WO2012118427A1 - A driver assistance system and method for a motor vehicle - Google Patents

A driver assistance system and method for a motor vehicle Download PDF

Info

Publication number
WO2012118427A1
WO2012118427A1 PCT/SE2012/050210 SE2012050210W WO2012118427A1 WO 2012118427 A1 WO2012118427 A1 WO 2012118427A1 SE 2012050210 W SE2012050210 W SE 2012050210W WO 2012118427 A1 WO2012118427 A1 WO 2012118427A1
Authority
WO
WIPO (PCT)
Prior art keywords
driver assistance
assistance system
light
aura
oncoming vehicle
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/SE2012/050210
Other languages
French (fr)
Inventor
Jonas HAMMARSTRÖM
Ognjan Hedberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autoliv Development AB
Original Assignee
Autoliv Development AB
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 Autoliv Development AB filed Critical Autoliv Development AB
Priority to US14/001,550 priority Critical patent/US9990551B2/en
Priority to KR1020137020464A priority patent/KR20130106876A/en
Priority to JP2013555394A priority patent/JP5617050B2/en
Priority to KR1020157016544A priority patent/KR101746746B1/en
Priority to CN201280009158.4A priority patent/CN103380447B/en
Publication of WO2012118427A1 publication Critical patent/WO2012118427A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle

