends on the background image and the size and position of the image section used.
  • the assessment of the local contrast differences of adjacent pixels averaged over the entire image in typical environmental situations in traffic has a lower dependence on the respective ambient and lighting situations than the purely local assessment.
  • the use of the wiper and the comparison of two images before and after the wiping process are particularly preferred. If the spectrum of the image is changed by a wiping process, it is wet on the glass. If the wipe does not change the spectrum of the image, there is no moisture on the glass.
  • a heating coil can also be arranged in the pane or on the pane in order to create comparative images.
  • S (u, v) is the 2D Fourier transform of the image.
  • f_Low, f_High are the lower and upper cutoff frequencies.
  • Delta is the threshold to be crossed and f is the local spatial frequency.
  • the horizontal / vertical frequency components (u, v) and thus the orientations of 2D structures are neglected. Only their absolute frequency f [1 / pixel pitch] and thus their resolution is considered.
  • the optimal thresholds fJLow and f_High can be determined from training sequences, but are relatively uncritical.
  • the threshold value delta This depends on the scene dynamics (e.g., desert, forest) as well as the camera parameters (e.g., the exposure control gain).
  • the Fourier spectrum (and thus the integral over the high spectral components) is directly proportional to the amplitude of the input signal.
  • the thresholds can be determined offline from sequences containing scenes with or without fogging.
  • the thresholds can be dynamically adapted to the current scene.
  • the amplitude of the Fourier spectrum and thus the energy of the high - frequency spectral components depends on the contrast of the image. (eg the amplification factor of the camera and thus the time of day (day / night)). However, this does not apply to the ratio of high to low frequencies. This results in a second, more robust classifier.
  • the classifier may deteriorate as details with high-frequency content may be lost (eg headlights, stars at night).
  • the ratio of the high and low frequency spectral components can be obtained by the quotient of the sums of the intensities of high (Hi) and low-pass filtered (Ti) pixels of a picture line.
  • the low-pass filtered pixels Oi can be e.g. through a recursive filter from the
  • T 1 Qr - O 1 H - (I - Or) - O 1-1
  • the high-pass filtered pixels can be calculated from the differences between the original pixels and the low-pass filtered pixels.
  • the above equation corresponds to a high pass. Summing only values with abs (O (i + 1) -O (i-1))> delta, the camera noise can be suppressed, resulting in a very effective classifier.
  • the invention thus provides a multiple benefit of a camera that is used for environmental detection and as a rain sensor.
  • the camera sensor is focused environment observation on a target area that is located outside the dimensions of the vehicle on the road, for example, in a range of 5 to 30 meters in front of the front of the vehicle.
  • the information obtained from the environmental observation may e.g. be used in driver assistance functions such as Lane Depature Warning or Nightvision.
  • the present invention proposed method for detecting rainfall on the windshield is based precisely on this focus property, and differs from that of a conventional rain sensor, where the focus of a camera is directed directly at the windshield.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Image Analysis (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

La présente invention concerne un procédé pour détecter des précipitations, notamment de la pluie et de la buée, sur une vitre, qui ne repose pas sur un éclairage actif de la vitre et sur une mesure de la réflectivité, mais sur une caméra utilisant une pluralité de pixels voisins pour détecter une image d'une zone cible. Cette zone cible se trouve dans l'environnement du véhicule et la vitre est donc représentée de manière floue. Des gouttes de pluie ou de la buée sur la vitre provoquent dans l'image un effet de flou en cas de représentation floue. La netteté de l'image et/ou les différences de contraste de pixels voisins sont évaluées, ce qui permet de déduire la présence de précipitations sur la vitre, l'image est alors de préférence soumise à une transformée de Fourier à deux dimensions et les fréquences spatiales sont évaluées. Notamment avec une zone cible présentant un faible contraste, une première image est prise, puis un essuie-glace ou un chauffage balayant la vitre dans le domaine de visée de la caméra est activé, une seconde image est prise, et enfin les deux images sont évaluées par rapport à des changements.
PCT/DE2005/000676 2004-09-03 2005-04-14 Procede pour detecter des precipitations sur une vitre WO2006024247A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112005001898T DE112005001898A5 (de) 2004-09-03 2005-04-14 Verfahren zur Detektion von Niederschlag auf einer Scheibe

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102004042597.3 2004-09-03
DE102004042597 2004-09-03
DE102005004220.1 2005-01-28
DE102005004220 2005-01-28

Publications (1)

Publication Number Publication Date
WO2006024247A1 true WO2006024247A1 (fr) 2006-03-09

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Application Number Title Priority Date Filing Date
PCT/DE2005/000676 WO2006024247A1 (fr) 2004-09-03 2005-04-14 Procede pour detecter des precipitations sur une vitre

