DE102009028344A1 - Method for debouncing of two light characteristic changeovers, involves determining graphic data of camera for vehicle - Google Patents

Abstract

The method involves determining graphic data of camera for a vehicle (102). A spatial distance (107) of two light characteristic changeovers is determined on the basis of speed of the vehicle from the temporal distance between two light characteristic changeovers (105, 110, 111, 112), where the debouncing is based on the spatial distance. An independent claim is also included for a device for debouncing of two light characteristic changeovers.

Description

State of the art

The The invention relates to a method and a device for debouncing of light characteristics changes (eg street lights, Headlights from other vehicles), which consist of image data of a camera be determined for a vehicle, wherein Lichtcharakteristikwechsel be recognized in a continuous image sequence and a temporal Distance between the light characteristic changes is determined being based on the speed of the vehicle and from the temporal Distance between the light characteristic changes, a spatial Distance between the light characteristic change is determined and where the debouncing is based on the spatial distance, according to the genus of the independent claims.

since For some time now, systems have become available on the market that control the lighting of a vehicle (headlamp). The aim of this measure is Firstly, the driver has an optimal view of the vehicle ahead of him Road or the relevant traffic to offer and secondly (subordinate) the obstruction of the view of other road users or persons (pedestrians, cyclists) or Objects (buildings) as far as possible to avoid. Especially systems that are more responsive to dazzling Avoid vehicles and automatically between high beam and low beam Switch over, have been known for some time.

Less well known are systems that adapt the light distribution especially to the current driving situation, or to the busy area. For the former, the active headlamp range control, or the cornering light as an example, for the second special light distributions such as motorway light or city lights. The light distribution of the city lights is characterized by a large, wide illumination characteristic, which makes it easier to see in intersections and to illuminate the sidewalks, especially since in urban (or inhabited) areas, more road users are. Such a headlight, which enables a variable light characteristic by appropriate control is z. B. in the WO 2006/116960 A1 described.

Around be able to control such headlights correctly and automatically, the vehicle must have suitable means, the current driving situation or the whereabouts of the vehicle to determine. For various purposes, there are already such Systems using a camera (eg Dual Purpose Camera (DPC) or Multi Purpose Camera (MPC)) detects objects at night.

In the US 6861809 B2 For example, a detection of whether a vehicle is in a city area is made on the basis of the light intensity measured by means of a special intensity sensor. When the ambient light intensity is high, it is assumed that the vehicle is located in an illuminated area, which is advisable in the city and an activation of the city lights. In particular, these ambient light sensors detect whether the light has an invisible AC voltage characteristic resulting from the mains frequency. This is described in claim 12. This method fails when LED street lights are used because they have their own or no clocking.

Farther is known by means of a speed threshold, d. H. at the time of or falling below a certain speed with the Vehicle to turn on or off a specific light distribution. In particular, when exceeding a certain speed an eventual city light mode is deactivated as in claim 14 described.

In Column 12, lines 17-21 of the script will be short for use an imaging sensor mentioned, with the street lights be recognized and the city light is activated, if a specific Number of street lamps within a certain time be recognized. This doctrine is ignored, whether a vehicle covers a long distance during this time and thus has already passed a considerable distance in the city, before the city light is activated. The mentioned at this point Consideration of vehicle speed refers to the previously described speed threshold, when overwriting Generally, the city light is turned off and standard light is turned on.

Definitions

Known Light distributions have, for example, the self-explanatory Designations motorway light, bad weather light or city light. Under standard light, in the present case, dimming or high beam understood.

A street lighting unit is a light source that illuminates the street and / or can be perceived by the camera of the vehicle. For the present invention, it must fulfill the purpose of being characteristic of an illuminated area. Typically, street lights or lanterns are meant, in particular those that illuminate a street or a street to a greater length and not only punctually in dangerous situations. Excluded are lights that are not primarily for this purpose, especially those that are mobile are, such. B. headlights of other vehicles. Also, light sources (active or passive) may be suitable for this purpose, such as. As traffic lights, other signal lights or reflection of signs. Z. b. A frequent occurrence of traffic lights also indicates an illuminated and built-up area.

One Light characteristic change is the change of a current one Light situation (light change), d. H. a change of Strength, distribution, color, frequency, modulation (eg. Supply AC voltage) from the environment to the vehicle, or the detecting sensor (light sensor, camera) of incident light. The characteristic can be determined by certain light changes, for example, by the change in the incidence of light during Driving past an oncoming vehicle, or already described light change when passing on stationary Objects, such as B. street lights. Also, a characteristic be characterized by more than one light change, for example one certain number of changes of light within a given time, or a sequence of different light colors. A possible Characteristic may be a light-dark change, such. b. in the Exit from a lighted tunnel; another characteristic can be a dark-light-dark change, as in passing on a street lamp. Such a pass can also be considered 2 characteristic changes will be interpreted: dark-bright and following Chiaroscuro.

