EP2181415A2 - Procédé et système pour évaluer des valeurs de luminosité sur des images détectées, pour systèmes de reconnaissance d'environnement à interprétation d'images, notamment en termes de distinction jour/nuit - Google Patents

Procédé et système pour évaluer des valeurs de luminosité sur des images détectées, pour systèmes de reconnaissance d'environnement à interprétation d'images, notamment en termes de distinction jour/nuit

Info

Publication number
EP2181415A2
EP2181415A2 EP08785731A EP08785731A EP2181415A2 EP 2181415 A2 EP2181415 A2 EP 2181415A2 EP 08785731 A EP08785731 A EP 08785731A EP 08785731 A EP08785731 A EP 08785731A EP 2181415 A2 EP2181415 A2 EP 2181415A2
Authority
EP
European Patent Office
Prior art keywords
day
night
image
environment
evaluating
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
EP08785731A
Other languages
German (de)
English (en)
Inventor
Andreas Kuehnle
Cathy Boon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
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 EP2181415A2 publication Critical patent/EP2181415A2/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Definitions

  • the invention relates to a method and an arrangement for evaluating brightness values in sensor images of an image-evaluating environment detection system, in particular with regard to a day / night distinction, as is preferably used in driver assistance systems in motor vehicles, according to the preamble of method claim 1 et seq., And the arrangement according to claim 8 ff. and a computer program product according to claim 11.
  • Such driver assistance systems are used to assist a driver of a motor vehicle in carrying out certain operations in the road and are already used for a wide variety of tasks.
  • LIDAR radar sensor a predetermined range in the direction of travel ahead of the vehicle with respect to certain objects is detected and certain security functions can be triggered in good time by a corresponding evaluation of the sensor signals.
  • vision-based or image-based driving assistance systems that attempt to interpret a road situation are well-known lane departure warning systems, lane departure warning assistants, collision warning assistants, or the like.
  • camera, video or sensor images are used in image-evaluating or so-called vision-based driver assistance systems for environment detection and detection, in the known systems from the camera images objects, obstacles, lane and lane boundaries and distances are determined for this purpose.
  • image sensors designated as imagers are used in so-called vision-based surroundings detection systems which then supply a camera image of the detected environment which can also be evaluated with regard to intensity, contrast, color or other parameters with corresponding data-processing means ,
  • the sensor images of an identical scene or the same roadway situation may look different depending on the external lighting.
  • Environment detection systems for video-assisted driver assistance systems the trying to interpret the same scene or lane situation with different lighting, therefore, may have problems dealing with these different conditions in the evaluation.
  • the different appearance due to a change in lighting often requires a readjustment or readjustment of the understanding or the
  • a particularly common example of a scene that looks different depending on the lighting is a traffic situation with vehicles traveling at night with vehicle lights on and with vehicle lights off during the day. Recognition of other vehicles by a vehicle with a picture-based driver assistance system can thereby be difficult or impaired depending on the lighting conditions. Also, in the case of a change from day to night, detection of lane and / or lane markings may be impeded or impaired by an above-mentioned driver assistance system or by the surroundings recognition system interpreting the scene or lane situation.
  • the invention is based on a method for evaluating sensor images of an image-evaluating environment detection system on a carrier, for example a vehicle on the road, possibly taking into account the vehicle's own movement, in which according to the invention in an advantageous manner to distinguish the lighting conditions in the field of image-evaluating environment detection system in terms of day or At least the night
  • Gain and / or the exposure time of the at least one environment detecting image sensor is monitored.
  • a progression of gain and / or exposure time will be over time with relatively high gain or relative long exposure times characterize light conditions of a night and a progression of the gain and / or the exposure time with relatively low gain and / or relatively short exposure times will characterize light conditions of a tag. But it can also be used to provide additional information about a day or night state.
  • At least the course of the amplification and / or the exposure time of the image sensor can thus be evaluated in a predefined period of time, for example by determining whether a significant or sufficiently large proportion of this course is a day or night Night state corresponds.
  • the method according to the invention for determining a day or night state of a scene or roadway situation detected by at least one image sensor thus makes use of a different light intensity of the scene or roadway situation during the day or at night in a simple manner Statement about a day or night condition can be taken.
  • a current day or Gaborkennung be performed in regular cycles based on the instantaneous gain and / or the current exposure time of the image sensor, wherein in addition to the current or last day or Häenterkennung also a predeterminable period corresponding number of past stored day or night detections can be evaluated, which can represent an evaluable history, wherein the time period underlying the course can also be variable.
  • a predeterminable period corresponding number of past stored day or night detections can be evaluated, which can represent an evaluable history, wherein the time period underlying the course can also be variable.
  • the time period underlying the course can also be variable.
  • Night detections can be present, which represent the course or the development of the situation in order to make a statement about a day or night state. Unless there is a difference to a previously or recently made statement about a day or night state, for example, because there is not a sufficient number of day or night detections for a new decision, the previously or recently made statement preferably remains unchanged.
  • the progression or temporal development can be ascertained by carrying out a current day or night recognition in regular cycles on the basis of the instantaneous amplification and / or the current exposure time of the image sensor, with a current or last day or night identification a predetermined period corresponding number of past day or Wegenterkennache is stored.
