WO2010075944A1 - Controller of a camera system of a motor vehicle - Google Patents
Controller of a camera system of a motor vehicle Download PDFInfo
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- WO2010075944A1 WO2010075944A1 PCT/EP2009/008836 EP2009008836W WO2010075944A1 WO 2010075944 A1 WO2010075944 A1 WO 2010075944A1 EP 2009008836 W EP2009008836 W EP 2009008836W WO 2010075944 A1 WO2010075944 A1 WO 2010075944A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
Definitions
- the present invention relates to a method for controlling a camera system of a motor vehicle according to the preamble of claim 1 and to a driver assistance system having a camera system controlled in this way according to the preamble of claim 7.
- camera or image-producing systems are used in the automotive sector for lane and object detection, in particular for vehicles of the upper class.
- DE 10 2006 007 550 A1 describes a device and a method for detecting a lane marking for a motor vehicle, wherein lane markings are detected by means of a forward-facing video camera, which generates gray images, and a downstream image processing device.
- DE 10 2005 050 662 A1 describes a motorway assistant for semi-autonomous driving for a motor vehicle, comprising a lane change assistant, a device for lane recognition, a navigation device and an automatic distance control.
- the Autobahn Assistant relies on the data of a complex sensor system, consisting of a rear-facing short-range radar, a forward-looking long-range radar and a likewise forward-facing monovideo camera whose image is evaluated for the lane detection.
- DE 102007011276 A1 describes a method and a device for automatic route determination for a motor vehicle, wherein the motor vehicle is equipped with a front-facing video camera with an opening angle of more than 140 °, while usually forward-facing cameras have an opening angle of 40 ° or have less.
- the camera systems in the aforementioned known applications are tailored to the requirements of the specific application and have fixed camera settings.
- cameras are gradually becoming more and more popular in motor vehicles, in order to In order to support more complex driver assistance functions, it is necessary for economic reasons and reasons of the available installation space that a single camera system be used simultaneously for several driver assistance functions.
- the invention is therefore based on the object to provide a method for controlling a camera system of a motor vehicle and a corresponding driver assistant, so that the camera system can be used for various driver assistance applications.
- the inventive method for controlling a camera system of a motor vehicle wherein at least one application of a driver assistance system based on the evaluation of the images of the camera system assigns the at least one application and other applications of the driver assistance system, which are based on the evaluation of the camera images, one each Parameter set of image acquisition parameters used to control the image acquisition of the camera system for the respective application.
- the corresponding parameter set is advantageously loaded into the camera system and brought to execution for each application that is currently executed by the driver assistance system and dependent on camera images, so that the camera system can supply the images necessary for the respective application.
- a driver assistance system often has several applications that are based on the evaluation of camera images of the environment, and for example different sections of the camera images with, for example, different resolutions may be important for each application, a corresponding parameter set for the camera system for each such application kept ready.
- a parameter set contains at least one image acquisition parameter.
- the following image acquisition parameters can be used: the exposure time, the image section to be analyzed, the scan of the image or the desired image section, the range and the opening angle of the camera system, the zoom factor of the camera system.
- the list of enumerated image acquisition parameters of the Camera system makes no claim to completeness, other image acquisition parameters, such as tilt angle of the camera sideways or up or down, change the image acquisition and the sampling frequency of the camera system are also covered here.
- such a parameter set for an application of the driver assistance system contains the image acquisition parameters necessary for controlling the camera.
- the parameter sets of the individual applications are preferably different, this being the extreme case. It may be that several applications for the control of the camera system use the same parameter set, but it may also be that each application requires a parameter set that is different from all other parameter sets.
- the image acquisition parameters of a parameter set of an application can be variable and, for example, be a function of the current environmental situation.
- Ambient lighting conditions, lane change situations, cornering of the motor vehicle, the type of road, the type of lane marking of the road and the type of traffic, that is to say, urban traffic or, for example, motorway traffic, are suitable as ambient situations.
- the exposure time of the camera must be a function of the ambient light, since, for example, a camera requires a different exposure time in the tunnel or at twilight compared to daylight.
- Applications of a driver assistance system are preferably understood as driving assistance functions.
- the camera system is preferably formed by a single camera or a stereo camera arrangement.