Under the notion of "stationarity" of objects is understood their local stability, that is the stationarity of the object is given if the object is a stationary one Object is.

Of the The concept of debouncing is used in the present case to be correct Hysteresis would have to. In the lexicon Wikipedia this is defined as follows: "Hysteresis characterized a system whose output is not alone depends on the type of input variable is, but also from the story, which is the input quantity would have. The system proves path dependency. "Light characteristic change become dependent on appearance of previous light characteristic change and states of a system influenced by it (eg, current Headlamp setting) processed. Classically, one is Debunking at a switch known during the On or off multiple unwanted bounce pulses can generate. Against this, z. B. a Schmitt trigger, the one Hysteresis functionality has help by after a last pulse a defined time waits, if still one another impulse occurs. If not, the switching operation is considered completed and terminated and is issued / reported. Another Type of debouncing can be a waiting for a certain number of Events before an action is taken and the Entprellung is terminated. Similarly, after a Light characteristics change a specific time to be serviced For example, to recognize another (or n more) lantern (s), or a Message (eg to activate a special light distribution a headlight). This "waiting for the Time "is known from the prior art, therefore busy the present invention with the wait and debounce after the way or the speed, as explained below.

The Terms territory and area are to be used synonymously in the present case, in particular, a city area refers to an urban area, synonymous with an area in the urban area or an inhabited area of an urban one Environment, but not limited to city limits, or municipalities, but on settlements or populated or busy areas in the General.

Disclosure of the invention

The method described or the device with the features of independent claims have in contrast the advantage that it can be assessed more accurately if an area lit. is, and that this information is determined faster. So will proposed to evaluate a region as lit when at least two Street lighting units within a particular Distance occur. The average distance from street lamps in Germany is about 25 to 30 m. So z. Legs Threshold of 40 to 50 m to be chosen by the spacing of two Street lamps as typical of illuminated areas to classify. A classification can only take place if more than two street lamps within a given Distance can be detected or based on the number of recognized street lights a probability for the existence of a lit. Area is determined. Thus, first, the detection of the illumination of a Area after a certain number of street lamps and thus determined a certain distance traveled and not only after a certain time, to which the lighting of an area may not be recognized until due to high speed quite a bit into the illuminated area. Second, the Lighting of an area can be determined even if that Vehicle drives too slowly to a certain number of lanterns to recognize within a certain time.

Conversely, if the street lights no longer appear at this distance from each other, the rating of the area can be considered to be withdrawn. Extracting the information to a street lighting unit is to be seen in the image data is to perform with appropriate methods of pattern recognition or other suitable methods that are not described in detail in the context of this invention.

Favorable Way, the spatial distance of the street lighting units already determined from the image data of a single image. For this purpose, simplified geometric methods come to the application, the distance of the street lighting units measure up. The evaluation of several pictures is not necessarily here necessary, however, is an iterative or additional evaluation a picture sequence also possible. Typically be with current systems sometimes three lanterns in a single image recognized in advance. The only picture is also data a stereo camera, d. H. strictly speaking, two or more pictures apply, which were recorded at the same time and from which a depth information of the objects (lanterns) are calculated out can.

Favorable Way, if, for example, not several lanterns in one single image are recognizable, a consecutive sequence of images used to recognize the street lamps, taking the time interval to the appearance of the previous street lighting unit is determined. Since the first detection time of a lantern of the local events, as well as environmental influences, such as z. B. weather, may be dependent, finds the detection not always at the same distance to the (in front of) vehicle instead. Consequently For example, could the detection of the second (or more) Lantern be delayed in such a way that in the evaluation of Threshold of the distance is not reached and an area mistakenly classified as lit or not lit. To this Problem solving, the evaluation of the image information can be such take place that a lantern only from a certain point in the Image or at a certain distance from the vehicle as detected is scored, although an optical detection is usually earlier it is possible. This can also be the distance exactly to be defined, in which a lantern in front of the vehicle must lie and if necessary from which distance before the at least another lantern, the evaluation of whether an area is lit, takes place. This method can alternatively or additionally by means of a temporally or backward looking camera be performed. So in particular the change between illuminated and unlighted area by means of the rearward facing Camera together with the front-facing camera or their Image data to be plausibility.

