WO2018033400A1

WO2018033400A1 - Method for detecting a vehicle illumination of a vehicle in an environemnt of a motor vehicle, control device, illumination device and motor vehicle

Info

Publication number: WO2018033400A1
Application number: PCT/EP2017/069664
Authority: WO
Inventors: Nikolai SERGEEV
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2016-08-15
Filing date: 2017-08-03
Publication date: 2018-02-22
Also published as: DE102016115076A1

Abstract

The invention relates to a method for detecting a vehicle illumination of at least one vehicle in an environment (6) of a motor vehicle (1), wherein a sequence of images (7) are captured by a camera (5) of the motor vehicle (1), wherein the images (7) describe a region of the environment (6), light regions (8) coming from a light source in the environment (6) are detected in the images (7), a change in position of the light regions (8) in the images (7) is determined over the sequence of images (7), and the light regions (8) are detected as coming from the vehicle illumination depending on the change in position, wherein the light regions (8) are separated into groups (12, 13) depending on their respective change in position, and subsequently, for each of the groups (12, 13) it is detected whether the light regions (8) of the group (12, 13) come from the vehicle illumination.

Description

A method for detecting a vehicle lighting from a vehicle in an environment of a motor vehicle, control device, lighting device and

motor vehicle

The present invention relates to a method for detecting a

Vehicle lighting of at least one vehicle in an environment of a

A motor vehicle, in which a sequence of images is received by a camera of the motor vehicle, wherein the images describe a region of the environment, in the images light regions, which originate from light sources in the environment, are detected and a change in position of the light regions in the images on the Sequence of images is determined and the light areas are recognized as coming from the vehicle lighting depending on the change in position. Moreover, the present invention relates to a control device. Furthermore, the present invention relates to a lighting device for a motor vehicle. Finally, the present invention relates to a motor vehicle.

From the prior art, methods are known with which a

Vehicle lighting can be detected in the vicinity of a motor vehicle. Such vehicle lighting can originate, for example, from the headlamps or the taillights of another vehicle in the area. By means of such a method, vehicles in the vicinity of the motor vehicle can be detected in dark ambient conditions. Depending on this information, a lighting device of the motor vehicle can then be operated.

For example, the high beam can be deactivated or switched from the high beam to the low beam to avoid glare of an occupant of the other vehicle.

The vehicle lighting in the vicinity of the motor vehicle can be recognized, for example, on the basis of images which are recorded with a camera of the motor vehicle. With the aid of a corresponding image processing program or with the aid of a corresponding classifier, it is then possible to detect light regions in the images which are assigned to the vehicle lighting by further vehicles. It may happen that distant lights coming from a city are mistakenly recognized as vehicle lights. This can be done, for example lead, that is switched from the high beam to the low beam, although no vehicle is in the vicinity of the motor vehicle. In order to avoid this, appropriate classifiers are used, which should distinguish vehicle lights more reliably from city lights. Furthermore, binocular cameras can be used with which the distance of the lights can be detected to the motor vehicle to detect distant city lights.

For this purpose, WO 2013/064283 A1 describes a method for determining a group from at least two adjacently arranged lighting units during a journey of a vehicle. In this case, lighting units are detected in the detection range of the sensor and its exit from the detection range. Here, both the distance traveled by the vehicle between the lighting units can be measured as well as the time that elapses until the next

Lighting unit is detected. Depending on that, the

Lighting units are grouped. In this way, for example, a continuous roadway lighting can be detected.

Furthermore, WO 2008/064621 A1 describes a method for detecting and categorizing light spots for a vehicle with a camera sensor aligned in the vehicle surroundings. The camera sensor records a sequence of images of the vehicle surroundings. If one or more points of light are present, at least one point of light in the image sequence is tracked. The intensity of a tracked light spot is determined in at least two images and the intensity variation is analyzed. Points of light having a comparatively high temporal intensity fluctuation are categorized as vehicle lights, and points of light having a comparatively low temporal intensity fluctuation are categorized as a reflector.

Furthermore, EP 1 837 803 A2 describes a method in which images are provided with an image sensor in a moving vehicle. In the images, areas with a measurable brightness are detected and the areas in the temporally successive images are tracked. Thus, for example, headlights of oncoming vehicles, taillights of preceding vehicles, street lights, road signs and / or traffic signs can be detected. This information can be used to switch from a high beam to a low beam. It is an object of the present invention to provide a solution, such as a

Vehicle lighting of vehicles in an environment of a motor vehicle can be detected easier and more reliable. In addition, a lighting device and a motor vehicle are to be provided.

