Classifications

• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
  • H04N7/00—Television systems
  • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
  • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
• • 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

Definitions

• Vehicle camera device for recording an environment of a motor vehicle and driver assistance device for object recognition with such a vehicle camera device
• the present invention relates to a vehicle camera device for receiving an environment ei it motor vehicle s according to the preamble of claim 1. Furthermore, the invention relates to a driver assistance device for object recognition with such. Vehicle camera device.
• Driver assistance devices with one or more cameras are used to evaluate the environment of a motor vehicle, in ⁇ play, for the evaluation of traffic lanes, traffic signs, traffic signals and other road users.
• the cameras are used for image acquisition from the area of the motor vehicle ahead of the direction of travel.
• Such cameras typically have an aperture angle of about 40 to 45 degrees.
• a surveil ⁇ monitoring device is known with cameras, each having a plurality of image sensors, which are configured such that they each with different areas of a scene Scan variable object distance.
• the image sensors are each equipped with optics that provide the same resolution regardless of the object's width, and the image sensors, which are designed for different subject sizes, feature different focal length objects on iron.
• the invention is based on the object, orzugssch1agen an improved vehicle camera device, the detection of an environment of the motor vehicle with a, the largest possible coverage and a sufficient. Angle resolution for obj ekterkennung allows.
• a vehicle camera device for receiving an environment of a motor vehicle.
• the environment is in particular the apron of the motor vehicle.
• the vehicle camper device can be integrated into or connected to a driver assistance device, wherein the driver assistance device is designed in particular for object recognition from the image data provided by the vehicle camera device.
• the vehicle camera device is a Kämera to be arranged in the interior of the motor vehicle behind the windshield and directed in the direction of travel.
• the vehicle camera device includes a first and a second optronics.
• the first and the second Optronics each have an optical system for the projection of light and at least or exactly one image sensor for detecting the light projected by the optics.
• the optics of the first and second optronics are formed with a fixed focal length.
• the first and the second optronics are arranged together in a housing of the vehicle camera device. The integration of the two Optroniken in the housing of the vehicle camera device achieves a compact, space-saving design for the arrangement in the motor vehicle.
• the first and the second Optronik are in the same direction directly to each other, in particular arranged side by side or one above the other.
• Immediately here is a transverse to the viewing direction distance of, for example, at most ten zen ⁇ meters, in particular at most five centimeters, in particular at most one. Centimeters to understand. Particularly preferably, the optical axes of the first and second Optronik parallel to each other.
• the first optronics is designed to record a first detection area and the second optronics to record a second detection area from the surroundings.
• the image sensor and the optics of the respective optronics jointly specify a horizontal and a vertical image angle, the horizontal and vertical image angles spanning the detection region.
• the in-vehicle camera device is formed such that the first and second Erfas ⁇ sungs Suite taken independently, processed and / or transmitted as independent image data to the driver assistance device for object detection can.
• the first and second optronics have different angles of view.
• the first and the second optronics have different sized horizontal image angles on, so that the detection ranges, in particular in ho ⁇ zontal direction- differ.
• the first and second optronics have differently sized vertical image angles, so that the detection regions differ in the vertical direction.
• the differently sized image angles of the detection areas make it possible to detect objects in different surrounding areas of the motor vehicle with only one vehicle camera device.
• the detection areas recorded by the first and the second optronics have an overlapping section. The overlapping portion is thus a region of overlap of the first and second detection areas. In particular, in the first and second. Optronics recorded overlap section, the same environmental area shown.
• Be ⁇ vorzugt have the overlap portions taken up by the first and second Optronics on the same horizontal and / or vertical angle, alternatively or additionally optionally each have the same focal length.
• the first optronics is configured in such a way that the overlapping section recorded by the first optronics has a different angular resolution, particularly preferably a reduced angular resolution, than in the remaining area of the first detection area.
• the un ⁇ ter Kunststoffliche angular resolution om structural design is provided, for example, that the image sensor in which the. Overlapping portion receiving area differently, in particular lower resolution than in the remaining receiving area is trained.
