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EP2556676A1 - Masque chromatique pour un capteur d'image de caméra de véhicule - Google Patents

Masque chromatique pour un capteur d'image de caméra de véhicule

Info

Publication number
EP2556676A1
EP2556676A1 EP11705836A EP11705836A EP2556676A1 EP 2556676 A1 EP2556676 A1 EP 2556676A1 EP 11705836 A EP11705836 A EP 11705836A EP 11705836 A EP11705836 A EP 11705836A EP 2556676 A1 EP2556676 A1 EP 2556676A1
Authority
EP
European Patent Office
Prior art keywords
color
image
pixels
color pattern
filter pixels
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.)
Withdrawn
Application number
EP11705836A
Other languages
German (de)
English (en)
Inventor
Ulrich Seger
Alexander Wuerz-Wessel
Paul Ruhnau
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 EP2556676A1 publication Critical patent/EP2556676A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/10—Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming different wavelengths into image signals
    • H04N25/11—Arrangement of colour filter arrays [CFA]; Filter mosaics
    • H04N25/13—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements
    • H04N25/133—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements including elements passing panchromatic light, e.g. filters passing white light
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/84—Camera processing pipelines; Components thereof for processing colour signals
    • H04N23/88—Camera processing pipelines; Components thereof for processing colour signals for colour balance, e.g. white-balance circuits or colour temperature control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/10—Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming different wavelengths into image signals
    • H04N25/11—Arrangement of colour filter arrays [CFA]; Filter mosaics
    • H04N25/13—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements
    • H04N25/135—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements based on four or more different wavelength filter elements

