WO2012168055A3 - Verfahren und vorrichtung zur erkennung von objekten in einem umfeld eines fahrzeugs - Google Patents

Verfahren und vorrichtung zur erkennung von objekten in einem umfeld eines fahrzeugs Download PDF

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Publication number
WO2012168055A3
WO2012168055A3 PCT/EP2012/059348 EP2012059348W WO2012168055A3 WO 2012168055 A3 WO2012168055 A3 WO 2012168055A3 EP 2012059348 W EP2012059348 W EP 2012059348W WO 2012168055 A3 WO2012168055 A3 WO 2012168055A3
Authority
WO
WIPO (PCT)
Prior art keywords
image
vehicle
exposure time
section
surrounding
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
PCT/EP2012/059348
Other languages
English (en)
French (fr)
Other versions
WO2012168055A2 (de
Inventor
Petko Faber
Gregor Schwarzenberg
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to JP2014513977A priority Critical patent/JP6175430B2/ja
Priority to US14/124,971 priority patent/US10552688B2/en
Priority to CN201280027459.XA priority patent/CN103782307A/zh
Priority to EP12729369.4A priority patent/EP2718869A2/de
Publication of WO2012168055A2 publication Critical patent/WO2012168055A2/de
Publication of WO2012168055A3 publication Critical patent/WO2012168055A3/de
Anticipated expiration legal-status Critical
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
    • 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
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/743—Bracketing, i.e. taking a series of images with varying exposure conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/745—Detection of flicker frequency or suppression of flicker wherein the flicker is caused by illumination, e.g. due to fluorescent tube illumination or pulsed LED illumination
    • 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
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • 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
    • B60Q2300/40—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)

Abstract

Die Erfindung betrifft ein Verfahren (500) zur Erkennung von Objekten (240, 250) in einem Umfeld (130) eines Fahrzeugs (100). Das Verfahren (500) umfasst einen Schritt des Einlesens (510) eines ersten Bildes (210) einer Fahrzeugkamera (110), das das Umfeld (130) des Fahrzeugs (100) repräsentiert und das mit einer ersten Belichtungszeit aufgenommen wurde und Einlesen eines zweiten Bildes (220) der Fahrzeugkamera (110), das nach dem ersten Bild (210) und mit einer zweiten Belichtungszeit aufgenommen wurde, wobei sich die zweite Belichtungszeit von der ersten Belichtungszeit unterscheidet. Ferner umfasst das Verfahren einen Schritt des Extrahierens (520) eines Bildausschnittes (230) aus dem zweiten Bild (220) der Fahrzeugkamera (110), wobei der Bildausschnitt (230) einen kleineren Bereich des Umfeldes (130) des Fahrzeugs (100) repräsentiert, als das erste Bild (210), wobei beim Extrahieren (520) eine Position des Bildausschnitts (230) im zweiten Bild (220) auf der Basis von zumindest einem Parameter bestimmt wird, der eine Information über eine Fahrt des Fahrzeugs und/oder eine Position einer Infrastrukturmaßnahme vor dem Fahrzeug repräsentiert und/oder der von einem sich bewegenden Objekt unabhängig ist, das in einem vorangegangenen Schritt in dem Bildausschnitt (230) erkannt wurde. Schließlich umfasst das Verfahren einen Schritt des Anwendens (530) eines ersten Objekterkennungsalgorithmus auf das erste Bild (210), um zumindest ein Objekt (240) in dem ersten Bild (210) zu erkennen und Anwenden eines zweiten Objekterkennungsalgorithmus auf den Bildausschnitt (230), um zumindest ein weiteres Objekt (250) in dem Bildausschnitt (230) zu erkennen.
PCT/EP2012/059348 2011-06-07 2012-05-21 Verfahren und vorrichtung zur erkennung von objekten in einem umfeld eines fahrzeugs Ceased WO2012168055A2 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2014513977A JP6175430B2 (ja) 2011-06-07 2012-05-21 車両の周辺区域にある物体を認識する方法および装置
US14/124,971 US10552688B2 (en) 2011-06-07 2012-05-21 Method and device for detecting objects in the surroundings of a vehicle
CN201280027459.XA CN103782307A (zh) 2011-06-07 2012-05-21 用于识别车辆的环境中的对象的方法和设备
EP12729369.4A EP2718869A2 (de) 2011-06-07 2012-05-21 Verfahren und vorrichtung zur erkennung von objekten in einem umfeld eines fahrzeugs

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011077038A DE102011077038A1 (de) 2011-06-07 2011-06-07 Verfahren und Vorrichtung zur Erkennung von Objekten in einem Umfeld eines Fahrzeugs
DE102011077038.0 2011-06-07

Publications (2)

Publication Number Publication Date
WO2012168055A2 WO2012168055A2 (de) 2012-12-13
WO2012168055A3 true WO2012168055A3 (de) 2013-02-14

Family

ID=46354158

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2012/059348 Ceased WO2012168055A2 (de) 2011-06-07 2012-05-21 Verfahren und vorrichtung zur erkennung von objekten in einem umfeld eines fahrzeugs

Country Status (6)

Country Link
US (1) US10552688B2 (de)
EP (1) EP2718869A2 (de)
JP (1) JP6175430B2 (de)
CN (1) CN103782307A (de)
DE (1) DE102011077038A1 (de)
WO (1) WO2012168055A2 (de)

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DE102017119394A1 (de) * 2017-08-28 2019-02-28 HELLA GmbH & Co. KGaA Verfahren zur Ansteuerung mindestens eines Lichtmoduls einer Leuchteinheit eines Fahrzeugs, Leuchteinheit, Computerprogrammprodukt und computerlesbares Medium
DE102017215347A1 (de) * 2017-09-01 2019-03-07 Conti Temic Microelectronic Gmbh Verfahren zur vorhersehbaren Belichtungssteuerung zumindest einer ersten Fahrzeugkamera
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WO2019130945A1 (ja) * 2017-12-27 2019-07-04 ソニー株式会社 情報処理装置、情報処理方法、プログラム、及び移動体
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JP7331483B2 (ja) * 2019-06-18 2023-08-23 株式会社アイシン 撮像制御装置
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Also Published As

Publication number Publication date
JP2014525067A (ja) 2014-09-25
US10552688B2 (en) 2020-02-04
CN103782307A (zh) 2014-05-07
JP6175430B2 (ja) 2017-08-02
DE102011077038A1 (de) 2012-12-13
US20140098997A1 (en) 2014-04-10
WO2012168055A2 (de) 2012-12-13
EP2718869A2 (de) 2014-04-16

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