- FIG. 1 The concept shown in FIG. 1 for the intelligent use of a camera system of a motor vehicle shows a camera system 1 as well as an optical and / or digital controller responsible for the camera system 1. Furthermore, further sensors 3 are arranged on the motor vehicle, not shown, such as ultrasonic sensors, radar sensors or laser sensors. The data of the other sensors 3 as well as those of the camera system 1 flow into a sensor data fusion 5, the camera data still being subjected to an auto-calibration 4. The sensor data fusion 5 merges the various data of the sensors of the motor vehicle, and the data is subjected to a situation analysis, such as a road-type detection of the environment of the motor vehicle.
- a situation analysis such as a road-type detection of the environment of the motor vehicle.
- the road-type detection is on the optical / digital control, such as the zoom of the camera system 1, changed.
- a large range and a narrow opening angle on the highway is needed for better track recognition or object recognition.
- a traffic jam or in city traffic here a large opening angle and a smaller range is required, in order to capture very sharp curves or pedestrian better.
- FIG. 2 shows the individual control of the exposure time of the camera, for example at twilight or in the tunnel.
- the left part of Fig. 2 shows the setting of the exposure in normal daylight
- the right part shows the extension of the exposure time at dusk, which is accompanied by a deterioration of the image quality.
- Fig. 3 shows an individual control of a picture detail.
- the image detail 7 is individually controlled, for example by zooming in on this image detail, since it contains an oncoming vehicle.
- the right part of Fig. 3 shows a second image section 8, in which a traffic sign has been detected, which is subjected, for example, a character recognition. For this purpose, this second image section 8 must be evaluated more accurately.
- Fig. 4 shows an individual scan of the image taken by the camera.
- a partial image overlaid with large rectangles which stands for a coarse scan, is shown schematically in FIG.
- the right part of Fig. 4 shows a fine scan 10th
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Abstract
The invention relates to a method for controlling a camera system of a motor vehicle, wherein at least one application of a driver assistant system is based on the analysis of images of the camera system, wherein each application of the driver assistant system is associated with a parameter set of image capturing parameters used for controlling the image capture of the camera system.
Description
Steuerung eines Kamera-Systems eines Kraftfahrzeugs Control of a camera system of a motor vehicle
Die vorliegende Erfindung betrifft ein Verfahren zur Steuerung eines Kamerasystems eines Kraftfahrzeugs gemäß dem Oberbegriff des Anspruchs 1 sowie ein Fahrerassistenzsystem mit einem derartig gesteuerten Kamerasystem gemäß dem Oberbegriff des Anspruchs 7.The present invention relates to a method for controlling a camera system of a motor vehicle according to the preamble of claim 1 and to a driver assistance system having a camera system controlled in this way according to the preamble of claim 7.
Derzeit sind Kamera- oder bilderzeugende Systeme im automotiven Bereich zur Fahrstreifen- und Objektdetektion im Einsatz, insbesondere bei Fahrzeugen der gehobenen Klasse.At present, camera or image-producing systems are used in the automotive sector for lane and object detection, in particular for vehicles of the upper class.
So wird in der DE 10 2006 007 550 A1 eine Vorrichtung und ein Verfahren zur Erkennung einer Fahrstreifenmarkierung für ein Kraftfahrzeug beschrieben, wobei mittels einer nach vorne gerichteten Videokamera, welche Graubilder erzeugt, und einer nachgelagerten Bildverarbeitungseinrichtung Fahrstreifenmarkierungen erkannt werden.Thus, DE 10 2006 007 550 A1 describes a device and a method for detecting a lane marking for a motor vehicle, wherein lane markings are detected by means of a forward-facing video camera, which generates gray images, and a downstream image processing device.
