WO2008053521A1 - Dispositif de commande de source lumineuse, procédé de commande de source lumineuse et programme de commande de source lumineuse - Google Patents

Dispositif de commande de source lumineuse, procédé de commande de source lumineuse et programme de commande de source lumineuse Download PDF

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Publication number
WO2008053521A1
WO2008053521A1 PCT/JP2006/321702 JP2006321702W WO2008053521A1 WO 2008053521 A1 WO2008053521 A1 WO 2008053521A1 JP 2006321702 W JP2006321702 W JP 2006321702W WO 2008053521 A1 WO2008053521 A1 WO 2008053521A1
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WO
WIPO (PCT)
Prior art keywords
light source
vehicle
image
source control
photographing
Prior art date
Application number
PCT/JP2006/321702
Other languages
English (en)
Japanese (ja)
Inventor
Asako Kitaura
Seiya Shimizu
Original Assignee
Fujitsu Limited
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 Fujitsu Limited filed Critical Fujitsu Limited
Priority to PCT/JP2006/321702 priority Critical patent/WO2008053521A1/fr
Priority to JP2008541934A priority patent/JP4985651B2/ja
Publication of WO2008053521A1 publication Critical patent/WO2008053521A1/fr

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Classifications

    • 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
    • B60Q1/085—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 special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • 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

Definitions

  • Light source control device Light source control method, and light source control program
  • the present invention relates to a light source control device, a light source control method, and a light source control program for controlling a plurality of vehicle light sources that irradiate the periphery of the vehicle based on an image around the vehicle photographed by a photographing unit.
  • Patent Document 1 discloses a technique for controlling headlight irradiation by partially shielding (dimming) the headlight using an opaque mask. Specifically, a person on the road is detected, and an opaque mask is physically created using a camera image based on the size and position corresponding to the detected person, and irradiated from a single light source. Illumination is controlled by partially blocking the main beam.
  • Patent Document 2 identifies a preceding vehicle, an oncoming vehicle, a signal, etc. from the image based on the difference between images captured with both visible light and invisible light. A technology to detect surrounding objects is disclosed!
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2004-231178
  • Patent Document 2 JP 2004-104646 A
  • the present invention has been made to solve the above-described problems of the prior art, and the illumination of the headlight is performed by associating the illumination area on the photographed image with the illumination axis of the vehicle light source. The purpose is to control appropriately.
  • the light source control device includes a light source identifier for uniquely identifying a plurality of vehicle light sources and an image on which each vehicle light source is irradiated.
  • a light source irradiation area storage means for storing light source irradiation area information associated with the area, a specific means for detecting an object present in the image and specifying an area on the image where the object is located, and a specifying means for specifying Vehicle light source control means for obtaining a light source identifier corresponding to a region on the image obtained from the light source irradiation area storage means and controlling the vehicle light source identified by the light source identifier so as to increase or decrease light.
  • light source irradiation area information in which a light source identifier for uniquely identifying a plurality of vehicle light sources is associated with an area on an image irradiated with each vehicle light source is stored. Detecting an object present in the image, specifying a region on the image where the object is located, obtaining a light source identifier corresponding to the region on the specified image, and determining a vehicle light source identified by the light source identifier Since the control is performed so that the light is increased or decreased, the illumination of the vehicle light source can be controlled by associating the illumination area on the captured image with the illumination axis of the vehicle light source.
  • the invention according to claim 2 is the above-described invention, in the above invention, a photographing light source control means for controlling the photographing light source that irradiates the photographing space photographed by the photographing unit to be turned on or off, and An image around the vehicle when the photographing light source is controlled to be turned on by the photographing light source control means and an image around the vehicle when the photographing light source is controlled to be turned off. And a photographing control means for controlling the photographing unit, and the specific means is controlled so that the image around the vehicle when the photographing light source is controlled to turn on and the photographing light source is turned off. Compared with the image around the vehicle at the time of speaking, the reflector and the light emitter existing around the vehicle are detected, and the region on the image where the reflector and the light emitter are located is specified. To do.
  • the imaging light source is controlled to be turned on or off and the imaging light source is turned on. It is controlled so that the image around the vehicle at the time and the light source for photographing are turned off, and the photographing unit is controlled so as to take the image around the vehicle at the time so that the light source for photographing is turned on. Compare the image of the surroundings of the vehicle when it strikes and the image of the surroundings of the vehicle when the light source for shooting is controlled to turn off. And the area on the image where the reflector and the light emitter are located is specified, so that the image around the vehicle when the light source for shooting is controlled to turn on and the light source for shooting are turned off. It is possible to detect an object around the vehicle by using a luminance difference from an image around the vehicle when controlled.
  • the invention according to claim 3 is characterized in that, in the above invention, the imaging light source control means controls to turn on or off the imaging light source that irradiates the imaging space with invisible light. To do.
  • the imaging light source that irradiates the imaging space with the invisible light is controlled to be turned on or off, the influence on the vehicle light source can be reduced.
  • whether or not the area on the image specified by the specifying means is to be brightened or dimmed is based on an object located in the area on the image.
  • an irradiation determination means for determining, and the area force on the image determined to be brightened or dimmed by the irradiation determination means also uses the light source irradiation area information to identify a light source identifier corresponding to the area on the image, The vehicle light source identified by the light source identifier is controlled to be increased or decreased.
  • the region power on the image determined as described above is used to identify the light source identifier corresponding to the region on the image and control the vehicle light source identified by the light source identifier to be increased or decreased.
  • the vehicle light source can be controlled.
