WO2014005585A1 - Camera system for detecting the state of a vehicle window - Google Patents
Camera system for detecting the state of a vehicle window Download PDFInfo
- Publication number
- WO2014005585A1 WO2014005585A1 PCT/DE2013/200027 DE2013200027W WO2014005585A1 WO 2014005585 A1 WO2014005585 A1 WO 2014005585A1 DE 2013200027 W DE2013200027 W DE 2013200027W WO 2014005585 A1 WO2014005585 A1 WO 2014005585A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- disc
- illumination
- camera system
- image sensor
- reading
- Prior art date
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Classifications
-
- 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
-
- 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
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/108—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
Definitions
- Camera system for detecting the condition of a vehicle window
- the invention relates to a method for detecting a condition of a vehicle window by means of a camera system and to a camera system which is designed to implement such a method.
- disc state detection Method and device for detecting the state of a disc of a vehicle, hereinafter also referred to as disc state detection, is basically known from the prior art.
- disc state detection in particular includes the detection of rain, dirt, ice, snow and / or other moist deposits on the respective vehicle window.
- Various sensor devices are used for the detection, for example rain sensors.
- rain sensors are usually realized according to the principle of (infrared) light input into the disk, single or multiple total reflection of the light in the disk and evaluation of the light signal after total reflection.
- a portion of the light fed into the disc is decoupled from the disc at the deposits.
- decoupling a portion of the light arriving at the receiver side of the rain sensor light signal is reduced in intensity.
- At the reduction of the signal can be detected according to rain or moisture.
- capacitive or similar implementation approaches for rain sensors are known.
- a major disadvantage of using such rain sensors is the fact that they are separate Devices is that fulfill no other functions apart from the disc state detection and for a separate installation space, especially in the field of windshield is needed.
- the installation space in the area of the windshield is already already limited in any case due to other sensors that are used in modern vehicles.
- a desire of many vehicle manufacturers is therefore to combine different or multiple sensor functions on a single sensor device.
- the additional lighting can have disturbing influences, such as glare effects, on the image captured by the camera system.
- a lighting within the reformrichters a vehicle camera easily leads to disturbing light effects or reflections. Therefore, it has hitherto been necessary to integrate partial filters into the camera system in order to separate the image of the vehicle surroundings from the rain sensor image.
- the "normal" camera function ie in particular the Detecting the vehicle environment for one or more
- the invention is therefore based on the object to provide a solution, as by means of a camera system of a vehicle disk state detection can be realized, in particular rain detection means of illumination of the disc, without the normal camera function or without other functions of the camera are affected by the lighting.
- An essential idea of the invention is to synchronize the reading of a line or column-wise readable image sensor of a vehicle camera with an illumination of the vehicle window by an illumination device that the illumination of the disc only during the reading of a selected area of the image sensor or its sensor surface takes place, ie Selected lines or columns of the sensor surface of the image sensor to be used for disk state detection.
- an illumination device that the illumination of the disc only during the reading of a selected area of the image sensor or its sensor surface takes place, ie Selected lines or columns of the sensor surface of the image sensor to be used for disk state detection.
- the illumination is carried out according to the invention only for the selected area of the sensor surface of the image sensor, which is actually used for disk state detection.
- the illumination is thus preferably decoupled in time from the reading of the remaining part of the image sensor, that is, which does not require any illumination.
- the decoupling takes place in particular by the proposed synchronization of the illumination by means of lighting device with the line or column-wise reading of the image sensor.
- no complicated or expensive partial and / or optical filters are necessary, and the image sensor of the camera can continue to be sensitive over its entire sensor surface in the wavelength at which the illumination is realized.
- the method according to the invention serves to operate a camera system and to detect a condition of a window of a vehicle.
- the camera system is preferably a vehicle camera, which is arranged in the interior of the vehicle behind a disc.
- the camera system can be arranged with viewing direction through the window, for example for detecting the vehicle surroundings, for example for one or more driver assistance functions.