Advantageously, the determination of the spatial distance of the street lighting units from the ascertaining time interval in the continuous image sequence in which the speed of the vehicle is used to calculate this. In the simplest case, the formula Distance between two lanterns = vehicle speed · Time difference of the appearance of the two lanterns this result is determined. Thus, the distance traveled is the decisive evaluation variable. Optionally, in addition, a plausibility of the distance via other methods, such. B. geometric methods of image analysis, performed.

Favorable In this way, a debounce can take place, which means a more accurate detection enable a lit area. This is in a first step, a first street lighting unit recognized, in a second step, a second, or depending on the applicative Wish also a nth, street lighting unit recognized, in a third step, the temporal or spatial distance this determines at least two street lighting units and in a fourth step checked if this distance is below a specified threshold. Alternatively, off the appearance of the first street lighting unit also Start a time or distance counter, which only when reaching the time or distance threshold checks if at least one (or n - 1) other street lighting unit (s) occured. The debouncing described is useful in order to and turning off the city lights to avoid giving the impression of a Flickering or misleadingly awaken a flare could. Comparable would be a debouncing too then make sense, when in the oncoming traffic between high beam and dipped beam would be switched back and forth and a reshuffling happen directly after driving past an oncoming vehicle would, without checking for more subsequent ones Vehicles are present, otherwise a toggle or flickering would occur. It is conceivable, generally at light changes, independently from their origin, the way as size to debounce to use for the light control function, instead of the time.

Advantageously, this debouncing can also take place when resetting the evaluation of whether an area is illuminated, ie when moving out of a lighted area into an unlit area. Here, after the occurrence of a last street lighting unit, a certain time or a certain distance would be waited and if no further (or nth) street lighting unit occurs within this distance, the evaluation is carried out as a non-illuminated area. In Entprellung by way can advantageously be quickly switched back to normal light, especially at high speed and thus a ride with city lights and suboptimal illumination be kept as small and short as possible for out-of-town locations. Furthermore, a debouncing of the detection of an illuminated area can also be carried out with other parameters than debouncing the detection of a non-illuminated area, eg. For example, an illuminated area can be classified after only two street lamps, but a non-illuminated area only after several missing street lamps.

Advantageous can the change of said threshold or said Distance be dependent on environmental conditions, these being Threshold can also be adjusted variably while driving. So the typical distance may depend on street lights change from traveling country, or even situations like that Turn off every second lantern due to energy saving measures be reacted in some communities. To the latter case can For example, the time as an additional environmental parameter be considered, for example, from 22:00 to 06:00 Clock the threshold for the lantern distance to double is increased. If necessary, but then can also be a limit be achieved, according to which the area objectively considered insufficient needs to be evaluated, so that also in urban areas with standard light should be driven.

Advantageous is that the information, whether it is currently used Area around an area in the area, from the degree of lighting derives from the roads, as it is among others appropriate Regulations for such stationary lighting and expanded many areas in many countries accordingly are. Depending on the degree of lighting or the number detected lanterns could instead be a probability be derived, which is an area inland. For example, the occurrence of a lantern may be a likelihood of 30% and from an occurrence of three lanterns a probability 100% speak for the health in an area of the city.

Favorable Way, in addition to the relationship between The illumination of an area and the condition in the city further evidence or parameters are taken into account to the thesis that the vehicle is in place to consolidate. You can do this Signals from other sensors evaluated and in a corresponding Evaluation logic, or software, lead to a rating. In particular, the map data, z. B. offer a navigation system to get information from its database easy to read an area in the city. That way a correct condition of the vehicle can be determined even then if in some (possibly the map known) regions the street lighting units (temporarily) are switched off. On the other hand can together with the described method a nonexistence, or a failure of the navigation system or a missing update the map data are compensated. Furthermore, for example the following criteria speak in favor of the vehicle located in an illuminated area or area in the city or whether it is advisable to activate the start-light: the current traffic density, the information of a brightness sensor, the illumination through non-stationary street lighting units, especially the flowing traffic, the detection of Pedestrians, lane and curve detection systems, Information exchange via Car to X (C2X) or a driving profile of the Vehicle, or the driving style of the driver. information about The location or the traffic situation can be different from other vehicles or be transmitted from, for example, traffic signs (C2X). The driving profile is expressed next to the speed For example, in the steering angle, or the yaw rate, if this for example, is large, so strong steering angles that is an indication of one built-up area.

Advantageous it is when only the street lighting units are considered which are also characteristic of a domestic Area are. So are some exclusions to stationary Illuminations conceivable, in particular the lighting of intersections, as they occur on national roads, Railroad crossings, exits or junctions or advertising lighting. Likewise, it may be useful to carry out of the procedure only the street lamps on a street side too take into account, especially those on the lane side. Optionally, by extended methods, a recognition of Lanterns of cross streets take place, which are then not taken into account.

