Detection and categorisation of points of light with a camera in a motor vehicle environment

• US 20100026806A1
• Filed: 09/27/2007
• Published: 02/04/2010
• Est. Priority Date: 11/27/2006
• Status: Active Grant

• Current Assignee: ADC GmbH (TE Connectivity Ltd. (United Kingdom))
• Original Assignee: ADC GmbH (TE Connectivity Ltd. (United Kingdom))
• Inventors: Heinrich, Stefan, Fechner, Thomas, Almeida, Carlos
• Granted Patent: US 8,218,009 B2
• Time in Patent Office: Days
• US Class Current: 348/148
• CPC Class Codes: B60Q 1/1423 Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: B60Q 2300/45 Special conditions, e.g. pedestrians, road signs or potential dangers
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A method for detecting and categorising points of light for a motor vehicle with a camera sensor directed towards the motor vehicle environment is presented. Here, at least one first category for passive, illumined reflectors and at least one second category for self-radiating, moving lights, in particular motor vehicle lights, is provided. For this purpose, the time progression of the intensity of a point of light is analysed. On the basis of the intensity fluctuation, points of light are categorised as motor vehicle lights or as reflectors.

Claims

1-9. -9. (canceled)

10. A method for detecting and categorizing points of light for a subject motor vehicle with a camera sensor directed toward the motor vehicle environment around the subject motor vehicle, which provides at least one first category for stationary, illuminated reflectors used to mark an edge of a roadway, and at least one second category for self-radiating, moving, motor vehicle lights of other motor vehicles, comprising the steps:

recording an image sequence of the motor vehicle environment;

tracking at least one point of light in the image sequence;

determining a varying intensity of the point of light in at least two images of the image sequence, and analyzing a time progression of the intensity as an intensity fluctuation, and

categorizing a point of light with a comparatively high intensity fluctuation as a motor vehicle light, and categorizing a point of light with a comparatively low intensity fluctuation as a reflector.

11. The method for detecting and categorizing points of light according to claim 10, wherein, in order to analyze the intensity fluctuation of a point of light, the variance or standard deviation is calculated with reference to a continuous average value.

12. The method for detecting and categorizing points of light according to claim 10, wherein, in order to analyze the intensity fluctuation of a point of light, the swing range of consecutive measured values is calculated.

13. The method for detecting and categorizing points of light according to claim 10, further comprising analyzing an intensity of points of light in the image.

14. The method for detecting and categorizing points of light according to claim 13, wherein points of light with the intensity above a first threshold value are detected as the motor vehicle lights, and points of light with the intensity below a second threshold value are detected as the reflectors.

15. The method for detecting and categorizing points of light according to claim 10, further comprising analyzing a movement of the points of light in the image sequence, and taking into account the subject motor vehicle'"'"'s own movement and/or a distance estimation of a selected point of light, the selected point of light is classified as being stationary or moving.

16. The method for detecting and categorizing points of light according to claim 10, further comprising analyzing a pitch angle of the subject motor vehicle and, with a movement analysis of the points of light, extracting an interference caused by a pitch movement of the subject motor vehicle.

17. A motor vehicle with a camera sensor and image data processing program implementing a method according to claim 10.

18. A motor vehicle with a camera sensor for a passenger assistance system, for recording a driving lane, and an image data processing program implementing a method according to claim 10.