  • the period over which the history is tracked or the number of stored past day or night identifications is variable, for example, not necessarily to a long chain of after a vehicle is parked at night and re-used the next morning To have to fall back on past night detections, an even better statement about a day or night state can be made.
  • the method according to the invention can also be extended by providing a third setting for the image sensor in the surroundings recognition system in the case of an ambiguous assignment to a day or night state, which does not contribute to a conclusive statement about a day or night state.
  • a third setting for the image sensor in the surroundings recognition system in the case of an ambiguous assignment to a day or night state, which does not contribute to a conclusive statement about a day or night state.
  • an average value of the course of the state recognition can be used to determine a state lying between a daytime and a nighttime state, the average value being formed, in particular, proportionally to the course or by means of a lookup table.
  • the average value is preferably proportional to the course, z. B. proportional to the course of the met day or night detections.
  • This particularly advantageous embodiment of the invention therefore provides that an intermediate zone corresponds to a "neither-day-still-night-state" of the image sensor.
  • the parameters or presets can be adjusted or adjusted with a 50/90 portion of the day / night setting range
  • a proportionality not necessarily linear here between the brightness state of the environment and the parameter settings can be formed.
  • the environment detected by the environment detection system according to the invention is searched for bright objects which identify the headlights of another carrier and whose occurrence is then used as additional information.
  • additional environment-specific information for distinguishing the day or night state which in particular comprises further indication objects recognized in a detected environment whose different appearance is known by day or night. For example, reflectors mounted on the road surface shine strongly at night due to their highly reflective properties; During the day these are almost invisible or dark.
  • bright, spotlight-shaped objects can be determined, in particular on the front side of a vehicle, the occurrence of which is then used as additional information.
  • Such objects have, for example a generally round or elliptical shape and occur in pairs. As a result, they are generally easy to identify in image analysis.
  • the frequency with which the bright objects and / or further environment-specific information are found in the detected environment is determined, wherein a predetermined frequency of the occurrence of such objects in an environment is associated with a nighttime state.
  • a predetermined frequency of the occurrence of such objects in an environment is associated with a nighttime state.
  • An example are vehicle lights, which are seen more and more often at night, so that the quotient of the number of found lights and the number of vehicles found increases.
  • the area-specific knowledge thus preferably also includes one
  • an environment identifiable indication objects eg. B. used to delineate lanes and lanes used objects whose appearance is known or other lane or lane marker-like pattern in the detected situations.
  • These also differ by day and by night, z. For example, some appear larger at night than during the day.
  • the frequency of occurrence can in turn be incorporated as additional information in a statement or decision on a day or night state.
  • an increasing frequency of occurrence or observation of indication objects having a known appearance at night in a scene or in a situation may be associated with a decision tending to a night state.
  • the image-evaluating environment detection system includes an electronic camera as an image sensor, which is mounted on a vehicle as a carrier and detects the front in the direction of travel of the vehicle on a road surface so continuously, that in each case a constructed of pixels sensor image is present whose brightness and possibly color values reflect the environment. Furthermore, an evaluation unit is available, with which a distinction of the light conditions in the region of the image-evaluating environment detection system with regard to day or night due to the gain and / or the exposure time of the at least one camera detecting the environment is feasible.
  • the evaluation unit can then easily be provided with a signal from the determination of the day or night state, i.
  • parameters or presets are applied, with which a video or image-based driver assistance system with respect to the day or night state is adjustable. It is conceivable, for example, to set the parameters or presettings on a sliding scale in such a way that the best performance of a surroundings recognition system is achieved in conjunction with a video-assisted or image-assisted driving assistance system.
  • the invention thus provides a summary method, which is a classification of a lighting situation as a day or
  • a computer program product which comprises computer-readable program means stored on a computer-usable medium which, when the computer program product is executed on a microprocessor with associated storage means or on a computer, cause it to carry out the method according to the invention or the operation of the arrangement.
  • Figure 1 is a schematic representation of a vehicle with a camera as part of an environment detection system for the evaluation of day and night conditions, in addition also based on the headlights of another vehicle and
  • FIG. 2 shows a flowchart of the method features according to the invention in an evaluation unit of the environment recognition system.
  • FIG. 1 diagrammatically shows a situation of a vehicle 1 as the vehicle of a surroundings recognition system, which can move here on a roadway 2 in the direction of an arrow 3.
  • the surroundings recognition system of the vehicle 1 has a camera 4 as an image sensor, in particular a digital video camera, which detects a region between dashed lines 5 and 6.
  • the roadway 2 is separated by a marker 7 and on the other side of the road is another vehicle 8 opposite, which is equipped with front lights 9.
  • an evaluation device 10 the digital data of the consisting of pixels sensor image of the camera 4 and additionally, for example, at an input 12 and the current speed data of the vehicle 1 are evaluated at an input 11.
  • the evaluation device 10 in order to distinguish the light conditions in the region of the image-evaluating surroundings recognition system on the vehicle 1 with regard to day or night, the amplification and / or the
  • Exposure time of the camera 4 monitored.