Des weiteren beschreibt die DE 10 2005 050 662 A1 einen Autobahnassistenten zum semiautonomen Fahren für ein Kraftfahrzeug, umfassend einen Spurwechselassistenten, eine Vorrichtung zur Fahrspurerkennung, eine Navigationseinrichtung und eine automatische Abstandsregelung. Der Autobahnassistent stützt sich dabei auf die Daten einer komplexen Sensorik, bestehend aus einem nach hinten gerichteten Nahbereichsradar, aus einem nach vorne gerichteten Fernradar sowie eine ebenfalls nach vorne gerichtete Monovideokamera, dessen Bild für die Fahrspurerkennung ausgewertet wird.Furthermore, DE 10 2005 050 662 A1 describes a motorway assistant for semi-autonomous driving for a motor vehicle, comprising a lane change assistant, a device for lane recognition, a navigation device and an automatic distance control. The Autobahn Assistant relies on the data of a complex sensor system, consisting of a rear-facing short-range radar, a forward-looking long-range radar and a likewise forward-facing monovideo camera whose image is evaluated for the lane detection.
Ferner beschreibt die DE 102007011276 A1 ein Verfahren und eine Vorrichtung zur automatischen Fahrwegbestimmung für ein Kraftfahrzeug, wobei das Kraftfahrzeug mit einer nach vorne gerichteten Videokamera mit einem Öffnungswinkel von mehr als 140° ausgestattet ist, während üblicherweise nach vorne gerichtete Kameras einen Öffnungswinkel von 40° oder weniger aufweisen.Furthermore, DE 102007011276 A1 describes a method and a device for automatic route determination for a motor vehicle, wherein the motor vehicle is equipped with a front-facing video camera with an opening angle of more than 140 °, while usually forward-facing cameras have an opening angle of 40 ° or have less.
Die Kamerasysteme in den genannten bekannten Anwendungen sind abgestimmt auf die Anforderungen der speziellen Applikation und haben festgelegte Kameraeinstellungen. Da nun Kameras nach und nach immer weiter Einzug in Kraftfahrzeuge halten werden, um
damit komplexere Fahrerassistenzfunktionen zu unterstützen, ist es aus wirtschaftlichen Gründen und Gründen des verfügbaren Bauraums geboten, dass ein einzelnes Kamerasystem für mehrere Fahrerassistenzfunktionen gleichzeitig genutzt wird.The camera systems in the aforementioned known applications are tailored to the requirements of the specific application and have fixed camera settings. As cameras are gradually becoming more and more popular in motor vehicles, in order to In order to support more complex driver assistance functions, it is necessary for economic reasons and reasons of the available installation space that a single camera system be used simultaneously for several driver assistance functions.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren zur Steuerung eines Kamerasystems eines Kraftfahrzeuges sowie einen entsprechenden Fahrerassistenten zu schaffen, so dass das Kamerasystem für verschiedene Fahrerassistenzapplikationen verwendet werden kann.The invention is therefore based on the object to provide a method for controlling a camera system of a motor vehicle and a corresponding driver assistant, so that the camera system can be used for various driver assistance applications.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Anspruchs 1 sowie durch einen Fahrerassistenten mit den Merkmalen des Anspruchs 7 gelöst. Bevorzugte Ausführungsformen der Erfindung sind Gegenstand der Unteransprüche.This object is achieved by a method having the features of claim 1 and by a driver assistant having the features of claim 7. Preferred embodiments of the invention are subject of the dependent claims.
Das erfindungsgemäße Verfahren zur Steuerung eines Kamera-Systems eines Kraftfahrzeugs, wobei mindestens eine Applikation eines Fahrerassistenzsystems auf der Auswertung der Bilder des Kamera-Systems beruht, ordnet der mindestens einen Applikation und weiteren Applikationen des Fahrerassistenzsystems, welche auf der Auswertung der Kamerabilder beruhen, jeweils einen Parametersatz von Bildaufnahmeparametern zu, der zur Steuerung der Bildaufnahme des Kamera-Systems für die jeweilige Applikation verwendet wird.The inventive method for controlling a camera system of a motor vehicle, wherein at least one application of a driver assistance system based on the evaluation of the images of the camera system assigns the at least one application and other applications of the driver assistance system, which are based on the evaluation of the camera images, one each Parameter set of image acquisition parameters used to control the image acquisition of the camera system for the respective application.
