JP7081835B2 - 車両制御のためのリアルタイムhdrビデオ - Google Patents
車両制御のためのリアルタイムhdrビデオ Download PDFInfo
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Description
本出願は、2016年8月9日に出願された米国仮出願第62/372,527号に対して優先権を主張する。上記文献の内容は、参照することによって援用される。
本発明は、自律走行車両のためのシステムに関する。
いくつかの企業が、自律走行(すなわち、自動運転)車両を製造している。Nevada州では、自動運転車およびトラックは、道路を法的に使用することができると宣言されている。他の州も、Nevadaの後に続き、道路上の任意の数の自律走行タクシー、トレーラトラック、プライベート高級車、および他のそのような車両を許可するであろうことが可能性として考えられる。
本発明は、リアルタイム高ダイナミックレンジ(HDR)カメラを利用する、自律走行車両のためのシステムを提供する。本発明において使用するためのHDRカメラは、複数の画像センサからのピクセル値のパイプライン処理を備え、車両の環境のビューを、リアルタイムで、フレーム独立様式において、車両が動作するにつれて提供する。ピクセル値が、カメラの画像センサによって提供されるにつれて、それらの値は、ビデオ情報を使用する前に、画像全体またはフレームを待機して、収集する任意の要件を伴わずに、直接、パイプライン処理動作を通して、HDRシステムにストリーミングされる。パイプラインは、画像の飽和した部分とより少ない光の画像の対応する部分を置換し、場面の非常に少ない光の部分および非常に強く照らされた部分を含むように拡張するダイナミックレンジを伴う、ビデオをストリーミングすることによって、異なる光レベルで撮影された画像を融合するように動作する。ダイナミックレンジが、高いため、車両は、場面が、近づいて来る車両のヘッドライトまたは太陽光等の明るい光によって占められている場合でも、ぼんやりし、判別することが困難な特徴を検出する。HDRビデオカメラは、車両の主要な道路視認システムであり得る、またはパノラマカメラ等の他の検出システムまたはライダもしくはレーダのような検出および測距システムと協働し得る。
本発明は、例えば、以下の項目を提供する。
(項目1)
HDRシステムであって、
リアルタイムHDRビデオを生産するように動作可能であるHDRカメラと、
前記HDRカメラおよび車両の制御システムと通信するように構成されている処理システムであって、前記処理システムは、前記HDRビデオに基づいて、前記車両の環境内の特徴の特性を判定し、前記制御システムに、前記特性に基づいて、前記車両の動作の変更を指示する命令を発行するように動作可能である、処理システムと
を備える、システム。
(項目2)
前記HDRカメラは、処理デバイスに結合された複数の画像センサを備え、前記HDRカメラは、ピクセル値を前記複数の画像センサのそれぞれから、フレーム独立様式において、パイプラインを通して、前記処理デバイス上にストリーミングするように構成され、前記パイプラインは、飽和したピクセル値を識別するカーネル演算と、前記ピクセル値を融合し、前記HDRビデオをリアルタイムで生産する、融合モジュールとを含む、項目1に記載のシステム。
(項目3)
前記HDRカメラは、前記車両の周囲の360度ビューを捕捉する、項目2に記載のシステム。
(項目4)
前記捕捉された360度ビューは、環状形状であり、さらに、前記処理システムは、デラッピングプロセスを実施し、前記360度ビューを長方形パノラマ画像に変換する、項目3に記載のシステム。
(項目5)
検出および測距センサをさらに備え、前記処理システムは、前記検出および測距センサを用いて、オブジェクトを検出し、HDRカメラを用いて、前記オブジェクトを検出し、前記HDRビデオ内のオブジェクトの画像と前記検出および測距システムを介して判定されたオブジェクトの検出された範囲を相関させるように動作可能である、項目4に記載のシステム。
(項目6)
前記処理システムは、前記360度ビュー内の前記環境内のグレアを検出し、前記HDRカメラを使用して、前記グレアによって影響される前記環境の一部のHDR画像を捕捉するように動作可能である、項目2に記載のシステム。
(項目7)
前記カメラはさらに、レンズと、少なくとも1つのビーム分割器とを備える、項目2に記載のシステム。
(項目8)
前記複数の画像センサは、少なくとも高露光(HE)センサと、中間露光(ME)センサとを含む、項目7に記載のシステム。
(項目9)
前記HEセンサ、前記MEセンサ、前記レンズ、および前記少なくとも1つのビーム分割器は、光の入射ビームを受信し、前記光のビームを、少なくとも、前記HEセンサ上に衝突する第1の経路と、前記MEセンサ上に衝突する第2の経路とに分割するように配列されている、項目8に記載のシステム。
