CN113286726A - 具有自校准成像器的车辆视觉*** - Google Patents

具有自校准成像器的车辆视觉*** Download PDF

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CN113286726A
CN113286726A CN201980077474.7A CN201980077474A CN113286726A CN 113286726 A CN113286726 A CN 113286726A CN 201980077474 A CN201980077474 A CN 201980077474A CN 113286726 A CN113286726 A CN 113286726A
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vehicle
sensor
vision system
light source
determined change
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J·巴克尔
M·阿特曼
M·索拉尔
S·格拉夫
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ZKW Group GmbH
Magna Electronics Europe GmbH and Co OHG
Magna Electronics Solutions GmbH
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Magna Electronics Europe GmbH and Co OHG
Magna Electronics Solutions GmbH
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    • 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
    • B60Q1/0017—Devices integrating an element dedicated to another function
    • B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
    • 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
    • B60Q1/06—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 adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—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 adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/10—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 adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution
    • B60Q1/115—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 adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution by electric 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
    • B60Q11/00—Arrangement of monitoring devices for devices provided for in groups B60Q1/00 - B60Q9/00
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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; CALCULATING OR 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; CALCULATING OR 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
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
    • H05B47/10—Controlling the light source
    • H05B47/105—Controlling the light source in response to determined parameters
    • H05B47/11—Controlling the light source in response to determined parameters by determining the brightness or colour temperature of 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
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/14—Other vehicle conditions
    • B60Q2300/146—Abnormalities, e.g. fail-safe
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B60Y2400/3015—Optical cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/90—Driver alarms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

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  • Mechanical Engineering (AREA)
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  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
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  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

一种车辆视觉***（1），所述车辆视觉***（1）包括：传感器（2），其布置在车辆处并且具有车辆外部的感测场；光源（4a），其布置在车辆处并且可操作以发射光，其中，由所述光源（4a）发射的光在操作时照亮车辆外部的照明场，并且其中，所述传感器的感测场包括照明场的至少一部分；包括数据处理器的控制，其中由所述传感器（2）捕捉的数据被提供给所述控制，以由所述数据处理器进行处理；其中，所述控制响应于由所述数据处理器对由所述传感器（2）捕捉的数据的数据处理，确定由所述光源（4a）提供的照明场的改变；并且其中，响应于照明场的所确定的改变，所述控制从（i）调整所述光源（4a）以适应所确定的改变，（ii）调整所述传感器（2）以适应确定的改变以及（iii）生成警报的组选择至少一个。

