WO2010006833A1 - Procédé d'amélioration de la vue d'un conducteur de véhicule dans un véhicule, et agencement correspondant - Google Patents

Procédé d'amélioration de la vue d'un conducteur de véhicule dans un véhicule, et agencement correspondant Download PDF

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Publication number
WO2010006833A1
WO2010006833A1 PCT/EP2009/056341 EP2009056341W WO2010006833A1 WO 2010006833 A1 WO2010006833 A1 WO 2010006833A1 EP 2009056341 W EP2009056341 W EP 2009056341W WO 2010006833 A1 WO2010006833 A1 WO 2010006833A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
environment
image
location
environmental sensor
Prior art date
Application number
PCT/EP2009/056341
Other languages
German (de)
English (en)
Inventor
Stefan Rychlak
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2010006833A1 publication Critical patent/WO2010006833A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
    • 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
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data

Definitions

  • the invention is based on a method and an arrangement according to the preamble of the independent claims.
  • DE 40 32 927 C2 a device for improving the visibility in a motor vehicle is known.
  • This device has an infrared light-sensitive located near the eyes of a driver
  • the image taken by the infrared camera can be mirrored into the windshield of the vehicle (head-up display) and thus perceived by the driver through the windshield
  • This device is also known as a night-vision system.
  • the infrared camera has a rigid viewing angle, which is adapted to the perspective of the driver through the windshield.
  • a similar warning system for a vehicle is known from EP 1 565 347 B1.
  • a vehicle environment is detected with environmental sensors and the sensor signals are analyzed for potential obstacles on the road.
  • a warning signal is optionally generated, which in the form of a warning symbol to the driver, in particular via a head-up display, so as Einspieglung in the windshield, is displayed.
  • the processing of the information of at least two information sources is used here for improving the accuracy of the acquired information, in particular via a road course or development state of the road and the like, in dependence on the acquired information
  • Control headlamp setting of a vehicle From DE 102 54 806 A1, it is further known to feed back the information fused from the signals of the at least two information sources to one of the information sources, so that the information provided by this information source can be further improved.
  • At least one environment sensor for detecting a vehicle environment and / or the generation of images from the signals of at least one environmental sensor in Depending on signals of a positioning and / or navigation system are influenced or controlled.
  • the detection range can in particular be the viewing angle of a camera, such as a known CCD video camera or an infrared camera, but also about a radar, LIDAR or be another environment sensor.
  • the viewing angle for example, at a location other than in urban locations, when driving on a highway other than on a local thoroughfare, in built-up areas other than in undeveloped environment, etc. are selected.
  • the angle of view of the environmental sensor in a wild animal-rich environment can be selected further than in, for example, urban surroundings, in order, for example, also to detect animals located on or beyond the roadside.
  • the detection area in a highway driving in the direction of travel may be further extended spatially, for example, similar to a high beam characteristic of vehicle headlights, as for example in a domestic drive.
  • an object recognition of the image generating means is set as a function of a vehicle location determined by the positioning and / or navigation system.
  • the object recognition can also be unlocked for detection of wild animals, which significantly increases the computational effort of object recognition compared to one on, for example, other vehicles or other typical im
  • Figure 1 is an overview drawing of an arrangement for improving the view of a driver in a vehicle and Figure 2 is a block diagram of the arrangement.
  • an environment sensor 12 in the present case for example in the form of an image sensor system, is arranged.
  • the camera 12 is preferably mounted in the vicinity of the head of a driver sitting in the vehicle, for example, behind the windshield in the region of the inner mirror, so that the camera gives substantially the same perspective through the windshield of the vehicle 10 as for the driver ,
  • the camera 12 is aligned so that it detects a viewing angle 14 through the windshield, which angle covers a vehicle environment in the direction of travel of the vehicle.
  • the image sensor system 12 is an infrared-sensitive video camera with a CMOS image sensor and / or a CCD image sensor.
  • Image sensor system 12 detects at least near infrared radiation in the wavelength range between 780 nm and 1000 nm.
  • the vehicle 10 further has two headlights 16, which are arranged on the right and left in the front region of the motor vehicle 10 in the vicinity of the bumper, and illuminate the surroundings of the motor vehicle 10 lying in a light cone 18 of the headlights in the direction of travel.
  • headlights 16 are shown in a simplified representation.
  • the headlights 16 produce an additional, preferably extended, beam 20 with additional high beam character in the infrared
  • the range of the low beam 18 is about 40 m.
  • the headlights 16 have a high-beam function in the visible spectral range, with which the driver sees, depending on the weather conditions, up to 200 m.
  • the high beam function in the visible spectral range is not activated in this embodiment.
  • radiated spectrum of the halogen lamps of the headlights 16 is a high proportion of infrared contained, which is emitted by these modified headlights 16, invisible to humans, with high beam characteristics.