  • a course of reinforcement and / or The exposure time over time with relatively high gain or relatively long exposure times here characterizes the lighting conditions at night and a progression of the gain and / or the exposure time with relatively low gain and / or relatively low exposure times characterizes the daytime lighting conditions here.
  • the environment detected by the camera 4 is searched for bright objects, in the embodiment shown here, the headlights 9 of the other vehicle 8 are used as additional information.
  • additional environment-specific information which is not further explained here, for distinguishing the daytime or nighttime state, which in particular comprise further indication objects recognized in a detected environment whose different appearance is known day or night.
  • At least the gain and / or the exposure time of the camera 4 are monitored.
  • a course or a development with consistently low gain or consistently low exposure times serves as an indication that is just day.
  • the course or the development of the amplification and / or the exposure times of the image sensor or similar settings are preferably evaluated and it is determined whether a substantial or sufficiently large proportion of this course or development corresponds to a day or night state.
  • the progression or temporal development which can also be described as a history, can be determined, for example, by carrying out a current day or night detection in regular cycles on the basis of the instantaneous amplification and / or the instantaneous exposure time of the image sensor.
  • a number of past day or night identifications corresponding to a specifiable period of time can be stored, which represent the course or the development of the day and night identifications.
  • the period may be variable, for example, after having parked a vehicle at night and re-use the next morning, it may not be necessary to resort to a long chain of past night detections in order to make a statement about a day or night condition.
  • - To avoid frequent switching between a determination of a day and night state, is preferably a one
  • this Neither-Nights-Nights-Night state does not contribute to a conclusive statement about a day or night state.
  • the course or development removable sufficient number or z.
  • B a percentage corresponding, sufficient proportion of past day or night detections needed to make a statement about a day or night state.
  • the previous state is preferably maintained or remains the previously or recent statement preferably unchanged.
  • additional information can be used to make a statement or decision on a day or night state.
  • search captured situations or scenes for bright, spotlight-shaped objects as shown in FIG.
  • Headlamp-shaped objects on the vehicle front of another vehicle 8 for example, have a generally round or elliptical shape and occur in pairs and at approximately the same image height.
  • the frequency with which such objects are found in the scanned detected situations or scenes can be observed.
  • An increasing frequency of the occurrence or the observation of such objects in a scene or in a situation is preferably with a decision that tends to a night state or
  • area-specific knowledge can further be used as to how a scene or situation appears differently during the day and at night.
  • the decision itself or the statement made does not necessarily have to be binary, so it does not necessarily need only two states, such as day or night. For example, an average of the day or day
  • Gaberkennache be used, for example, proportionally the rules or presets of a situation or a scene understanding or interpreting video or image-based Driver assistance system or its image recognition system to adjust or readjust. For example, in a 40% Tag Recognition, 50% Night Recognition, and 10% Neither -day-nor-night conditions, the rules or presets can be adjusted or adjusted with a 50/90 corresponding portion of the day / night range.
  • Such a setting or readjustment can also be non-linear, for example with the aid of a look-up table.
  • the method starts in a first method step 21.
  • a daytime state is set as the start or output value.
  • a so-called frame is detected, which contains at least the instantaneous amplification and the instantaneous exposure time of at least one camera 4 according to FIG. 1, at least at the time of the video-based or image-based recording of the surroundings.
  • a query can take place as to whether a sufficiently fast movement has taken place since the detection of the last frame, for B. whether since then a sufficient distance was covered on the lane 2. If this is the case, the method proceeds to a sixth method step 26. If this is not the case, a new frame is detected again in the third method step 23.
  • the method according to the invention does not necessarily require one Movement of the carrier and thus the camera 4 ahead; however, in the embodiment described here, the vehicle's own motion is taken into account.
  • the sixth method step 26 it is clarified whether the current exposure time and the instantaneous gain stored in the detected frame correspond to a current day or a night or a "neither-night-nor-night state.”
  • the result is an instantaneous day or night detection or a current "neither day nor night state”.
  • a seventh method step 27 the knowledge obtained in the sixth method step 26 is added to a profile.
  • Process step 28 takes place a query whether the course has a sufficient length. If this is the case, the method continues with a ninth method step 29. If this is not the case, the method continues with the third method step 23.
  • a query is made as to whether a sufficient number of findings added to the course are night decisions. If this is the case, then the method continues with a tenth method step 30. If this is not the case, then the method continues with an eleventh method step 31.
  • a query takes place as to whether a sufficient number of findings added to the course are day decisions. If this is the case, the method continues with a twelfth method step 32. If this is not the case, the method preferably proceeds to the third method step 23. In the twelfth method step 32, the statement is made that there is a daytime state. In a thirteenth method step 33 following the tenth or twelfth method steps 30, 32, the profile is deleted and the method continues again in the third method step 23.
  • a result obtained thereby in the form of the statement made is preferably used to determine the rules, parameters or presettings of an environment-understanding or interpreting, video-based or image-based driver assistance system or its surroundings detection system, for example. For example, adjust on a sliding scale to get the best performance.
  • the invention is particularly industrially applicable in the field of production and operation of video- or image-assisted driver assistance systems or video- or image-based video systems which can be used in traffic. It is particularly advantageous and also provided that the driver assistance system has a lane keeping assistance system.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