Definitions

  • Vehicle cameras are used in particular for detecting a vehicle environment in front of the vehicle and for displaying an image on a display device, as well as for evaluating the captured images and for use in driver assistance systems, wherein objects in the captured image are identified.
  • z. B other road users, lane markers, traffic signs and traffic lights are determined.
  • their color is of particular importance. So have the simultaneous occurrence of yellow and white lane markings, z.
  • light signals can be assigned according to their color value, wherein z.
  • Taillights with red color value of headlamps with white or yellow color value and taillights with yellow color value can be distinguished;
  • traffic signs and traffic lights such as traffic lights and flashing lights are relevant according to their respective color value.
  • the color in the captured image may differ due to the color temperature of the environment, which depends on the color of the lighting or the average color value. Different color temperatures of the captured image may be due to different lighting, z. As a function of the time of day, different street lighting and also by tints of the vehicle windows, behind which the vehicle cameras are generally mounted, the result.
  • Color masks are generally applied in front of the sensitive sensor surface whose filter pixels have a specific color value in front of each sensor pixel, in order to differentiate the colors.
  • the color masks generally have specific color patterns or color patterns, which are formed by periodic repetition of specific basic patterns, for example as blocks of four pixels with a specific color value en, eg R (red), G (green), B (blue).
  • JP 2004304706 A and WO 2009/027134 A1 show such color masks with specific color patterns.
  • Farbpattern the local resolution drops because z.
  • a block of four pixels with different color values is used for one pixel.
  • the filtering reduces the intensity of the incident light and thus the sensitivity.
  • As a light control function forsurgiigen switching between high beam and low beam sometimes far away light sources must be de- tektiert, which a high resolution and high sensitivity are required.
  • full-color pattern such.
  • B. RGGB however, the spatial resolution is reduced and the intensity of the incoming light attenuated. Partial driving patterns as described in WO 2009/027134 A1 form a compromise of color classification by the respective color filter pixels and resolution or high sensitivity through the transparent filter pixels.
  • the spatial resolution and photosensitivity are relevant features for vehicle cameras and driver assistance systems.
  • the color mask is formed in different areas with different color patterns.
  • a subdivision is carried out essentially in the vertical direction, with a central region and a - preferably smaller - upper region and / or lower region.
  • the invention is based on the finding that, in a typical image, which differs from a z. B. behind the windshield arranged vehicle camera is detected, a lower image area detects the road or lane in front of the vehicle, which is generally formed of asphalt or possibly concrete and thus represents a gray value without major coloration, depending on the road composition and the depending on the lighting situation, from anthracite black to light gray.
  • an upper image area generally reflects the sky, which is also the main source of illumination, especially in daytime situations. In this case, these areas can generally be rated as not so relevant for the evaluation for driver assistance systems, the lower image area often reproducing the roadway section directly in front of the vehicle, which is also used when initiating immediate driving dynamics interventions.
  • an ambient temperature or color temperature of the environment can thus be determined.
  • color patterns with a lower relative number of transparent filter pixels are used for these image areas, in particular full-color patterns without transparent ones
  • Filter pixels z. B. RGGB. It is recognized according to the invention that the spatial resolution in these areas is generally not so relevant, since more relevant objects are not to be expected as frequently here or can not be reproduced with a very high local resolution.
  • the color determination in the upper region and / or lower region can thus be used for the white balance or the color correction of the pixel signals of the middle image region.
  • a color pattern with a higher proportion of transparent filter pixels ie in particular a partial color pattern, is provided, which offers a compromise between higher resolution and color determination, preferably even at high spatial resolution.
  • Solution of the chrominance and spatial resolution of the luminance ie color-differentiated spatial resolution and brightness-differentiated spatial resolution.
  • the second color pattern of the upper region may also be different from a second color pattern of the lower region.
  • the upper and lower portions of the color mask may be different in size. They may each extend over entire rows of the pixel array, or even in the horizontal direction each comprise only central pixels, so that the central area laterally to the upper area and to the upper edge of the color mask, and / or laterally to the next lower area may extend to the lower edge of the color mask. That is the
  • objects may occur that may be relevant to the detection and classification and may also affect the determination of the color temperature of the environment.
  • objects that have been detected and classified in the middle image area may be extrapolated into the upper and lower image areas, e.g. As lane markers or larger objects such as buildings and trees, so that these parts of the upper and / or lower area are not used for the determination of the color temperature, where appropriate, for subsequent algorithms can be taken into account.
  • a light sensor function of the camera can additionally be displayed and used for further functions in the vehicle.