Description

具有自校准成像器的车辆视觉***
相关申请的交叉引用
本申请要求2018年11月26日提交的美国临时申请系列号62/771,263的申请权益，其全部内容通过引用合并于此。
技术领域
本发明总体上涉及一种用于车辆（vehicle）的车辆视觉***，并且更具体地，涉及一种利用至少一个外部感测传感器和至少一个外部定向光源的车辆视觉***。
背景技术
车辆成像***中的成像传感器的使用是普遍的并且是已知的。此类已知***的示例在美国专利号5,949,331；5,670,935和/或5,550,677中描述，其全部内容通过引用合并于此。
发明内容
本发明提供了一种用于车辆的驾驶员辅助***或视觉***或成像***，其利用一个或多个照相机（诸如布置在车辆处并具有车辆的外部视场的照相机）或一个或多个传感器（诸如LIDAR传感器）以捕捉代表车辆的外部区域的数据。***经由对由照相机或传感器捕捉的数据的处理确定由车辆的光源（诸如照亮车辆的外部区域以及至少部分地在车辆的传感器或照相机的感测场或视场中的车辆的头灯或辅助光源）提供的光场或照明场的改变。响应于光场或照明场的所确定的改变，***补偿或适应错误或改变（诸如经由机械地或电气地或机电地调整光源）或生成指示所确定的改变的警报。
在结合附图回顾以下说明书时，本发明的这些和其他目的、优势、用途和特征将变得清楚。
附图说明
图1示出了视觉***的操作的模式的流程图； 和
图2是根据本发明的合并头灯对准***的视觉***的示意图。
具体实施方式
车辆视觉***和/或驾驶员辅助***和/或对象检测***和/或警报***操作以捕捉车辆外部的图像并且可以处理所捕捉的图像数据以显示图像并检测在车辆处或附近以及在车辆的预测路径中的对象，诸如以辅助车辆驾驶员在后方方向上操控车辆。视觉***包括图像处理器或图像处理***，其可操作以从一个或多个照相机接收图像数据并且向显示设备提供输出以用于显示代表捕捉的图像数据的图像。可选地，视觉***可以提供显示器，诸如后视显示器或俯视（top down）或鸟瞰或环视显示器或诸如此类。
现在参考附图，图2示出了用于车辆的视觉***1，其包括至少一个外部观察成像传感器2（简称：外部传感器或传感器）或照相机，诸如前向观察成像传感器或照相机，其可以布置在车辆的一个或两个头灯中。可选地，***可以包括多个外部观察成像传感器2或照相机，诸如在车辆的前部的前向观察照相机，以及在车辆的相应侧处的侧方/后方观察照相机，以及在车辆的后部的后方观察照相机，其捕捉车辆的外部图像。一个或多个照相机中的每个包括用于将图像聚焦在照相机的成像阵列或成像平面或成像器处或上的透镜。可选地，前向观察照相机可以布置在车辆的风挡处并可以通过车辆的风挡和前方进行观察，诸如用于机器视觉***（诸如用于交通标志识别、头灯控制、行人检测、避免碰撞、车道标记检测和/或诸如此类）。视觉***1包括控制或电子控制单元（ECU）或处理器，其可操作以处理由一个或多个照相机捕捉的图像数据并且可以检测对象或诸如此类和/或在显示设备处提供显示的图像以供车辆的驾驶员观看。从照相机到ECU的数据传输或信号通信可以包括任何合适的数据或通信链路，诸如所装备的车辆的车辆网络总线或诸如此类。
对于最佳可见性——不炫目而言，正确调整头灯或对其进行定期检查是必要的。缺陷位置的自动检测可以帮助纠正它或发送错误信号。传感器可以提供在头灯中，由此传感器的精确位置和对准也是重要的。
本发明的***提供一种外部传感器（诸如照相机或LIDAR传感器），其刚性地或固定地连接至具有光源4a的光模块4的支撑框架3。外部传感器2可以有利地安装在头灯中，用于延伸的视场（全视角）。外部传感器2可以包括人工地平线5。通过将人工地平线5的位置与参考值进行比较，可以通过外部传感器2的人工地平线的改变来检测外部传感器2的位置的静态或动态改变。如果检测到人工地平线5的位置的变化在某个阈值之上，则***被配置为纠正外部传感器2的位置，以便补偿位置的改变。优选地，外部传感器2和光模块4刚性地或固定地连接到相同的支撑框架3。因此，由于人工地平线5的检测到的改变而导致的对外部传感器2的位置的纠正对光模块4位置进行了同时纠正。换句话说，外部传感器2和光模块4的位置可以同时并且以相同的程度改变。图1示出了该过程的流程图。
通常，正确的竖直对准对于前向或后方定向的光是重要的，使得头灯发射的光束不太低（由此为了安全驾驶，该光不向车辆前方延伸足够的量）或太高（由此该光可能使迎面而来的车辆的驾驶员眩目或打扰驾驶员。如果光模块4（诸如头灯的光模块）经历了位置改变，则可以经由外部传感器2确定这一点，外部传感器2计量学地（metrologically）或使用成像算法对其进行评估。
例如，数据处理器可以处理由照相机捕捉的图像数据，以确定由头灯（或其他光源）提供的照明场（由光源发射的光所包围的区域）。当数据处理器（经由对照相机捕捉的图像数据的处理）确定照明场的改变时（当激活头灯时，但不是在改变为不同的照明条件时，诸如从低束改变为高束），***或控制可以调整头灯以将照明场返回到其原始状态或正确状态，或者***或控制可以生成警报（诸如针对车辆的驾驶员或远程服务器或诸如此类），所述警报指示头灯未对准并且需要调整。
因此，可以补偿或适应或纠正头灯的静态（负载条件、设置行为或诸如此类）和动态（加速度改变）位置改变。
关于人工地平线5的自动校准可以用作成像算法。如果（光模块和照相机的）位置改变，则在下一次自校准期间（诸如，当头灯被激活或设置为低束设置或诸如此类时）定义具有与原始位置的差信号的新地平线。该差信号与位置的改变成正比并且可以被进一步处理以确定光源4a的失准的程度。
响应于所确定的失准，例如，可以将光模块4移动到纠正的位置（借助于光宽度（间隙（clearance））调整器的补偿）或可以发送错误信号（如果改变超过允许的阈值）。利用提供相应的竖直分辨率的高分辨率照明***，可以获得光图像的位移以用于补偿。
***提供在头灯中使用照相机或其他传感器（例如，LIDAR传感器）。当确定照明场的改变（经由对由照相机或传感器捕捉的数据的处理）时，自校准算法用于调整（纠正）光模块或传感器。该***提供对诸如由于光模块4内的改变的由光源4a提供的光图像或照明场的调整/改变的检测，并且提供在发生这种检测时的纠正或警报生成。因此，该***提供了正确地调整的头灯和/或最佳对准的传感器。
因此，本发明的***确定由车辆的光源4a（诸如照亮车辆的外部区域以及至少部分地在车辆的传感器或照相机的感测场或视场中的车辆的头灯或辅助光源）提供的光场或照明场的改变。响应于光场或照明场的所确定的改变，***补偿或适应错误或改变（诸如经由机械地或电气地或机电地调整光源4a）或生成指示所确定的改变的警报。
在不背离本发明的原理的情况下，可以执行具体描述的实施例中的改变和修改，本发明的原理旨在仅由所附权利要求书的范围来限制，如根据包括等同物原则的专利法的原理所解释的。

