WO2007012300A1 - Procede de determination de la distance de visibilite a l'aide d'une camera - Google Patents

Procede de determination de la distance de visibilite a l'aide d'une camera Download PDF

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Publication number
WO2007012300A1
WO2007012300A1 PCT/DE2006/000782 DE2006000782W WO2007012300A1 WO 2007012300 A1 WO2007012300 A1 WO 2007012300A1 DE 2006000782 W DE2006000782 W DE 2006000782W WO 2007012300 A1 WO2007012300 A1 WO 2007012300A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
measurement
visibility
objects
distance
Prior art date
Application number
PCT/DE2006/000782
Other languages
German (de)
English (en)
Inventor
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 DE112006001119T priority Critical patent/DE112006001119A5/de
Publication of WO2007012300A1 publication Critical patent/WO2007012300A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures

Definitions

  • the present invention relates to a method for determining the visibility.
  • Application finds this invention z. B. in motor vehicles.
  • Camera sensors are used here to an increased extent for environmental detection, in particular for lane detection and / or object recognition, with a view in the direction of travel or in the return journey area.
  • the camera sensors are usually mounted inside the vehicle behind a windshield.
  • An error-free function is only possible if the visibility is known. For example, it is unnecessary to place at distances below 40m measuring windows at distances above it.
  • Common methods of vision determination rely on transmission or reflection measurements. In a transmission measurement, the visibility is calculated from the attenuation between the intensity emitted by a known source and the intensity measured at a fixed distance. In a reflection measurement, the visibility is determined by the intensity of the scattered light.
  • both methods have the disadvantage of requiring a reference of a known intensity at a known distance, which is not present in a moving vehicle due to dynamic environments.
  • the object of the invention is to detect the visibility with a camera, which is also used for other applications in particular for the environmental detection, cost-effective.
  • the object is achieved by a passive camera-based approach.
  • a camera is provided, which is aligned to a vehicle environment.
  • An advantage of this arrangement is that the camera can be used to determine the visibility and the environment detection. Pictures are read out of the camera in a given cycle, eg 25 pictures / s. The recorded images are evaluated in terms of determining the visibility. Thus, no further artificial reference images or reference objects are required, so that there are no additional costs and / or adjustment costs for the user.
  • the relative speed v re i of the camera and at least one recorded object in the environment must be non-zero.
  • the relative speed to static objects in the vehicle environment is v re i> Om / s.
  • Objects with v re i> Om / s continuously change their position relative to the camera and thus their position in the picture.
  • the calculated course of this movement in the picture is referred to below as a trajectory.
  • the same object is thus displayed offset in time in different image sections.
  • the object may be a single object such as an oncoming vehicle or repetitive objects such as lane markers.
  • a number of measurement windows are set, which the object passes through at a suitable read-out frequency and / or a suitable number of averages of a measurement at different times.
  • the trajectories of static objects in the imaging region of the camera run along straight lines that extend radially from the vanishing point of the image.
  • the trajectory of objects based on environmental features and / or the current camera movement and / or the installation position of the camera is calculated in an advantageous embodiment of the invention.
  • an object trajectory in particular that of a static object, can be calculated from the estimated lane parameters such as curvature and offset, the mounting position of the camera, its height, pitch, yaw and roll angles, as well as the intrinsic camera parameters, the focal length, principal point, etc. , If no lane parameters are available because the system is unable to estimate a lane due to contamination or missing road markings, the curvature can be determined from the steering angle or a lateral acceleration / yaw rate sensor.
  • the distance of the objects recorded in a measurement window to the camera is determined. Visibility is calculated from an image contrast of a measurement window or parts of a measurement window and the associated distance. At least two contrast measurements at different distances are used for the evaluation.
  • the image contrast is preferably determined over an entire measurement window in order to avoid computation-intensive object recognition.
  • the trajectories of lane markings in the image are predicted and the measurement windows are set along these trajectories. From a contrast measurement in the measurement windows or an averaging over several measurements, the visibility can be determined. Due to the periodically recurring markings, it is not necessary for a specific marking section to be imaged in each measuring window, so that even in this exemplary embodiment no computationally intensive object recognition is necessary.
  • the distance between the objects recorded in the measurement windows and the camera is estimated from the position of the measurement window in the calibrated camera image. This method has the advantage that no complex stereo method or another sensor for distance measurement is needed.
  • An advantageous embodiment of the invention is a motor vehicle with a camera for determining the visibility and the environment observation, e.g. for lane detection and / or object recognition, with a view in the direction of travel or in the return area.
  • Fig. 1 Determination of the column c of a placed in a row y measuring window with lateral
  • Fig. 2 Determination of the distance of a point d to the camera.
  • the camera is geared to the vehicle environment and is also used for environmental detection.
  • the vehicle moves on a straight line on average over time.
  • Static objects in the environment thus move in the imaging range of the camera on straight lines that extend radially from the vanishing point of the image. This of course also applies to the median strip and the side boundaries of a road, the course of the road and oncoming vehicles.
  • measurement windows are positioned along the radial straight line, they will be under ideal conditions, ie no damping or soiling, in the corresponding measurement windows, for example in the imaging area of the central strip or the roadway, expected identical contrasts.
  • the roadway can be subdivided into areas of equidistant width. The size and position of the measuring windows in the picture result from the imaging model of the camera.
  • FIG. 1 shows the simplest case of a downwardly directed camera.
  • the column c of a measurement window with a lateral offset x placed in a row y is calculated as
  • FIG. 2 illustrates the distance determination of a point d to the camera. The distance becomes from h the camera installation height, a the camera pitch angle, y the image line of the point, ⁇ the pixel size and / or the camera focal length
  • the visibility can be determined as follows.
  • Co and C are the known and the measured contrast of a reference measured at a damping K
  • d is the distance between the camera and the reference.
  • the contrast is calculated from the quotient of the difference and sum of foreground intensity I 0 and background intensity I b
  • C 1 and C 2 are available from two contrast measurements, eg the averaged contrast in two measurement windows along the radial lines or the average contrast of a lane marking, at the distances d 1 and d 2 , then