  • Fig. 1 is a street scene of a vehicle with a camera in
  • Fig. 3 different Farbpattern; an image captured by the camera and the pixel array of the color mask with subdivision according to the invention; a flowchart of a method according to the invention.
  • a vehicle 1 with a camera 2 travels on a roadway 3.
  • a detection area 4 of the camera 2 various objects 10, 11, 12, 13, 14, 15, 16 on or outside the roadway 3 are detected.
  • the camera According to Figure 2, the camera
  • a pane 5 of the vehicle 1, in particular the windshield 5, and in addition to an imaging optics 6, which are not shown here in more detail, has an image sensor 7 with a sensitive sensor surface, on which a matrix arrangement of sensor pixels (imager pixels) 7a, not shown here in detail, is formed.
  • a color mask (filter mask) 8 is placed, which has a matrix arrangement of filter pixels Pij according to FIG.
  • Each filter pixel Pij sits in a conventional manner directly in front of a sensor pixel 7a and filters according to its color value, ie its spectral transmission behavior, incident light.
  • the image sensor 7 picks up the optical light incident through the color mask 8 and outputs image signals S1 to a control and evaluation device 9, which can thus carry out an evaluation in a corresponding local and color resolution, whereupon the display of the captured image takes place on an in-vehicle display device can and / or in particular by image processing a qualitative evaluation can be made to z.
  • a control and evaluation device 9 which can thus carry out an evaluation in a corresponding local and color resolution, whereupon the display of the captured image takes place on an in-vehicle display device can and / or in particular by image processing a qualitative evaluation can be made to z.
  • color values of the detected objects 10, 11, 12, 13, 15 can be determined and used to identify these objects or partial areas of these objects.
  • the color mask 8 according to the invention is divided according to FIG. 4 into regions 8 a, 8 b, 8 c, which thus correspond to image regions 18 a, 18 b and 18 c of the image 18.
  • a central region 8a comprises a major part of the color mask 8, so that in the corresponding central image area 18a in particular relevant objects 10, 1 1, 12, 13, 15 fall, in particular other road users 10, 15, traffic signs 13 and lane markings 1 1 12.
  • a lower area 8b of the color mask 8 corresponds to a lower image area 18b in which a part of the roadway 3 or road lies in front of the vehicle 1. In this lower area 8b, therefore, no relevant objects are to be expected initially; if necessary, parts of the traffic lane markings 1 1, 12 can extend into the lower area 8 b.
  • An upper area 8c of the color mask 8 corresponds in the image 18 to an upper image area 18c, in which the sky is substantially imaged.
  • the representation 4 allows the direct assignment of the image 18 to the color mask 8, wherein actually in an inverting imaging optics 6, the image 18 can also be inverted or mirror-symmetrically imaged on the image sensor 7 and thus z.
  • the lower portion 8b - physically - is arranged on top of the color mask 8.
  • the lower region 8b is understood to mean the region corresponding to the lower image region 18b, correspondingly also to the upper region 8c.
  • the regions 8b and 8c may extend over a plurality of complete lines of the color mask 8, as shown, or may comprise middle parts of the upper and lower lines, respectively, since in the lateral regions of a captured image 18, more objects, e.g. As building 14 or trees 16 occur on the edge of a road that can extend to the top of the image 18.
  • the lower area 8b and / or the upper area 8c are used to determine a color temperature or an average color value Fa of the image 18.
  • the upper image area 18c detects the sky and thus a uniformly bright illumination, without significant impairment of other objects and its brightness value and spectral composition affect the brightness of the entire image 18.
  • the detected in the upper image area 18c sky z. B. white, or be reddish in the morning or in the evening, at night possibly black.
  • the roadway 3 detected in the lower image area 18b generally represents a gray value of the asphalt or of a road surface, which may vary between light gray and black depending on the composition and overall brightness.
  • asphalt here represents a suitable object for determining a color temperature or average color value Fa, which accordingly also contains data on the total brightness.
  • tints of the windshield 5 and by dirt on the windshield 5 and optionally in the imaging optics 6 are detected.
  • the central area 8a of the color mask 8 contains a different color pattern than the areas 8b and 8c.
  • FIG. 3 shows, by way of example, color patterns 20a to 20f, the respective filter pixels Pij being characterized according to the color value.
  • a transparent pixel is a value I
  • a red pixel is R
  • a cyan pixel shown as C
  • a blue pixel as B and a green pixel as G.
  • the pattern 20a represents a 41 pattern, which thus serves as a gray imager and only allows the determination of gray values.
  • the color patterns 20b, 20c, 20d, and 20f represent partial color patterns having both color values, G, B, C, and intensity pixels I, where 20b represents R3I, 20c represents RC2I, 20d represents RGBl patterns.
  • 20e is a
  • the central area 8a contains more transparency values I than the areas 8b and 8c and may in particular be one of the partial color patterns 20b to 20d or 20f.
  • the areas 8b and / or 8c are z. B. full color pattern 20f.
  • different full-color patterns may also be provided in the regions 8b and 8c, or the pattern 20d which contains a small proportion of transparency values I may be provided in one of the regions 8b or 8c.
  • the partial color patterns 20b, c, d or f used objects can thus be detected in the area 18a and their color values can be determined.
  • taillights 10a, 15a as red values, headlights 15b as white or yellow values, according to flashing lights for turning operations are determined as temporally pulsating yellow values, the colors of traffic signs 13 and possibly also the color representation of a Traffic lights are detected.
