WO2010060414A1 - Verfahren zur adaptiven erkennung von fahrzeuglichtern und retroreflektoren mit einem kamerasystem - Google Patents
Verfahren zur adaptiven erkennung von fahrzeuglichtern und retroreflektoren mit einem kamerasystem Download PDFInfo
- Publication number
- WO2010060414A1 WO2010060414A1 PCT/DE2009/001646 DE2009001646W WO2010060414A1 WO 2010060414 A1 WO2010060414 A1 WO 2010060414A1 DE 2009001646 W DE2009001646 W DE 2009001646W WO 2010060414 A1 WO2010060414 A1 WO 2010060414A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- light
- vehicle
- images
- retroreflectors
- light object
- Prior art date
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
- B60Q1/14—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
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
-
- 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
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
Definitions
- the invention relates to a method for distinguishing oncoming vehicle lights and retroreflectors in the dark according to the preamble of claim 1 in the field of automatic light control in motor vehicles.
- the detection of vehicles at night is needed in particular in an automatic light control in a vehicle.
- the aim of an automatic light control is to control the intensity and / or direction of the vehicle's own headlights such that other road users are not dazzled.
- An important feature for detecting vehicles by means of a camera in the dark is the vehicle lighting of oncoming vehicles, which is reflected in the camera image by high-intensity points.
- US 2004/0069931 A1 shows an automatic light control with a camera sensor.
- a counter is provided which detects the presence or absence of vehicle lights in consecutive pictures counts. Only when a minimum number of successive images is reached is the high beam switched on or off. Thus, misdetections below the minimum number do not lead to undesired switching on or off of the high beam.
- the object of the present invention is a method that provides increased reliability of discrimination between oncoming vehicle lights and retroreflectors.
- the method according to the invention for distinguishing retroreflectors and vehicle lights in the dark, which are recorded as light objects by an image acquisition device oriented in the surroundings of a vehicle comprises the following steps.
- the image pickup device takes a series of images of the vehicle environment.
- the images are evaluated by image processing.
- On the images located light objects are analyzed.
- a decision is made as to whether a light object is a vehicle light or a reflector.
- the decision as to whether the light object is a vehicle light or a reflector is made after a minimum time (t_min) has elapsed.
- the minimum time (t_min) is determined as a function of the position at which the light object is found, the intensity, the shape, the structural features (e.g., area or gradient), and / or the motion pattern of the light object.
- the invention additionally comprises a device for distinguishing retroreflectors and vehicle lights in the dark in a vehicle environment.
- the device according to the invention comprises an image recording device and an evaluation unit, wherein the evaluation unit provides means for evaluating the image data acquired by the image recording device by the method according to the invention, making a decision on the cause of light objects and generating an output signal.
- An advantage of the invention is that different light objects are reliably classified according to the respective situation.
- the position at which the light object is found, the intensity of the light object and / or the movement pattern of the light object is taken into account by the method according to the invention and a reliable decision is made within the shortest possible time as to whether the light object is a vehicle light or a retro-reflector.