• the image sensor has a homogeneous pixel / cm resolution and the optics is formed such that in the. Overlap portion is realized a different angular resolution than in the remaining area of the first detection area. Due to the overlapping of the detection areas, a surrounding area is covered twice, so that it is possible to evaluate only the overlapping portion of one of the two detection areas for the object detection. Against this background, the changed, in particular reduced angular resolution in the overlapping section, has the advantage that the computational effort for processing the first detection range is limited to the essentials. On the other hand, the recording of the remaining area of the first detection area, in particular with an increased angular resolution, permits object recognition without additional image processing, such as, for example, image processing. B. a virtual Pixeler ⁇ increase.
• the overlapping section has the advantage that the first and the second optronics can be formed with different recording priorities. For example, it is possible to design the first optronics with as large a detection range as possible and thus also to detect peripheral areas, as may be required in the crossing area for the early detection of crossing road users or also for the traffic light recognition in the front row.
• the second Optronik z. B a detailed recording in the overlapping section are implemented so that recording objects both in the near, for example, in the distance range between one and 50 meters, as well as in Long range, for example, in the distance range between 50 and 500 meters are visible.
• the recognition of the object is achieved both in different distance ranges and in the surrounding areas of the motor vehicle.
• a angle on ⁇ solution of not more than 10 pixels per degree, particularly not more than 5 pixels per degree is converted into the image taken by the first overlap portion Optronics.
• an angular resolution of at least 30 pixels per degree, in particular of at least 40 pixels per degree is implemented in the remaining area of the first detection area.
• the first optronics in the overlapping section sets a low and in the overlapping section. remaining area of the first detection area to a high imaging accuracy. In this way, only portions that are not covered by the second Optronics, with a high resolution Qual ity for Whether ⁇ ject, dog ready, d, e111.
• the overlapping section recorded by the first optronics is recorded with a lower angular resolution than the overlapping section recorded by the second optronics.
• an angular resolution of, for example, at least 20 pixels per degree, in particular of at least 40 pixels per degree, in particular of at least 80 pixels per degree is realized. In this way, a high image accuracy of the overlap section is achieved by the second optronics.
• the first optronics have a larger angle of view, in particular a larger horizontal and / or vertical angle of view than the second Optronics is formed.
• the first optronics has a wider detection range than the second optronics. Due to the larger angle of view are close to the force ⁇ vehicle, in particular the vehicle front side located objects in the lateral and / or upper detection range of the vehicle camera device such. B. cruising vehicles or located near the motor vehicle traffic lights detectable.
• the first detection region is recorded by the first optronics with a horizontal image angle of at least 100 degrees, in particular of at least 120 degrees, in particular of at least 130 degrees.
• the first detection area is recorded with a vertical image angle of at least 40 degrees, in particular of at least 50 degrees, in particular of at least 60 degrees.
• the overlapping section recorded by the first optronics is a center image area and the remaining area of the first detection area is an edge image area of the first detection area surrounding the center image area.
• the center image area is, in particular, a center partial area of the field of view of the vehicle camera device.
• the center image area and the edge image area are arranged concentrically with respect to an optical axis of the first optronics.
• the first Optronik is in particular formed and / or arranged such, in the center image area of the front of his own motor vehicle traffic such. B. preceding vehicles and Randbuchbere icn the traffic in the peripheral area such. B. to detect intersecting motor vehicles.
• the second detection area corresponds to the overlapping section.
• the overlapping section accommodated by the second optronics corresponds to. from the first Optronics taken center image area.
• the second optronics is formed with a horizontal and / or vertical angle of view of at least 30 degrees and / or of at most 50 degrees.
• the limited angle of view is advantageous, since by means of the optics of the second detection range bright and with a high imaging accuracy with. no or only small. Aberrations is possible in a cost effective manner. Consequently, the detection of defects in the near and far range can be achieved in particular without the need for further image processing with regard to equalization.
• the invention relates as a further object a driver ⁇ assistenzvoriques for whether ekterkennung from the recorded with aggyklameravorrichticht according to the preceding description detection areas of the environment of the motor vehicle.
• the driver assistance device comprises Q is the vehicle camera device or is connected to this or integrated into the housing of the vehicle camera device.
