WO2016012140A1 - Procédé et dispositif pour faire fonctionner un système de surveillance d'occupants - Google Patents

Procédé et dispositif pour faire fonctionner un système de surveillance d'occupants Download PDF

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Publication number
WO2016012140A1
WO2016012140A1 PCT/EP2015/062208 EP2015062208W WO2016012140A1 WO 2016012140 A1 WO2016012140 A1 WO 2016012140A1 EP 2015062208 W EP2015062208 W EP 2015062208W WO 2016012140 A1 WO2016012140 A1 WO 2016012140A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera device
feature
observation system
occupant
vehicle
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/EP2015/062208
Other languages
German (de)
English (en)
Inventor
Hoang Trinh
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
Publication of WO2016012140A1 publication Critical patent/WO2016012140A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30268—Vehicle interior

Definitions

  • the invention relates to a method and an arrangement for operating an occupant observation system of a vehicle, in particular a vehicle
  • the occupant observation system In order to always be able to perform the tracking with high accuracy, the occupant observation system and in particular the
  • Camera device to be calibrated. For this purpose, it is known to capture and set internal camera parameters such as distortion, chamber constant and main point location during installation of the system. Likewise, the
  • Installation position of the camera device taken into account during installation.
  • the method according to the invention with the features of claim 1 has the advantage that a calibration of the camera device or of the occupant observation system is carried out during operation of the occupant observation system, so that changes associated with the lifetime of the passenger
  • Inmate observation system can be compensated and compensated so that even after a long life the
  • the camera device is initially aligned after assembly by known methods, wherein additionally detects the at least one feature by means of the camera device and determines its position in the image of the camera and stored. In operation respectively
  • Normal operation of the occupant observation system is then recalibrated for calibration or recalibration the detected at least one feature again by the camera device and determines its current position in the image of the camera device and compared with the stored position of the feature. From the comparison, it is possible to conclude a change in the position of the camera device and thus to compensate or calibrate changes in position on the software side in a simple manner.
  • the camera device is calibrated several times during operation. This will permanently maintain the accuracy of occupant observation.
  • the camera device is calibrated regularly during operation.
  • the camera device is regularly calibrated during operation in the manner described above at predeterminable time intervals, for example as a function of the mileage of the vehicle, for example measured in kilometers traveled, or of the vehicle Mileage of the observation system, in particular measured in hours and / or minutes. Also, it is conceivable after each start of the
  • the contour of a seat, a window, a body part, a headrest and / or a steering wheel is used as a feature.
  • the seat position and thus also the position of a headrest of the seat can be changed.
  • Electromotive control of a seat can be easily generate position data and thus taken into account in the calibration. If the affected seat can only be adjusted mechanically or manually, means are advantageously provided which permit position detection independently of the camera device.
  • an orientation mark is mounted in the interior.
  • the orientation mark is, for example, a specific shape or a specific character; a 3D point field is also conceivable that can be clearly recognized and evaluated by the camera device.
  • At least one illuminant arranged in the interior is used as the feature.
  • At least one feature be
  • Reflector element is arranged in the interior.
  • the reflector element still offers a sufficiently good orientation even in poorer lighting conditions.
  • the camera device is assigned at least one illumination means, in particular an infrared radiator, which is activated at least for calibration, in particular for illuminating the reflector element. This ensures that the
  • Driver observation system of a motor vehicle has at least one camera device for detecting at least one occupant and means for calibrating the camera device, in particular for carrying out the method according to the invention.
  • the arrangement according to the invention is characterized by at least one fixed feature arranged in the interior of the vehicle.
  • the fixed or body-mounted feature is thus a feature that is always located in the same place in the vehicle and in particular always independent of the
  • Reflector element and / or orientation mark is formed.
  • the reflector element is designed to reflect infrared radiation.
  • the camera device is assigned at least one infrared radiator which illuminates the reflector element. This makes it possible to perform a calibration of the system in the dark, without the driver of it is disturbed.
