WO2018033400A1 - Procédé de détection d'un éclairage de véhicule d'un véhicule dans un environnement d'un véhicule automobile, appareil de commande, dispositif d'éclairage ainsi que véhicule automobile - Google Patents

Procédé de détection d'un éclairage de véhicule d'un véhicule dans un environnement d'un véhicule automobile, appareil de commande, dispositif d'éclairage ainsi que véhicule automobile Download PDF

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Publication number
WO2018033400A1
WO2018033400A1 PCT/EP2017/069664 EP2017069664W WO2018033400A1 WO 2018033400 A1 WO2018033400 A1 WO 2018033400A1 EP 2017069664 W EP2017069664 W EP 2017069664W WO 2018033400 A1 WO2018033400 A1 WO 2018033400A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
images
light areas
light
motor vehicle
Prior art date
Application number
PCT/EP2017/069664
Other languages
German (de)
English (en)
Inventor
Nikolai SERGEEV
Original Assignee
Valeo Schalter Und Sensoren Gmbh
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 Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2018033400A1 publication Critical patent/WO2018033400A1/fr

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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
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights

Definitions

  • the present invention relates to a method for detecting 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.
  • the present invention relates to a control device.
  • the present invention relates to a lighting device for a motor vehicle.
  • the present invention relates to a motor vehicle.
  • Vehicle lighting can be detected in the vicinity of a motor vehicle.
  • vehicle lighting can originate, for example, from the headlamps or the taillights of another vehicle in the area.
  • vehicles in the vicinity of the motor vehicle can be detected in dark ambient conditions.
  • a lighting device of the motor vehicle can then be operated.
  • 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.
  • 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.
  • appropriate classifiers are used, which should distinguish vehicle lights more reliably from city lights.
  • binocular cameras can be used with which the distance of the lights can be detected to the motor vehicle to detect distant city lights.
  • 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.
  • lighting units are detected in the detection range of the sensor and its exit from the detection range.
  • 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.
  • 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.
  • 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.
  • a lighting device and a motor vehicle are to be provided.
  • the images preferably describe a region of the environment.
  • the images in particular light areas which originate from light sources in the environment are detected.
  • a change in position of the light regions in the images over the sequence of the images is preferably determined and dependent on the
  • Vehicle lighting detected originating 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.
  • a sequence of images is provided by means of a camera of the motor vehicle, the images describing a region of the environment.
  • areas of light originating from light sources in the surroundings are recognized. Furthermore, a
  • 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
  • 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
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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
  • the light areas are divided into at least two groups.
  • 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
  • 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
  • Similarity criterion divided into the same group.
  • 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.
  • the amount of the change in position of the light areas can be determined.
  • the distance of the positions of the light areas in successive pictures can be determined.
  • 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 be checked whether the amount and / or the direction of the change in position meets the predetermined similarity criterion.
  • 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
  • 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.
  • a range threshold For example, 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.
  • 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.
  • those light areas which are not recognized as originating from the vehicle are recognized as originating from a building area in the surroundings.
  • a construction area can, for example, a city, a
  • This construction area may, for example, comprise active light sources which emit light themselves. These can be, for example, street lights, traffic lights,
  • the light areas may also originate from reflectors which reflect light.
  • reflectors which reflect light.
  • those light areas are detected in the images, which are assigned to a predetermined long-range area in the vicinity of the motor vehicle.
  • 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.
  • the vehicles can be distinguished from the city lights.
  • 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.
  • 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.
  • ECU electronice control unit
  • a lighting device comprises an inventive control device.
  • the lighting device comprises a camera and at least one headlight.
  • 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
  • the lighting device may be in the manner of a
  • a motor vehicle according to the invention comprises an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • FIG. 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.
  • 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
  • the motor vehicle 1 comprises a lighting device 2, which may be designed in the manner of a high beam assistant.
  • 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 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.
  • images 7 can be provided at predetermined times.
  • 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.
  • 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.
  • FIGS. 2 to 4 show images 7 showing the environment 6 in FIG.
  • 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.
  • light areas 8 can be detected with the help of the control unit. These light areas 8 come from lights or
  • 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.
  • the control device 4 can for example use a corresponding classifier.
  • 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.
  • 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.
  • the pixels 8 are assigned to a group 12, 13 as a function of their respective position change.
  • 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.
  • Vehicle lighting in the environment 6 of the motor vehicle 1 come.
  • 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.
  • the second group 13 may be from a vehicle and the first group 12 is unlikely to be from a vehicle.
  • 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 can not originate from a vehicle.
  • the second group 13 are two light areas 8.
  • these light areas 8 can originate from a vehicle.
  • 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
  • Tail lights of a preceding vehicle is, which in a
  • 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.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