  • the irradiation determination means is any one of an object reflectivity, an object size, an object motion, an object size change, and an object shape. Based on one or more of them, it is determined whether or not the power to increase or decrease the area on the image is determined. [0016] According to the invention of claim 5, on the image, based on any one or more of the reflectance of the object, the size of the object, the movement of the object, the change in the size of the object, and the shape of the object. It is possible to determine the type of the detected object because it is determined whether or not the area is brightened or dimmed.
  • the imaging light source control means controls the imaging unit so as to capture a visible image, and the visible image power captured by the imaging control means. It further comprises color information acquisition means for acquiring color information.
  • the imaging unit is controlled so as to capture a visible image, and the captured visible image force color information is acquired. Therefore, using the acquired color information, the visible image force is acquired. Object detection and object identification can be performed.
  • the invention according to claim 7 is characterized in that, in the above-mentioned invention, further includes an angle-of-view switching means characterized by switching the angle of view of the photographing unit controlled by the photographing control means.
  • the apparatus further includes a luminance difference determining unit that calculates a luminance difference between the luminance before the control and the luminance after the control, and determines whether the luminance difference is equal to or less than a threshold value. If it is below the threshold, the other light sources are further controlled.
  • the vehicle light source after the vehicle light source is controlled to be brightened or dimmed, the brightness before control and the brightness after control of the area on the image corresponding to the vehicle light source The brightness difference is calculated, and it is determined whether the brightness difference is less than the threshold value. If the brightness difference is less than the threshold value, the other light sources are further controlled. If the irradiation of other vehicle light sources other than the vehicle light source is affected, the other vehicle light sources may also be controlled to increase or decrease the area on the image where the irradiation should be controlled. it can.
  • the invention according to claim 9 is characterized in that, in the above-described invention, the apparatus further includes input means for acquiring information on the periphery of the vehicle and inputting information on the periphery of the vehicle.
  • the invention according to claim 10 is further provided with calculation means for calculating which vehicle light source is the vehicle light source that irradiates the area on the image specified by the specifying means in the above invention,
  • the control means controls the vehicle light source calculated by the calculation means so as to increase or decrease the light.
  • the vehicle light source that irradiates the specified region on the image calculates any vehicle light source power, and controls the calculated vehicle light source to increase or decrease light. Therefore, the correspondence between the vehicle light source and the area on the image irradiated by the vehicle light source can be calculated, and the vehicle light source that can be increased or decreased in real time can be specified. Further, when the shooting direction of the camera is changed, the correspondence between the changed vehicle light source and the area on the image irradiated by the vehicle light source can be calculated.
  • the other vehicle light source is also used. It is possible to lighten or darken areas on the image that should be controlled to properly control illumination
  • the vehicle light source that performs the light increase or decrease in real time by calculating the correspondence between the vehicle light source and the area on the image irradiated by the vehicle light source. is there. Further, when the shooting direction of the camera is changed, it is possible to calculate the correspondence between the changed vehicle light source and the area on the image irradiated by the vehicle light source.
  • FIG. 1 is a diagram for explaining the outline and features of a light source control device 10 according to a first embodiment.
  • FIG. 2 is a block diagram illustrating a configuration of the light source control device 10 according to the first embodiment.
  • Fig. 3 shows the headlight LED of the light source control device 10 according to Example 1 and the infrared LE for photographing.
  • FIG. 4 shows the headlight LED of the light source control device 10 according to Example 1 and the infrared LE for photographing.
  • FIG. 5 shows the headlight LED of the light source control device 10 according to Example 1 and the infrared LE for photographing.
  • FIG. 6 is a diagram for explaining object distribution area data.
  • FIG. 7 is a diagram for explaining object identification data.
  • FIG. 8 is a diagram for explaining light source irradiation area data.
  • FIG. 9 is a diagram for explaining a process for estimating the reflectance and distance of a reflector.
  • FIG. 10 is a diagram for explaining processing for estimating the reflectance and distance of a reflector.
  • FIG. 11 is a diagram for explaining an irradiation determination process.
  • FIG. 12 is a diagram for explaining light source control processing.
  • FIG. 13 is a flowchart showing an image photographing processing operation of the light source control device 10 according to the first embodiment.
  • FIG. 14 is a flowchart showing a light source control processing operation of the light source control apparatus 10 according to the first embodiment.
  • FIG. 15 is a flowchart showing a position specifying process operation of the light source control device 10 according to the first embodiment.
  • FIG. 16 is a diagram for explaining the outline and features of the light source control device 10 according to the second embodiment.
  • FIG. 17 is a block diagram illustrating a configuration of a light source control device 10 according to a second embodiment.
  • FIG. 18 is a diagram for explaining color data.
  • FIG. 19 is a diagram for explaining the outline and features of the light source control device 10 according to the third embodiment.
  • FIG. 20 is a diagram for explaining the outline and features of the light source control device 10 according to the fourth embodiment.
  • FIG. 21 is a block diagram illustrating a configuration of a light source control device 10 according to a fourth embodiment.
  • FIG. 22 is a diagram for explaining the outline and features of the light source control device 10 according to the fifth embodiment.
  • FIG. 23 is a diagram for explaining processing for specifying an occupied pixel position in an image taken with an optical axis force.
  • FIG. 24 is a diagram illustrating a computer that executes a light source control program. Explanation of symbols
  • FIG. 1 is a diagram for explaining the outline and features of the light source control apparatus according to the first embodiment.
  • the light source control device 10 is generally configured to control a plurality of vehicle light sources that irradiate the periphery of the vehicle based on the image around the vehicle captured by the imaging camera. And thus, the main feature is that the headlight illumination is appropriately controlled.