(項目10)
前記ビーム分割器は、前記光の大部分を前記第1の経路に、前記光のより少ない量を前記第2の経路に指向する、項目9に記載のシステム。
(項目11)
前記第1の経路および前記第2の経路は、それぞれ、前記HEおよび前記MEセンサ上に衝突し、光レベル以外光学的に同じである画像を生成する、項目10に記載のシステム。
(項目12)
前記処理デバイスは、前記パイプラインを含む、フィールドプログラマブルゲートアレイまたは特定用途向け集積回路を備える、項目11に記載のシステム。
(項目13)
前記カーネル演算は、前記HEセンサ上の所与のピクセルに関して、前記所与のピクセルを囲繞するピクセルの近傍からの値を検査し、前記ピクセルの近傍内の飽和した値を見出し、前記MEセンサ上の対応する近傍からの情報を使用して、前記所与のピクセルに関する値を推定することによって、前記複数の画像センサのそれぞれからストリーミングされるにつれて、ピクセル値に作用する、項目12に記載のシステム。
(項目14)
前記パイプラインは、前記ピクセル値がフローする順序において、
前記ピクセル値が前記処理デバイス上に前記複数の画像センサからストリーミングされるにつれて、前記ピクセル値を同期させるための同期モジュールと、
前記カーネル演算と、
前記融合モジュールと、
デモザイク処理モジュールと、
トーンマッピングオペレータと
を含む、項目13に記載のシステム。
(項目15)
前記パイプラインはさらに、色補正モジュール、HDR変換モジュール、およびHDR圧縮モジュールのうちの1つ以上を備える、項目14に記載のシステム。
自律走行車両は、全体的先進運転支援システム(ADAS)の一部として、種々のデジタルセンサを使用する。ADASは、運転上の決定を行うために、複数のデータソースおよびセンサからの入力に依拠する。ADASは、安全性およびより良好な運転のため、車両システムを自動化する、適合させる、または向上させるために車両内に含まれる。ADASは、運転手に潜在的問題をアラートする技術をもたらすことによって、衝突および事故を回避する、または安全保護を実装し、車両の制御を引き継ぐことによって、衝突を回避するように設計される、特徴を含む。適応特徴は、照明を自動化する、アダプティブ・クルーズ・コントロールを提供する、制動を自動化する、GPSまたはトラフィック警告を組み込む、スマートフォンに接続する、運転手に他の車または危険をアラートする、車両を正しい車線内に保つ、または「盲点」内の対象を監視してもよい。本明細書で使用されるように、ADASは、車両を制御するためにともに動作する、コンポーネントの全てを指すと見なされ得る(例えば、カメラ、加えて、ECU、加えて、検出器等)。ADASのコンポーネントは、車に内蔵される、アフターマーケットアドオンパッケージとして追加される、または両方の組み合わせであってもよい。ADASは、自動撮像、ライダ、レーダ、画像処理、コンピュータビジョン、および車内ネットワーキングを含む、複数のデータソースからの入力を使用してもよい。車両間(V2V)または車両/インフラストラクチャ(移動電話またはWi-Fiデータネットワーク等)システムと称される、他の車両等の主要車両プラットフォームと別個の他のソースからの付加的入力も、可能性として考えられる。
ケース1:ピクセル615は、飽和されておらず、近傍601も、飽和したピクセルを有しておらず、したがって、ピクセル値は、そのまま使用される。
ケース2:ピクセル615は、飽和されていないが、近傍601が、1つ以上の飽和したピクセルを有し、したがって、近傍内に存在する飽和の量に応じて、IHE(x,y)におけるピクセル値と次により暗い露光IME(x,y)におけるものとの間で混成する。
ケース3:ピクセル615は、飽和したが、近傍601は、1つ以上の飽和されていないピクセルを有し、これは、IHE(x,y)に関する値をより良好に推定するために使用され得る。すなわち、近傍内の飽和されていないピクセルと中心ピクセルとの間のME画像内のピクセル値の比率を計算し、ME比率の本マップを使用して、考慮下の飽和したピクセルの実際の値を推定する。
ケース4:ピクセル615は、飽和されており、近傍601内の全てのピクセルも、飽和されており、したがって、高露光画像からの有効情報は存在せず、ME画像を使用して、IHDR(x,y)=IME(x,y)を設定する。
等式1-[A]、すなわち、LEセンサのための色補正行列を使用してSEピクセル値を補正する。
等式2-[B]、すなわち、MEセンサのための色補正行列を使用してMEピクセル値を補正する。
等式3-[C]、すなわち、SEセンサに関する色補正行列を使用してSEピクセル値を補正する。
本発明は、画像をLEセンサの色補正空間からMEセンサの色補正空間に転換するための方法を含み、以下の等式4に図示される。
等式4-LEピクセル値をLE色補正空間からME色補正空間に転換する。