Country Status (2)

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DE (1) DE112005001898A5 (fr)
WO (1) WO2006024247A1 (fr)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2901218A1 (fr) * 2006-05-22 2007-11-23 Valeo Vision Sa Procede de detection de pluie sur un parebrise
WO2010038223A1 (fr) * 2008-10-01 2010-04-08 Hi-Key Limited Procédé et système de détection de la présence sur une lentille d’un dispositif de capture d’images d’une obstruction au passage de la lumière à travers la lentille du dispositif de capture d’images
WO2011127895A1 (fr) 2010-04-16 2011-10-20 Conti Temic Microelectronic Gmbh Procédé et dispositif d'assistance au conducteur lors de la conduite d'un véhicule consistant à détecter une visibilité réduite due aux conditions atmosphériques
WO2013163991A1 (fr) * 2012-05-03 2013-11-07 Conti Temic Microelectronic Gmbh Détection de gouttes de pluie sur un pare-brise au moyen d'une caméra et d'un éclairage
WO2014032933A1 (fr) * 2012-08-29 2014-03-06 Bayerische Motoren Werke Aktiengesellschaft Procédé pour faire fonctionner un véhicule
US8774546B2 (en) 2012-03-08 2014-07-08 Industrial Technology Research Institute Method and apparatus for single-image-based rain streak removal
US9224052B2 (en) 2012-12-19 2015-12-29 Industrial Technology Research Institute Method for in-image periodic noise pixel inpainting
US9335264B2 (en) 2010-11-30 2016-05-10 Conti Temic Microelectronic Gmbh Detection of raindrops on a pane by means of a camera and lighting
US9508015B2 (en) 2011-12-05 2016-11-29 Continental Teves Ag & Co. Ohg Method for evaluating image data of a vehicle camera taking into account information about rain
DE102015218500A1 (de) 2015-09-25 2017-03-30 Conti Temic Microelectronic Gmbh Beleuchtung und kamerabasierte Detektion von Regentropfen auf einer Scheibe
EP3336747A1 (fr) 2016-12-13 2018-06-20 Continental Automotive GmbH Détection de pluie par caméra
EP3336748A1 (fr) 2016-12-13 2018-06-20 Continental Automotive GmbH Détection de fortes pluies en mesurant temporallement le flou de contours
US10106126B2 (en) 2014-05-15 2018-10-23 Conti Temic Microelectronic Gmbh Apparatus and method for detecting precipitation for a motor vehicle
US10137842B2 (en) 2011-06-03 2018-11-27 Conti Temic Microelectronic Gmbh Camera system for a vehicle
CN114714865A (zh) * 2022-04-12 2022-07-08 重庆金康赛力斯新能源汽车设计院有限公司 汽车玻璃的除雾系统与除雾方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10111249A (ja) * 1996-10-09 1998-04-28 Fujitsu Ten Ltd 視界状態検出装置
DE19740364A1 (de) 1997-09-13 1999-03-25 Bosch Gmbh Robert Vorrichtung und Verfahren zum Betreiben eines Regensensors
DE19846969A1 (de) 1998-04-08 1999-10-14 Bosch Gmbh Robert Regensensor
DE10135107A1 (de) 2001-07-19 2003-02-06 Adc Automotive Dist Control Verfahren zum Optischen Abtasten einer Szene
DE10201522A1 (de) * 2002-01-17 2003-07-31 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung von Sichtbehinderungen bei Bildsensorsystemen
WO2003097420A1 (fr) * 2002-05-18 2003-11-27 Elmos Semiconductor Ag Detecteur de pluie
EP1418089A2 (fr) * 2002-11-05 2004-05-12 C.R.F. Società Consortile per Azioni Système optique multifonctionel intégré avec une matrice CMOS ou CCD
DE10303047A1 (de) * 2003-01-24 2004-08-05 Daimlerchrysler Ag Verfahren und Vorrichtung zur Sichtverbesserung und zur Bestimmung der Wettersituation
DE10303046A1 (de) * 2003-01-24 2004-10-21 Daimlerchrysler Ag Verfahren und Vorrichtung zur quantitativen Abschätzung der Sichtweite in Fahrzeugen