  • the light source control device 10 includes a light source ID that uniquely identifies a plurality of headlights LED1la to Lli. And each headlight LEDlla ⁇ : Light source irradiation area data in which an area on the image irradiated with L li is associated is stored.
  • the light source control device 10 detects an object present in an image around the vehicle and specifies a region where the object is located (see (1) in FIG. 1). Specifically, as will be described later, the light source control device 10 is controlled so that the image in front of the vehicle when the imaging infrared LED 12 is controlled to be turned on and the imaging infrared LED 12 is turned off. Compared with the image in front of the vehicle at the time, the reflector and the light emitter existing in front of the vehicle are detected, and the region on the image where the reflector and the light emitter are located is specified.
  • the light source control device 10 acquires the light source ID corresponding to the specified region on the image, and also obtains the light source irradiation region data power, and increases or decreases the headlight LED 11 identified by the light source ID. (Fig. 1 (2)). In the example of the figure, the light source control device 10 assigns the light source IDs “4”, “5”, “7”, “8” corresponding to the region on the specified image (the region where the object A is located). The light source irradiation area data is acquired, and the headlight LED 11 identified by the light source ID is controlled to be increased or decreased.
  • the light source control device 10 can appropriately control the illumination of the vehicle light source according to the above main features as a result of associating the irradiation area on the captured image with the irradiation axis of the vehicle light source. Is possible.
  • FIG. 2 is a block diagram illustrating a configuration of the light source control device 10 according to the first embodiment.
  • the light source control device 10 includes a headlight LED 11, a photographing infrared LED 12, an infrared photographing camera 13, a control unit 14, and a storage unit 15. The processing of each of these units will be described below.
  • the headlight LED 11 illuminates the front of the vehicle by turning off, turning on, dimming or dimming.
  • the photographing infrared LED 12 illuminates the photographing space photographed by the infrared photographing camera 13.
  • the infrared camera 13 captures an infrared image in front of the vehicle every predetermined time. Ingredients Specifically, the infrared camera 13 is controlled so that the infrared LED 12 for shooting is turned on, and is controlled so that the image of the front of the vehicle at the time of V, and the infrared LED 12 for shooting is turned off. Take an image of the front of the vehicle. In FIG. 2, it is assumed that there is only one headlight LED 11 and infrared LED 12 for photographing, but there are actually a plurality.
  • FIGS. 3 to 5 are diagrams for explaining specific configuration examples of the headlight LED11, the imaging infrared LED 12, and the infrared imaging camera 13 of the light source control device 10 according to the first embodiment.
  • an infrared photographing camera 13 in which a plurality of headlight LEDs 11 and photographing infrared LEDs 12 for photographing are mixed and the photographing direction is aligned at the center of the light source group is provided. Is placed.
  • the headlight LED 11 and the infrared LED L12 for shooting are alternately mixed, but the distribution method and ratio of the light source are of course arbitrary, and even the shooting space can be illuminated. For example, there is no need to worry about the number of light sources and optical axes of the infrared LED 12 for shooting, so one large infrared LED 12 for shooting should be separated from the headlight LED 11 and infrared camera 13 without mixing them. I do n’t mind.
  • the shooting range of an infrared camera can be approximated as a quadrangular pyramid space that spreads in the direction of the subject with the shooting lens center at the apex.
  • This square pyramid has a rectangular cut surface when the apex force is cut laterally at a distance up to the focal length, and is a film size.
  • the height of the quadrangular pyramid is not infinite, and areas that are not in focus, especially areas closer or farther than the depth of field are blurred and difficult to analyze.
  • the height is limited to some extent, and the space is cut at the photographic lens side (apex side) and the subject side (bottom side). Incident light on each pixel of the captured image gathers at the center of the lens to form an image so as to match the expanse of the imaging space.
  • the optical axes of the plurality of headlight LEDs 11 are set in a direction opposite to the radial concentration direction of the incident light.
  • the headlight LED11 which has an optical axis as if it was illuminated from the center of the camera lens at the shooting angle of view and has a farther shooting camera power, has a wider angle. Becomes the direction of the large optical axis.
  • a prism may be used for IJ as illustrated in Fig. 4.
  • the irradiation area of each light source in the imaging space can be uniquely determined.
  • the headlight LEDs 11 are arranged evenly to illuminate the shooting space, and the three main headlight LEDs 11 (in the example of FIG. 2.
  • the light source control device 10 associates the irradiation area on the image of the headlight LED 11 with respect to each pixel of the captured image and the light source ID.
  • the vertical direction (V) of the photographed image is occupied by three light sources 2, 5, and 8.
  • the light of the light source power may actually be irradiated while being widely diffused to the periphery, for example, spreading in a spherical shape.
  • an effective spread angle can be obtained by utilizing the characteristics of the light source such as diffusion characteristics.
  • the main influence area of the light source may be determined.
  • the storage unit 15 is storage means for storing data and programs necessary for various processes by the control unit 14, and particularly closely related to the present invention is an image data storage unit 15a, object distribution An area data storage unit 15b, an object identification data storage unit 15c, and a light source irradiation area data storage unit 15d are provided.
  • the light source irradiation area data storage unit 15d corresponds to “light source irradiation area storage means” described in the scope of patent request.
  • the image data storage unit 15a stores image data photographed by the infrared photographing camera 13. More specifically, the image data storage unit 15a includes an image in front of the vehicle when the photographing infrared LED 12 is turned on and a vehicle when the photographing infrared LED 12 is turned off. The front image is memorized.
