WO2018103796A1 - Procédé et dispositif de commande, à l'aide d'une caméra, d'une unité d'éclairage d'un véhicule automobile - Google Patents

Procédé et dispositif de commande, à l'aide d'une caméra, d'une unité d'éclairage d'un véhicule automobile Download PDF

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Publication number
WO2018103796A1
WO2018103796A1 PCT/DE2017/200123 DE2017200123W WO2018103796A1 WO 2018103796 A1 WO2018103796 A1 WO 2018103796A1 DE 2017200123 W DE2017200123 W DE 2017200123W WO 2018103796 A1 WO2018103796 A1 WO 2018103796A1
Authority
WO
WIPO (PCT)
Prior art keywords
structures
lighting
image
lighting unit
camera
Prior art date
Application number
PCT/DE2017/200123
Other languages
German (de)
English (en)
Inventor
Karsten Breuer
Tobias Schwarz
Sascha Semmler
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic Gmbh filed Critical Conti Temic Microelectronic Gmbh
Priority to DE112017005280.7T priority Critical patent/DE112017005280A5/de
Publication of WO2018103796A1 publication Critical patent/WO2018103796A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/314—Ambient light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/33—Driving situation
    • B60Q2300/332—Driving situation on city roads
    • B60Q2300/3321—Detection of streetlights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/33—Driving situation
    • B60Q2300/337—Tunnels or bridges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle

Definitions

  • the present invention relates to a lighting system of a motor vehicle, which is automatically controlled in the context of a driver assistance system.
  • a driving light automatic is realized.
  • Motor vehicles in particular motor vehicles with camera-based driver assistance systems.
  • a camera system can
  • Information about a scene in the area which is preferably arranged in front of a motor vehicle, are detected and used for example for controlling a cruise control.
  • a light or combined rain light sensor is provided, which is aligned substantially vertically upwards and over which the brightness of the environment can be determined. If poor visibility conditions are determined, a lighting unit can be activated and switched on, for example, to illuminate the roadway.
  • the above-mentioned method has among other things the disadvantage that an additional sensor system has to be provided. This increases the manufacturing complexity and the complexity of
  • a light sensor provides only a limited amount of information and can lead to erroneous results. Also, only the environment of the vehicle is examined; a foresighted analysis of future
  • the object is based on a method according to claim 1 and a use according to claim 9 and a
  • the invention includes the technical teaching to provide a method for camera-based control of a lighting unit of a motor vehicle, which has steps in which in an imaging step by means of a camera system a
  • Scene is mapped onto an image in front of the vehicle, and in an analysis step, the image is analyzed, and in a control step based on the analysis, the lighting unit of the vehicle is controlled.
  • the invention includes the advantage that with only one sensor system in the form of the camera of the driver assistance system, a forward-looking control of the lighting unit is made possible. In particular, can be dispensed with additional sensors. In particular, no step is needed in which the
  • Brightness of the environment affects the control of the lighting unit.
  • a preferred embodiment of the invention provides for structures in the image to be recognized and object classes to be assigned, and the lighting unit to be dependent on the
  • Object classes is controlled. Such a classification can be realized for example by means of semantic segmentation and, if necessary, environmental recognition.
  • the structures can be assigned to the corresponding object classes, for example by using pattern recognition methods-in particular by the use of neural networks.
  • the advantage of this embodiment includes that objects located at any distance from the vehicle can be used to proactively assess a need to turn on an additional lighting unit.
  • the structures are particularly preferred as
  • Road structure object classes associated with bridges, tunnels, underpasses and / or building facades are associated with bridges, tunnels, underpasses and / or building facades.
  • a tunnel or an underpass may lead to an analysis, the result of which leads to the illumination unit being switched on even before an entrance to the tunnel or the beginning of the underpass is reached.
  • the invention can be further improved by the expected duration of a passage along the recognized
  • Road structure is calculated and the lighting unit is turned on only for a calculated duration above a street structure associated threshold.
  • unnecessary controls of the lighting unit are advantageously avoided, which can cause irritation of the driver depending on the light source in addition to increased wear and energy consumption.
  • the motor vehicle under a narrow bridge
  • Lighting unit are suppressed. Even if another control, which is based for example on the ambient brightness, which is detected for example by an additional sensor or via the camera, detects a darkening and thus trigger the switching on of the lighting unit, this mechanism would, due to the expected temporal shortness of Darkening, suppress switching on.
  • the threshold may be, for example, a few seconds, for example one or five or ten seconds.
  • the duration the current or expected speed of the vehicle may also be included.
  • Luminaire unit categories that include headlamps and / or streetlamps. Such external lighting units can be used as a measure of the
  • Luminous units determined and calculated a comparison value of a number of switched on lighting units against a number of switched-off lighting units, and then the lighting is switched on at a comparison value above a predefined threshold value.
  • the comparison value can be, for example, a quotient or a difference. If, for example, a sufficient percentage of oncoming vehicles has switched-on headlights, or a sufficient percentage of the street lamps arranged in the field of view of the camera system is switched on, this can be determined by analyzing the image, whereby switching on the
  • Lighting unit is effected. This is special
  • An embodiment of the invention further provides that a switching state of the lighting units is determined and a number of switched on lighting units within a predefined period of time is determined and the lighting is turned on at a number above a predefined threshold.
  • a further advantageous embodiment of the invention provides that the scene is imaged by means of a wide-angle camera, by means of which a lower area below the horizon and an upper area above 45 ° above the horizon are detected, and wherein the brightness of the upper area of the image is analyzed is turned on, and the lighting is turned on when a critical brightness is below.
  • the wide-angle camera can be used as a camera, for example
  • a wide-angle camera of a driver assistance system is additionally used as a light sensor.
  • a further advantageous embodiment provides that the brightness of a central region of the image is analyzed, and a comparison value between the brightness in the upper region and the brightness in the middle region is calculated and the illumination is controlled as a function of the comparison value.
  • the comparison value can be, for example, a quotient or a difference.
  • the center area may be near the vanishing point of the image, and the top area may be at the top of the image. This makes it possible, for example, to suppress the switching on of the lighting unit when only an underpass is passed, in which the middle area is comparatively light and the upper area is comparatively dark.
  • Fig. 1 is a diagram of a first embodiment of the invention
  • Fig. 2 is a diagram of a second embodiment of the invention
  • Fig. 3 is a diagram of a third embodiment of the invention.
  • a scene in front of the vehicle is imaged on an image in an imaging step 101 by means of a camera system, and the image is analyzed in an analysis step 102.
  • structures in the image are first recognized in an object recognition step 103, for example by means of semantic segmentation, and the recognized structures are assigned to object classes.
  • a first comparison step 105 is continued. Otherwise, if no such object classes are detected, then continue with mapping step 101.
  • the switching state of the light units is determined. It is therefore determined whether the respective lighting unit is on or off. Subsequently, in the first comparison step 105, a comparison value of a number of switched on lighting units is calculated against a number of switched-off lighting units. This comparison value can be designed, for example, as quotient or difference. If the comparison value is smaller than a predefined threshold value, then step 101 continues. Otherwise, in the case of a comparison value above a predefined threshold value, the illumination is switched on in a control step 106.
  • the object recognition step 103 is followed, for example, by a second assignment step 104 in addition to the first assignment step 104
  • a second comparison step 108 is continued. Otherwise, if no such object classes are recognized, then continue with mapping step 101.
  • the second comparison step 108 the expected duration of a transit along the recognized road structure is determined. This can be done, for example, by a recognition of structural characteristics such as the length of the road structure and a comparison with the current or expected speed of the vehicle. If the duration is less than a predefined threshold, then
  • Imaging step 101 continued. Otherwise, in the case of a duration above a predefined threshold, and the lighting in one
  • Control step 106 is turned on.
  • a driver assistance system recognizes a number of lighting units 1 in the form of headlights 2, rear lights 3 and street lamps 4.
  • a number of lighting units 1 in the form of headlights 2, rear lights 3 and street lamps 4.
  • the driver assistance system switches on the lighting unit of the vehicle - not shown here - independently.
  • the driver assistance system can
  • Figure 3 recognizes a driver assistance system according to a third embodiment of the invention, a road structure in the form of a tunnel 5. Based on geometric characteristics that can be removed from the image, also allows the spatial length of the tunnel, and thus by means of the speed of the vehicle in which Driver assistance system is arranged to determine the duration of transit. If the time duration is greater than a predefined threshold value, the lighting unit of the vehicle (not shown here) is switched on automatically by the driver assistance system. This switching can already happen before the vehicle enters the shadow area 6 in front of the tunnel 5, that is, before a darkening would be measurable, for example by measuring the brightness of the vehicle environment.
  • the invention is not limited to the above
  • the images are captured using a wide-angle camera, by means of which
  • the brightness information is used, for example, to weightings within the analysis step with.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

L'invention concerne un procédé de commande, à l'aide d'une caméra, d'une unité d'éclairage d'un véhicule automobile. Le procédé comprend des étapes au cours desquelles une scène devant le véhicule est reproduite sur une image au moyen d'un système de caméra au cours d'une étape de reproduction (101), et, au cours d'une étape d'analyse (102), l'image est analysée par reconnaissance des structures (2-5) dans l'image et les structures reconnues sont associées à des catégories d'objet, et l'unité d'éclairage du véhicule est commandée au cours d'une étape de commande (106) sur la base de l'analyse en fonction des catégories d'objet reconnues. L'invention concerne également un système d'assistance à la conduite correspondant.
PCT/DE2017/200123 2016-12-06 2017-12-04 Procédé et dispositif de commande, à l'aide d'une caméra, d'une unité d'éclairage d'un véhicule automobile WO2018103796A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112017005280.7T DE112017005280A5 (de) 2016-12-06 2017-12-04 Verfahren und Vorrichtung zur kamerabasierten Steuerung einer Bleuchtungseinheit eines Kraftfahrzeugs

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016224185.0A DE102016224185A1 (de) 2016-12-06 2016-12-06 Verfahren und Vorrichtung zur kamerabasierten Steuerung einer Beleuchtungseinheit eines Kraftfahrzeugs
DE102016224185.0 2016-12-06