L'invention concerne un procédé et un système permettant d'évaluer des images détectées par un système de reconnaissance d'environnement à interprétation d'images sur un support. Selon ce procédé, pour différencier les conditions d'éclairage dans la zone du système de reconnaissance d'environnement à interprétation d'images, en termes de jour ou de nuit, au moins l'amplification et/ou le temps d'exposition d'au moins un des capteurs d'images détectant l'environnement sont surveillés. Un déroulement de l'amplification et/ou du temps d'exposition sur la durée, marqué par une amplification relativement importante ou des temps d'exposition relativement longs, caractérise des conditions d'éclairage de nuit et un déroulement de l'amplification et/ou du temps d'éclairage, marqué par une amplification relativement basse et/ou des temps d'éclairage relativement courts, caractérise des conditions d'éclairage de jour. Le système de reconnaissance d'environnement selon l'invention permet en outre d'examiner l'environnement en termes d'objets clairs, les phares d'un autre support pouvant par exemple servir d'information supplémentaire.
EP08785731A 2007-08-28 2008-08-28 Procédé et système pour évaluer des valeurs de luminosité sur des images détectées, pour systèmes de reconnaissance d'environnement à interprétation d'images, notamment en termes de distinction jour/nuit Ceased EP2181415A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US96671907P 2007-08-28 2007-08-28
PCT/EP2008/007033 WO2009030419A2 (fr) 2007-08-28 2008-08-28 Procédé et système pour évaluer des valeurs de luminosité sur des images détectées, pour systèmes de reconnaissance d'environnement à interprétation d'images, notamment en termes de distinction jour/nuit

Publications (1)

Publication Number Publication Date
EP2181415A2 true EP2181415A2 (fr) 2010-05-05

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EP08785731A Ceased EP2181415A2 (fr) 2007-08-28 2008-08-28 Procédé et système pour évaluer des valeurs de luminosité sur des images détectées, pour systèmes de reconnaissance d'environnement à interprétation d'images, notamment en termes de distinction jour/nuit

Country Status (3)

Country Link
US (2) US20110211071A1 (fr)
EP (1) EP2181415A2 (fr)
WO (1) WO2009030419A2 (fr)

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WO2009030419A2 (fr) 2009-03-12
US20130251208A1 (en) 2013-09-26
US20110211071A1 (en) 2011-09-01
US8823799B2 (en) 2014-09-02
WO2009030419A3 (fr) 2009-09-17

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