• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Method for detecting objects on a vehicle parking face by processing images taken from at least two image-generating sensors, the input ranges of the two image-generating sensors overlapping at least partially. Captures of an image-generating sensor whose shooting quality is limited by environmental influences for detecting objects on the parking surface will be weighted less strongly by the image processing than the shots view of an image-generating sensor whose shooting quality is not limited by the influences of the environment.
    公开号:FR3040818A1
    申请号:FR1658033
    申请日:2016-08-30
    公开日:2017-03-10
    发明作者:Jan Rexilius；Stefan Nordbruch
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a method for detecting objects on a vehicle parking surface, to a calculation unit for implementing the method, to a program for applying the method and to a global system for applying the process.
    State of the art
    DE 10 2007 002 198 A1 discloses a method for detecting vehicles on a vehicle parking surface using an object tracking method based on video images.
    Purpose of the invention
    The present invention aims to improve the method of detecting objects on a vehicle parking surface. The invention also aims to develop a calculation unit and a program for executing the method. The invention further aims to develop a global system consisting of image generating sensors, a calculation unit and a program, the overall system being intended to execute the method.
    DISCLOSURE AND ADVANTAGES OF THE INVENTION To this end, the subject of the invention is a method for detecting objects on a vehicle parking surface by processing images taken from at least two image-generating sensors. , the input ranges of the two image-generating sensors at least partially overlapping, the shots of an image-generating sensor whose shooting quality is limited by the influences of the environment for detecting objects on the parking surface will be weighted less strongly by the image processing than the shooting of an image-generating sensor whose shooting quality is not limited by the influences of the environment.
    In other words, the method of detecting objects on a vehicle parking surface makes it possible to recognize objects by processing images of the images taken by at least two image-generating sensors. The capture ranges of the image-generating sensors overlap at least partially and the shooting of these sensors whose shooting quality is limited by the influences of the environment, will be weighted less strongly to recognize the objects on the screen. parking area by the image processing that shooting provided by an image sensor whose shooting quality is not limited by environmental influences. By detecting objects on a vehicle parking surface, especially if the parking area is outside, it may happen that the image-generating sensors for detecting objects are limited by environmental influences. For example, solar radiation, or rain, or snow, or fog, can reduce the quality of images provided by one or more image-generating sensors. In order to detect the objects on the parking surface, it is interesting that the image-generating sensors whose shooting quality has been limited by the influences of the environment, are weighted less strongly than those whose picking quality is view is not limited by the influences of the environment. This improves the detection of objects on the parking surface.
    The vehicle parking area consists of parking spaces or storage spaces and associated traffic lanes. The parking area may be outside or in a building. In the latter case, it will be a garage building.
    According to one embodiment, the input ranges of more than two image-generating sensors overlap at least partially and the images of more than two image-generating sensors will be used to detect by image processing objects on parking areas. The greater the number of image-generating sensors, the better the method for detecting objects on the parking surfaces.
    According to a development, it detects the lower quality of shooting an image-generating sensor by the image processing. Environmental influences that degrade the image quality of the image-generating sensor change the images of the image-generating sensor so that these changes can be recognized by image processing. If, for example, the solar radiation were to deteriorate the image quality of an image-generating sensor, this can be detected by the image processing and notice that the images of this image generator are much more heavily illuminated than other shots of other image-generating sensors that have not received solar radiation. If we detect that the shots of an image-generating sensor had a greater light, we can weight less strongly these shots for the detection of objects.
    According to a development, it is possible to recognize the lower quality of an image-generating sensor by comparing the shooting of this sensor with a reference image taken at another time by the image-generating sensor. This can be done, for example, if the fog, snow, rain, have attenuated the contours of the structures for example the lines of the parking surface than in the reference image that was recorded without such influences of the 'environment. This makes it possible to identify the shots of image-generating sensors whose shooting quality has been limited by the influence of the environment and then weight less strongly these shots for the detection of objects.
    According to a development, moments are calculated at which an image-generating sensor has a limited shooting quality, by using the geographic location of the image-generating sensor and / or its orientation and / or the date and / or the 'hour. This solution is particularly advantageous for calculating the times at which the shooting quality of an image-generating sensor is limited by solar radiation. With the position and orientation of the image-generating sensor, the date and the time, it is possible to calculate all the times of the sun's position with direct incidence of sunlight in the corresponding image sensor. If there is direct incidence of solar radiation in the image-generating sensor, the shooting quality of this sensor is limited. By calculating the times when the quality of shooting is limited, it can also be determined, without image processing, when an image-generating sensor will have a lower quality because of solar radiation.