  • the motor vehicle 1 has an interior 2 of a passenger compartment, in which a plurality of seats for occupants are arranged.
  • the Motor vehicle 1 has an occupant observation system 3, which as
  • the Driver observation system is formed and, for example, serves to detect the driver's line of sight or the tiredness of the driver.
  • the occupant observation system 3 has a camera device 4 and a control unit 5.
  • the camera device 4 has at least one infrared
  • Camera module which is directed to the driver's seat to visually detect the driver of the vehicle.
  • the training as an infrared camera module it is possible to perform the driver's control even at night, without the driver would have to be bright and dazzled.
  • Camera device 4 is also associated with an infrared radiator 6, which is also aligned in the direction of the driver's seat, in particular to illuminate the driver.
  • the occupant observation system 3 further comprises means 7 for calibrating the camera unit during operation of the motor vehicle 1 to a changed
  • Camera module compensate or take into account in the evaluation of the camera image.
  • the means 7 are in the present
  • the feature 9 is designed as a reflector element 10, which in particular has a 3D point field for unambiguous recognition.
  • the reflector element 10 is designed to reflect the infrared rays of the infrared radiator 6.
  • the camera image of the camera device 4 is evaluated by the control unit 5 for initialization after assembly.
  • the position of the feature 9 in the camera image is determined and stored. For this purpose, conventional methods of image analysis can be used. If the feature 9 has the aforementioned 3D point field or a comparable identification feature, the control unit 5 can carry out the position of the feature 9 in the camera image itself.
  • a feature 9 is a structure of the motor vehicle 1, such as a headrest of the
  • Control unit 5 stored or stored. It is also possible to determine the arrangement of the camera device 4 to the feature 9 in the interior space 2 already during construction and to store the expected position of the feature 9 in the camera image of the camera device 4 accordingly.
  • Motor vehicle 1 controls the control unit 5, the infrared radiator at regular intervals to illuminate the interior 2.
  • the camera images captured by the camera device are evaluated.
  • the current position of the feature 9 is detected and compared with the stored position of the feature 9 from the initialization of the occupant observation system 3.
  • the control unit 5 recognizes that the orientation of the camera device 4 has not changed. If the comparison reveals that the current position of the feature 9 in the current camera image differs from the stored position, at least beyond a predefinable limit or a predefinable distance, calibration of the occupant observation system is dependent on the detected distance between the stored position and the current position. This is preferably done purely software-based in the control unit 5, the deviation of the feature 9 from the original or stored position in the evaluation of the current camera images taken into account, in particular compensated.
  • the occupant monitoring system 3 is regularly calibrated, so that a safe and accurate driver observation is always ensured, especially when the position or orientation of the camera device 4, in particular of the camera module, for example due to
  • the feature 9 itself as a light source.
  • a feature 9 a headliner, a seat 12, or - as mentioned above - to use the B-pillar 8 itself.
  • a steering wheel 11 of the motor vehicle 1 is also possible. If the camera device is located in the instrument cluster or in the vicinity of it, the back of the
  • Steering wheel 11 and thus detects its contour and used as a feature 9.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Air Bags (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner un système de surveillance d'occupants (3) d'un véhicule, en particulier un système de surveillance de conducteur d'un véhicule automobile (1), le système de surveillance d'occupants (3) comportant au moins un dispositif de caméra (4) servant à détecter au moins un occupant, le dispositif de caméra (4) étant étalonné au moins une fois. Le procédé comporte les étapes suivantes consistant à : - déterminer au moins une caractéristique fixe (9) dans l'espace intérieur (2) du véhicule, - orienter le dispositif de caméra (4) lors de la mise en service, détecter l'au moins une caractéristique (9) au moye du dispositif de caméra (4) et déterminer et mémoriser la position de la caractéristique (9) dans une image capturée par le dispositif de caméra (4), - étalonner le dispositif de caméra (4) pendant le fonctionnement par nouvelle détection de l'au moins une caractéristique (9) au moyen du dispositif de caméra (4), déterminer sa position actuelle et comparer la position mémorisée avec la position actuelle.
PCT/EP2015/062208 2014-07-23 2015-06-02 Procédé et dispositif pour faire fonctionner un système de surveillance d'occupants Ceased WO2016012140A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014214352.7A DE102014214352A1 (de) 2014-07-23 2014-07-23 Verfahren und Anordnung zum Betreiben eines Insassenbeobachtungssystems
DE102014214352.7 2014-07-23