Definitions

  • the invention relates to a driver assistance system for a mo ⁇ tor vehicle, comprising an imaging means for acquiring images from a surrounding of the motor vehicle, and a processing means adapted to perform image processing of images recorded by said imaging means and to detect an oncoming vehicle by identifying its head lights as a result of said image process ⁇ ing.
  • the invention also relates to a corresponding driver assistance method.
  • a high beam control system comprising an imaging means, for example a mono camera, adapted to detect and track bright spots in the recorded images originating from the head ⁇ lights of oncoming vehicles in a detection range of typically 300 m to 1000 m. If detected bright spots are assigned to an oncoming vehicle, a high beam control device is operated to switch off the high beam lights, or to adapt the shape of the high beam light cone, in order to avoid dazzling of the oncoming driver. However, at least for the period of time in which the headlight detection takes place dazzling of the oncoming driver cannot be avoided.
  • an imaging means for example a mono camera
  • the object of the invention is to provide a driver assistance system capable of detecting oncoming vehicles at large dis ⁇ tances and/or hidden to the imaging means by an obstacle.
  • the invention solves this object with the features of the in ⁇ dependent claims.
  • the invention has realized that at low-light environmental conditions, especially at night, the headlights of an oncoming vehicle create a characteristic indirect illu ⁇ mination, or aura, in the recorded images which is perceivable to the imaging system even if the headlights are not yet di ⁇ rectly visible, for example because the oncoming vehicle is still hidden by an obstacle like a hill or trees, or hidden behind a turn.
  • This enables the detection of an oncoming vehicle some time before the headlights of the oncoming vehicle are directly visible, therefore dazzling of the driver can be essentially completely avoided. This is particularly useful if the oncoming vehicle is hidden to the imaging means until relatively short distances at which dazzling of the oncoming driver can become dangerous .
  • the above mentioned indirect light phenomenon, or aura is caused by scattering of light rays from the headlights of an oncoming vehicle in the air.
  • An aura is a relatively large and relatively homogenously illuminated area with typical charac ⁇ teristics. Therefore, a detected light object advantageously is assigned to an oncoming vehicle if it fulfils one or more conditions related to the above mentioned typical characteris ⁇ tics of an aura.
  • the light aura approximately has a form of a segment of an oval or a circle; the light aura approximately has a form of a simple oval segment standing on its base; the light aura has a radial light intensity distribution, in particular radially decreas- ing from a (virtual) center; the light aura has a light inten ⁇ sity generally decreasing from bottom to top; and/or the light aura is arranged above the ground in the air.
  • a high beam control device may preferably be operated based on the detection of an oncoming vehicle.
  • the high beam lights may be controlled to be switched off, or to adapt the shape of the high beam light cone, in order to avoid dazzling of the oncoming driver.
  • the processing means when a light aura is detected and assigned to an oncoming vehicle, the oncoming vehicle is pref ⁇ erably pre-marked and the processing means is preferably set to a confirmation modus.
  • the processing means searches for the headlights of the oncoming vehi ⁇ cle by conventional means, for example bright spot detection.
  • this search can be confined to a region of in ⁇ terest around the calculated centre of the detected aura.
  • Fur ⁇ thermore the aura is preferably tracked after its detection and the region of interest is accordingly updated. If the aura permanently disappears for some reason, for example in case the oncoming vehicle changes direction, the confirmation mode is terminated.
  • a high beam control device may then be operated and in particu- lar, the high beam lights may be controlled to be switched off, or the shape of the high beam light cone may be adapted, in order to avoid dazzling of the oncoming driver.
  • the processing means is adapted to take into par ⁇ ticular account a region immediately above the ground because in this region the contribution from the headlights of the own car has shown to be small.
  • Fig. 1 shows a schematic view of a driver assistance system according to the invention
  • Fig. 2 shows an exemplary image recorded by the imaging
  • Fig. 3 shows another exemplary image recorded by the imaging means of driver assistance system shown in Fig. 1.
  • the driver assistance system 10 in particular a high beam assistance system, is mounted in a motor vehicle and comprises an imaging means 11 for acquiring images of a region outside the motor vehicle, for example a region in front of the motor vehicle.
  • the imaging means 11 comprises at least one optical imaging device 12, in particular a camera, opera ⁇ tive in particular in the visible range which may include the near infrared with wavelengths below 5 microns.
  • the imaging means 11 comprises a mono camera 12, in particular a CMOS or CCD camera, which may, in the current ap- plication, be focusable or focused to a distance range from 300 m to infinity.
  • the camera 12 may for example be mounted in or near the rear view mirror of the vehicle, without being re ⁇ stricted to this particular arrangement.
  • the imaging means 11 may comprise a stereo camera system.
  • a stereo camera system adapted for pedestrian detection in a range below 300 m may be used .
  • the image data is provided to an electronic processing means 14 where image and data processing is carried out by corre ⁇ sponding software.
  • the processing means 14 preferably comprises a headlight detection means adapted to detect, by image processing of the image data provided by the imaging means 11, in particular by said imaging device 12 for high beam assistance, the headlights of an oncoming vehicle typically in the distance range between 300 m and 1000 m.
  • the headlight detection may in particular be based on the detec ⁇ tion and tracking of bright spots, originating from the head lights of the oncoming vehicle, in the recorded images, as is known from other high beam assistant systems.