Damit wird vorteilhafterweise für jede vom Fahrerassistenzsystem gerade ausgeführte, von Kamerabildern abhängige Applikation der entsprechende Parametersatz in das Kamerasystem geladen und zur Ausführung gebracht, so dass das Kamerasystem die für die jeweilige Applikation notwendigen Bilder liefern kann. Mit anderen Worten, da ein Fahrerassistenzsystem oftmals mehrere Applikationen aufweist, die auf der Auswertung von Kamerabildern der Umgebung basieren, und für jede Applikation beispielsweise unterschiedliche Ausschnitte der Kamerabilder mit beispielsweise unterschiedlichen Auflösungen wichtig sein können, wird für jede derartige Applikation ein entsprechender Parametersatz für das Kamerasystem bereitgehalten.Thus, the corresponding parameter set is advantageously loaded into the camera system and brought to execution for each application that is currently executed by the driver assistance system and dependent on camera images, so that the camera system can supply the images necessary for the respective application. In other words, since a driver assistance system often has several applications that are based on the evaluation of camera images of the environment, and for example different sections of the camera images with, for example, different resolutions may be important for each application, a corresponding parameter set for the camera system for each such application kept ready.
Vorzugsweise enthält ein Parametersatz mindestens einen Bildaufnahmeparameter. Dabei können die folgenden Bildaufnahmeparameter in Frage kommen: die Belichtungszeit, der zu analysierende Bildausschnitt, die Abtastung des Bildes oder des gewünschten Bildausschnitts, die Reichweite und der Öffnungswinkel des Kamerasystems, der Zoomfaktor des Kamerasystems. Die Liste der aufgezählten Bildaufnahmeparameter des
Kamerasystems erhebt dabei keinen Anspruch auf Vollständigkeit, weitere Bildaufnahmeparameter, wie Schwenkwinkel der Kamera seitwärts oder nach oben oder unten, Änderung der Bildaufnahme und der Abtastfrequenz des Kamerasystems fallen hier ebenfalls darunter. Mit anderen Worten, ein derartiger Parametersatz für eine Applikation des Fahrerassistenzsystems enthält die zur Steuerung der Kamera notwendigen Bildaufnahmeparameter.Preferably, a parameter set contains at least one image acquisition parameter. The following image acquisition parameters can be used: the exposure time, the image section to be analyzed, the scan of the image or the desired image section, the range and the opening angle of the camera system, the zoom factor of the camera system. The list of enumerated image acquisition parameters of the Camera system makes no claim to completeness, other image acquisition parameters, such as tilt angle of the camera sideways or up or down, change the image acquisition and the sampling frequency of the camera system are also covered here. In other words, such a parameter set for an application of the driver assistance system contains the image acquisition parameters necessary for controlling the camera.
Vorzugsweise sind die Parametersätze der einzelnen Applikationen unterschiedlich, wobei dies der Extremfall ist. Es kann sein, dass mehrere Applikationen für die Steuerung des Kamerasystems denselben Parametersatz verwenden, es kann jedoch auch sein, dass jede Applikation einen Parametersatz benötigt, der von allen anderen Parametersätzen unterschiedlich ist.The parameter sets of the individual applications are preferably different, this being the extreme case. It may be that several applications for the control of the camera system use the same parameter set, but it may also be that each application requires a parameter set that is different from all other parameter sets.
Vorzugsweise können die Bildaufnahmeparameter eines Parametersatzes einer Applikation variabel sein und beispielsweise eine Funktion der aktuellen Umgebungssituation sein. Dabei kommen als Umgebungssituationen Umgebungslichtbedingungen, Spurwechselsituationen, Kurvenfahrt des Kraftfahrzeugs, die Art der Straße, die Art der Spurmarkierung der Straße und die Art des Verkehrs, d.h., Stadtverkehr oder beispielsweise Autobahnverkehr, in Frage. Es ist offensichtlich, dass die Belichtungszeit der Kamera eine Funktion des Umgebungslichtes sein muss, da beispielsweise eine Kamera eine andere Belichtungszeit im Tunnel oder in der Dämmerung im Vergleich zum Tageslicht benötigt.Preferably, the image acquisition parameters of a parameter set of an application can be variable and, for example, be a function of the current environmental situation. Ambient lighting conditions, lane change situations, cornering of the motor vehicle, the type of road, the type of lane marking of the road and the type of traffic, that is to say, urban traffic or, for example, motorway traffic, are suitable as ambient situations. It is obvious that the exposure time of the camera must be a function of the ambient light, since, for example, a camera requires a different exposure time in the tunnel or at twilight compared to daylight.