Publications (1)

Publication Number Publication Date
WO2016012140A1 true WO2016012140A1 (fr) 2016-01-28

Family

ID=53398053

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/062208 Ceased WO2016012140A1 (fr) 2014-07-23 2015-06-02 Procédé et dispositif pour faire fonctionner un système de surveillance d'occupants

Country Status (2)

Country Link
DE (1) DE102014214352A1 (fr)
WO (1) WO2016012140A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110194173A (zh) * 2018-02-27 2019-09-03 欧姆龙株式会社 乘员监视装置
CN112992048A (zh) * 2019-12-02 2021-06-18 罗伯特·博世有限公司 用于校正自发光显示器的方法
US20230055290A1 (en) * 2021-08-23 2023-02-23 Gentex Corporation Rearview assembly adjustment system
JPWO2023152785A1 (fr) * 2022-02-08 2023-08-17

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Publication number Priority date Publication date Assignee Title
US9953210B1 (en) 2017-05-30 2018-04-24 Gatekeeper Inc. Apparatus, systems and methods for improved facial detection and recognition in vehicle inspection security systems
US11538257B2 (en) 2017-12-08 2022-12-27 Gatekeeper Inc. Detection, counting and identification of occupants in vehicles
DE102019208871A1 (de) 2019-06-18 2020-12-24 Thyssenkrupp Ag Einrichtung und Verfahren zur Ermittlung des Innenraumzustandes eines Fahrzeugs
US10867193B1 (en) 2019-07-10 2020-12-15 Gatekeeper Security, Inc. Imaging systems for facial detection, license plate reading, vehicle overview and vehicle make, model, and color detection
US11196965B2 (en) 2019-10-25 2021-12-07 Gatekeeper Security, Inc. Image artifact mitigation in scanners for entry control systems
DE102020208091A1 (de) 2020-06-30 2021-12-30 Robert Bosch Gesellschaft mit beschränkter Haftung Beleuchtungseinheit zum Beleuchten eines Fahrzeuginnenraums eines Fahrzeugs
DE102020208079A1 (de) 2020-06-30 2021-12-30 Robert Bosch Gesellschaft mit beschränkter Haftung Beleuchtungseinheit zum Beleuchten eines oder mehrerer Fahrzeuginsassen
DE102020208203A1 (de) 2020-07-01 2022-01-05 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Überwachen eines Fahrzeuginnenraumes eines Fahrzeugs
DE102020209187A1 (de) 2020-07-22 2022-01-27 Robert Bosch Gesellschaft mit beschränkter Haftung Beobachtungsvorrichtung
DE102020214256A1 (de) 2020-11-12 2022-05-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Erkennen eines Smartphones in einem Fahrzeug
DE102020214252A1 (de) 2020-11-12 2022-05-12 Robert Bosch Gesellschaft mit beschränkter Haftung System zum Sichern vergessener Gegenstände auf einem Fahrzeugsitz eines Fahrzeugs
DE102020214871A1 (de) 2020-11-26 2022-06-02 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung zum Ermitteln einer Eigenschaft eines Fahrzeuginsassen eines Fahrzeugs
DE102020214910A1 (de) 2020-11-27 2022-06-02 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Überwachung eines Fahrzeuginnenraums
DE102021202504A1 (de) 2021-03-15 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Erkennen einer Unaufmerksamkeit eines Fahrers eines Fahrzeugs
DE102021212796A1 (de) 2021-11-15 2023-05-17 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ermitteln eines Zustandes eines Innenraumes eines Fahrzeugs
DE102021213087A1 (de) 2021-11-22 2023-05-25 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Überprüfen einer Funktionsfähigkeit einer Überwachungseinheit in einem Fahrzeug
DE102022209226A1 (de) 2022-09-06 2024-03-07 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Überprüfen einer Pose einer Kamera
DE102022209342A1 (de) 2022-09-08 2024-03-14 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ermitteln eines Zustandes einer Oberfläche in einem Fahrzeug
DE102022210121A1 (de) 2022-09-26 2024-03-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ansteuern einer Beleuchtungseinheit einer Beobachtungsvorrichtung
DE102022210123A1 (de) 2022-09-26 2024-03-28 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung
DE102022210120A1 (de) 2022-09-26 2024-03-28 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Ermitteln einer Notwendigkeit einer Warnung zum Steigern einer Aufmerksamkeit eines Fahrers eines Fahrzeugs
DE102022211510A1 (de) 2022-10-31 2024-05-02 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ermitteln eines Zustandes eines Fahrzeuginsassen
DE102022212079A1 (de) 2022-11-15 2024-05-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ansteuern einer Beleuchtungseinheit einer Beobachtungsvorrichtung
DE102022212787A1 (de) 2022-11-29 2024-05-29 Robert Bosch Gesellschaft mit beschränkter Haftung Aufnahmeeinheit einer Beobachtungsvorrichtung zum Aufnehmen eines oder mehrerer Bilder zumindest eines Bereichs eines Fahrzeuginnenraums
DE102022212836A1 (de) 2022-11-30 2024-06-06 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Erkennen eines Endes einer Fahrt eines Fahrzeugs
DE102022213278A1 (de) 2022-12-08 2024-06-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und System zum Überwachen eines Passagiers in einem Fahrzeug
DE102023206382B3 (de) 2023-07-05 2024-05-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Anpassen einer Abtastrate einer Beobachtungskamera zum Beobachten eines Fahrzeuginsassen
DE102023206674A1 (de) 2023-07-13 2025-01-16 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung
DE102023206690A1 (de) 2023-07-14 2025-01-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ermitteln eines Zustandes einer Person
DE102023206937A1 (de) 2023-07-21 2025-01-23 Robert Bosch Gesellschaft mit beschränkter Haftung Beobachtungsvorrichtung zum Beobachten eines oder mehrerer Fahrzeuginsassen in einem Fahrzeuginnenraum
DE102023208696A1 (de) 2023-09-08 2025-03-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Anpassen einer Erkennungsfunktion zum Ermitteln von Eigenschaften zumindest eines Objektes und Verfahren zum Ermitteln von Eigenschaften zumindest eines Objektes, zumindest eines Lebewesens und/oder zumindest einer Person
AT528622A2 (de) * 2024-07-03 2026-02-15 Emotion3D Gmbh Verfahren und Vorrichtung zur Kalibrierung einer Kamera in einem Fahrzeug