  • the headlight detection means is adapted to switch off the high beam of the own vehicle, or to adapt the shape of the high beam light cone, automatically as soon as an oncoming vehicle is de ⁇ tected, and to switch the high beam on again, or to re-set the shape of the high beam light cone, automatically if the oncom ⁇ ing vehicle is no longer visible.
  • the electronic processing means 14 is preferably programmed or programmable and expediently comprises a microprocessor or mi ⁇ cro-controller.
  • the electronic processing means 14 can preferably be realized in a digital signal processor (DSP) .
  • DSP digital signal processor
  • the electronic processing means 14 and an associated memory means 25 are preferably realised in an on-board electronic control unit (ECU) and may be connected to the imaging means 11 via a separate cable or a vehicle data bus.
  • the ECU and the imaging device 12 can be integrated into a single unit. All steps from imaging, image processing to acti vation or control of driver assistance means 18 are performed automatically and continuously during driving in real time.
  • the processing means 14 comprises an aura detection means adapted to detect, by image processing of the image data pro ⁇ vided by the imaging means 11, in particular by said imaging device 12 for high beam assistance, a light aura originating from the headlights of an oncoming vehicle typically in the distance range between 300 m to infinity, i.e., in particular also beyond distances of 1000 m.
  • the aura detection shall be explained in the following on the basis of Figs. 2 and 3.
  • Fig. 2 shows an image 30 recorded by the imaging device 12 in the case of a hilly environment.
  • the road 31 in front of the motor vehicle ascends to the top of a hill and descends again behind the top of the hill as is denoted by dashed lines 32.
  • an oncoming vehicle 33 is ap ⁇ proaching.
  • the headlights 34 of the oncoming vehicle 33 are still not visible to the imaging device 12 due to the shadow ⁇ ing by the hill.
  • the light rays 35 originating from the headlights 34 of the oncoming vehicle 33 are scattered in the air 36 above the hill and lead to a characteristic indi ⁇ rect light phenomenon or object 37 called a light aura.
  • the light aura 37 has certain characteristics which allow the processing means to identify it as such and as originating from the headlights 34 of an oncoming vehicle 33.
  • the aura 37 has an approximately radial intensity distri bution with a relatively homogenous, radial light intensity distribution monotonically decreasing from its (virtual) centre 38, lying approximately in the centre of the light sources 34 which generate the aura 37, to the periphery.
  • the light aura 37 generally has a light inten ⁇ sity decreasing from the ground to the sky, or from the bottom to the top in the recorded images.
  • the light aura 37 of an oncoming vehicle 33 can be distinguished from the aura of a street light shining from above, where the light intensity decreases from the top to the bottom. Furthermore, as can also be seen in Figures 2 and 3, the light aura is usually arranged above the ground in the air 36.
  • Fig. 3 shows another situation where the oncoming vehicle 33 is hidden behind an obstacle 39 like a building, trees, a hill or the like.
  • the form of the light aura 37 is generally a segment of an oval or circle.
  • the form of the light aura 37 may be defined by a thought line of constant light intensity.
  • line 40 in Fig. 2 may indicate a line where the light inten ⁇ sity is one third of the brightest light intensity in the aura.
  • the light aura 37 ap ⁇ proximately has a form of a simple segment of an oval, having one cut line or base, where the oval segment is usually stand ⁇ ing on its base.
  • this is not necessarily the case.
  • the form of the light aura may be any part of an oval, ellipse or circle.
  • the processing means 14 searches for the headlights 34 of the oncoming vehicle 33 by conventional means, for example bright spot detection.
  • this search can be confined to a region of interest 41 around the calculated centre 38 of the detected aura.
  • the processing means 14 preferably comprises a tracking means adapted to track over time the centre 38 of the light aura.
  • a for example rectangular region-of- interest 41 may advantageously be arranged around the centre 38 of the aura 37 and the region of interest may be monitored by the above mentioned headlight detection means based for ex ⁇ ample on bright spot detection.
  • the headlight detection is advantageously used as a confirmation of the oncoming vehicle detection.
  • Suitable measures may be taken after the aura 37 has been de ⁇ tected and/or after the headlights 34 of the oncoming vehicle 33 are directly detected.
  • the high beams of the own vehicle may automatically be controlled by the proc ⁇ essing means 14 through a high beam control device 18 such that the shape of the high beam cones is suitably adapted, in particular directing the high beam cone sideways. If the oncoming vehicle approaches to a closer distance of for example 300 m, the high beams of the own vehicle may automatically be controlled by the processing means 14 through a high beam control device 18 to be turned off.
  • driver assistance means 18 may be controlled depending on the output from said oncoming vehicle detection means in said processing means 14, comprising: a warning means adapted to provide a collision warning to the driver by suitable opti ⁇ cal, acoustical and/or haptical warning signals; one or more restraint systems such as occupant airbags or safety belt ten- sioners, pedestrian airbags, hood lifters and the like; and/or dynamic vehicle control systems such as brakes or steering means .
  • a warning means adapted to provide a collision warning to the driver by suitable opti ⁇ cal, acoustical and/or haptical warning signals
  • one or more restraint systems such as occupant airbags or safety belt ten- sioners, pedestrian airbags, hood lifters and the like
  • dynamic vehicle control systems such as brakes or steering means .
  • special consideration may preferably be given to a region 42 immediately above the ground where the contribution from the headlights of the own car has shown to be small. This may for example be done by performing a separate light intensity check in the region 42, or by giving the contribution of this region 42 to the light aura 37 a higher weight than the contribution of other regions .