Unter Applikationen eines Fahrerassistenzsystems werden vorzugsweise Fahrassistenzfunktionen verstanden.Applications of a driver assistance system are preferably understood as driving assistance functions.
Das erfindungsgemäße Fahrerassistenzsystem zur Durchführung des im voran gegangenen beschriebenen Verfahrens umfasst ein Kamerasystem zur Bereitstellung von Bilddaten für einzelne Applikationen des Fahrerassistenzsystems, wobei jeder Applikation, die auf einer Auswertung der Bilder des Kamerasystems beruht, ein Parametersatz vom Bildaufnahmeparametern zugeordnet ist, die zur Steuerung der Bildaufnahme des Kamerasystems dient. Weiter wird vorzugsweise das Kamerasystem durch eine Einzelkamera oder eine Stereo-Kamera-Anordnung gebildet.The driver assistance system according to the invention for carrying out the above-described method comprises a camera system for providing image data for individual applications of the driver assistance system, each application, which is based on an evaluation of the images of the camera system, a parameter set is assigned by the image acquisition parameters, which control the image acquisition of the camera system is used. Furthermore, the camera system is preferably formed by a single camera or a stereo camera arrangement.
Eine bevorzugte Ausführungsform der Erfindung wird nachfolgend anhand der Zeichnungen beschrieben. Dabei zeigt:
Fig. 1 das Konzept der intelligenten Nutzung von Kamerasystemen in schematischer Darstellung,A preferred embodiment of the invention will be described below with reference to the drawings. Showing: 1 shows the concept of the intelligent use of camera systems in a schematic representation,
Fig. 2 ein Beispiel der Steuerung der Belichtungszeit,2 shows an example of the control of the exposure time,
Fig. 3 ein Beispiel einer individuellen Steuerung des Bildausschnitts, und3 shows an example of an individual control of the image section, and
Fig. 4 ein Beispiel einer individuellen Abtastung des Bildes:4 shows an example of an individual scan of the image:
Das in Fig. 1 dargestellte Konzept zur intelligenten Nutzung eines Kamerasystems eines Kraftfahrzeugs zeigt ein Kamerasystem 1 sowie eine für das Kamerasystem 1 zuständige optische und/oder digitale Steuerung. Femer sind am nicht dargestellten Kraftfahrzeug weitere Sensoren 3 angeordnet, wie beispielsweise Ultraschallsensoren, Radarsensoren oder Lasersensoren. Die Daten der anderen Sensoren 3 sowie diejenigen des Kamerasystems 1 fließen in eine Sensordatenfusion 5, wobei die Kameradaten noch einer Autokalibrierung 4 unterzogen werden. Die Sensordatenfusion 5 führt die verschiedenen Daten der Sensoren des Kraftfahrzeugs zusammen, und die Daten werden einer Situationsanalyse, wie beispielsweise einer Straßen-Typ-Erkennung, des Umfelds des Kraftfahrzeugs unterzogen. In Abhängigkeit von der Situationsanalyse, also hier im vorliegenden Fall der Straßen-Typ-Erkennung, wird über die optische/digitale Steuerung, beispielsweise der Zoom des Kamerasystems 1 , verändert. So wird beispielsweise eine große Reichweite und ein enger Öffnungswinkel auf der Autobahn zur besseren Spurerkennung bzw. Objekterkennung benötigt. Das Gegenteil ist der Fall bei einem Stau oder im Stadtverkehr, hier ist ein großer Öffnungswinkel und ein geringere Reichweite erforderlich, um sehr scharfe Kurven oder Fußgänger besser zu erfassen. Dies wird durch das in Fig. 1 dargestellte Verfahren bewirkt, indem aus der Situationsanalyse beispielsweise die Frage beantwortet wird, ob sich das Fahrzeug auf einer Autobahn oder im Stadtverkehr befindet, und aufgrund dieser Feststellung die Kamera 1 entsprechend angesteuert wird.The concept shown in FIG. 1 for the intelligent use of a camera system of a motor vehicle shows a camera system 1 as well as an optical and / or digital controller responsible for the camera system 1. Furthermore, further sensors 3 are arranged on the motor vehicle, not shown, such as ultrasonic sensors, radar sensors or laser sensors. The data of the other sensors 3 as well as those of the camera system 1 flow into a sensor data fusion 5, the camera data still being subjected to an auto-calibration 4. The sensor data fusion 5 merges the various data of the sensors of the motor vehicle, and the data is subjected to a situation analysis, such as a road-type detection of the environment of the motor vehicle. Depending on the situation analysis, so here in the present case the road-type detection is on the optical / digital control, such as the zoom of the camera system 1, changed. For example, a large range and a narrow opening angle on the highway is needed for better track recognition or object recognition. The opposite is the case with a traffic jam or in city traffic, here a large opening angle and a smaller range is required, in order to capture very sharp curves or pedestrian better. This is effected by the method shown in Fig. 1, for example, the question is answered by the situation analysis, whether the vehicle is on a highway or in city traffic, and due to this determination, the camera 1 is driven accordingly.