Abstract

Procédé de détermination de la distance de visibilité à l'aide d'une caméra destinée également de préférence à la reconnaissance de l'environnement. La condition préalable pour l'utilisation de ce procédé est que la vitesse relative vrel de la caméra et d'au moins un objet photographié situé dans l'environnement ne soit pas égale à zéro. Une trajectoire d'au moins un objet pour lequel vrel n'est pas égale à zéro est prédéterminée et plusieurs fenêtres de mesure sont établies le long de la trajectoire. La distance entre les objets représentés dans les fenêtres de mesure et la caméra est déterminée et la distance de visibilité est déterminée à partir du contraste d'image d'une fenêtre de mesure ou de parties d'une fenêtre de mesure et de la distance associée. Pour l'évaluation, au moins deux mesures de contraste à différentes distances sont utilisées.
PCT/DE2006/000782 2005-07-27 2006-05-06 Procede de determination de la distance de visibilite a l'aide d'une camera WO2007012300A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112006001119T DE112006001119A5 (de) 2005-07-27 2006-05-06 Verfahren zur Sichtweitenbestimmung mit einer Kamera

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005035810.1 2005-07-27
DE102005035810A DE102005035810A1 (de) 2005-07-27 2005-07-27 Verfahren zur Sichtweitenbestimmung mit einer Kamera

Publications (1)

Publication Number Publication Date
WO2007012300A1 true WO2007012300A1 (fr) 2007-02-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2006/000782 WO2007012300A1 (fr) 2005-07-27 2006-05-06 Procede de determination de la distance de visibilite a l'aide d'une camera

Country Status (2)

Country Link
DE (2) DE102005035810A1 (fr)
WO (1) WO2007012300A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2050644A1 (fr) * 2007-10-18 2009-04-22 Renault S.A.S. Procedes de mesure de la distance de visibilite d'un conducteur de vehicule automobile et de calcul d'une consigne de vitesse du vehicule, et systemes pour leur mise en oeuvre

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4784452B2 (ja) * 2006-09-12 2011-10-05 株式会社デンソー 車載霧判定装置
DE102011105074A1 (de) 2011-06-21 2011-12-22 Daimler Ag Verfahren und Vorrichtung zur Bestimmung einer Sichtweite für ein Fahrzeug
JP6606181B2 (ja) 2014-11-06 2019-11-13 ジェンテックス コーポレイション 視程検出のためのシステムおよび方法
US10803570B2 (en) 2018-05-10 2020-10-13 Eagle Technology, Llc Method and system for a measure of visibility from a single daytime image

Citations (3)

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Publication number Priority date Publication date Assignee Title
US5987152A (en) * 1994-07-06 1999-11-16 Volkswagen Ag Method for measuring visibility from a moving vehicle
EP1067399A2 (fr) * 1999-06-24 2001-01-10 Robert Bosch Gmbh Procédé de détermination de la visibilité
DE10034461A1 (de) * 2000-07-15 2002-01-31 Bosch Gmbh Robert Verfahren zur Sichtweitenbestimmung

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4921349A (en) * 1987-06-30 1990-05-01 Sonoma Technology Photographic method for monitoring visibility through measurement of transmittance and path radiance
DE10303046A1 (de) * 2003-01-24 2004-10-21 Daimlerchrysler Ag Verfahren und Vorrichtung zur quantitativen Abschätzung der Sichtweite in Fahrzeugen

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5987152A (en) * 1994-07-06 1999-11-16 Volkswagen Ag Method for measuring visibility from a moving vehicle
EP1067399A2 (fr) * 1999-06-24 2001-01-10 Robert Bosch Gmbh Procédé de détermination de la visibilité
DE10034461A1 (de) * 2000-07-15 2002-01-31 Bosch Gmbh Robert Verfahren zur Sichtweitenbestimmung

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
POMERLEAU D: "Visibility estimation from a moving vehicle using the RALPH vision system", INTELLIGENT TRANSPORTATION SYSTEM, 1997. ITSC '97., IEEE CONFERENCE ON BOSTON, MA, USA 9-12 NOV. 1997, NEW YORK, NY, USA,IEEE, US, 9 November 1997 (1997-11-09), pages 906 - 911, XP010270909, ISBN: 0-7803-4269-0 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2050644A1 (fr) * 2007-10-18 2009-04-22 Renault S.A.S. Procedes de mesure de la distance de visibilite d'un conducteur de vehicule automobile et de calcul d'une consigne de vitesse du vehicule, et systemes pour leur mise en oeuvre
FR2922506A1 (fr) * 2007-10-18 2009-04-24 Renault Sas Procedes de mesure de la distance de visibilite d'un conducteur de vehicule automobile et de calcul d'une consigne de vitesse du vehicule, et systemes pour leur mise en oeuvre

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Publication number Publication date
DE102005035810A1 (de) 2007-02-01
DE112006001119A5 (de) 2008-02-07

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