This object is achieved by a method by a control device, by a lighting device and by a motor vehicle with the features according to the respective independent claims. Advantageous developments of the present invention are the subject of the dependent claims.

In one embodiment of a method for detecting a vehicle lighting of at least one vehicle in an environment of a motor vehicle

in particular from a camera of the motor vehicle, a sequence of images

The images preferably describe a region of the environment. In the images, in particular light areas which originate from light sources in the environment are detected. Furthermore, a change in position of the light regions in the images over the sequence of the images is preferably determined and dependent on the

Position change, the light areas in particular as of the

Vehicle lighting detected originating. In this case, provision is made in particular for the light areas to be divided into groups on the basis of their respective change in position. Subsequently, it is preferably recognized for each of the groups whether the light areas of the group originate from the vehicle lighting.

An inventive method is used to detect a vehicle lighting of at least one vehicle in an environment of a motor vehicle. In this case, a sequence of images is provided by means of a camera of the motor vehicle, the images describing a region of the environment. In the pictures, areas of light originating from light sources in the surroundings are recognized. Furthermore, a

Position change of the light areas in the images on the sequence of images determined and depending on the change in position, the light areas are recognized as coming from the vehicle lighting. Furthermore, the light areas are divided into groups based on their respective position change, and then it is recognized for each of the groups whether the light areas of the group are from the

Vehicle lighting originate.

With the help of the method, a vehicle lighting is to be detected by other vehicles or other road users in the vicinity of the motor vehicle. at the vehicle lighting may be, for example, headlights of

Oncoming vehicles or taillights from driving ahead

Act vehicles. The method can be carried out, for example, with an electronic control unit of the motor vehicle. To recognize the

Vehicle lighting is provided by the camera of the motor vehicle, a sequence of images. This sequence of images comprises a plurality of images taken in temporal succession. For example, the images may be taken at a predetermined frame rate. The temporally successive images are assigned to the same detection area in the environment, which is in particular in the direction of travel in front of the motor vehicle.

The light areas are now recognized in the temporally successive pictures. The light areas describe in particular those areas in the images which originate from lights or light sources. These areas of light are therefore potential

Vehicle lights in the vicinity of the motor vehicle. To recognize the

For example, a corresponding object recognition algorithm or a classifier can be used, which recognizes the light regions on the basis of their brightness, their color and / or their contrast. In the sequence of images, it is now determined for each of the light areas how its position in the sequence or the temporal sequence of the images changes. The light areas change their position in the temporally successive images due to the relative movement of the motor vehicle to the light sources. Thus, the position of each of the light spots can be tracked versus time. It is thus determined how the position of the respective light areas or of the potential vehicle lights changes as a function of time.

According to an essential aspect of the present invention, it is provided that the light regions are grouped by their respective positional change. For example, those points of light that have a similar change in position over the sequence of images can be divided into a common group. After the light areas have been divided into the different groups, it is determined for each of the groups whether the light areas of the group of the

Vehicle lighting originate. For example, it can be provided that the light areas are divided into at least two groups. In the present case, dividing the light areas into groups can also include the case that all light areas in the pictures are assigned to a single group. After dividing the light areas in the groups can then be decided in groups, whether the Light areas of a vehicle lighting, so of headlights or

Tail lights or come from a different from a vehicle lighting light source in the vicinity of the motor vehicle. In particular, a distinction can be made as to whether the group originated from a vehicle lighting or whether the group of lights originated in a distant city. Thus, it is not necessary that the

Light areas are classified individually. This is based on the knowledge that the classifier based differentiation of individual lights or light areas is very complex and is hardly applicable, for example, to individual city lights, since these are hardly distinguishable from individual vehicle lights. In the present case, therefore, the light areas are first grouped and then it is checked for the respective groups or clusters whether they originate from a vehicle in the surroundings. In this way, computing time can be saved while still allowing reliable detection of vehicle lights. In addition, it is not necessary to use as a camera a binocular camera or a stereo camera, which is designed to determine the distances to the respective light areas. The method is based on the further realization that light areas which originate from a vehicle lighting and light areas which originate from other light sources in the surroundings and in particular from light sources of a city have a different one

Have relative movement to the motor vehicle. Other vehicles usually move while the city lights are stationary. Thus arise

different relative movements between the moving motor vehicle and the vehicle lighting on the one hand and the city lights on the other. This can be detected on the basis of the different position change of the light areas in the images. In this case, it is not necessary to consider the proper motion of the motor vehicle.