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

A driver assistance system (10) for a motor vehicle comprises an imaging means (11) for acquiring images from a surrounding of the motor vehicle, and a processing means (14) adapted to perform image processing of images (30) recorded by said imaging means (11) and to detect an oncoming vehicle (33) by identifying its head lights (34) as a result of said image processing. The processing means (14) is adapted to detect, in the recorded images (30), a light aura (37) originating from at least one light source (34) hidden to said imaging means (11), and to use said light aura detection in said oncoming vehicle detection.

Description

A driver assistance system and method for a motor vehicle
The invention relates to a driver assistance system for a mo¬ tor vehicle, comprising an imaging means for acquiring images from a surrounding of the motor vehicle, and a processing means adapted to perform image processing of images recorded by said imaging means and to detect an oncoming vehicle by identifying its head lights as a result of said image process¬ ing. The invention also relates to a corresponding driver assistance method.
A high beam control system is known comprising an imaging means, for example a mono camera, adapted to detect and track bright spots in the recorded images originating from the head¬ lights of oncoming vehicles in a detection range of typically 300 m to 1000 m. If detected bright spots are assigned to an oncoming vehicle, a high beam control device is operated to switch off the high beam lights, or to adapt the shape of the high beam light cone, in order to avoid dazzling of the oncoming driver. However, at least for the period of time in which the headlight detection takes place dazzling of the oncoming driver cannot be avoided. Furthermore, if the oncoming vehicle is hidden to the imaging means until relatively short dis¬ tance, for example behind an obstacle like a hill, trees, structures or because of a sharp turn, a sufficiently early detection of the oncoming vehicle can be difficult and the dazzling of the oncoming driver can become dangerous. Generally it is desirable to detect oncoming vehicles as early as possible, for example already at large distances beyond 1000 m, allowing a reaction at a time where the dazzling effect is still small. The object of the invention is to provide a driver assistance system capable of detecting oncoming vehicles at large dis¬ tances and/or hidden to the imaging means by an obstacle.
The invention solves this object with the features of the in¬ dependent claims. The invention has realized that at low-light environmental conditions, especially at night, the headlights of an oncoming vehicle create a characteristic indirect illu¬ mination, or aura, in the recorded images which is perceivable to the imaging system even if the headlights are not yet di¬ rectly visible, for example because the oncoming vehicle is still hidden by an obstacle like a hill or trees, or hidden behind a turn. This enables the detection of an oncoming vehicle some time before the headlights of the oncoming vehicle are directly visible, therefore dazzling of the driver can be essentially completely avoided. This is particularly useful if the oncoming vehicle is hidden to the imaging means until relatively short distances at which dazzling of the oncoming driver can become dangerous .
The above mentioned indirect light phenomenon, or aura, is caused by scattering of light rays from the headlights of an oncoming vehicle in the air. An aura is a relatively large and relatively homogenously illuminated area with typical charac¬ teristics. Therefore, a detected light object advantageously is assigned to an oncoming vehicle if it fulfils one or more conditions related to the above mentioned typical characteris¬ tics of an aura. Among these conditions are that the light aura approximately has a form of a segment of an oval or a circle; the light aura approximately has a form of a simple oval segment standing on its base; the light aura has a radial light intensity distribution, in particular radially decreas- ing from a (virtual) center; the light aura has a light inten¬ sity generally decreasing from bottom to top; and/or the light aura is arranged above the ground in the air.
In case a light aura is detected and assigned to an oncoming vehicle, the processing means is advantageously adapted to carry out a suited reaction. For example, a high beam control device may preferably be operated based on the detection of an oncoming vehicle. In particular the high beam lights may be controlled to be switched off, or to adapt the shape of the high beam light cone, in order to avoid dazzling of the oncoming driver. However, usually there is no need to immediately switch off or adapt the high beam lights as soon as an aura is detected and assigned to an oncoming vehicle, since as long as the other vehicle is not directly visible, the oncoming driver is not dazzled and the high beam lights can advantageously be used for some more time.
In a preferred embodiment, when a light aura is detected and assigned to an oncoming vehicle, the oncoming vehicle is pref¬ erably pre-marked and the processing means is preferably set to a confirmation modus. In the confirmation modus the processing means searches for the headlights of the oncoming vehi¬ cle by conventional means, for example bright spot detection. Advantageously this search can be confined to a region of in¬ terest around the calculated centre of the detected aura. Fur¬ thermore, the aura is preferably tracked after its detection and the region of interest is accordingly updated. If the aura permanently disappears for some reason, for example in case the oncoming vehicle changes direction, the confirmation mode is terminated. If, however, the headlights of the oncoming ve¬ hicle are detected near the calculated centre of the aura, a high beam control device may then be operated and in particu- lar, the high beam lights may be controlled to be switched off, or the shape of the high beam light cone may be adapted, in order to avoid dazzling of the oncoming driver.
Preferably the processing means is adapted to take into par¬ ticular account a region immediately above the ground because in this region the contribution from the headlights of the own car has shown to be small.
In the following the invention shall be illustrated on the ba¬ sis of preferred embodiments with reference to the accompany¬ ing drawings, wherein:
Fig. 1 shows a schematic view of a driver assistance system according to the invention;
Fig. 2 shows an exemplary image recorded by the imaging
means of driver assistance system shown in Fig. 1 ; and
Fig. 3 shows another exemplary image recorded by the imaging means of driver assistance system shown in Fig. 1.
The driver assistance system 10, in particular a high beam assistance system, is mounted in a motor vehicle and comprises an imaging means 11 for acquiring images of a region outside the motor vehicle, for example a region in front of the motor vehicle. Preferably the imaging means 11 comprises at least one optical imaging device 12, in particular a camera, opera¬ tive in particular in the visible range which may include the near infrared with wavelengths below 5 microns. In a preferred embodiment the imaging means 11 comprises a mono camera 12, in particular a CMOS or CCD camera, which may, in the current ap- plication, be focusable or focused to a distance range from 300 m to infinity. The camera 12 may for example be mounted in or near the rear view mirror of the vehicle, without being re¬ stricted to this particular arrangement. Alternatively or in addition, the imaging means 11 may comprise a stereo camera system. In this case, expediently a stereo camera system adapted for pedestrian detection in a range below 300 m may be used .