Advantageously, the application of the method for light control, whereby a special light distribution (eg city light) is performed in an area that is rated as in-town, and activating the standard light or another light distribution or deactivating the z. B. urban light in an area outside, or when changing to an area out of town is performed. Optionally, instead of or in addition, a sliding headlamp leveling take place, the headlamp range is lowered in an area in the city and increased in an area out of town, optionally in addition, taking into account other parameters, such. B. oncoming traffic. Disabling the z. B. City lights can lead to the activation of standard light or other light distributions, for example, those who was active before the activation of the city light or another, which appears appropriate due to the current driving situation. About the light As an alternative or in addition, the information about a region in the area for activating or deactivating other systems in the vehicle or outside of the vehicle can also be used as an alternative or in addition, for example biasing occupant protection systems, such as vehicle safety systems. A pedestrian impact system, since a collision with a pedestrian is more likely to occur in a local area than in an urban area.

Advantageous is that about detecting a certain number of Lanterns within a certain time or distance, a so-called pre- or post-function serves to the evaluation to verify more precisely. In this pre- or post-run, or one further (external) debouncing, will be examined, whether the result of the assessment, for example, whether an area illuminated is, whether an area is a city area or whether a certain light distribution should be activated during the pre- or post-production phase exist, or remains valid. This can be done with a higher Safety can be assumed to be correct is.

Advantageous It is when the behavior of the vehicle at very slow rides does not change with respect to its light characteristic. At a very slow ride, the driver would be changing Light characteristic, in particular a fade, as surprising and inappropriately perceive. Therefore, it is advisable that at very slow driving the light characteristic either not, or not in Direction of superimposing light characteristic is changed. Depending on the application, if the speed threshold is exceeded again, the usual light behavior be set. The debouncing between the appearance of the lanterns In particular, the path instead of time offers in slow cruising the advantage that the city light if necessary also a long time is preserved.

Favorable Mode can then maintain standard light in general, or on standard light be switched when a certain speed threshold is exceeded becomes. A typical threshold is 80 km / h, for example It is assumed that the benefits of the city light in such a way high speeds can not be used meaningfully and a light characteristic is more suitable, the fast driving by means of optimal and further (rather than broad) illumination. Thereby Activation of the city light can be avoided even then if it is a road, especially a freeway out of town. For example, in some countries also lights the highways. A distinction between one Area of the city and such a lighted expressway may be possible over the lantern distance.

drawings

embodiments The invention is illustrated in the drawings and in the following Description explained in more detail.

It demonstrate

1 the entry and exit of a vehicle in a lighted area,

2 a flowchart of an embodiment of the method,

3 a block diagram of a possible system arrangement with a camera.

In the 1 is a scene on a street 101 shown on a vehicle 102 from bottom to top driving in an illuminated area, which by lanterns 105 is marked, enters. At the beginning the vehicle drives with standard light 103 while the system starts at a distance 106 before the first lantern this at the time of the passage of the point 110 recognizes. Also at a distance 106 this second lantern will be at the point in front of the second lantern 111 detected and at this point the city light 104 switched on. After driving through the illuminated area, the system recognizes the point 112 the last lantern for the time being, although it does not yet know at this point that it is the last lantern. After in a debounce distance 107 no further lantern was detected, is in the point 113 the area is no longer rated as lit. After an after-run or overrun 108 finds in the point 114 again a change of city lights 104 on the standard light 103 instead of.

In 2 the sequence of an embodiment of the method is shown, wherein in an input situation 201 the area is rated as not yet lit or not rated. In step 202 Initial values are set, for example the distance traveled or the path "X" between two lanterns to zero and the counter "n" for the number of lanterns is set to 1. In step 203 a check is made as to whether the nth lantern has been detected. If that is not the case, in one step 204 checked whether the distance X has already exceeded a certain threshold. This threshold has already been described and indicates a typical distance of two or n lanterns plus, if appropriate, a safety offset. As long as this threshold has not been exceeded, continue with the step 203 the detection of the nth lantern. If an nth lantern was detected, in step 205 the lantern counter has been incremented by 1 and checked whether the required number of detected lanterns has been reached. If this is not yet the case, the increase of the counter is retained and continue with step 204 method. If the number of lanterns has been reached, in step 206 carried out a rating on a lighted area. Should be in step 204 the threshold has been exceeded, a detection is performed on a non-illuminated area. To this point, the illustrated 2 a possible realization of the basic idea of the invention.