    According to a development, information is transmitted about a detected object on the parking surface, in particular the position and the dimensions of the object detected by means of a transmitter to a receiver in a vehicle equipped with a device for automatically execute at least one driving function. By transmitting the position and the dimensions of the detected object on the parking surface to a vehicle equipped with a device to automatically execute at least one driving function, this vehicle will be able to take account of the object detected in the parking space. choice of his journey. And it will be simpler for the vehicle, to determine a route to a parking location, a path that the vehicle can use to automatically perform its driving function.
    According to a development, using objects detected on the parking surface, it will be possible to calculate the trajectory of a vehicle. This trajectory will be transmitted by the transmitter to the receiver equipping the vehicle with a device for automatically executing at least one driving function. This allows a fully automatic operation of the parking surface by using the objects detected on the parking surface to calculate the trajectories of the vehicles on the parking surface and inform the vehicle of this trajectory. The vehicle can then follow the path to a free parking space.
    A computing unit has terminals for at least two image-generating sensors and is designed to perform the method as defined above. The terminals are data transmission terminals for processing the images or shots of the image-generating sensors in the computing unit. The image processing with which objects are recognized on the parking surface is done in this computing unit.
    According to a development, the computing unit or simply the computer includes a transmitter for transmitting the recognized objects or trajectories to the vehicles. This calculation unit is suitable for automatic operation of the car park or the parking area. A program that includes the program code for implementing the method when the program is executed by a computing unit allows the operation of an automatic vehicle parking area.
    A global system consisting of at least two image-generating sensors and a computing unit is connected to the image-generating sensor, and which includes one of the transmitters, allows the process to be executed.
    According to a development, there are two image-generating sensors that are not simultaneously exposed to the disadvantages of the state of the art, in particular solar radiation which would limit their quality of shooting.
    drawings
    The present invention will be described hereinafter in more detail with the aid of examples of method of detecting objects on parking surfaces, shown in the accompanying drawings in which: - Figure 1 shows a flow chart of the FIG. 2 shows the flow chart of the process with other optional process steps; FIG. 3 shows an example of a calculation unit; FIG. 4 shows another example of a calculation unit; Figure 5 is a schematic view of the entire system and - Figure 6 shows the entire system whose camera shooting quality is limited by the influence of the environment.
    Embodiment Description of the Invention
    Figure 1 shows a flow chart 100 of a method of detecting objects on a vehicle parking surface. In a first step 101 of the method, a view is taken with at least two cameras whose input ranges overlap at least partially. In a second step 102 of the method, the shooting quality is determined. For example, the shooting quality of cameras may be limited by environmental influences. If the shooting quality is limited by the influences of the environment, this is taken into account to determine the quality of shooting.
    In a third step 103 of the method, the shots of at least two cameras are weighted according to whether or not the quality of the shot has been influenced by the environment. Thus, the weighting of the shots of a camera whose shooting quality has been limited by environmental influences, for example, will be equal to 0%; the weighting of camera shots whose shooting quality will not have been limited by the influence of the environment, will be 100%.
    In the same way, according to another weighting of the shots of a camera whose quality of shooting is limited by the influences of the environment, it is possible, for example, to retain only 50%. If the quality of a camera shot is limited by the influences of the environment, for the camera whose quality of shooting will be less, we weight more strongly the shooting of the quality in the third step 103 of the method, that the shooting of a camera whose quality of grip has not been influenced by the environment.
    According to a fourth step 104 of the method, by image processing of the objects of the shots, the parking surface is detected and the weighting takes into account the shots from the third step 103. The recognition of objects on the surface parking is done among other things, in that it detects the location of an object on the parking surface, that is to say, it determines the position of the object. In addition, one can determine a dimension of the object so as to see the area occupied by the object.
    According to an exemplary embodiment, in a first step 101 of the method, more than two shots are taken with more than two cameras which then pass through the other steps 102/104 of the method.
    According to an exemplary embodiment, in the second step 102 of the method, it is determined by image processing that a camera has a limited shooting quality. If you want, for example, to install a camera to allow solar radiation to arrive directly on the camera, the quality of the camera shooting will be limited during this time. By image processing, it can for example be determined that the shooting of a camera is much more strongly illuminated than that of a second camera or a reference. We can deduce that at the time of shooting, the solar radiation arrives directly on the camera, which produces a strong lighting. By monitoring the lighting levels, it can be determined if the quality of a camera's shooting is limited.