  • the object distribution area data storage unit 15b stores information on an object in which a captured image is also detected. Specifically, as shown in FIG. 7, the object distribution area data storage unit 15b includes an object ID that uniquely identifies an object detected on an image and a cluster ID that uniquely identifies a clustered pixel group. And object distribution area data in which the type indicating the type of the object, the reflectance of the object, the number of occupied pixel blocks, and the occupied pixel block group indicating the area on the image where the object is located are associated with each other. [0058] The object identification data storage unit 15c stores the control type of the headlight LED 11 in association with the type of the object and the area on the image where the object is located. Specifically, as shown in FIG. 8, the object identification data storage unit 15c stores object identification data in which the object type, the reflectance of the object, the content of the object, and the light source control content are associated with each other. To do.
  • the light source irradiation area data storage unit 15d stores light source irradiation area data in which a light source ID that uniquely identifies each of the plurality of headlight LEDs 11 and an area on the image irradiated with each headlight LED 11 are associated with each other. To do. Specifically, as shown in FIG. 6, the light source irradiation area data storage unit 15d includes a light source ID, the number of occupied pixels indicating the number of pixels on the image irradiated with each headlight LED 11, and each headlight LED 11 Light source irradiation area data associated with an occupied pixel group indicating an area on the image irradiated with is stored.
  • the control unit 14 has an internal memory for storing a program that defines various processing procedures and the necessary data, and executes various processes using these programs, and is particularly closely related to the present invention. As what performs, it is provided with the imaging
  • the imaging light source control unit 14a corresponds to the “imaging light source control unit” recited in the claims
  • the peripheral image imaging unit 14b corresponds to the “imaging control unit” recited in the claims.
  • the position specifying unit 14c corresponds to the “specifying unit” described in the claims
  • the irradiation determining unit 14d corresponds to the “irradiation determining unit” described in the claims
  • the light source irradiation control unit 14e This corresponds to the “vehicle light source control means” described in the claims.
  • the photographing light source control unit 14a controls the photographing infrared LED 12 that irradiates the photographing space photographed by the infrared photographing camera 13. Specifically, the imaging light source control unit 14a controls the imaging infrared LED 12 to be turned on or off at predetermined intervals.
  • the peripheral image photographing unit 14b is configured to display an image around the vehicle when the photographing infrared LED 12 is controlled to turn on and an image around the vehicle when the photographing infrared LED 12 is controlled to turn off.
  • the infrared camera 13 is controlled so that the Specifically, when the headlight switch is turned on, each time the infrared LED for shooting 12 is turned on or off, an image around the vehicle is taken and stored in the image data storage unit 15a, and the headlight switch is turned off. Repeat the process until.
  • the position specifying unit 14c detects an object present in the image and specifies a region on the image where the object is located.
  • the position specifying unit 14c extracts a pixel block having a high luminance by comparing the image when the infrared LED for photographing 12 is turned on and the image when it is turned off. To do.
  • the position specifying unit 14c uses an image when the photographing infrared LED 12 is turned on / off by active illumination, and the brightness is high in both areas, the part is a light emitter, and the difference area where the brightness is high only when the light is reflected is a reflector. Identify as. This identification may be performed in units of pixels, but may be performed in units of pixel blocks in which several pixels are combined for speeding up.
  • image comparison may be performed using an image obtained when the photographing infrared LED 12 is turned on at a low illuminance with a sufficient illuminance difference compared to when the photographing infrared LED 12 is turned on.
  • the position specifying unit 14c determines whether or not the neighboring pixel blocks in the vicinity of the extracted pixel blocks are similar in luminance. As a result, if the brightness is similar, the position specifying unit 14c creates a pixel block by grouping neighboring pixel blocks that are close in position, whereas if the brightness is not similar, A pixel cluster consisting of one pixel block is created.
  • the position specifying unit 14c compares the position, brightness, shape similarity, and the like in the image over time between the pixel clusters extracted from the captured images at the time of turning on and off before and after the time. Pixel clusters corresponding to are extracted and time tracking is performed. Then, the position specifying unit 14c determines whether or not a reflector is included in the time-followed pixel cluster. If the reflector is included, in this case, only the light emitter of the pixel cluster alone is used. Consider it an object. In addition, when the reflector is included, the position specifying unit 14c calculates the luminance change of the reflector at the previous and subsequent times, and uses the moving distance of the own vehicle to reflect the luminance reflectance and the distance from the own vehicle. Is estimated.
  • FIG. 9 is a diagram for explaining processing for estimating the reflectance and distance of the reflector
  • FIG. 10 is a diagram for explaining processing for estimating the reflectance and distance of the reflector.
  • the position specifying unit 14c assumes that the reflector moves at a low speed, assumes that the reflector is stationary for a sufficiently short shooting time, and uses the traveling distance of the vehicle to reflect the reflector. Estimate the distance to. At this time, assuming that the reflector forms a vertical plane with respect to the infrared rays, the luminance reflectance is simultaneously obtained, and the material of the reflector is estimated from the luminance reflectance.
  • I is the luminance of the infrared light source
  • II and 12 are the luminance reflectance of the reflector at times tl and t2
  • R is the luminance reflectance of the reflector.
  • the power of being inversely proportional and proportional to the luminance reflectance the relationship between the irradiation luminance and the reflection luminance at time tl is as shown in Equation 1.
  • Equation 2 can be used, so that II, 12, I, and AL can be used as known variables from changes in luminance between images and changes in the travel distance of the host vehicle.
  • the reflectance R and distance L1 (and L2 as L1 + AL) can be roughly estimated.
  • the main purpose is high-beam control, which assumes a static reflector, the illuminant is not subject to irradiation due to avoidance of dazzling, and is extremely slow like a pedestrian.