Fig. 2 zeigt anhand eines Beispiels die individuelle Steuerung der Belichtungszeit der Kamera, beispielsweise bei der Dämmerung oder im Tunnel. So zeigt der linke Teil der Fig. 2 die Einstellung der Belichtung bei normalem Tageslicht, während der rechte Teil die Verlängerung der Belichtungszeit bei Dämmerung zeigt, was mit einer Verschlechterung der Bildqualität einhergeht.
Fig. 3 zeigt eine individuelle Ansteuerung eines Bildausschnitts. So wird im linken Teil der Fig. 3 besonders der Bildausschnitt 7 individuell angesteuert, beispielsweise indem dieser Bildausschnitt herangezoomt wird, da dieser ein entgegenkommendes Fahrzeug beinhaltet. Dem gegenüber zeigt der rechte Teil der Fig. 3 einen zweiten Bildausschnitt 8, in dem ein Verkehrszeichen detektiert wurde, welches beispielsweise einer Zeichenerkennung unterzogen wird. Dazu muss dieser zweite Bildausschnitt 8 genauer ausgewertet werden.By way of example, FIG. 2 shows the individual control of the exposure time of the camera, for example at twilight or in the tunnel. Thus, the left part of Fig. 2 shows the setting of the exposure in normal daylight, while the right part shows the extension of the exposure time at dusk, which is accompanied by a deterioration of the image quality. Fig. 3 shows an individual control of a picture detail. Thus, in the left-hand part of FIG. 3, in particular, the image detail 7 is individually controlled, for example by zooming in on this image detail, since it contains an oncoming vehicle. In contrast, the right part of Fig. 3 shows a second image section 8, in which a traffic sign has been detected, which is subjected, for example, a character recognition. For this purpose, this second image section 8 must be evaluated more accurately.
Fig. 4 zeigt eine individuelle Abtastung des von der Kamera aufgenommenen Bildes. So ist schematisch in Fig. 4 ein mit großen Rechtecken überdecktes Teilbild dargestellt, welches für eine grobe Abtastung steht. Demgegenüber zeigt der rechte Teil der Fig. 4 eine feine Abtastung 10.