Those light regions whose magnitude of the change in position and / or their direction of the change in position are preferred are those which are predetermined

Similarity criterion, divided into the same group. As already explained, the respective light regions in the images are recognized and the position or position of the light regions is tracked over the sequence of images. In this case, on the one hand, the amount of the change in position of the light areas can be determined. For this purpose, the distance of the positions of the light areas in successive pictures can be determined. Alternatively or additionally, the direction of the position change can be determined. It can thus be detected for each of the light areas in motion profile or a movement pattern and those light areas that have a similar motion profile can be divided into the same group. It can So be checked whether the amount and / or the direction of the change in position meets the predetermined similarity criterion. The similarity criterion can

For example, require that the change in position of the light areas of a group with respect to amount and / or direction may differ only by a predetermined proportion, for example 10% or 5%. It can also be provided that a trajectory is determined for each of the light regions, which determines the position change of the

Describes light range over time. In this case, light regions with a similar trajectory can be combined into the same group. This allows a simple and reliable grouping of the light areas.

In one embodiment, to detect whether the light areas of the group originate from the vehicle lighting, it is checked whether an area in at least one of the images associated with the group is smaller than a range threshold. In other words, after dividing the light areas into the groups or clusters, the spatial extent of the groups in the images can be checked. For example, if these groups are associated with a relatively large area in the image, it can be assumed that these light areas or lights can not originate from a single vehicle. Thus, if the area associated with the group in the image is relatively large, it can be assumed that these light areas or lights originate from a city or an infrastructure. This allows city lights to be easily distinguished from vehicle lights.

In another embodiment, in order to detect whether the group of light areas originates from the vehicle lighting, it is checked whether a number of the light areas in the group is less than a number limit value. This number limit value can, for example, have the value 3. If the group has three or more light areas, it can be assumed that the light areas in the group can not originate from a single vehicle in the vicinity of the motor vehicle. In this case, it is also possible to check whether the light areas originate from a number of vehicles in the surroundings, for example driving one behind the other. If the number of light areas in a group is relatively high, it can be assumed that the light areas come from a distant city.

It is preferably checked whether there are a pair of light areas in the light areas in which the light areas are arranged along a horizontal, and the pair of light areas are detected as originating from the vehicle lights becomes. In addition to the grouping of light regions, it is possible to check whether there are pairs of light regions in the light regions which, for example, have a predetermined distance from one another. In particular, it can be checked here how the horizontal distance between these two light areas changes over the sequence of the images. If the distance of these two lights or of the pair of light areas as a function of time remains essentially unchanged and the two light areas lie on a horizontal, it can be assumed that these originate from one vehicle and in particular from another motor vehicle. In principle, it can also be provided that it is checked whether there are a plurality of pairs in the light areas.

In a further refinement, those light areas which are not recognized as originating from the vehicle are recognized as originating from a building area in the surroundings. Such a construction area can, for example, a city, a

Residential area, a village, an industrial area, a business park or the like. This construction area may, for example, comprise active light sources which emit light themselves. These can be, for example, street lights, traffic lights,

Outdoor lighting on buildings or the like. The light areas may also originate from reflectors which reflect light. In particular, with the method between light areas, which originate from vehicles, and of

Areas of light originating from distant cities.

In a further embodiment, those light areas are detected in the images, which are assigned to a predetermined long-range area in the vicinity of the motor vehicle. In other words, the method is suitable in particular for light regions which originate from light sources which have a predetermined distance from the motor vehicle. This remote area may for example have a distance of at least 50 m, in particular at least 100 m to the motor vehicle. This remote area can be recognized in the images by being arranged, for example, in an upper area of the images. Thus, especially in the far range, the vehicles can be distinguished from the city lights. In a near zone, which is arranged closer to the motor vehicle compared to the remote areas, other light areas can be detected. These light areas can come from, for example, street lights, traffic lights or reflections on delineators. An inventive control device is designed for performing a method according to the invention or an advantageous embodiment thereof. In particular, the control unit is designed as an electronic control unit (ECU) and is connected to the camera for data transmission. It can also be provided that the control unit and the camera are arranged in a common housing.

A lighting device according to the invention comprises an inventive control device. In addition, the lighting device comprises a camera and at least one headlight. Preferably, the lighting device comprises two headlights. The control unit can receive the images provided with the camera and evaluate accordingly. Further, the controller may detect the light areas in the images and track them through the sequence of images. Thus, the controller may divide the light areas into groups and recognize the groups as originating from the vehicle lighting. Depending on this, the control unit can control the headlights of the motor vehicle. In this case, provision is made in particular for the control unit to be designed to deactivate a high beam provided with the at least one headlight, if the light areas are detected as originating from the vehicle lighting by means of the control unit. In other words, the controller can control the headlights so that of a high beam on

Low beam is switched, if a vehicle lighting is detected in the vicinity of the motor vehicle. The lighting device may be in the manner of a

Be designed high beam assistants.