  • the movement can be regarded as a stationary object in a short time, and when the moving reflector is regarded as a stationary reflector, the distance is closer than the original because it is calculated with an attenuation greater than the original brightness. It is calculated that there is an overdetection for the purpose of safety detection, and this is not a problem.
  • the position specifying unit 14c determines whether the luminance reflectance and distance similarity between neighboring pixel clusters close to each other is high. . If the position specifying unit 14c determines that the similarity is high, the position specifying unit 14c collects the objects having high similarity as the same object. On the other hand, if the similarity is low, each pixel cluster is grouped as a single object. And information on each object is stored in the object distribution area data storage unit 15b.
  • the irradiation determination unit 14d determines whether or not to increase or decrease the area on the specified image based on an object located in the area on the image. Specifically, the irradiation determination unit 14d acquires the object distribution region data stored in the object distribution region data 15b, further acquires the object identification data from the object identification data storage unit 15c, and identifies the contents of the object as the object Data The control content of the headlight LED 11 for the area on the image where the object is located is determined.
  • FIG. 11 is a diagram for explaining the irradiation determination process.
  • the irradiation determination unit 14d uses the object identification data for the reflector A of the object 2, and the content of the object is “fiber” from the reflectance “0.3”. And decides to “brighten” as the light source control content for reflector A.
  • the light source irradiation control unit 14e controls the headlight LED 11 so as to increase or decrease the light. Specifically, the light source irradiation control unit 14e acquires the light source ID corresponding to the region on the image for which light source control is performed from the light source irradiation region data storage unit 15d, and irradiates the headlight LED 11 identified by the light source ID. Based on the light source control content determined by the determination unit 14d, control is performed to increase or decrease the light.
  • FIG. 12 is a diagram for explaining the light source control process.
  • the light source irradiation control unit 14e determines that the light source control content is dimmed for the illuminant, increased for the reflectors A and B, and kept normal for the reflector C.
  • the light sources 14 and 15 corresponding to the pixel coordinates where the light emitter is located are dimmed, and the light sources corresponding to the pixel coordinates where the reflectors A and B are located 12, 13, 17, 18, 22, 23 Brighten up.
  • FIG. 13 is a flowchart illustrating the image capturing processing operation of the light source control device 10 according to the first embodiment.
  • the peripheral image capturing unit 14b of the light source control device 10 captures an image around the vehicle and captures an image data storage unit. It is stored in 15a (step S102), and it is determined whether the imaging infrared LED 12 has been turned on or off (step S103). As a result, if the surrounding image capturing unit 14b determines that the lighting or turning-off has been switched (Yes in step S103), the surrounding image capturing unit 14b captures an image around the vehicle and stores it in the image data storage unit 15a ( Step S104) If it is determined that the switch has not been made (No at Step S103), the determination process is repeated until the switch is made.
  • the peripheral image capturing unit 14b determines whether or not the headlight switch is turned off (step S105). If the headlight switch is not turned off (No in step S105) The above processing is repeated (step S102 to step S105). In addition, when the headlight switch is turned off (Yes in step S105), the peripheral image capturing unit 14b ends the process.
  • FIG. 14 is a flowchart illustrating the light source control processing operation of the light source control device 10 according to the first embodiment.
  • the position specifying unit 14c of the light source control device 10 performs the position specifying process described in detail later when there is image data in the image data storage unit 15a (Yes in step S201) (see FIG. Step S202). Then, the irradiation determination unit 14d acquires the object distribution region data stored in the object distribution region data storage unit 15b, further acquires the object identification data from the object identification data storage unit 15c, and identifies the object contents as the object identification. The estimation is made using the data, and the control content of the headlight LED 11 for the area on the image where the object is located is determined (step S203).
  • the light source irradiation control unit 14e acquires the light source ID corresponding to the region on the image for which light source control is performed from the light source irradiation region data storage unit 15d, and the headlight LED 11 identified by the light source ID is irradiated with the irradiation determination unit 14d. Based on the content of the light source control determined in step S204, the light is controlled to be increased or decreased (step S204).
  • FIG. 15 is a flowchart illustrating the position specifying process operation of the light source control device 10 according to the first embodiment.
  • the position specifying unit 14c of the light source control device 10 compares the image when the imaging infrared LED 12 is lit and the image when the illuminating LED 12 is turned off, and extracts a pixel block with high brightness (scaling). (Step S301), among the extracted pixel blocks, It is determined whether the brightness is similar (step S302). As a result, if the brightness is similar (Yes at step S302), the position specifying unit 14 creates a pixel block by grouping neighboring pixel blocks close to the position (step S303), while the brightness is similar. If not (No in step S302), a pixel cluster having a single pixel block force is created (step S304).
  • the position specifying unit 14c compares the position, brightness, shape similarity, and the like in the image over time between the pixel clusters extracted from the captured images at the time of turning on and off before and after the time. Pixel clusters corresponding to are extracted and time tracking is performed (step S3 05). Then, the position specifying unit 14c determines whether or not a reflector is included in the time-followed pixel cluster (step S306). If the reflector is not included (No in step S306), the pixel cluster is determined. Only a single illuminant is considered as an object that has power (step S311).
  • the position specifying unit 14c calculates the luminance change of the reflector at the previous and subsequent times, and uses the moving distance of the own vehicle to determine the luminance reflectance and Estimate the distance from the vehicle (step S307).