La présente invention concerne un procédé de détection d'un éclairage de véhicule d'au moins un véhicule dans un environnement (6) d'un véhicule automobile (1). Selon le procédé : une séquence d'images (7) est reçue par une caméra (5) du véhicule automobile (1), les images (7) décrivant une zone de l'environnement (6) ; des zones lumineuses (8), qui proviennent d'une source de lumière dans l'environnement (6), sont reconnues dans les images (7) ; un changement de position des zones lumineuses (8) dans les images (7) est déterminé dans la séquence d'images (7) et, en fonction du changement de position, les zones lumineuses (8) sont détectées comme provenant de l'éclairage d'un véhicule ; les zones lumineuses (8) sont réparties dans des groupes (12, 13) à l'aide de leurs changements de position respectifs ; et, finalement, il est détecté pour chacun des groupes (12, 13) si les zones lumineuses (8) du groupe (12, 13) proviennent de l'éclairage d'un véhicule.
PCT/EP2017/069664 2016-08-15 2017-08-03 Procédé de détection d'un éclairage de véhicule d'un véhicule dans un environnement d'un véhicule automobile, appareil de commande, dispositif d'éclairage ainsi que véhicule automobile WO2018033400A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016115076.2 2016-08-15
DE102016115076.2A DE102016115076A1 (de) 2016-08-15 2016-08-15 Verfahren zum Erkennen einer Fahrzeugbeleuchtung von einem Fahrzeug in einer Umgebung eines Kraftfahrzeugs, Steuergerät, Beleuchtungsvorrichtung sowie Kraftfahrzeug

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WO2018033400A1 true WO2018033400A1 (fr) 2018-02-22

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DE (1) DE102016115076A1 (fr)
WO (1) WO2018033400A1 (fr)

Citations (6)

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Publication number Priority date Publication date Assignee Title
EP1837803A2 (fr) 2006-03-24 2007-09-26 MobilEye Technologies, Ltd. Détection de phare, feu rouge arrière et réverbère
WO2008064621A1 (fr) 2006-11-27 2008-06-05 Adc Automotive Distance Control Systems Gmbh Reconnaissance et catégorisation de points lumineux avec une caméra dans un environnement de véhicule
DE102011006570A1 (de) * 2011-03-31 2012-10-04 Robert Bosch Gmbh Verfahren und Steuergerät zum Übertragen von Daten über eine aktuelle Fahrzeugumgebung an ein Scheinwerfersteuergerät eines Fahrzeugs
DE102011085689A1 (de) * 2011-11-03 2013-05-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ermitteln einer Gruppe aus zumindest zwei benachbart angeordneten Beleuchtungseinheiten während der Fahrt eines Fahrzeugs
US20140036080A1 (en) * 2012-08-02 2014-02-06 Gentex Corporation System and method for controlling exterior vehicle lights responsive to detection of a semi-truck
US20150039202A1 (en) * 2013-08-05 2015-02-05 Fuji Jukogyo Kabushiki Kaisha Vehicle exterior environment recognition device

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
DE102006055906A1 (de) * 2005-12-05 2007-06-14 Adc Automotive Distance Control Systems Gmbh Verfahren zur Erkennung von Reflektoren, Schildern und Fahrzeuglichtern
DE102006055908A1 (de) * 2006-11-27 2008-05-29 Adc Automotive Distance Control Systems Gmbh Verfahren zur automatischen Fernlichtsteuerung
JP2011505284A (ja) * 2007-10-25 2011-02-24 アーデーツエー・オートモテイブ・デイスタンス・コントロール・システムズ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング 暗がりにおいて車道縁反射体と車両電灯とを区別する方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1837803A2 (fr) 2006-03-24 2007-09-26 MobilEye Technologies, Ltd. Détection de phare, feu rouge arrière et réverbère
WO2008064621A1 (fr) 2006-11-27 2008-06-05 Adc Automotive Distance Control Systems Gmbh Reconnaissance et catégorisation de points lumineux avec une caméra dans un environnement de véhicule
DE102011006570A1 (de) * 2011-03-31 2012-10-04 Robert Bosch Gmbh Verfahren und Steuergerät zum Übertragen von Daten über eine aktuelle Fahrzeugumgebung an ein Scheinwerfersteuergerät eines Fahrzeugs
DE102011085689A1 (de) * 2011-11-03 2013-05-08 Robert Bosch Gmbh Verfahren und Vorrichtung zum Ermitteln einer Gruppe aus zumindest zwei benachbart angeordneten Beleuchtungseinheiten während der Fahrt eines Fahrzeugs
WO2013064283A1 (fr) 2011-11-03 2013-05-10 Robert Bosch Gmbh Procédé et dispositif destinés à regrouper des unités d'éclairage
US20140036080A1 (en) * 2012-08-02 2014-02-06 Gentex Corporation System and method for controlling exterior vehicle lights responsive to detection of a semi-truck
US20150039202A1 (en) * 2013-08-05 2015-02-05 Fuji Jukogyo Kabushiki Kaisha Vehicle exterior environment recognition device

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