Fig. 4 shows an individual scan of the image taken by the camera. Thus, a partial image overlaid with large rectangles, which stands for a coarse scan, is shown schematically in FIG. In contrast, the right part of Fig. 4 shows a fine scan 10th
B EZUG SZEICH EN LISTEB EZUG SZEICH EN LIST
Kamera optische/digitale Steuerung weitere SensorenCamera optical / digital control other sensors
Kamera-AutokalibrierungCamera auto-calibration
SensordatenfusionSensor data fusion
Situationsanalyse erster Bildausschnitt zweiter Bildausschnitt grobe Abtastung feine Abtastung
Situation analysis first image section second image section coarse scan fine scan
Claims
1. Verfahren zur Steuerung eines Kamera-Systems (1 ) eines Kraftfahrzeugs, wobei mindestens eine Applikation eines Fahrerassistenzsystems auf der Auswertung der Bilder des Kamera-Systems (1 ) beruht, dadurch gekennzeichnet, dass der mindestens einen Applikation und weiteren Applikationen des Fahrerassistenzsystems, welche auf der Auswertung der Kamerabilder beruhen, jeweils ein Parametersatz von Bildaufnahmeparametern zugeordnet ist, der zur Steuerung der Bildaufnahme des Kamera-Systems für die jeweilige Applikation verwendet wird.1. A method for controlling a camera system (1) of a motor vehicle, wherein at least one application of a driver assistance system based on the evaluation of the images of the camera system (1), characterized in that the at least one application and other applications of the driver assistance system, which based on the evaluation of the camera images, in each case a parameter set of image acquisition parameters is assigned, which is used to control the image capture of the camera system for the respective application.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass ein Parametersatz mindestens einen Bildaufnahmeparameter aufweist, wobei als Bildaufnahmeparameter die Belichtungszeit, der zu analysierende Bildausschnitt, die Abtastung des Bildes oder Bildausschnitts, die Reichweite und der Öffnungswinkel des Kamera-Systems (1) verwendet werden.2. The method according to claim 1, characterized in that a parameter set has at least one image acquisition parameter, wherein the exposure time, the image section to be analyzed, the scan of the image or image detail, the range and the opening angle of the camera system (1) are used as image acquisition parameters ,
3. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die Parametersätze unterschiedlich sind.3. The method according to claim 1, characterized in that the parameter sets are different.
4. Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Bildaufnahmeparameter eines Parametersatzes variabel und eine Funktion der Umgebungssituation sind.4. The method according to any one of the preceding claims, characterized in that the image acquisition parameters of a parameter set are variable and a function of the environmental situation.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass Umgebungssituationen gegeben sind durch Umgebungslichtbedingungen, Spurwechselsituation, Kurvenfahrt, Art der Strasse, Spurmarkierungssituation und/oder Art des Verkehrs.5. The method according to claim 4, characterized in that environmental situations are given by ambient light conditions, lane change situation, cornering, type of road, lane marking situation and / or type of traffic.
6. Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass eine Applikation durch eine Fahrerassistenzfunktionen realisiert ist.6. The method according to any one of the preceding claims, characterized in that an application is realized by a driver assistance functions.
7. Fahrerassistenzsystem zur Durchführung des Verfahrens nach einem der vorangegangenen Ansprüche, mit einem Kamerasystem (1 ) zur Bereitstellung von Bilddaten für einzelne Applikationen des Fahrerassistenzsystems, dadurch gekennzeichnet, dass jeder Applikation, die auf einer Auswertung der Bilder des Kamerasystems beruht, ein Parametersatz von Bildaufnahmeparametern zugeordnet ist, die zur Steuerung der Bildaufnahme des Kamera-Systems (1 ) dient.7. Driver assistance system for carrying out the method according to one of the preceding claims, with a camera system (1) for the provision of Image data for individual applications of the driver assistance system, characterized in that each application that is based on an evaluation of the images of the camera system, a parameter set of image acquisition parameters is assigned, which is used to control the image recording of the camera system (1).
8. Fahrerassistenzsystem nach Anspruch 7, dadurch gekennzeichnet, dass das Kamerasystem (1 ) durch eine Einzelkamera oder eine Stereo-Kamera-Anordnung gebildet wird. 8. driver assistance system according to claim 7, characterized in that the camera system (1) is formed by a single camera or a stereo camera arrangement.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102008062154.4A DE102008062154B4 (en) | 2008-12-16 | 2008-12-16 | Control of a camera system of a motor vehicle and driver assistance system |
| DE102008062154.4 | 2008-12-16 |
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| Publication Number | Publication Date |
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| WO2010075944A1 true WO2010075944A1 (en) | 2010-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/EP2009/008836 WO2010075944A1 (en) | 2008-12-16 | 2009-12-10 | Controller of a camera system of a motor vehicle |
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| Country | Link |
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| DE (1) | DE102008062154B4 (en) |
| WO (1) | WO2010075944A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102015216993A1 (en) | 2015-09-04 | 2017-03-09 | Bayerische Motoren Werke Aktiengesellschaft | Improved process for recording a scene, especially in a critical exposure situation |
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| DE102008062154B4 (en) | 2021-08-26 |
| DE102008062154A1 (en) | 2010-06-17 |
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