  • the position specifying unit 14c determines whether the luminance reflectance and distance similarity between neighboring pixel clusters close to each other is high (step S308). If the position specifying unit 14c determines that the degree of similarity is high (Yes in step S308), the parts having high degree of similarity are grouped together as the same thing (step S309), while the degree of similarity is low. (No in step S308), each pixel cluster is regarded as a single object (step S310), information relating to each object is stored in the object distribution area data storage unit 15b, and the process is terminated.
  • the light source control device 10 stores light source irradiation area information in which a light source identifier for uniquely identifying a plurality of vehicle light sources is associated with an area on an image to which each vehicle light source is irradiated. Is detected, an area on the image where the object is located is identified, a light source identifier corresponding to the identified area on the image is obtained, and a vehicle light source identified by the light source identifier is increased or decreased. Therefore, the illumination of the vehicle light source is appropriately controlled by associating the illumination area on the captured image with the illumination axis of the vehicle light source. It is possible to control.
  • the imaging light source that irradiates the imaging space captured by the imaging unit is controlled to be turned on or off, and the imaging light source is controlled to be turned on.
  • the camera is controlled so that the image around the vehicle at the time and the image around the vehicle when the light source for shooting is controlled to be turned off, and the light source for shooting is controlled to be turned on.
  • the image of the surroundings of the vehicle is controlled so that the photographing light source is turned off, and the image of the surroundings of the vehicle is compared to detect the reflectors and illuminators existing around the vehicle. Since the area on the image where the body and the light emitter are located is specified, the image around the vehicle when the shooting light source is turned on and the shooting light source is controlled to be turned off Using the brightness difference from the image of the vehicle surroundings It is possible to detect the object.
  • the photographing light source that irradiates the photographing space with the invisible light is controlled to be turned on or off, it is possible to reduce the influence on the vehicle light source.
  • the first embodiment it is determined based on an object located in the region on the image whether or not the specified region on the image is to be brightened or dimmed, and the light is to be brightened or dimmed.
  • the light source irradiation area information is used to determine the light source identifier corresponding to the area on the image, and the vehicle light source identified by the light source identifier is controlled to be increased or decreased. It is possible to appropriately control the vehicle light source according to the object.
  • the present invention is not limited to this, and a general visible camera can be used together with an infrared camera. Even if you use it.
  • FIG. 16 is a diagram for explaining the outline and features of the light source control apparatus according to the second embodiment.
  • the visible camera 11A is newly provided, the visible camera 11A is controlled so as to capture a visible image, and a color is determined from the captured visible image. Get information. Specifically, the color information of each pixel cluster is acquired and stored in a color data storage unit 15e described later (for example, in the example of FIG. 16, the color information is associated with the pixel cluster of cluster ID “3”). Remember “blue”).
  • FIG. 17 is a block diagram illustrating the configuration of the light source control device according to the second embodiment.
  • the light source control device 10 according to the second embodiment has a visible camera 13A, a color information acquisition unit 14f, and a light source control device 10 according to the first embodiment shown in FIG. The difference is that a color data storage unit 15e is newly provided.
  • the visible camera 13A captures a visible image in front of the vehicle.
  • the visible camera 13A may divide the incident light with a prism, etc., and shoot with each dedicated camera.
  • an infrared light filter in front of the camera alternately, Both images at the same time may be acquired.
  • a camera that captures two images at the same time may be prepared by mixing elements that respond to infrared light and visible light.
  • the color data storage unit 15e stores the color information acquired by the color information acquisition unit 14f.
  • the color data storage unit 15e uses color information such as “reflector” attributes such as “road signs / impossibility (type of road sign if possible)”, “material color”, and “light emitter” attributes. Let's try to memorize the “luminescent color”.
  • the color information acquisition unit 14f acquires the color information of the object detected in the visible image in front of the vehicle photographed by the visible camera 13A, and stores it in the color data storage unit 15e. Specifically, the color information acquisition unit 14f acquires a visible image from the image data storage unit 15a, extracts color information of the object detected by the position specifying unit 14c, and uses the extracted color information as a color data storage unit.
  • the color information acquisition unit 14f acquires a visible image from the image data storage unit 15a, extracts color information of the object detected by the position specifying unit 14c, and uses the extracted color information as a color data storage unit.
  • the irradiation determination unit 14d acquires the object distribution region data from the object distribution region data storage unit 15b, acquires the color information from the color data storage unit 15e, and based on the object distribution region data and the color information, The light source control content is determined.
  • the imaging unit is controlled so as to capture a visible image, and imaging is performed. Since the obtained visible image force color information is acquired, it is possible to perform more accurate object detection and object identification using the color information acquired from the visible image.
  • the present invention is not limited to this, and the angle of view of the camera may be switched. .
  • this is an example in which a wide range of front light irradiation space is covered with a single photographing camera and photographed image.
  • the number of cameras increases, which increases costs such as price and maintenance. For this reason, the smaller the number of shooting cameras, the better.
  • simply widening the angle of view of the camera to cover a wide range of frontlight illumination space lowers the spatial resolution of the shot image, resulting in rough identification of surrounding objects. It is difficult to grasp the subtle changes in brightness of the reflector.
  • FIG. 19 is a diagram for explaining the outline and features of the light source control apparatus according to the third embodiment.
  • the angle of view of the infrared camera 13 is switched.
  • the light source control device according to the third embodiment determines the priority on the area on the image.
  • the state of the distributed object around the vehicle that is, the object state such as the movement (flow) in the screen and where it is on the shooting screen, and the irradiation plan that can estimate the type power of the roughly estimated object
  • the degree of importance in frontlight control such as the degree of relevance of the image, is used.
  • the priority may be determined using information that can also acquire other powers, such as age and driving characteristics.