In the following, a possible pre- or post-run function is described: The evaluation results of the steps 206 respectively. 207 be in a store in one step 210 cached. Thereupon one step becomes 211 waited a certain time or distance corresponding to the desired lead or lag time to in step 212 to make a comparison between the stored and the currently available evaluation results. If these results are the same, then in one step 213 the assessment as urban area or non-urban area or the activation of the city light or the standard light carried out. In the case of inequality of results, other evaluations are carried out accordingly, for example the retention of the current rating or the current light distribution.

In 3 is a schematic drawing of a multi or dual purpose camera 36 representing the image data by means of a camera or optics 31 receives and by means of vehicle and object detection algorithms 32 the lanterns extracted from the image data. In a signal evaluation unit 33 the evaluation regarding the number of lanterns is now carried out within a certain path or time. These are input signals 37 , such as As the vehicle speed or time taken into account. A headlight control unit (ASF control unit) 34 now controls the headlights depending on the information, whether the vehicle is located in the city 35 at. The components of the device can also be grouped separately, in particular z. B. the camera optics 31 outsourced and via an interface to the evaluation control unit 36 be connected.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• WO 2006/116960 A1 [0003]
• - US 6861809 B2 [0005]

Claims (13)

Method - debouncing at least two light characteristic changes ( 105 . 110 . 111 . 112 ), - determined from the image data of at least one camera ( 31 ) for a vehicle ( 102 ), - wherein the at least two light characteristic changes are detected in a continuous image sequence of the at least one camera - and a time interval between the at least two light characteristic changes is determined, characterized in that - based on the speed of the vehicle ( 37 ) - from the time interval between the at least two light characteristic changes - a spatial distance ( 107 ) the at least two light characteristic change is determined, - wherein the Entprellung on the spatial distance ( 107 ). Method according to claim 1, characterized in that - if the spatial distance between a first ( 110 ) and another ( 111 ) or an n-th light characteristic change - a spatial distance threshold ( 204 . 205 ) exceeds or falls below, - then the Entprellung terminated and a rating ( 206 ) is carried out. A method according to claim 1 or 2, characterized in that - the light characteristic changes due to the passage of the vehicle past stationary objects or light sources ( 105 ) caused. Method according to claim 2 or 3, characterized in that the assessment assesses whether the area in which the vehicle is located is - illuminated and / or - it is an urban area or area within a locality and / or or - City light is activated when the area is considered as urban ( 111 ) and standard light when the area is designated as out-of-town ( 113 . 114 ) has been. Method according to claims 2 to 4, characterized in that - the spatial distance threshold ( 204 ) is adjusted variably due to environmental conditions. A method according to claim 1 or 2, characterized in that - with known distance of the objects or light sources, - based on the speed of the vehicle ( 37 ) - the speed or stationarity (v = 0) of the objects or light sources is determined. Method according to claim 1 or 2, characterized that - The light characteristics change by moving Objects or light sources are made and - based the speeds of the objects or light sources of their spatial) Distance is determined. A method according to claim 1 or 2, characterized in that - in addition to or instead of the determination of the spatial distance of the at least two light characteristic changes and / or debouncing the path between the Lichtcharakterisitkwechseln - debouncing based on the distance traveled by the own vehicle ( 37 ), after the light characteristic change takes place. A method according to claim 8, characterized in that - the light characteristic changes are caused by oncoming vehicles, - and after debouncing on the basis of the covered path of the own vehicle ( 37 ) - after a last light characteristic change - a change in the headlight control takes place. A method according to claim 4 and 8, characterized in that - a rating with respect to the illuminated area or area in the city, or an activation of the city light ( 111 ) or standard light ( 114 ) only then takes place, - if the evaluated state takes a certain distance ( 108 . 211 ) lasts long. Method according to one of the preceding claims, characterized in that - debouncing instead or in addition to the distance based on the speed. Method according to one of the preceding claims, characterized in that - the rating others Systems (ABS, ESP, airbag (control unit), etc.) to further Evaluation is communicated. Device - for debouncing at least two light characteristic changes ( 105 . 110 . 111 . 112 ), - with first means or an interface for receiving image data ( 31 ) for a vehicle ( 102 ) and - second means for detecting light characteristic changes ( 32 ) or receiving this information, characterized in that - these second means ( 32 . 33 ) at least two light characteristic changes - in at least one image, or a sequence of images, recognize the image data of the first means and - based on the speed of the vehicle ( 37 ) - from the time interval between the at least two light characteristic changes - a spatial distance ( 107 ) determine the at least two light characteristic changes, - wherein the Entprellung on the spatial distance ( 107 ).

Images