Claims (9)

1.一种车辆视觉***（1），所述车辆视觉***（1）包括：
传感器（2），布置在车辆处并且具有车辆外部的感测场；
光源（4a），布置在车辆处并且可操作以发射光，其中，由所述光源（4a）发射的光在操作时照亮车辆外部的照明场，并且其中，所述传感器的感测场包括照明场的至少一部分；
包括数据处理器的控制，其中由所述传感器（2）捕捉的数据被提供给所述控制，以由所述数据处理器进行处理；
其中，所述控制响应于由所述数据处理器对由所述传感器（2）捕捉的数据的数据处理，确定由所述光源（4a）提供的照明场的改变；并且
其中，响应于照明场的所确定的改变，所述控制从（i）调整所述光源（4a）以适应所确定的改变，（ii）调整所述传感器（2）以适应所确定的改变以及（iii）生成警报的组选择至少一个。
2.根据权利要求1所述的车辆视觉***（1），其中，所述光源（4a）包括车辆的至少一个头灯。
3.根据权利要求2所述的车辆视觉***（1），其中，所述传感器（2）布置在至少一个头灯处。
4.根据权利要求2所述的车辆视觉***（1），其中，所述传感器（2）包括照相机，所述照相机具有在车辆的前向视场。
5.根据权利要求1所述的车辆视觉***（1），其中，所述控制响应于照明场的所确定的改变来调整所述光源（4a）以适应所确定的改变。
6.根据权利要求1所述的车辆视觉***（1），其中，所述控制响应于照明场的所确定的改变来调整所述光源（4a）和所述传感器（2）以适应所确定的改变。
7.根据权利要求1所述的车辆视觉***（1），其中，所述控制响应于照明场的所确定的改变来调整所述传感器（2）以适应所确定的改变。
8.根据权利要求1所述的车辆视觉***（1），其中，所述控制响应于照明场的所确定的改变来生成警报。
9.一种车辆，包括根据前述权利要求中任一项所述的车辆视觉***（1）。
CN201980077474.7A 2018-11-26 2019-11-25 具有自校准成像器的车辆视觉*** Pending CN113286726A (zh)

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