The image data is provided to an electronic processing means 14 where image and data processing is carried out by corre¬ sponding software. In particular, the processing means 14 preferably comprises a headlight detection means adapted to detect, by image processing of the image data provided by the imaging means 11, in particular by said imaging device 12 for high beam assistance, the headlights of an oncoming vehicle typically in the distance range between 300 m and 1000 m. The headlight detection may in particular be based on the detec¬ tion and tracking of bright spots, originating from the head lights of the oncoming vehicle, in the recorded images, as is known from other high beam assistant systems. The headlight detection means is adapted to switch off the high beam of the own vehicle, or to adapt the shape of the high beam light cone, automatically as soon as an oncoming vehicle is de¬ tected, and to switch the high beam on again, or to re-set the shape of the high beam light cone, automatically if the oncom¬ ing vehicle is no longer visible.
The electronic processing means 14 is preferably programmed or programmable and expediently comprises a microprocessor or mi¬ cro-controller. The electronic processing means 14 can preferably be realized in a digital signal processor (DSP) . The electronic processing means 14 and an associated memory means 25 are preferably realised in an on-board electronic control unit (ECU) and may be connected to the imaging means 11 via a separate cable or a vehicle data bus. In another embodiment the ECU and the imaging device 12 can be integrated into a single unit. All steps from imaging, image processing to acti vation or control of driver assistance means 18 are performed automatically and continuously during driving in real time.
The processing means 14 comprises an aura detection means adapted to detect, by image processing of the image data pro¬ vided by the imaging means 11, in particular by said imaging device 12 for high beam assistance, a light aura originating from the headlights of an oncoming vehicle typically in the distance range between 300 m to infinity, i.e., in particular also beyond distances of 1000 m. The aura detection shall be explained in the following on the basis of Figs. 2 and 3.
Fig. 2 shows an image 30 recorded by the imaging device 12 in the case of a hilly environment. The road 31 in front of the motor vehicle ascends to the top of a hill and descends again behind the top of the hill as is denoted by dashed lines 32. On the other side of the hill an oncoming vehicle 33 is ap¬ proaching. The headlights 34 of the oncoming vehicle 33 are still not visible to the imaging device 12 due to the shadow¬ ing by the hill. However, the light rays 35 originating from the headlights 34 of the oncoming vehicle 33 are scattered in the air 36 above the hill and lead to a characteristic indi¬ rect light phenomenon or object 37 called a light aura.
The light aura 37 has certain characteristics which allow the processing means to identify it as such and as originating from the headlights 34 of an oncoming vehicle 33. In particu¬ lar, the aura 37 has an approximately radial intensity distri bution with a relatively homogenous, radial light intensity distribution monotonically decreasing from its (virtual) centre 38, lying approximately in the centre of the light sources 34 which generate the aura 37, to the periphery. Because the oncoming vehicle 33 from which the aura 37 emerges is arranged on the ground, the light aura 37 generally has a light inten¬ sity decreasing from the ground to the sky, or from the bottom to the top in the recorded images. Through this feature, for example, the light aura 37 of an oncoming vehicle 33 can be distinguished from the aura of a street light shining from above, where the light intensity decreases from the top to the bottom. Furthermore, as can also be seen in Figures 2 and 3, the light aura is usually arranged above the ground in the air 36.
Fig. 3 shows another situation where the oncoming vehicle 33 is hidden behind an obstacle 39 like a building, trees, a hill or the like.
The form of the light aura 37 is generally a segment of an oval or circle. The form of the light aura 37 may be defined by a thought line of constant light intensity. For example line 40 in Fig. 2 may indicate a line where the light inten¬ sity is one third of the brightest light intensity in the aura. As seen in Fig. 2, in many cases the light aura 37 ap¬ proximately has a form of a simple segment of an oval, having one cut line or base, where the oval segment is usually stand¬ ing on its base. However, as is evident from Fig. 3 this is not necessarily the case. In general the form of the light aura may be any part of an oval, ellipse or circle. Fig. 3 also shows that a small part of the aura near the ground may have a slightly decreasing intensity from top to bottom, con¬ trary to the average of the light rays. When a light aura 37 is detected and assigned to an oncoming vehicle 33, the oncoming vehicle 33 is preferably pre-marked and the processing means 14 is set to a confirmation modus. In the confirmation modus the processing means 14 searches for the headlights 34 of the oncoming vehicle 33 by conventional means, for example bright spot detection. Advantageously this search can be confined to a region of interest 41 around the calculated centre 38 of the detected aura. Because the inten¬ sity distribution of the light aura is known to be radial, the (virtual) centre point 38 of the aura 37 lying approximately in the centre of the one or more light sources 34 which gener¬ ate the aura 37 can be easily calculated by the processing means 14. The processing means 14 preferably comprises a tracking means adapted to track over time the centre 38 of the light aura. At any time a for example rectangular region-of- interest 41 may advantageously be arranged around the centre 38 of the aura 37 and the region of interest may be monitored by the above mentioned headlight detection means based for ex¬ ample on bright spot detection. As soon as the oncoming vehicle 33 emerges behind the obstacle 39 or the hill, its head¬ lights 34 can immediately be detected in the region of inter¬ est 41. The headlight detection is advantageously used as a confirmation of the oncoming vehicle detection.
Suitable measures may be taken after the aura 37 has been de¬ tected and/or after the headlights 34 of the oncoming vehicle 33 are directly detected. In particular, after the aura 37 has been detected and/or the oncoming vehicle is still relatively far away, for example around 1000 m or so, the high beams of the own vehicle may automatically be controlled by the proc¬ essing means 14 through a high beam control device 18 such that the shape of the high beam cones is suitably adapted, in particular directing the high beam cone sideways. If the oncoming vehicle approaches to a closer distance of for example 300 m, the high beams of the own vehicle may automatically be controlled by the processing means 14 through a high beam control device 18 to be turned off.
Other driver assistance means 18 may be controlled depending on the output from said oncoming vehicle detection means in said processing means 14, comprising: a warning means adapted to provide a collision warning to the driver by suitable opti¬ cal, acoustical and/or haptical warning signals; one or more restraint systems such as occupant airbags or safety belt ten- sioners, pedestrian airbags, hood lifters and the like; and/or dynamic vehicle control systems such as brakes or steering means .
In a situation as shown in Fig. 2, special consideration may preferably be given to a region 42 immediately above the ground where the contribution from the headlights of the own car has shown to be small. This may for example be done by performing a separate light intensity check in the region 42, or by giving the contribution of this region 42 to the light aura 37 a higher weight than the contribution of other regions .