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US20130002871A1 (en) * 2011-06-30 2013-01-03 Harman Becker Automotive Systems Gmbh Vehicle Vision System

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DE50105385D1 (de) * 2000-12-07 2005-03-24 Siemens Ag Vorrichtung und verfahren zum erfassen eines objekts in einem fahrzeug
JP2007259931A (ja) * 2006-03-27 2007-10-11 Honda Motor Co Ltd 視線検出装置

Patent Citations (4)

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US20030098909A1 (en) * 2001-11-29 2003-05-29 Martin Fritzsche Process for monitoring the internal space of a vehicle, as well as a vehicle with at least one camera within the vehicle cabin
US20070033999A1 (en) * 2003-04-24 2007-02-15 Hans-Dieter Bothe Device and method for calibrating an image sensor
JP2010181209A (ja) * 2009-02-03 2010-08-19 Toyota Motor Corp カメラの自動キャリブレーション装置及び自動キャリブレーション方法
US20130002871A1 (en) * 2011-06-30 2013-01-03 Harman Becker Automotive Systems Gmbh Vehicle Vision System

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110194173A (zh) * 2018-02-27 2019-09-03 欧姆龙株式会社 乘员监视装置
CN110194173B (zh) * 2018-02-27 2022-06-10 欧姆龙株式会社 乘员监视装置
CN112992048A (zh) * 2019-12-02 2021-06-18 罗伯特·博世有限公司 用于校正自发光显示器的方法
US20230055290A1 (en) * 2021-08-23 2023-02-23 Gentex Corporation Rearview assembly adjustment system
US12380600B2 (en) * 2021-08-23 2025-08-05 Gentex Corporation Rearview assembly adjustment system
JPWO2023152785A1 (fr) * 2022-02-08 2023-08-17
JP7651019B2 (ja) 2022-02-08 2025-03-25 三菱電機モビリティ株式会社 乗員監視装置、乗員監視システム、および乗員監視方法

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