- the disc may be the windshield or another disc of the vehicle. Under the detection of the state of the disc (disk state detection) is in particular the determination of rain, snow, ice, dirt and / or other moist deposits or moisture to understand.
- the pane is illuminated by means of one or more illumination devices and a line-wise or column-wise readout of pixel data of a sensor surface of an image sensor of the camera system such that the illumination and the readout are synchronized.
- the lighting and the Readings are preferably synchronized in such a way that the illumination of the pane takes place only during the readout of a selected area of the sensor area of the image sensor.
- the illumination of the pane takes place in particular only during the reading of the area of the sensor surface of the image sensor, which is used to detect the state of the disc or is evaluated by image processing for disc state detection.
- the one or more illumination devices may be one or more light sources, such as LEDs (Light Emitting Diodes), which may in particular be part of the camera system.
- the one or more lighting devices are preferably designed such that they can illuminate at least a portion of the pane through which the camera system looks through.
- the image sensor of the camera system is in particular a line or column-wise readable image chip, preferably a CMOS image sensor (CMOS imager) with rolling shutter.
- CMOS imager CMOS imager
- the disk state detection in particular a
- Regenerkennung takes place preferably based on an evaluation of the pixel data of the selected area of the sensor surface of the image sensor, for example by means of suitable image processing equipment or
- Image processing algorithms for example, patterns or structure recognition methods already known from the prior art can also be used.
- the remaining area of the sensor surface of the image sensor can be used in particular for other camera functions, for example for object recognition in the vehicle environment or other
- the illumination of the disc takes place by means of Lighting device only during the reading of a portion of the sensor surface of the image sensor, which is focused on the disc via an imaging system of the camera system.
- the imaging system of the camera system may be a lens.
- the imaging system may be formed bifocal, for example, whereby by means of the imaging system electromagnetic radiation is preferably projected from different ektktfernfern distances on the sensor surface of the image pickup element, preferably from a far-field optical and a near optical area.
- the bifocal configuration of the imaging system can further be configured in such a way that two separate regions exist on the sensor surface of the image sensor, with only electromagnetic radiation being projected from the optical far region by means of the imaging system on a first of the two regions, and exclusively electromagnetic radiation on the second region from the optical proximity.
- the long-distance optical area may be, for example, the vehicle surroundings, for example object distances greater than or equal to 2 m, 10 m or 50 m.
- the optical proximity region is preferably the disk or around its outer surface.
- the illumination of the pane is preferably carried out according to the method according to the invention only if there is a readout of the area of the sensor surface of the image sensor, which focuses on the near zone, in particular directly on the pane or its outer surface via the imaging system is.
- illumination of the pane takes place by means of illumination means during the readout of a selected area of the sensor area of the image sensor, which via an imaging system of the camera system onto a O ektentfernung is focused in front of the disc, in particular to a remote area or at a Ektentfernung that is greater than the distance between the camera system and disc.
- the camera system in which the method according to the invention is used can be focused exclusively on a remote area, in particular by means of an imaging system, for example on object distances greater than or equal to 2 m, 10 m or 50 m.
- rain as well as other wet deposits on the glass can be detected by means of fuzzy structures in one or more images captured by the camera system.
- the detection of fuzzy structures i. the disc state detection, thereby exclusively by means of an evaluation of pixel data of the selected and during the illumination of the disc means
- Illumination device read area of the sensor surface of the image sensor, i. only the area of one or more captured images for which the lighting is active.
- the selected region of the sensor surface of the image sensor is varied after one or more read-out cycles of the image sensor.
- a single read-out cycle is preferably to be understood as meaning a one-time complete column-by-row or readout of the entire sensor area, ie the entire pixel data, of the image sensor.
- the result of a read cycle is therefore in particular a single image recorded by means of the camera system or by means of the image sensor.
- the next read cycle follows a read cycle.
- the synchronized illumination of the disk and readout of the image sensor takes place at each read cycle or only at certain
- a region of the sensor surface is determined and defined as a selected region which is suitable for detecting the state of the wafer.