- a method is provided in which an image pickup device oriented into the surroundings of a vehicle is fed at a rate of 16 - A -
- Frames per second (16 cycles) takes a series of images of the vehicle environment. If a light object is detected in an image by the image processing, the minimum time (t_min) is set to four cycles (250 ms) when the light object has occurred in the center of the image. The center of the image corresponds to an area of +3 degrees lateral. On the other hand, if the light object is located in an edge area outside the center of the image, a minimum time (t_min) of eight cycles (500 ms) is defined. Until the end of this minimum time (t_min), further images are taken, evaluated by the image processing and analyzed with regard to their classifying features. After expiration of the minimum time (t_min), a decision is made as to whether the light object is a vehicle light or a reflector.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112009002244T DE112009002244A5 (de) | 2008-11-28 | 2009-11-23 | Verfahren zur adaptiven Erkennung von Fahrzeuglichtern und Retroreflektoren mit einem Kamerasystem |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008059629.9 | 2008-11-28 | ||
DE102008059629A DE102008059629A1 (de) | 2008-11-28 | 2008-11-28 | Verfahren zur adaptiven Erkennung von Fahrzeuglichtern und Retroreflektoren mit einem Kamerasystem |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010060414A1 true WO2010060414A1 (de) | 2010-06-03 |
Family
ID=41785685
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2009/001646 WO2010060414A1 (de) | 2008-11-28 | 2009-11-23 | Verfahren zur adaptiven erkennung von fahrzeuglichtern und retroreflektoren mit einem kamerasystem |
Country Status (2)
Country | Link |
---|---|
DE (2) | DE102008059629A1 (de) |
WO (1) | WO2010060414A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110901517A (zh) * | 2019-12-04 | 2020-03-24 | 斯比夫(西安)照明技术有限公司 | 一种机车前照灯灯光强度自适应调节系统 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011081398B4 (de) | 2011-08-23 | 2018-09-13 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Unterscheiden eines selbstleuchtenden Objekts von einem reflektierenden Objekt |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040069931A1 (en) | 1997-04-02 | 2004-04-15 | Stam Joseph S. | Control system to automatically control vehicle headlamps |
US20040143380A1 (en) * | 2002-08-21 | 2004-07-22 | Stam Joseph S. | Image acquisition and processing methods for automatic vehicular exterior lighting control |
EP1832471A2 (de) * | 2006-03-10 | 2007-09-12 | Valeo Vision | Verfahren zur Steuerung der automatischen Schaltung eines Fahrzeugscheinwerfers |
EP1837803A2 (de) * | 2006-03-24 | 2007-09-26 | MobilEye Technologies, Ltd. | Vorderlicht-, Schlusslicht- und Straßenbeleuchtungsdetektion |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5796094A (en) * | 1993-02-26 | 1998-08-18 | Donnelly Corporation | Vehicle headlight control using imaging sensor |
US6049171A (en) * | 1998-09-18 | 2000-04-11 | Gentex Corporation | Continuously variable headlamp control |
DE102006016073A1 (de) * | 2005-08-24 | 2007-03-22 | Dr.Ing.H.C. F. Porsche Ag | Verfahren zur Steuerung der Leuchtweite eines Kraftfahrzeuges |
DE102006055906A1 (de) * | 2005-12-05 | 2007-06-14 | Adc Automotive Distance Control Systems Gmbh | Verfahren zur Erkennung von Reflektoren, Schildern und Fahrzeuglichtern |
-
2008
- 2008-11-28 DE DE102008059629A patent/DE102008059629A1/de not_active Withdrawn
-
2009
- 2009-11-23 DE DE112009002244T patent/DE112009002244A5/de not_active Ceased
- 2009-11-23 WO PCT/DE2009/001646 patent/WO2010060414A1/de active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040069931A1 (en) | 1997-04-02 | 2004-04-15 | Stam Joseph S. | Control system to automatically control vehicle headlamps |
US20040143380A1 (en) * | 2002-08-21 | 2004-07-22 | Stam Joseph S. | Image acquisition and processing methods for automatic vehicular exterior lighting control |
EP1832471A2 (de) * | 2006-03-10 | 2007-09-12 | Valeo Vision | Verfahren zur Steuerung der automatischen Schaltung eines Fahrzeugscheinwerfers |
EP1837803A2 (de) * | 2006-03-24 | 2007-09-26 | MobilEye Technologies, Ltd. | Vorderlicht-, Schlusslicht- und Straßenbeleuchtungsdetektion |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110901517A (zh) * | 2019-12-04 | 2020-03-24 | 斯比夫(西安)照明技术有限公司 | 一种机车前照灯灯光强度自适应调节系统 |
Also Published As
Publication number | Publication date |
---|---|
DE112009002244A5 (de) | 2011-06-16 |
DE102008059629A1 (de) | 2010-06-02 |
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