Publications (1)

Publication Number Publication Date
WO2018103796A1 true WO2018103796A1 (fr) 2018-06-14

Family

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PCT/DE2017/200123 WO2018103796A1 (fr) 2016-12-06 2017-12-04 Procédé et dispositif de commande, à l'aide d'une caméra, d'une unité d'éclairage d'un véhicule automobile

Country Status (2)

Country Link
DE (2) DE102016224185A1 (fr)
WO (1) WO2018103796A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110466419A (zh) * 2018-10-31 2019-11-19 长城汽车股份有限公司 车辆的控制方法、系统及车辆

Citations (9)

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DE19743580A1 (de) * 1997-10-02 1999-04-29 Bosch Gmbh Robert Verfahren und Anordnung zur Ermittlung der Lichtverhältnisse in Front eines beweglichen Gegenstandes insbesondere vor einem Kraftfahrzeug
DE19922687A1 (de) * 1999-05-18 2000-11-23 Valeo Auto Electric Gmbh Verfahren und Vorrichtung zum automatischen Ein- oder Ausschalten der Beleuchtung eines Fahrzeugs
US20040143380A1 (en) * 2002-08-21 2004-07-22 Stam Joseph S. Image acquisition and processing methods for automatic vehicular exterior lighting control
WO2004076231A2 (fr) * 2003-02-21 2004-09-10 Gentex Corporation Systemes de commande automatique des lumieres exterieures d'un vehicule
DE10323560A1 (de) * 2003-05-26 2004-12-23 Robert Bosch Gmbh Kamera und Vorrichtung zur Ermittlung der Helligkeit der Umgebung eines Kraftfahrzeuges
EP2052911A1 (fr) * 2007-10-26 2009-04-29 Hella KG Hueck & Co. Agencement pour véhicules automobiles destiné à la reconnaissance de la clarté ambiante lors de la marche du véhicule automobile
WO2011015625A1 (fr) * 2009-08-07 2011-02-10 Robert Bosch Gmbh Procédé et dispositif pour la mise en place basée sur les espacements de changements de caractéristique de lumière
US20160016504A1 (en) * 2014-07-21 2016-01-21 Robert Bosch Gmbh Method and device for controlling a light emission of at least one headlight of a vehicle
DE102015015942A1 (de) * 2015-03-16 2016-09-22 Günter Fendt Kamerabasierter Fahrzeuglichtassistent

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DE19523262A1 (de) * 1995-06-27 1997-01-02 Bosch Gmbh Robert Einrichtung zur automatischen Schaltung von Beleuchtungseinrichtungen bei Fahrzeugen
DE102007061658A1 (de) * 2007-12-18 2009-06-25 Adc Automotive Distance Control Systems Gmbh Klassifikation der Fahrzeugumgebung
DE102014224903A1 (de) * 2014-12-04 2016-06-09 Conti Temic Microelectronic Gmbh Optischer Umfeldsensor für Fahrzeuge
DE102016004289A1 (de) * 2016-04-07 2017-02-09 Daimler Ag Verfahren und Vorrichtung zur Steuerung einer Fahrzeugbeleuchtung und Fahrzeug mit einer solchen Vorrichtung

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19743580A1 (de) * 1997-10-02 1999-04-29 Bosch Gmbh Robert Verfahren und Anordnung zur Ermittlung der Lichtverhältnisse in Front eines beweglichen Gegenstandes insbesondere vor einem Kraftfahrzeug
DE19922687A1 (de) * 1999-05-18 2000-11-23 Valeo Auto Electric Gmbh Verfahren und Vorrichtung zum automatischen Ein- oder Ausschalten der Beleuchtung eines Fahrzeugs
US20040143380A1 (en) * 2002-08-21 2004-07-22 Stam Joseph S. Image acquisition and processing methods for automatic vehicular exterior lighting control
WO2004076231A2 (fr) * 2003-02-21 2004-09-10 Gentex Corporation Systemes de commande automatique des lumieres exterieures d'un vehicule
DE10323560A1 (de) * 2003-05-26 2004-12-23 Robert Bosch Gmbh Kamera und Vorrichtung zur Ermittlung der Helligkeit der Umgebung eines Kraftfahrzeuges
EP2052911A1 (fr) * 2007-10-26 2009-04-29 Hella KG Hueck & Co. Agencement pour véhicules automobiles destiné à la reconnaissance de la clarté ambiante lors de la marche du véhicule automobile
WO2011015625A1 (fr) * 2009-08-07 2011-02-10 Robert Bosch Gmbh Procédé et dispositif pour la mise en place basée sur les espacements de changements de caractéristique de lumière
US20160016504A1 (en) * 2014-07-21 2016-01-21 Robert Bosch Gmbh Method and device for controlling a light emission of at least one headlight of a vehicle
DE102015015942A1 (de) * 2015-03-16 2016-09-22 Günter Fendt Kamerabasierter Fahrzeuglichtassistent

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Publication number Publication date
DE112017005280A5 (de) 2019-09-12
DE102016224185A1 (de) 2018-06-07

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