A motor vehicle according to the invention comprises an inventive

Lighting device. The motor vehicle is designed in particular as a passenger car.

The preferred embodiments presented with reference to the process according to the invention

Embodiments and their advantages apply correspondingly for the control device according to the invention, the lighting device according to the invention and for the

Motor vehicle according to the invention

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, are not only in the respectively indicated combination but also in other combinations. NEN or alone, without departing from the scope of the invention. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim. Moreover, embodiments and combinations of features, in particular by the embodiments set out above, are to be regarded as disclosed, which go beyond or deviate from the combinations of features set out in the back references of the claims.

The invention will now be described with reference to preferred embodiments and with reference to the accompanying drawings.

Showing:

1 shows a motor vehicle according to an embodiment of the present invention

Invention comprising a lighting device;

Fig. 2-4 images, which at successive times with a camera of the

Lighting device were recorded and show which light areas in an environment of the motor vehicle.

In the figures, the same and functionally identical elements are the same

Provided with reference numerals.

Fig. 1 shows a motor vehicle 1 according to an embodiment of the present invention in a plan view. The motor vehicle 1 is present as a passenger car

educated. The motor vehicle 1 comprises a lighting device 2, which may be designed in the manner of a high beam assistant. With the help of

Lighting device 2, a high beam, which with headlights 3 of the

Lighting device 2 is provided, disabled, if another vehicle is detected in an environment 6 of the motor vehicle 1.

The lighting device 2 comprises the headlights 3, which are designed as front headlights. With the headlights 3, different light distributions be provided to illuminate the road and / or the environment 6 in the direction of travel in front of the motor vehicle 1. In particular, a dipped beam and a high beam can be provided with the headlights 3. Furthermore, the

Lighting device 2, an electronic control unit 4 and a camera 5. The camera 5 is presently designed or aligned so that these images can take 7 of an area in the environment 6 in the direction of travel in front of the motor vehicle 1. The camera 5 can be designed, for example, as a CCD camera or as a CMOS camera. With the camera 5, images 7 can be provided at predetermined times. Thus, a sequence of images 7 can be provided with the camera 5. These images 7 can then be transmitted to the electronic control unit 4 via a corresponding data connection, for example a vehicle data bus.

The control unit 4 can evaluate the images 7 provided with the camera 5 accordingly and - as explained in more detail below - recognize vehicle lights from other vehicles in the surroundings 6 in the images 7. If the control unit 4 detects a vehicle lighting in the environment 6, the control unit 4 can

Headlight 3 or at least one of the headlights 3 control. In particular, a high beam provided with at least one of the headlights 3 can be deactivated or switched over from a high beam distribution to a low beam distribution.

The detection of the vehicle lighting in the surroundings 6 of the motor vehicle 1 will be explained in more detail on the basis of the images 7 provided with the camera 5. FIGS. 2 to 4 show images 7 showing the environment 6 in FIG

Direction of travel in front of the motor vehicle 1 describe at different times t1, t2 and t3. In this case, the second time t2 follows the first time t1 and the third time t3 follows the second time t2. The time interval between the first time t1 and the second time t2 corresponds to the time interval between the second time t2 and the third time t3.

In the temporally successive images 7 4 light areas 8 can be detected with the help of the control unit. These light areas 8 come from lights or

Light sources in the environment 6 of the motor vehicle 1. In the present case, light regions 8 are detected, which are located in a long range 15 in the direction of travel in front of the motor vehicle 1. This far range 15 has a predetermined distance to the

Motor vehicle 1 and is assigned to an upper area in the images 7. For recognizing the light regions 8 in the images 7, the control device 4 can for example use a corresponding classifier. In addition, in the pictures 7 the To recognize roadway 9 in the direction of travel in front of the motor vehicle 1. With the help of

Controller 4, the position of the light spot 8 in the image 7 is determined for each image 7. Furthermore, it is determined in dependence on the time or on the sequence of images 7 how the position of each light spot 8 changes.

When looking at the images 7 taken at the times t1, t2 and t3, it can be seen that the light areas 8 arranged in an upper left area of the images 7 smoothly move to the left. The pixels 8, which are arranged in a central region 1 1 of the images 7, change their position as a function of time only slightly. In this case, the pixels 8 are assigned to a group 12, 13 as a function of their respective position change. In this case, the pixels 8 from the upper left region 10 are assigned to a first group 12 and the two pixels 8 from the middle region 11 are assigned to a second group 13. The pixels 8 of the first group 12 move as a function of time evenly to the left, wherein the relative position between the individual light points 8 of the first group 12 does not change. The two light spots 8 of the second group 13 appear stationary as a function of time.