  • color values of the lane markings 1 1 and 12 can be detected to z. For example, to distinguish a white tone from a yellow tone.
  • yellow lane markings 1 1 are additionally attached to lane 3 without removing the white lane markings, so that yellow lane markings 1 1 should then take precedence.
  • the colors can be white or substantially colorless and yellow differentiated. This can be z. B. be achieved by the R3I Farbpattern 20b.
  • the imager pixels 7a of the image sensor 7 behind the middle region 8a output first pixel signals S1a, the imager pixels 7a behind the regions 8b and 8c corresponding to second pixel signals S1b and Sic, so that the image signals S1 receive these pixel signals S1 a, S1 b and Si c, as indicated in Figure 2 at the signal arrow of S1.
  • the control and evaluation device 9 uses the Pixelsig- nals S1 b and Si c for determining an average color value Fa and / or an average brightness value Ha for the white balance, ie for the correction of all the image signals S1 and thus of the pixel signals S1 a. On the basis of these corrected image signals S1, detection and recognition of the objects 10, 11, 12, 13, 14, 15 takes place.
  • the control and evaluation device 9 accordingly outputs output signals S2 which are used for driving management interventions and also as image signals for graphical representation of the image 18 on a display device.
  • the output signals S2 or the detected objects in the middle image area 18a can additionally be used to evaluate the image areas 18b and 18c.
  • z Example, when detecting a lane marker 1 1 or 12 in the middle image area 18a they are extrapolated down into the image area 18b, so that possibly detected in the image area 18b contours these lane markings 1 1 and 12 can be assigned.
  • the right tree 16 extends upward from the central image area 18a and thus a corresponding right subregion 16-1 of the upper image area 18c is to be assigned to this tree or object 16.
  • these respective sections 16-1 are not used to determine the average color value Fa and / or the average brightness value Ha.
  • the objects detected in these subregions may possibly also be used for the representation of an image and vehicle management interventions by means of the output signals S2.
  • step StO image signals S1 are output with the pixel signals S1a, S1b, S1c, in step St2 a determination of a color temperature, i. an average color value Fa and / or an average brightness value Ha for the white balance, by which then corrected pixel values or image signals can be formed in step St3 and objects 10, 1 1, 12, 13, 14, 15, 16 in the image 18 can be identified, so that in step St4 below the output signals S2 are output
  • a diffuser may be introduced which specifically images the upper image area 18c and / or the lower image area 18b more blurred, so that structures in this image are not enough color measurement and determination of the average color value Fa disturb.
  • a light sensor function of the camera can additionally be represented, i. H.
  • These second pixel signals can be used as light sensors for further functions in the vehicle.
  • the control and evaluation device 9 can be designed so that it recognizes permanent color base values or colorations from longer measurement periods, for. B. by a tinted windshield 5, and thus without current pixel signals S1 a and S1 b, z. B. at night driving with dark image areas 18b and 18c, can make a corresponding white balance.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
  • Studio Devices (AREA)
  • Color Television Image Signal Generators (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un masque chromatique (8) pour un capteur d'image (7) d'une caméra de véhicule (2). Selon l'invention, le masque chromatique (8) présente un agencement matriciel de pixels de filtrage (Pij) ayant un comportement spectral en transmission différent, certains pixels de filtrage étant des pixels de filtrage transparents qui présentent une transparence au moins sensiblement homogène pour la lumière optique et d'autres pixels de filtrage étant des pixels de couleur qui présentent un comportement en transmission sélectif de la longueur d'onde. Toujours selon l'invention, le masque chromatique (8) présente un motif de couleur sous la forme d'un agencement répétitif de pixels de filtrage (Pij) à comportement en transmission spécifique. Selon l'invention, le masque chromatique (8) présente une zone centrale (8a) ayant un premier motif de couleur et une zone inférieure (8b) et/ou une zone supérieure (8c) ayant un deuxième motif de couleur, le premier motif de couleur étant différent du deuxième motif de couleur et le premier motif de couleur contenant les pixels de filtrage transparents.
EP11705836A 2010-04-07 2011-02-09 Masque chromatique pour un capteur d'image de caméra de véhicule Withdrawn EP2556676A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010003668.4A DE102010003668B4 (de) 2010-04-07 2010-04-07 Farbmaske für einen Bildsensor einer Fahrzeugkamera
PCT/EP2011/051849 WO2011124406A1 (fr) 2010-04-07 2011-02-09 Masque chromatique pour un capteur d'image de caméra de véhicule

Publications (1)

Publication Number Publication Date
EP2556676A1 true EP2556676A1 (fr) 2013-02-13

Family

ID=44314993

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11705836A Withdrawn EP2556676A1 (fr) 2010-04-07 2011-02-09 Masque chromatique pour un capteur d'image de caméra de véhicule

Country Status (6)

Country Link
US (1) US9883148B2 (fr)
EP (1) EP2556676A1 (fr)
JP (1) JP5591395B2 (fr)
CN (1) CN102835115B (fr)
DE (1) DE102010003668B4 (fr)
WO (1) WO2011124406A1 (fr)

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Also Published As

Publication number Publication date
WO2011124406A1 (fr) 2011-10-13
JP5591395B2 (ja) 2014-09-17
US9883148B2 (en) 2018-01-30
CN102835115B (zh) 2016-01-20
CN102835115A (zh) 2012-12-19
JP2013524664A (ja) 2013-06-17
DE102010003668B4 (de) 2020-03-26
US20130027560A1 (en) 2013-01-31
DE102010003668A1 (de) 2011-10-13

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