Claims

Claims :
1. A driver assistance system (10) for a motor vehicle, com prising an imaging means (11) for acquiring images from surrounding of the motor vehicle, and a processing means (14) adapted to perform image processing of images (30) recorded by said imaging means (11) and to detect an on¬ coming vehicle (33) by identifying its head lights (34) as a result of said image processing, characterized in that said processing means (14) is adapted to detect, in the recorded images (30), a light aura (37) originating from at least one light source (34) hidden to said imag¬ ing means (11), and to use said light aura detection in said oncoming vehicle detection.
2. The driver assistance system as claimed in claim 1,
wherein said processing means (14) is adapted to assign detected light aura (37) to an oncoming vehicle (33) if said light aura (37) fulfils one or more conditions.
3. The driver assistance system as claimed in claim 2,
wherein a condition is that said light aura (37) has a radial light intensity distribution.
4. The driver assistance system as claimed in claim 2 or 3, wherein a condition is that said light aura (37) has a light intensity distribution radially decreasing from a center ( 38 ) .
5. The driver assistance system as claimed in any one of claims 2 to 4, wherein a condition is that said light aura (37) approximately has a form of a segment of an oval or circle.
6. The driver assistance system as claimed in any one of
claims 2 to 5, wherein a condition is that said light aura (37) approximately has a form of a simple oval seg¬ ment standing on its base.
7. The driver assistance system as claimed in any one of
claims 2 to 6, wherein a condition is that said light aura (37) has a light intensity generally decreasing from bottom to top.
8. The driver assistance system as claimed in any one of
claims 2 to 7, wherein a condition is that said light aura (37) is arranged above the ground in the air (36) .
9. The driver assistance system as claimed in any one of the preceding claims, wherein a high beam control device (18) is operated based on the detection of an oncoming vehicle (33) .
10. The driver assistance system as claimed in any one of the preceding claims, wherein a detected aura (37) is tracked in subsequent image frames.
11. The driver assistance system as claimed in any one of the preceding claims, wherein said detection of an oncoming vehicle (33) is confirmed by a subsequent step of identi¬ fying the head lights (34) of an oncoming vehicle (33) .
12. The driver assistance system as claimed in claim 11,
wherein said step of identifying the head lights (34) of an oncoming vehicle (33) is based on detecting bright spots in the recorded images (30) originating from said head lights (34) .
13. The driver assistance system as claimed in any one of the preceding claims, wherein said processing means (14) is adapted to confirm that said light aura (37) is present in a region immediately above the ground.
14. The driver assistance system as claimed in any one of the preceding claims, wherein said imaging means (11) com¬ prises an imaging device (12) for a high beam assistance function focusable to distances beyond 300 m, preferably beyond 500 m.
15. A driver assistance method for a motor vehicle, comprising acquiring images (30) from a surrounding of the motor vehicle, performing image processing of recorded images (30), and detecting an oncoming vehicle (33) by identifying its head lights (34) as a result of said image proc¬ essing, characterized by detecting a light aura (37), originating from at least one hidden light source (34), in the recorded images (30), and using said light aura detection in said oncoming vehicle detection.
PCT/SE2012/050210 2011-03-01 2012-02-24 A driver assistance system and method for a motor vehicle Ceased WO2012118427A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US14/001,550 US9990551B2 (en) 2011-03-01 2012-02-24 Driver assistance system and method for a motor vehicle
KR1020137020464A KR20130106876A (en) 2011-03-01 2012-02-24 A driver assistance system and method for a motor vehicle
JP2013555394A JP5617050B2 (en) 2011-03-01 2012-02-24 Vehicle driver support system and driver support method
KR1020157016544A KR101746746B1 (en) 2011-03-01 2012-02-24 A driver assistance system and method for a motor vehicle
CN201280009158.4A CN103380447B (en) 2011-03-01 2012-02-24 For driver assistance system and the method for motor vehicles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP11001653.2 2011-03-01
EP11001653.2A EP2495127B1 (en) 2011-03-01 2011-03-01 A driver assistance system and method for a motor vehicle