  • the view of the driver can, for example, by darkness, fog, strong
  • the information about the vehicle environment detected by the image sensor system 12 is supplied to an image generation device 50, as indicated in FIG.
  • the image generation device 50 as indicated in FIG.
  • Image generating device 50 controls, depending on the information supplied to it 13 of the environmental sensor 12 to a display device 60, on which a picture of the vehicle environment isbale entitled.
  • the display device can be embodied in particular in the form of a so-called head-up display, in which image contents are superimposed into the windshield of the vehicle in the field of vision of the vehicle driver. For the driver thus results in a picture of a superimposition of the displayed image content with his own perception of the vehicle environment within his field of vision through the windshield.
  • Imaging device 50 is not limited to the mere conversion of the sensor signals 13 in image data, but also includes a per se known and therefore not described in detail object recognition. This can preferably be implemented in the form of software, which is processed by a processor, not shown separately.
  • This object recognition is based in a manner known per se on a pattern comparison, that is to say an alignment of the sensor signals with stored object patterns, in particular outlines.
  • additional optical information such as, in particular, a warning symbol can be generated and displayed on the head-up. Display to warn the driver to be issued. For example, this may be a symbol indicating a deer or pedestrian in the form of a traffic sign and additionally, for example, an arrow symbol or the like indicating a direction of movement of the detected object.
  • the inventive arrangement further comprises a positioning or per se known navigation system 20.
  • This has a locating module 24, for example on the basis of a known per se receiver for signals of a satellite positioning system such as GPS, GLONASS, Galileo or the like, which a
  • Information 21 about the current vehicle location in the case of the locating module 20, for example in the form of geographic coordinates, i. geographical latitude and longitude.
  • a map data memory 26 is present in which a digital road map is stored, which also contains information about
  • Road classes and environmental information, such as buildings, landscape and the like contains. Furthermore, there is a computer 25 which calculates a travel route from a start destination to a destination specified by the vehicle driver on the basis of the map data. The calculated route is stored in a route memory 28 for later route guidance. From the obtained with the locating module 24
  • Information about the current location of the vehicle 10 may be derived additional environmental information about the current and also to a future location of the vehicle 10.
  • Environment information can be taken directly from the map data memory 26 depending on the location coordinates. These are, for example, information about a road currently being traveled, such as road class, ie highway, highway, inner-city road, etc., information about a development in the vehicle environment or information about the landscape in the vehicle environment, such as fields, forest, etc.
  • the stored route can also be used to forecast future vehicle locations and additional information from the digital map
  • This information and possibly additional information 21 about the current vehicle location and the vehicle environment are supplied to a controller 40.
  • the control 40 has the task of generating control signals 41 and / or 42 from the information supplied to it about the current or even a predicted, future location of the vehicle 10. These control signals 41 and / or 42 serve to control the at least one surroundings sensor 12 or, alternatively or additionally, the image generating means 50 as a function of the current vehicle location.
  • the possibilities of controlling both the environmental sensor 12 and the image generator 50 are, among other things because of the variety of possible sensors very diverse, so that they are to be touched in the following only without limitation of the invention by way of example.
  • a detection range in the case of the infrared camera 12, for example, its viewing or detection angle 14 is changed. While, for example, when driving on a motorway in the region of a non-critical environment, a narrowly focused detection area 14 suffices, for example, in the case of a
  • the illumination cone of the infrared lights of the headlights 16 is correspondingly extended to the illumination of the extended detection range 15 of the infrared camera 17.
  • Lane and / or beyond the roadside edge detected this can be detected from the sensor signals 13 by means of image generation 50 by object recognition and a corresponding warning signal in the form of a Einpiegelung a symbolically displayed animal, a warning sign, a warning symbol or the like fades into the windshield and thus the driver are displayed.
  • the extended detection range involves a greater expenditure of computing power of the image generation 50, so that an extended detection range of the environmental sensor 12 is desirable only for certain vehicle locations and the associated ambient conditions.
  • a limitation of an extended detection range to specific situations may be useful. This is readily apparent in the case of, for example, a laser scan of the vehicle environment due to the associated risk of dazzling passersby.
  • One possibility for influencing the image generation device 50 is, for example, to limit the object recognition implemented therein to specific objects depending on the vehicle location and, consequently, the vehicle environment, or to expand it to additional objects. For example, in the area of forest crossings with wildlife on or near the