特許、特許出願、特許刊行物、雑誌、書籍、論文、ウェブコンテンツ等の他の文書の参照および引用が、本開示全体を通して行なわれる。そのような文書は全て、あらゆる目的のために、参照することによって、全体として本明細書に組み込まれる。
本明細書に図示および説明されるものに加え、本発明およびその多くのさらなる実施形態の種々の修正が、本明細書に引用される科学および特許文献の参考文献を含む、本書の全内容から、当業者に明白となるであろう。本明細書における主題は、その種々の実施形態およびその均等物における本発明の実践に適合され得る、重要な情報、例示、および指針を含有する。
Claims (13)
- HDRシステムであって、
リアルタイムHDRビデオを生産するように動作可能であるHDRカメラと、
前記HDRカメラおよび車両の制御システムと通信するように構成されている処理システムであって、前記処理システムは、前記HDRビデオに基づいて、前記車両の環境内の特徴の特性を判定し、前記特性に基づいて、前記車両の動作の変更を指示する命令を前記制御システムに発行するように動作可能である、処理システムと
を備え、前記HDRカメラは、少なくとも、処理デバイスに結合された第1のセンサおよび第2のセンサを備え、前記第1のセンサは、高露光センサであり、前記第2のセンサは、前記第1のセンサよりも低い露光を有し、前記HDRカメラは、ピクセル値を前記第1のセンサおよび前記第2のセンサのそれぞれから、フレーム独立様式において、前記処理デバイス上のパイプラインを通してストリーミングするように構成され、前記パイプラインは、カーネル演算と融合モジュールとを含み、前記カーネル演算は、ピクセル値が前記第1のセンサおよび前記第2のセンサのそれぞれからストリーミングされるにつれて、前記第1のセンサ上の所与のピクセルに関して、前記所与のピクセルを囲繞するピクセルの近傍からの値を検査し、前記ピクセルの近傍内の飽和した値を識別し、前記第2のセンサ上の対応する近傍からの情報を使用して、前記所与のピクセルに関する値を推定することによって、前記ピクセル値に作用し、前記融合モジュールは、前記ピクセル値を融合し、前記HDRビデオをリアルタイムで生産する、システム。 - 前記HDRカメラは、前記車両の周囲の360度ビューを捕捉する、請求項1に記載のシステム。
- 前記捕捉された360度ビューは、環状形状であり、さらに、前記処理システムは、デラッピングプロセスを実施し、前記360度ビューを長方形パノラマ画像に変換する、請求項2に記載のシステム。
- 検出および測距センサをさらに備え、前記処理システムは、前記検出および測距センサを用いて、オブジェクトを検出し、HDRカメラを用いて、前記オブジェクトを検出し、前記HDRビデオ内のオブジェクトの画像を前記検出および測距システムを介して判定されたオブジェクトの検出された範囲と相関させるように動作可能である、請求項3に記載のシステム。
- 前記処理システムは、前記360度ビュー内の前記環境内のグレアを検出し、前記HDRカメラを使用して、前記グレアによって影響される前記環境の一部のHDR画像を捕捉するように動作可能である、請求項2に記載のシステム。
- 前記カメラはさらに、レンズと、少なくとも1つのビーム分割器とを備える、請求項1に記載のシステム。
- 前記命令は、前記車両にブレーキをかけるよう指示する、請求項6に記載のシステム。
- 前記第1のセンサ、前記第2のセンサ、前記レンズ、および前記少なくとも1つのビーム分割器は、光の入射ビームを受信し、前記光のビームを、少なくとも、前記第1のセンサ上に衝突する第1の経路と、前記第2のセンサ上に衝突する第2の経路とに分割するように配列されている、請求項7に記載のシステム。
- 前記ビーム分割器は、前記光の大部分を前記第1の経路に指向し、前記光のより少ない量を前記第2の経路に指向する、請求項8に記載のシステム。
- 前記第1の経路および前記第2の経路は、それぞれ、前記第1のセンサおよび前記第2のセンサ上に衝突し、光レベル以外光学的に同じである画像を生成する、請求項9に記載のシステム。
- 前記処理デバイスは、前記パイプラインを含む、フィールドプログラマブルゲートアレイまたは特定用途向け集積回路を備える、請求項10に記載のシステム。
- 前記パイプラインは、前記ピクセル値がフローする順序において、
前記ピクセル値が前記処理デバイス上に前記第1のセンサおよび前記第2のセンサからストリーミングされるにつれて、前記ピクセル値を同期させるための同期モジュールと、
前記カーネル演算と、
前記融合モジュールと、
デモザイク処理モジュールと、
トーンマッピングオペレータと
を含む、請求項11に記載のシステム。 - 前記パイプラインはさらに、色補正モジュール、HDR変換モジュール、およびHDR圧縮モジュールのうちの1つ以上を備える、請求項12に記載のシステム。
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