• the objects to be detected are preferably traffic lights, lanes, traffic signs and / or other road users,
• the driver assistance device comprises a bi-directional evaluation device, wherein the vehicle-electronic camera device is connected to the image-evaluating device for the transmission of the recorded coverage areas.
• the image evaluation device is in particular designed to evaluate an object, in particular traffic lights, traffic lanes, traffic signs and / or other road users, contained in the vehicle data acquisition device via the first bi1data.
• the image evaluation device it is possible, for example, for the image evaluation device to evaluate the first and the second detection range independently of one another.
• the vehicle camera apparatus is formed such that the first and second detection areas are combined to form an overall image, in particular, the overlapping section of the first detection area being replaced by the overlapping section of the second detection area. If the overall picture is to be output for display, an interpolation can take place in such a way that the overall picture appears undistorted to the viewer.
• Figure 1 in a plan view of a motor vehicle with a
• Driver assistance device comprising a
• FIG. 2 shows the vehicle camera device from FIG
• FIG. 3 schematically shows the angular resolution of the first detection region from FIG. 2, plotted over the horizontal angle Bi1dwinke1;
• FIG. 4 schematically shows an angular resolution of the second detection range from FIG. 2 plotted over a hori zontal Biidwinke1;
• FIG. 5 schematically shows the angular resolution of the first and second detection regions on FIG. 2 plotted against the horizontal image angle.
• a driver assistance device 1 described by way of example below and shown in FIG. 1 is arranged in a motor vehicle 2 and comprises a vehicle camera device 3.
• the vehicle camera device 3 is designed to receive an environment of the motor vehicle 2. In the environment, it is with to the vehicle ahead of the vehicle 2, the Anlagenka ⁇ meravorides 3 is to transmit the captured image data.
• a Bi Idauslus worn 4 the sesas ⁇ resistance device 1 connected.
• the image evaluation device can be integrated in the housing of the vehicle camera device 3.
• the image evaluation device 4 is designed to recognize objects such as traffic lights, lanes and / or traffic signs from the image data transmitted by the vehicle camera device 3 and to output corresponding output signals.
• the first and second optronics 5, 6 each comprise an optical system and an image sensor.
• the first and the second Optronik 5, 6 each formed as a Monoka era.
• the Optroniken 5, 6 z. B. arranged together in a housing.
• the two Optroniken 5, 6 are arranged side by side ⁇ , but it can also be provided to arrange the two Optroniken 5, 6 on top of each other.
• the first Optronics 5 is formed a first Erfas ⁇ sungs Scheme 7 and receive the second Optronics 6 a second sensing area 8 from the environment.
• the optics of Optroniken 5, 6 are designed differently, so that the detection areas 7, 8 may differ, for example, in the image ratio or by distortions.
• the first and second optronics 5, 6 are designed to accommodate the detection areas 7, 8 with different horizontal angles of view a, a2. Not shown here, but alternatively or optionally additionally possible, the Erfas ⁇ sungs Schemee 7, 8 are defined by the Optroniken 5 was added along with varying vertical angles of view. 6
• the horizontal image angle l of the first detection area 7 is made larger than that of the second detection area 8.
• the first detection region 7 is recorded with a horizontal image angle a of at least 100 degrees.
• the second detection area 8 is z. B. recorded with a horizontal angle of view a2 of at most 50 degrees.
• a larger surrounding area than in the second detection area 8 is shown, given the different sizes of image angle.
• the first and the second detection area 7, 8 have an overlapping section 9.
• the overlapping section 9 is thus an overlapping area of the two detection areas 7, 8, in which overlapping section 9 of the detection areas 7, 8 is. in particular the same environment area shown. While it is in the overlap ⁇ pungsabexcellent 9 of the first detection area 7 only a. Partial cutout of the first detection area 7 is, the second detection portion 8 forms the Koch1appungsabschni11 9.
• the vertical and the horizontal angle of view OL2 of the second detecting portion 8 to the vertical and hori ⁇ zontal image angle Z 'of the Uberlappungsabites 9.
• an overlapping portion 9 is a center image area and the remaining area is an edge image area of the first area surrounding the center image area.