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10111249A (ja) * 1996-10-09 1998-04-28 Fujitsu Ten Ltd 視界状態検出装置
DE19740364A1 (de) 1997-09-13 1999-03-25 Bosch Gmbh Robert Vorrichtung und Verfahren zum Betreiben eines Regensensors
DE19846969A1 (de) 1998-04-08 1999-10-14 Bosch Gmbh Robert Regensensor
DE10135107A1 (de) 2001-07-19 2003-02-06 Adc Automotive Dist Control Verfahren zum Optischen Abtasten einer Szene
DE10201522A1 (de) * 2002-01-17 2003-07-31 Bosch Gmbh Robert Verfahren und Vorrichtung zur Erkennung von Sichtbehinderungen bei Bildsensorsystemen
WO2003097420A1 (fr) * 2002-05-18 2003-11-27 Elmos Semiconductor Ag Detecteur de pluie
EP1418089A2 (fr) * 2002-11-05 2004-05-12 C.R.F. Società Consortile per Azioni Système optique multifonctionel intégré avec une matrice CMOS ou CCD
DE10303047A1 (de) * 2003-01-24 2004-08-05 Daimlerchrysler Ag Verfahren und Vorrichtung zur Sichtverbesserung und zur Bestimmung der Wettersituation
DE10303046A1 (de) * 2003-01-24 2004-10-21 Daimlerchrysler Ag Verfahren und Vorrichtung zur quantitativen Abschätzung der Sichtweite in Fahrzeugen

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* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 09 31 July 1998 (1998-07-31) *

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2901218A1 (fr) * 2006-05-22 2007-11-23 Valeo Vision Sa Procede de detection de pluie sur un parebrise
EP1860426A3 (fr) * 2006-05-22 2010-06-02 Valeo Vision Procédé de détection de pluie sur un parebrise
US7860275B2 (en) 2006-05-22 2010-12-28 Valeo Vision Method for detecting rain on a windscreen
WO2010038223A1 (fr) * 2008-10-01 2010-04-08 Hi-Key Limited Procédé et système de détection de la présence sur une lentille d’un dispositif de capture d’images d’une obstruction au passage de la lumière à travers la lentille du dispositif de capture d’images
US9128813B2 (en) 2010-04-16 2015-09-08 Conti Temic Microelectronic Gmbh Method and device for assisting a driver while driving a vehicle by detecting weather-related visibility limitations
DE102010015214A1 (de) 2010-04-16 2011-10-20 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Fahrerunterstützung beim Fahren eines Fahrzeugs durch Detektion von wetterbedingten Sichteinschränkungen
WO2011127895A1 (fr) 2010-04-16 2011-10-20 Conti Temic Microelectronic Gmbh Procédé et dispositif d'assistance au conducteur lors de la conduite d'un véhicule consistant à détecter une visibilité réduite due aux conditions atmosphériques
US9335264B2 (en) 2010-11-30 2016-05-10 Conti Temic Microelectronic Gmbh Detection of raindrops on a pane by means of a camera and lighting
US10137842B2 (en) 2011-06-03 2018-11-27 Conti Temic Microelectronic Gmbh Camera system for a vehicle
US9508015B2 (en) 2011-12-05 2016-11-29 Continental Teves Ag & Co. Ohg Method for evaluating image data of a vehicle camera taking into account information about rain
US8774546B2 (en) 2012-03-08 2014-07-08 Industrial Technology Research Institute Method and apparatus for single-image-based rain streak removal
WO2013163991A1 (fr) * 2012-05-03 2013-11-07 Conti Temic Microelectronic Gmbh Détection de gouttes de pluie sur un pare-brise au moyen d'une caméra et d'un éclairage
US9702818B2 (en) 2012-05-03 2017-07-11 Conti Temic Microelectronic Gmbh Detection of raindrops on a windowpane by means of camera and light
WO2014032933A1 (fr) * 2012-08-29 2014-03-06 Bayerische Motoren Werke Aktiengesellschaft Procédé pour faire fonctionner un véhicule
US9224052B2 (en) 2012-12-19 2015-12-29 Industrial Technology Research Institute Method for in-image periodic noise pixel inpainting
US10106126B2 (en) 2014-05-15 2018-10-23 Conti Temic Microelectronic Gmbh Apparatus and method for detecting precipitation for a motor vehicle
DE102015218500A1 (de) 2015-09-25 2017-03-30 Conti Temic Microelectronic Gmbh Beleuchtung und kamerabasierte Detektion von Regentropfen auf einer Scheibe
EP3336747A1 (fr) 2016-12-13 2018-06-20 Continental Automotive GmbH Détection de pluie par caméra
EP3336748A1 (fr) 2016-12-13 2018-06-20 Continental Automotive GmbH Détection de fortes pluies en mesurant temporallement le flou de contours
CN114714865A (zh) * 2022-04-12 2022-07-08 重庆金康赛力斯新能源汽车设计院有限公司 汽车玻璃的除雾系统与除雾方法
CN114714865B (zh) * 2022-04-12 2024-05-14 重庆赛力斯新能源汽车设计院有限公司 汽车玻璃的除雾系统与除雾方法

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