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé d'amélioration de la vue d'un conducteur de véhicule dans un véhicule. Un environnement du véhicule est analysé par un capteur d'environnement et des moyens de production d'image utilisent les signaux du capteur d'environnement pour produire une image. Le capteur d'environnement et/ou les moyens de production d'images sont, selon l'invention, commandés en fonction des signaux de sortie d'un système de localisation et/ou de navigation. L'invention concerne en outre un agencement destiné à améliorer la vision d'un conducteur de véhicule avec un capteur d'environnement destiné à recueillir l'environnement du véhicule et des moyens de production d'une image de l'environnement du véhicule à partir des signaux du capteur d'environnement. Selon l'invention, une commande destinée à commander le capteur d'environnement et/ou les moyens de production d'images coopère avec un système de localisation et/ou de navigation. L'invention fait avantageusement progresser l'état de la technique.
PCT/EP2009/056341 2008-07-16 2009-05-26 Procédé d'amélioration de la vue d'un conducteur de véhicule dans un véhicule, et agencement correspondant WO2010006833A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008040467A DE102008040467A1 (de) 2008-07-16 2008-07-16 Verfahren zur Verbesserung der Sicht eines Fahrzeugführers in einem Fahrzeug und Anordnung dazu
DE102008040467.5 2008-07-16

Publications (1)

Publication Number Publication Date
WO2010006833A1 true WO2010006833A1 (fr) 2010-01-21

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PCT/EP2009/056341 WO2010006833A1 (fr) 2008-07-16 2009-05-26 Procédé d'amélioration de la vue d'un conducteur de véhicule dans un véhicule, et agencement correspondant

Country Status (2)

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DE (1) DE102008040467A1 (fr)
WO (1) WO2010006833A1 (fr)

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DE102012005709A1 (de) * 2012-03-20 2013-09-26 Volkswagen Aktiengesellschaft Vorrichtung und Verfahren zur Erfassung von Objekten im Umfeld eines Kraftfahrzeuges
US9164281B2 (en) 2013-03-15 2015-10-20 Honda Motor Co., Ltd. Volumetric heads-up display with dynamic focal plane
US10339711B2 (en) 2013-03-15 2019-07-02 Honda Motor Co., Ltd. System and method for providing augmented reality based directions based on verbal and gestural cues
US9747898B2 (en) 2013-03-15 2017-08-29 Honda Motor Co., Ltd. Interpretation of ambiguous vehicle instructions
US9378644B2 (en) 2013-03-15 2016-06-28 Honda Motor Co., Ltd. System and method for warning a driver of a potential rear end collision
US10215583B2 (en) 2013-03-15 2019-02-26 Honda Motor Co., Ltd. Multi-level navigation monitoring and control
US9393870B2 (en) 2013-03-15 2016-07-19 Honda Motor Co., Ltd. Volumetric heads-up display with dynamic focal plane
DE102014216008A1 (de) * 2014-08-13 2016-02-18 Conti Temic Microelectronic Gmbh Steuervorrichtung, Serversystem und Fahrzeug
JP7143790B2 (ja) * 2019-03-12 2022-09-29 トヨタ自動車株式会社 運転制御システム
DE102019208928A1 (de) * 2019-06-19 2020-12-24 Robert Bosch Gmbh Verfahren und Vorrichtung zum Erzeugen einer visuellen Repräsentation eines Umfeldes eines Fortbewegungsmittels

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DE19950033A1 (de) * 1999-10-16 2001-05-03 Bayerische Motoren Werke Ag Kameravorrichtung für Fahrzeuge
DE10308168A1 (de) * 2002-09-27 2004-04-08 Volkswagen Ag Verfahren und Vorrichtung zur Ermittlung des Fahrzeugumfeldes
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US20040150515A1 (en) * 2000-10-26 2004-08-05 Jan-Erik Kallhammer Night vision device for a vehicle
DE102006044864A1 (de) * 2006-09-22 2008-04-10 Siemens Ag Verfahren zur rechnergestützten Bildverarbeitung in einem Nachtsichtsystem eines Verkehrsmittels

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DE4032927A1 (de) 1990-10-17 1992-04-30 Bosch Gmbh Robert Vorrichtung zur verbesserung der sichtverhaeltnisse in einem kraftfahrzeug
DE10253509A1 (de) 2002-11-16 2004-06-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Warnung des Fahrers eines Kraftfahrzeuges
DE10254806B4 (de) 2002-11-22 2008-07-24 Robert Bosch Gmbh Verfahren zur Informationsverarbeitung

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
DE19950033A1 (de) * 1999-10-16 2001-05-03 Bayerische Motoren Werke Ag Kameravorrichtung für Fahrzeuge
US20040150515A1 (en) * 2000-10-26 2004-08-05 Jan-Erik Kallhammer Night vision device for a vehicle
DE10200936A1 (de) * 2002-01-12 2004-06-09 Bayerische Motoren Werke Ag Verfahren zur Steuerung einer Sichthilfevorrichtung für einen Fahrer eines Fahrzeugs
DE10308168A1 (de) * 2002-09-27 2004-04-08 Volkswagen Ag Verfahren und Vorrichtung zur Ermittlung des Fahrzeugumfeldes
DE102006044864A1 (de) * 2006-09-22 2008-04-10 Siemens Ag Verfahren zur rechnergestützten Bildverarbeitung in einem Nachtsichtsystem eines Verkehrsmittels

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