- the illumination of the slice and the reading of the pixel data of the sensor surface of the image sensor may be synchronized according to the inventive method, in particular such that the illumination of the slice only during the reading of the determined and fixed range he follows.
- a region of the sensor surface of the image sensor can be selected that is better for a disk state detection, in particular for a
- the detection of the state of the disc in particular when a region of the sensor surface for disk state detection is selected as a function of at least one first readout cycle without illumination, and in particular when this region is an area with substantially homogeneous light distribution , the detection of the state of the disc can be such that the pixel or image data of the at least one first reading cycle without illumination and the pixel or image data of the at least one subsequent reading cycle with illumination are compared.
- the detection of the state of the disc in particular the rain detection, can be further improved. If there is no rain or other deposits on the disc, the image data with and the image data without illumination will have few to no differences. If, on the other hand, rain or other deposits are present, they are highlighted by the illuminations and thus in the image data read out during the illumination of the pane and by means of
- Image processing can be recognized as structures in the image. By comparison with the image data without illumination, it can be ruled out in particular that the structures are objects or phenomena from the vehicle environment.
- the camera system according to the invention is preferably arranged in the interior of a vehicle behind a pane and viewed through the pane.
- the camera system may include at least one image sensor at least one
- Lighting device include.
- the image sensor is preferably a column or line-wise readable image sensor with one for electromagnetic Radiation-sensitive sensor surface, for example, a CMOS imager with rolling shutter.
- the image sensor is preferably used for capturing image data by means of the camera system, for example from the vehicle environment.
- electromagnetic radiation from the vehicle environment, for example, from a defined Whether ektentfernung be projected onto the sensor surface of the image sensor.
- the illumination device of the camera system is used in particular for illuminating the pane, preferably the area of the pane through which the camera system looks.
- the illumination device may be, for example, one or more light sources, for example one or more LEDs (Light Emitting Diodes).
- the camera system comprises means or is connected to means which are designed to detect the state of the pane and to operate the camera system according to a method according to one of the embodiments described above.
- the funds are in particular to
- Image processing means for reading and evaluating the pixel data of the sensor surface of the image sensor or the image data, and / or means for controlling the illumination of the disc by means of the illumination device.
- Figure 1 an example of an inventive
- Camera system or a camera system in which s inventive method can be used is a camera system in which s inventive method can be used.
- Figure 2a-c a schematic representation of a preferred embodiment
- the camera system is shown simplified and comprises an imaging system 3, in this case an objective, and an image sensor 4, in this case a CMOS image chip with rolling shutter.
- the image sensor 4 is arranged on a first printed circuit board 5.1.
- the camera system is arranged in the interior of a vehicle behind the windshield 1.
- the camera system is further aligned with viewing direction 2 through the windshield 1 in the direction of the front of the vehicle vehicle environment.
- the camera system is a certain object distance focused, for example
- the sensor surface 10 of the image sensor 4 is a sensor surface 10 that is sensitive to electromagnetic radiation 7 and 12 and that comprises a multiplicity of pixels or photodiodes arranged next to one another in the form of a matrix, which are readable in columns or rows.
- the camera system can be designed in particular for the implementation of various driver-supporting functions, in particular of
- Driver assistance functions such as a
- the camera system for detecting the state of the disc 1 of the vehicle is formed behind which it is arranged, in this case the windshield 1.
- the camera system can this one or more
- Lighting devices 6 include, which are used to illuminate the disc 1 with electromagnetic radiation 12, in particular the area 11 through which the camera system looks through.
- the illumination device 6 can according to FIG. 1, for example, in the view funnel of the camera system, e.g. in the region of a lens hood, be arranged on a second circuit board 5.2.
- deposits such as rain 8, snow, ice, dirt or other moist deposits on the pane 1 can be made more visible.
- the camera system according to the invention is associated with means or comprises means for synchronization of the illumination 12 of the windshield 1 by means of the illumination device 6 and the column or line by line reading Pixel data of the sensor surface 10 of the image sensor 4 such that the illumination 12 of the disc 1 takes place only during the reading of a selected area of the sensor surface 10 of the image sensor 4.