  • the light source control device continuously shoots only the area with the higher priority by adjusting the shooting angle of view and the like.
  • the re-captured image is more accurate because it was captured with a finer spatial resolution than the previous wide-area capture.
  • the object distribution is estimated again with high accuracy, and the result of estimation using rough captured images is completed.
  • wide-angle shooting and narrow-angle shooting are separated as an example using a single camera. The power realized by switching This is applied to the case of multiple cameras, and these may be used as separate cameras.
  • a wide-range shooting may be performed mainly, and a switching narrow-angle shooting may be appropriately performed only when necessary.
  • Example 3 the angle of view of the controlled imaging unit is switched.
  • the image is captured with a narrowed angle of view for a predetermined portion in the image around the vehicle. It is possible to take a more accurate image of the predetermined portion.
  • Example 4
  • another headlight LED may be further controlled.
  • the light source is uniquely assigned to each camera, but it actually affects the shooting area of multiple cameras. Need to be considered.
  • FIG. 20 is a diagram for explaining the outline and features of the light source control apparatus according to the fourth embodiment.
  • the light source control device 10 includes a plurality of infrared photographing cameras 13a and 13b and a headlight LEDl that irradiates the photographing space of the infrared photographing camera 13a.
  • la ⁇ Lie and headlights LED id to llf for irradiating the photographing space of the infrared camera 13b.
  • the light source control device 10 determines the brightness before the control and the brightness after the control for the area on the image corresponding to the controlled headlight LED 11. If the brightness difference is less than or equal to the threshold, Further control the LED light 11. Specifically, the light source control device 10 controls the headlight 1 lc, and then controls the luminance before the control and the luminance after the control in the area on the image corresponding to the headlight LED1 Id. The brightness difference is calculated, and if the brightness difference is less than or equal to the threshold, the other light sources are sequentially controlled, and the check is repeated until the brightness difference before and after the control becomes greater than or equal to the threshold.
  • FIG. 21 is a block diagram illustrating the configuration of the light source control device according to the fourth embodiment.
  • the light source control device 10 according to the fourth embodiment has a light source irradiation control result confirmation unit 14g newly compared to the light source control device 10 according to the first embodiment shown in FIG. The point to be prepared is different.
  • the light source irradiation control result confirmation unit 14g determines the luminance before the control and the luminance after the control for the area on the image corresponding to the headlight LED11.
  • the other headlight LEDs 11 are further controlled. Since there is a high possibility that the headlight LED11 that creates a crossing shooting area that belongs to the light source power belonging to the neighboring camera, it may be possible to investigate the power of the neighboring camera, or as a headlight LED11 that may have an influence Please make a list in advance. /.
  • Example 4 after the vehicle light source is controlled to increase or decrease, the luminance before the control and the luminance after the control over the region on the image corresponding to the vehicle light source. And the brightness difference is less than or equal to the threshold value. If the brightness difference is less than or equal to the threshold value, the other light sources are further controlled. If other vehicle light sources other than the associated vehicle light source are affected, the other vehicle light sources are also controlled to increase or decrease the area on the image that should be properly controlled. Can be performed.
  • FIG. 22 is a diagram for explaining the outline and features of the light source control apparatus according to the fifth embodiment.
  • the light source control apparatus obtains and inputs depth measurement result information, which is information related to the surroundings of the laser sensor power vehicle, which is another device.
  • depth measurement result information is information related to the surroundings of the laser sensor power vehicle, which is another device.
  • a distance measuring device using millimeter wave radar or sound waves can be considered.
  • the light emitters 1 and 2 and the reflector 3 are distributed on the photographed image. Since the distance (depth) from each vehicle is unknown, the area passing through the corresponding occupied area on the shooting camera power screen is the existence possibility area of each object.
  • the part where the existence possibility area intersects with the data (depth line here) indicating the depth of the measurement result of the laser sensor can be estimated as the existence position (distance to each object) of each object. If there is variation in each depth data that intersects with the existence possibility area, you can select one representative position such as the average or minimum of those values! It doesn't matter.
  • the present invention may calculate an area on the image corresponding to the headlight LED.
  • the light source control device 10 specifically identifies which occupied pixel the light source X, which is one of the plurality of headlight LEDs, corresponds to in the photographing screen.
  • the image capture screen of the camera has Nw pixels in the entire horizontal direction. Angle Aview.
  • the optical axis angle ⁇ can be described by Equation 1.
  • Equation 2 is the result of transforming this into an equation that calculates pixel number i.
  • the angle of view Aview of the photographic camera can be obtained as shown in Equation 3 from the focal length f and the lateral size of the image sensor (often converted to the photographic film size) W.
  • the occupied pixel position in the photographing camera can be calculated from the vertical and horizontal optical axis angles of the light source X.
  • the vehicle light source that irradiates the area on the specified image is calculated as a vehicle light source that is! / ⁇ shift, and the calculated vehicle light source is controlled to increase or decrease, the vehicle light source is controlled.
  • the vehicle light source is controlled.
  • the present invention is not limited to this, and a plurality of light sources are used for one irradiation region. Specifically, it is possible to use a joint irradiation region of a plurality of light sources while holding the influence ratio of each light source with respect to the corresponding region as weight information.
  • the power for explaining the case of discriminating an object using the reflectance of the object is not limited to this.
  • the size of the object, the movement of the object, the size of the object The object may be discriminated using any one or more of the change in shape and the shape of the object.
  • the region on the image is determined based on one or a plurality of deviations of the reflectance of the object, the size of the object, the movement of the object, the change in the size of the object, and the shape of the object. Since it is determined whether the light intensity is increased or decreased, it is possible to appropriately determine the type of the detected object.
