Method and device for the distance-based debouncing of light-characteristic changes

• US 9,102,265 B2
• Filed: 08/05/2010
• Issued: 08/11/2015
• Est. Priority Date: 08/07/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Ehlgen, Tobias, Faber, Petko
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): Sood, Anshul
• Application Number:
  US13/389,166
• Publication Number:
  US 20120203427A1
• Time in Patent Office: 1,832 Days
• Field of Search: 701/49, 362/460, 362/466, 362/507, 315/82
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/085 due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers B60Q1/10, B60Q1/12, B60Q1/1423 take precedence
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/112 Vehicle speed
• CPC Class Codes: B60Q 2300/305 Calendar date or clock time
• CPC Class Codes: B60Q 2300/332 on city roads
• CPC Class Codes: B60Q 2300/3321 Detection of streetlights

Abstract

In a method for debouncing light-characteristic changes (e.g., streetlights, headlights of other vehicles), which are ascertained from image data of a camera for a vehicle, light-characteristic changes are identified in a continuous image sequence and a distance in time is determined between the light-characteristic changes. A spatial distance between the light-characteristic changes is determined with reference to the speed of the vehicle and from the distance in time between the light-characteristic changes. The debouncing is based on the spatial distance.

Claims

1. A method for debouncing at least two light-characteristic changes ascertained from image data of at least one camera for a host vehicle, comprising:

identifying the at least two light-characteristic changes in a continuous image sequence of the at least one camera;

determining a separation in time between the at least two light-characteristic changes;

determining a spatial distance between the at least two light-characteristic changes based on the separation in time between the at least two light-characteristic changes, with reference to a speed of the vehicle;

debouncing the at least two light-characteristic changes based on the spatial distance; and

adjusting a light mode of the host vehicle based on the debouncing of the at least two light-characteristic changes.

2. The method as recited in claim 1, wherein, when a spatial distance between a first light-characteristic change and a further light-characteristic change one of exceeds or falls below a spatial distance threshold, the debouncing is brought to an end and an assessment is carried out.

3. The method as recited in claim 2, wherein the light-characteristic changes are caused by the vehicle passing one of (i) stationary objects or (ii) light sources.

4. The method as recited in claim 2, wherein the adjusting of the light mode of the host vehicle further comprises using the assessment to judge whether an area in which the vehicle is located is an urban area, and wherein an urban-light mode is activated when the area has been determined to be an urban area, and wherein a standard light mode is activated when the area has been determined to be non-urban.

5. The method as recited in claim 4, wherein the activation of one of the urban-light mode or the standard light mode is carried out only when an assessed state lasts a specified distance traveled.

6. The method as recited in claim 2, wherein the spatial distance threshold is adjusted on the basis of environmental conditions.

7. The method as recited in claim 2, wherein the debouncing is further based on the speed of the vehicle.

8. The method as recited in claim 2, wherein the assessment is communicated to other control systems of the vehicle for further evaluation.

9. The method as recited in claim 1, wherein in the case of one of (i) known distance between objects or (ii) known distance between light sources, one of speed or stationary state of the objects or the light sources is determined, with reference to the speed of the vehicle.

10. The method as recited in claim 1, wherein the light-characteristic changes are caused by one of (i) moving objects or (ii) light sources, and wherein one of (i) the spatial distance between the objects or (ii) the spatial distance between the light sources is determined based on respective speeds of one of the objects or the light sources.

11. The method as recited in claim 1, wherein in addition to the spatial distance between the at least two light-characteristic changes, the debouncing is carried out based on a distance traveled by the host vehicle after the light-characteristic changes.

12. The method as recited in claim 11, wherein the light-characteristic changes are caused by oncoming vehicles, and wherein after the debouncing on the basis of the distance traveled by the host vehicle after a last light-characteristic change, a headlight control for the host vehicle is altered.

13. A device for debouncing at least two light-characteristic changes, the device located in a host vehicle, comprising:

an interface unit for receiving image data of at least one camera for a vehicle; and

a detection unit for detecting light-characteristic changes, wherein the detection unit (i) identifies at least two light-characteristic changes in an image sequence of the image data received at the interface unit, and (ii) determines a spatial distance between the at least two light-characteristic changes based on separation in time between the at least two light-characteristic changes, with reference to a speed of the vehicle host;

wherein debouncing of the at least two light-characteristic changes is based on the spatial distance; and

wherein a light mode of the host vehicle is adjusted based on the debouncing of the at least two light-characteristic changes.