- the camera system according to the invention may comprise further components, as illustrated in FIG. 1, for example one or more housing parts,
- Lens hoods means for arrangement and attachment behind the windshield 1 and other electronic devices and optical Strahlformungs- and / or beam steering elements.
- the camera system can continue with electrical facilities, in particular with
- Driver assistance systems be connected in the vehicle.
- FIGS. 2a to 2c show a schematic representation of the functional principle of the method according to the invention.
- FIGS. 2a to 2c show the readout of pixel data of the sensor surface 10 of the image sensor 4 during a single readout cycle. In this case the reading is done line by line.
- the sensor surface 10 of the image sensor 4 can be subdivided into a plurality of regions extending transversely across the sensor surface 10 in the case of readout by line.
- the sensor surface is subdivided into five regions B i to B5.
- the reading of an upper region B i of the sensor surface which may comprise one or more pixel rows, takes place.
- the readout of a second region B 2 of the sensor surface 10 which may also include one or more pixel rows.
- the readout of the further regions B3 to B5 is carried out analogously in the periods T3 to T. 5
- the result of a read-out cycle ie the single line-by-line readout of the entire sensor surface 10 of the image sensor 4, is preferably a single acquired image.
- an illumination 12 of the pane 1 is effected by means of a lighting device 6 and the line-wise reading of the pixel data of the sensor surface 10 of the image sensor 4 shown in FIGS.
- FIG. 2 b shows that illumination of the pane takes place in the period T 2 , so that the readout of the area B 2 in the period T 2 is determined both by the electromagnetic radiation E 1 , ie by the electromagnetic radiation 7 the vehicle environment, as well as by the electromagnetic radiation E2, that is influenced by the emitted from the illumination device 6 on the disc 1 electromagnetic radiation 12.
- the readout of the remaining areas B i and B 3 to B 5 is influenced exclusively by the electromagnetic radiation El or 7 from the vehicle environment, so that the illumination for the wheel condition detection does not negate the image detection with the areas Bi and B 3 to B 5 affected.
- the illumination 12 can be carried out during each read cycle in the time period T 2 according to an embodiment variant of the method according to the invention and only at certain readout cycles. Furthermore, the illumination 12 can be made or varied every time during the same period of time, ie for reading the same area of the sensor surface 10 of the image sensor 4, ie in this case in the period T 2 during the reading of the area B 2 , ie, for example Periods T lf T 3f T 4 or T 5 done.
- the illumination 12 of the disc 1 affects each time exclusively the reading of the pixel lines, which are actually read at the respective time.
- the selected area and thus in particular the period to which the illumination 12 takes place, can be set according to the invention in particular also as a function of one or more preceding readout cycles, wherein preferably one area the sensor surface 10 of the image sensor 4 is selected for the disk state detection, which has a homogeneous light distribution and thus for the
- Disk state detection is particularly suitable.