Publications (1)

Publication Number Publication Date
WO2012118427A1 true WO2012118427A1 (en) 2012-09-07

Family

ID=44259863

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2012/050210 Ceased WO2012118427A1 (en) 2011-03-01 2012-02-24 A driver assistance system and method for a motor vehicle

Country Status (6)

Country Link
US (1) US9990551B2 (en)
EP (1) EP2495127B1 (en)
JP (1) JP5617050B2 (en)
KR (2) KR101746746B1 (en)
CN (1) CN103380447B (en)
WO (1) WO2012118427A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10713501B2 (en) * 2015-08-13 2020-07-14 Ford Global Technologies, Llc Focus system to enhance vehicle vision performance
CN105575128B (en) * 2016-01-20 2018-03-13 王威立 Motor vehicle far-reaching lamp peccancy detection and capturing system
CN107776572A (en) * 2016-08-31 2018-03-09 奥迪股份公司 Vehicle assistant drive method and system
CN108016346A (en) * 2016-10-31 2018-05-11 法乐第(北京)网络科技有限公司 Safety meeting method and apparatus, automobile data recorder
CN106778534B (en) * 2016-11-28 2020-11-10 江苏鸿信系统集成有限公司 Method for identifying ambient light during vehicle running
CN107169422B (en) * 2017-04-21 2020-11-13 浙江安谐智能科技有限公司 Method for judging opening and closing states of high beam based on light direction of headlamp
EP3708427B1 (en) 2019-03-12 2024-10-02 Arriver Software AB A headlight control system for a motor vehicle and a method of training a machine learning model for a headlight control system
US11377023B2 (en) * 2020-09-24 2022-07-05 GM Global Technology Operations LLC Proactive headlight tracking for vehicle auto high beam assist

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070211482A1 (en) * 2006-03-10 2007-09-13 Valeo Vision Method for controlling the automatic switching of the projector of a vehicle
EP1837803A2 (en) * 2006-03-24 2007-09-26 MobilEye Technologies, Ltd. Headlight, taillight and streetlight detection
DE102008059630A1 (en) * 2008-11-28 2010-06-02 Adc Automotive Distance Control Systems Gmbh Method for detecting vehicle lights and retroreflectors with a camera system