  • each component of each illustrated device is functionally conceptual and does not necessarily need to be physically configured as illustrated.
  • the specific form of distribution of each device's integration is not limited to that shown in the figure, and all or a part of it can be functionally or physically distributed in arbitrary units according to various loads and usage conditions. Can be integrated and configured
  • the photographing light source control unit 14a and the peripheral image photographing unit 14b may be integrated. Further, all or any part of each processing function performed in each device can be realized by a CPU and a program analyzed and executed by the CPU, or can be realized as hardware by wired logic.
  • FIG. 24 is a diagram illustrating a computer that executes a light source control program.
  • a computer 600 serving as a light source control device is configured by connecting an HDD 610, a RAM 620, a ROM 630, and a CPU 640 via a bus 650.
  • the ROM 630 includes a light source control device that exhibits the same function as that of the above-described embodiment, that is, as shown in FIG. 24, a light source control program 631 for photographing, a peripheral image photographing program 632, and a position specifying program. 633, an irradiation determination program 634, and a light source irradiation control program 635 are stored in advance.
  • the programs 631 to 635 may be appropriately integrated or distributed in the same manner as each component of the light source control device shown in FIG. [0125] Then, by reading these programs 631 to 635 from the ROM 630 and executing them, as shown in FIG.
  • each program 631 to 635 has a light source control process 641 and a peripheral image shooting process. 642, position identification process 643, irradiation determination process 644, and light source irradiation control process 645.
  • Each process 641 to 645 corresponds to the photographing light source control unit 14a, the peripheral image photographing unit 14b, the position specifying unit 14c, the irradiation determination unit 14d, and the light source irradiation control unit 14e shown in FIG.
  • the HDD 610 is provided with image data 611, object distribution area data 612, object identification data 613, and light source irradiation area data 614.
  • the image data 611, the object distribution area data 612, the object identification data 613, and the light source irradiation area data 614 are stored in the image data storage unit 15a, the object distribution region data storage unit 15b, and the object identification data storage unit 15c shown in FIG. And the light source irradiation area data storage unit 15d.
  • the CPU 640 registers data for the image data 611, the object distribution area data 612, the object identification data 613, and the light source irradiation area data 614, and the image data 611, the object distribution area data 612, the object identification data 613, and the light source. Data is read from the irradiation area data 614, stored in the RAM 620, and processing for controlling the light source is executed based on the data stored in the RAM 620.
  • the light source control device is useful for controlling a plurality of vehicle light sources that irradiate the periphery of the vehicle based on the image of the vehicle periphery captured by the imaging unit. Particularly, it is suitable for appropriately controlling the illumination of the vehicle light source.

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Abstract

L'invention concerne un dispositif de commande de source lumineuse (10) qui stocke des données de région d'irradiation de source lumineuse dans lesquelles des identifiants de source lumineuse permettant de reconnaître de façon unique des DEL de phare (11a-11i) et des régions dans une image sur laquelle les DEL de phare (11a-11i) sont appliquées sont mis en correspondance les uns avec les autres. Le dispositif de commande de source lumineuse (10) détecte un objet présent dans une image à proximité d'un véhicule et spécifie la zone dans laquelle se trouve l'objet. De façon spécifique, comme décrit ci-dessous, le dispositif de commande de source lumineuse (10) compare une image située devant le véhicule lorsqu'une DEL infrarouge d'imagerie (12) est commandée pour être en marche, et une image située devant le véhicule lorsque la DEL infrarouge d'imagerie (12) est commandée pour être éteinte ; détecte un corps réfléchissant et un corps émettant de la lumière présents devant le véhicule ; et spécifie une zone dans laquelle se situent le corps réfléchissant et le corps émettant de la lumière. Ensuite, le dispositif de commande de source lumineuse (10) acquiert un identifiant de source lumineuse correspondant à la région spécifiée sur l'image et commande la DEL de phare (11) identifiée par l'identifiant de source lumineuse pour renforcer ou affaiblir la lumière.
PCT/JP2006/321702 2006-10-31 2006-10-31 Dispositif de commande de source lumineuse, procédé de commande de source lumineuse et programme de commande de source lumineuse WO2008053521A1 (fr)

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JP2008541934A JP4985651B2 (ja) 2006-10-31 2006-10-31 光源制御装置、光源制御方法および光源制御プログラム

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JPWO2018123429A1 (ja) * 2016-12-28 2019-10-31 株式会社小糸製作所 照明装置
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JP7206321B2 (ja) 2018-09-10 2023-01-17 ルミレッズ ホールディング ベーフェー 車両のための適応型ヘッドランプシステム
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JPWO2020250932A1 (fr) * 2019-06-11 2020-12-17
WO2020250932A1 (fr) * 2019-06-11 2020-12-17 株式会社小糸製作所 Dispositif d'éclairage monté sur un véhicule
JP7406553B2 (ja) 2019-06-11 2023-12-27 株式会社小糸製作所 車載照明装置
CN112896035A (zh) * 2019-12-03 2021-06-04 马自达汽车株式会社 车辆用投光控制装置及方法、车辆用投光***
CN114537262A (zh) * 2020-11-18 2022-05-27 保时捷股份公司 用hd矩阵式前照灯根据距离投影图像对象的方法及***
CN114537262B (zh) * 2020-11-18 2024-02-02 保时捷股份公司 用hd矩阵式前照灯根据距离投影图像对象的方法及***
WO2024070503A1 (fr) * 2022-09-30 2024-04-04 株式会社小糸製作所 Phare de véhicule

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