- the synchronized illumination according to the invention and readout of the pixel data of the image sensor can then take place, in particular for the selected region with homogeneous light distribution. name list
- Image sensor 4 1-T5 Periods of readout of areas B 1 -B5
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Studio Devices (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112013000225.6T DE112013000225A5 (en) | 2012-07-05 | 2013-07-04 | Camera system for detecting the condition of a vehicle window |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012106030.4A DE102012106030A1 (en) | 2012-07-05 | 2012-07-05 | Camera system for detecting the condition of a vehicle window |
DE102012106030.4 | 2012-07-05 |
Publications (1)
Publication Number | Publication Date |
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WO2014005585A1 true WO2014005585A1 (en) | 2014-01-09 |
Family
ID=48856478
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2013/200027 WO2014005585A1 (en) | 2012-07-05 | 2013-07-04 | Camera system for detecting the state of a vehicle window |
Country Status (2)
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DE (2) | DE102012106030A1 (en) |
WO (1) | WO2014005585A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018086662A1 (en) * | 2016-11-08 | 2018-05-17 | Conti Temic Microelectronic Gmbh | Detecting rain drops on a window pane by means of a camera and illumination |
WO2019233917A1 (en) | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Device designed to detect soiling of at least one transmitting window and/or one receiving window of a sensor |
WO2019233919A1 (en) | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Apparatus for recognizing soiling of a transmitting window and/or a receiving window of a lidar device and corresponding method |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9245333B1 (en) | 2014-12-10 | 2016-01-26 | Semiconductor Components Industries, Llc | Systems and methods for detecting obstructions within the field-of-view of an image sensor |
Citations (4)
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EP1580092A2 (en) * | 2004-03-26 | 2005-09-28 | Robert Bosch Gmbh | Camera in a vehicle |
WO2006015905A1 (en) * | 2004-08-04 | 2006-02-16 | Siemens Aktiengesellschaft | Optical module for an assistance system detecting an exterior space ahead in the direction of travel of a motor vehicle |
DE102006016774A1 (en) * | 2005-04-11 | 2006-10-12 | Denso Corp., Kariya | rain sensor |
EP2189340A2 (en) * | 2008-11-24 | 2010-05-26 | Robert Bosch GmbH | Multiple function camera module |
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US6603137B2 (en) * | 2001-04-16 | 2003-08-05 | Valeo Electrical Systems, Inc. | Differential imaging rain sensor |
EP1506108B1 (en) * | 2002-05-18 | 2005-11-23 | ELMOS Semiconductor AG | Rain sensor |
-
2012
- 2012-07-05 DE DE102012106030.4A patent/DE102012106030A1/en not_active Withdrawn
-
2013
- 2013-07-04 DE DE112013000225.6T patent/DE112013000225A5/en active Pending
- 2013-07-04 WO PCT/DE2013/200027 patent/WO2014005585A1/en active Application Filing
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EP1580092A2 (en) * | 2004-03-26 | 2005-09-28 | Robert Bosch Gmbh | Camera in a vehicle |
WO2006015905A1 (en) * | 2004-08-04 | 2006-02-16 | Siemens Aktiengesellschaft | Optical module for an assistance system detecting an exterior space ahead in the direction of travel of a motor vehicle |
DE102006016774A1 (en) * | 2005-04-11 | 2006-10-12 | Denso Corp., Kariya | rain sensor |
EP2189340A2 (en) * | 2008-11-24 | 2010-05-26 | Robert Bosch GmbH | Multiple function camera module |
Non-Patent Citations (1)
Title |
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KURIHARA H ET AL: "Rainy weather recognition from in-vehicle camera images for driver assistance", INTELLIGENT VEHICLES SYMPOSIUM, 2005. PROCEEDINGS. IEEE LAS VEGAS, NV, USA JUNE 6-8, 2005, PISCATAWAY, NJ, USA,IEEE, PISCATAWAY, NJ, USA, 6 June 2005 (2005-06-06), pages 205 - 210, XP010833968, ISBN: 978-0-7803-8961-8, DOI: 10.1109/IVS.2005.1505103 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018086662A1 (en) * | 2016-11-08 | 2018-05-17 | Conti Temic Microelectronic Gmbh | Detecting rain drops on a window pane by means of a camera and illumination |
WO2019233917A1 (en) | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Device designed to detect soiling of at least one transmitting window and/or one receiving window of a sensor |
WO2019233919A1 (en) | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Apparatus for recognizing soiling of a transmitting window and/or a receiving window of a lidar device and corresponding method |
DE102018209020A1 (en) | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Device, designed to detect contamination of at least one transmission window and / or a receiving window of a sensor |
DE102018209015A1 (en) | 2018-06-07 | 2019-12-12 | Robert Bosch Gmbh | Device and method for detecting contamination of at least one transmission window and / or a receiving window of a sensor |
US11368673B2 (en) | 2018-06-07 | 2022-06-21 | Robert Bosch Gmbh | Device designed for detecting a soiling of at least one transmitting window and/or one receiving window of a sensor |
Also Published As
Publication number | Publication date |
---|---|
DE112013000225A5 (en) | 2014-07-17 |
DE102012106030A1 (en) | 2014-05-22 |
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