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3503230B2 (en) * 1994-12-15 2004-03-02 株式会社デンソー Nighttime vehicle recognition device
US6861809B2 (en) * 1998-09-18 2005-03-01 Gentex Corporation Headlamp control to prevent glare
US6049171A (en) * 1998-09-18 2000-04-11 Gentex Corporation Continuously variable headlamp control
FR2857463B1 (en) * 2003-07-11 2005-09-02 Valeo Vision INFRARED NIGHT VISIT SYSTEM IN COLOR.
JP4253271B2 (en) * 2003-08-11 2009-04-08 株式会社日立製作所 Image processing system and vehicle control system
DE102004034838B4 (en) * 2004-07-19 2015-07-23 Daimler Ag Vehicle headlight system with variable beam shape
FR2884637B1 (en) 2005-04-19 2007-06-29 Valeo Vision Sa METHOD OF DETECTING NIGHT MIST AND SYSTEM FOR IMPLEMENTING SAID METHOD
JP4544233B2 (en) * 2006-10-11 2010-09-15 株式会社デンソー Vehicle detection device and headlamp control device
JP4737108B2 (en) 2007-02-19 2011-07-27 トヨタ自動車株式会社 Headlight control device
DE102007008542B4 (en) * 2007-02-21 2019-04-18 HELLA GmbH & Co. KGaA Method and device for controlling the light output of a vehicle
JP2008296759A (en) * 2007-05-31 2008-12-11 Omron Corp Information processing apparatus and method, and program
US8199198B2 (en) * 2007-07-18 2012-06-12 Delphi Technologies, Inc. Bright spot detection and classification method for a vehicular night-time video imaging system
FR2921601A3 (en) * 2007-10-02 2009-04-03 Renault Sas INTERSECTING SAFETY DEVICE FOR MOTOR VEHICLE
JP5065172B2 (en) * 2008-06-16 2012-10-31 株式会社豊田中央研究所 Vehicle lighting determination device and program
JP4894824B2 (en) * 2008-07-09 2012-03-14 株式会社デンソー Vehicle detection device, vehicle detection program, and light control device
EP3975138B1 (en) * 2008-10-06 2024-12-11 Mobileye Vision Technologies Ltd. Bundling of driver assistance systems
CN201407571Y (en) * 2009-01-16 2010-02-17 中冶东方工程技术有限公司上海分公司 An automatic dimmer for automobile headlights with light reminder
US8493446B2 (en) * 2009-04-17 2013-07-23 International Business Machines Corporation Intelligent headlight control using camera sensors
JP2011037342A (en) * 2009-08-07 2011-02-24 Koito Mfg Co Ltd Vehicular headlight system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070211482A1 (en) * 2006-03-10 2007-09-13 Valeo Vision Method for controlling the automatic switching of the projector of a vehicle
EP1837803A2 (en) * 2006-03-24 2007-09-26 MobilEye Technologies, Ltd. Headlight, taillight and streetlight detection
DE102008059630A1 (en) * 2008-11-28 2010-06-02 Adc Automotive Distance Control Systems Gmbh Method for detecting vehicle lights and retroreflectors with a camera system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
P.F. ALCANTARILLA ET AL.: "Night Time Vehicle Detection for Driving Assistance LightBeam Controller", IEEE INTELLIGENT VEHICLES SYMPOSIUM, JUNE 4-6, 2008, 2008, pages 291 - 296 *

Also Published As

Publication number Publication date
CN103380447B (en) 2015-11-25
CN103380447A (en) 2013-10-30
KR20130106876A (en) 2013-09-30
KR20150080639A (en) 2015-07-09
EP2495127B1 (en) 2014-07-30
US20140029803A1 (en) 2014-01-30
US9990551B2 (en) 2018-06-05
KR101746746B1 (en) 2017-06-13
JP2014507332A (en) 2014-03-27
JP5617050B2 (en) 2014-10-29
EP2495127A1 (en) 2012-09-05

Similar Documents

Publication Publication Date Title
US9990551B2 (en) Driver assistance system and method for a motor vehicle
US7920250B2 (en) System for the detection by a motor vehicle of a phenomenon that interferes with visibility
JP6368958B2 (en) Vehicle control system, vehicle control method, and vehicle control program
JP6519355B2 (en) Camera apparatus and in-vehicle system
JP4730267B2 (en) Visibility state determination device for vehicle
EP2653346B1 (en) Vehicle safety illumination arrangement and method
JP6839006B2 (en) Vehicle driving support device and driving support method
JP7056569B2 (en) Vehicle control devices, vehicle control methods, moving objects, and vehicle control systems
US7400266B2 (en) Method for improving vision in a motor vehicle
US20160031371A1 (en) In-vehicle apparatus
JP2018524730A (en) Braking light detection of a vehicle traveling forward to adapt the operation of an active safety mechanism
JP2013147112A (en) Vehicle driving environment recognition apparatus
US9616805B2 (en) Method and device for controlling a headlamp of a vehicle
JP6527679B2 (en) Vehicle headlight device
WO2021022853A1 (en) Vehicle tail lamp self-adaptive control system and method, and vehicle
JP2014106200A (en) Surrounding monitoring apparatus and parking support device
JP2008296759A (en) Information processing apparatus and method, and program
KR101627500B1 (en) Vehicle assistance apparatus and Method of thereof
JP4735090B2 (en) Infrared imaging device
JP2022037448A (en) Driving assist system
JP2010260380A (en) Vehicle monitoring system
US11465552B2 (en) Method for obtaining an image of an object to be classified and associated system
KR20150086901A (en) System and method for supporting pedestrian detection on night driving
JP6434768B2 (en) Vehicle headlamp device
EP3346693B1 (en) An imaging device for a motor vehicle, and a method of mounting an imaging device in a motor vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12752427

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 20137020464

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 14001550

Country of ref document: US

ENP Entry into the national phase

Ref document number: 2013555394

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 12752427

Country of ref document: EP

Kind code of ref document: A1