Now that the pixels have been divided into the groups 12, 13, it is decided for each group 12, 13 whether the light areas 8 of the group 12, 13 of a

Vehicle lighting in the environment 6 of the motor vehicle 1 come. In this case, the respective area occupied by the group 12, 13 in the images 7 or the extent of the groups 12, 13 in the images 7 is considered. The first group 12 occupies a relatively large area in pictures 7 as compared to the second group 13. Thus, it may be assumed that the second group 13 may be from a vehicle and the first group 12 is unlikely to be from a vehicle. In addition, the number of light spots 8 in the respective groups 12, 13 can be considered. In the present case there are 12 five in the first group

Light areas 8. Thus, it can be assumed that these light areas 8 can not originate from a vehicle. In the second group 13 are two light areas 8. Thus, it can be assumed that these light areas 8 can originate from a vehicle.

In the present case, it can also be seen that the second group 13 has a pair 14 of

Light regions 8 which are arranged along a horizontal. In addition, the distance between the two light regions 8 of the pair 14 changes in

Dependence on time not or only slightly. Furthermore, it can be seen that the position of the light areas 8 of the second group 13 hardly changes as a function of time. Thus, it can be assumed that this is

Tail lights of a preceding vehicle is, which in a

constant distance in front of the motor vehicle 1 drives. In other words, move the motor vehicle 1 and the other vehicle whose rear lights the

Cause light areas 8 of the second group 13, with about the same

Speed. Since in this case another vehicle is located in front of the motor vehicle 1, the headlights 3 can be controlled by means of the control unit 4 so that the high beam is deactivated or is switched from the high beam to the low beam. Thus, glare of an occupant of the other vehicle can be prevented.

Claims

claims

1 . A method for detecting a vehicle lighting of at least one

Vehicle in an environment (6) of a motor vehicle (1) in which a camera (5) of the motor vehicle (1) receives a sequence of images (7), the images (7) describing a region of the environment (6) , in the images (7) light regions (8), which originate from a light source in the environment (6), are detected and a change in position of the light regions (8) in the images (7) over the sequence of the images (7) is determined and depending on the

Position change the light areas (8) are recognized as coming from the vehicle lighting,

characterized in that

the light areas (8) are divided into groups (12, 13) on the basis of their respective position change, and it is subsequently recognized for each of the groups (12, 13) whether the light areas (8) of the group (12, 13) originate from the vehicle lighting ,

2. The method according to claim 1,

characterized in that

those light areas (8), the amount of the position change and / or the direction of the position change satisfy a predetermined similarity criterion, are divided into the same group (12, 13).

3. The method according to claim 1 or 2,

characterized in that

for detecting whether the light areas (8) of the group (12, 13) of the

Vehicle lighting originate, it is checked whether an area in at least one of the images (7), which is assigned to the group (12, 13), less than a

Range limit is.

4. The method according to any one of the preceding claims,

characterized in that for detecting whether the light areas (8) of the group (12, 13) of the

Vehicle lights originate, it is checked whether a number of light areas (8) in the group (12, 13) is less than a number limit value.

5. The method according to any one of the preceding claims,

characterized in that

it is checked whether there is a pair (14) of light areas (8) in the light areas (8) in which the light areas (8) are arranged along a horizontal, and the pair (14) of light areas (8) than the one

Vehicle lights are detected originating.

6. The method according to any one of the preceding claims,

characterized in that

those light areas (8) which are not recognized as originating from the vehicle lighting, are detected as originating from a building area in the surroundings (6).

7. The method according to any one of the preceding claims,

characterized in that

in the images (7) those light areas (8) are detected, which are assigned to a predetermined long range (15) in the environment (6) of the motor vehicle (1).

8. Control device (4) for a lighting device of a motor vehicle (1), which is designed for carrying out a method according to one of the preceding claims.

9. lighting device (2) for a motor vehicle (1) with a control device (4) according to claim 8, with a camera (6) and with at least one headlight (3).

10. Lighting device (2) according to claim 9,

characterized in that

the control unit (4) is designed to deactivate a high beam provided with the at least one headlamp (3) if the light areas (8) in the images (7) are recognized as coming from the vehicle lighting by means of the control unit (4).

1 1. Motor vehicle (1) with a lighting device (2) according to claim 9 or 10.