• the first Optronik 6 is for example designed and / or arranged in the center image area the frontal street traffic ⁇ such. B. preceding vehicles and in the peripheral image area the traffic in the peripheral area such. B, intersecting motor vehicles of the own motor vehicle 2 to it se ,
• the evaluation of only one of the recorded by the detection areas 7, 8 overlap sections 9 is required.
• the overlapping section 9 of the second detection area 8 is evaluated for the object recognition.
• the evaluation of this overlap ⁇ pungsabitess 9 is advantageous because the second detection area 8 has a smaller horizontal image angle than the first detection area 7.
• the limited angle of view has the advantage that a high imaging accuracy with no or only small distortions is made possible by the second optronics 6 in the overlap ⁇ pungsabêt 9.
• the captured by the first Optronics 5 detection area 7 to the horizontal viewing angle is l is provided ⁇ . Since the overlapping section 9 recorded by the second optronics 6 is evaluated for the object recognition, the first optronics 5 is designed to receive the overlapping section 9, here the center image area with a reduced angular resolution than in the remaining area, here the edge image area. Thus, the detection area 7 is received by the first Optronik 5 with a non-uniform angular resolution. In this way, on the one hand, sufficient angular resolution is ensured for the object recognition in the edge image area, and on the other hand, the image processing effort for the first detection area 7 is reduced.
• the first optronics 5 is designed, for example, such that an angular resolution x1 of the overlap section 9 increases rotationally symmetrically starting from an optical axis A of the first optronics 5 up to the edge region 1b.
• the first optronics 5 is designed such that the angular resolution x1 of the overlap section 9 increases exponentially from the optical axis A of the first optronics 5 to the transition to the edge image region along the horizontal image angle a1.
• the angle Resolution xl from the optical axis A to the transition to the edge image area increases linearly or is present to the transition to the edge image area no increase.
• a minimum value of the angular resolution x1 or the angular resolution x1 for the entire transitional portion 9 is five pixels per degree.
• the first Optronics 5 is adapted to receive the edge ⁇ image area having a uniformly distributed angular resolution x2.
• the angular resolution x2 of the edge image area is 20 pixels per degree, so that a sharp image of the edge image area is implemented.
• FIG. 4 illustrates the detection region 8 recorded by the second optronics 6 with the horizontal image angle Z ' .
• the second optronics 6 is designed to receive the second detection area 8, which forms the overlapping section 9, with a uniformly distributed angular resolution x1.
• the angular resolution is xl of the overlap area ⁇ pungsabitess 9 40 pixels per degree.
• the reliable Obj ekterkennung in Zentrumstruckbe ⁇ enables rich.
• objects located in the center ⁇ image area both in. Close range such. B. driving vehicles ahead, as well as in the remote area such. B. street signs are detected.
• the detection area 7, 8 accommodated by the first and the second optronics 5, 6 is connected to the. horizontal image angle ocl, 2 shown.
• the angular resolution x2 of the edge image area of the first detection area 7 corresponds to the angle resolution x2 of the second detection area 8. Since the second detection area. 8 having a smaller horizontal angle of view than the first Erfas ⁇ sungs Scheme 7, thereby the machine vision processing costs compared to the first detection area 7 lower.
• the second detection region 8 has a higher angular resolution x 1 than the edge image region of the first detection region 7.

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• Engineering & Computer Science (AREA)
• Multimedia (AREA)
• Signal Processing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Theoretical Computer Science (AREA)
• Studio Devices (AREA)
• Traffic Control Systems (AREA)

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• 2015
  • 2015-08-14 DE DE102015215561.7A patent/DE102015215561A1/de not_active Withdrawn
• 2016
  • 2016-06-29 JP JP2018501904A patent/JP2018526873A/ja active Pending
  • 2016-06-29 WO PCT/DE2016/200299 patent/WO2017028848A1/de not_active Ceased
  • 2016-06-29 DE DE112016002678.1T patent/DE112016002678A5/de not_active Withdrawn
  • 2016-06-29 EP EP16745040.2A patent/EP3335419B1/de active Active
• 2018
  • 2018-02-12 US US15/894,413 patent/US10869002B2/en active Active

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