    Similarly, it can be envisaged to determine a limitation of the quality of shooting due to snow, fog or rain, in that lines or objects of the parking surface lose contour and thus the contours will be less clear than without the disturbing influences of the environment. It is also possible to determine camera shots whose quality has been limited by the influence of the environment.
    According to an exemplary embodiment, in the second step 102 of the method, a limited shooting quality of a camera is applied by comparing the shooting to that of a reference image, taken at another time.
    According to an exemplary embodiment, in the second step 102 of the method, the quality of the shooting is determined by calculating the moments at which a camera has a limited shooting quality, by using the geographical location. and / or camera orientation and / or date and / or time. In particular, limited shooting qualities can be predicted by calculation from the incident solar radiation using the position and orientation of the camera, date and time. It is thus possible to determine the predictable moments at which the sun arrives directly on a camera and to weight the shots less at this moment if the object recognition on the parking surface is used.
    FIG. 2 shows another flow chart 100 whose process steps 101 - 104 correspond to those of FIG. 1. A fifth process step 105 consists in transmitting a recognized object to the parking surface, in particular the position and the decreases in an object by transmitting this information by a transmitter to a receiver in a vehicle equipped with a device automatically executing at least one driving function. The vehicle equipped with a device for automatically executing at least one driving function can plan its trajectory on the parking surface by transmitting the position and the dimension of the object.
    According to an exemplary embodiment, in a fifth step 105 of the method, neither the position nor the dimensions of the object are transmitted, but using the detected objects, a trajectory of the vehicle is determined on the parking surface and transmits this path by a transmitter to the vehicle equipped with a device for automatically executing at least one driving function. The device for automatically performing at least one driving function of a vehicle, may drive the vehicle along the predefined path to the storage surface, that is to say the parking space or conversely to drive the vehicle from the parking space to the exit of the storage area.
    The method can also be done using other image generator sensors in place of camera. Thus, it is possible to envisage in one input range the handset a camera to another image generating sensor. These other image generating sensors may be laser scanners, radar scanners, or lidar scanning devices. These other image-generating sensors also provide shots of the parking surface whose reception quality is limited due to environmental influences; these also continue to be treated in the process as camera shots.
    Figure 3 shows a calculator 200 with two branches 201 for each time a camera. This calculator 200 is designed to execute the method of FIG.
    Figure 4 shows a computer 200 for executing the method of Figure 2. The computer 200 also includes two terminals 201 of the camera. The computer 200 also includes two connections 201 for the camera and furthermore the computer 200 includes a transmitter 202 for transmitting the data to the vehicle. The connections 201 of Figures 3 and 4 are designed to have only one connection to the computing unit 200 or can be connected by several cameras. Thus, for example, it is possible to use a bus system for the cameras or to code the camera shots and transmit them via the branch 201 to the computing unit. In the same way, it is possible to provide connections for known image-generating sensors.
    FIG. 5 shows a global system for detecting objects on a parking surface 230. The parking surface 230 consists of parking spaces and storage locations as well as the corresponding vehicles. The storage area may be outside or in a building. The storage area 230 is occupied by an object, here a vehicle 220. The object can also be a pedestrian or another object. A first camera 210 and a second camera 211 are directed to the parking surface 230 so that their input ranges overlap. The first camera 210 and the second camera 211 are each connected by a data transmission line 212 to the camera data terminals 201 of the computing unit 200. The computing unit 200 comprises a transmitter 202 so that the computation unit 200 corresponds to the calculation unit 200 of FIG. 4. The vehicle 220 is in the input range of the first camera 210 and the second camera 211; it can be detected by image processing from both cameras 210, 211.
    FIG. 6 also shows a parking surface 230 occupied by a vehicle 220 as well as the other components of FIG. 5. The figure also shows the sun 240 and the various radii 241. A ray beam 242 arrives on the 213 lens of the first camera 210. The 213 lens of the second camera 211 does not receive sunlight because the second camera 211 has a diaphragm that protects the lens 213 of the second camera. The beam of sunlight 242 that arrives on the lens 213 of the first camera 210 intensely illuminates the shooting of the first camera 210 as opposed to the case where there would be no incoming sunlight. on the objective 213 of the first camera 210. This strong illumination of the shooting can be determined in the second step 102 of the method according to Figures 1 and 2 by a lower quality of shooting of the first camera 210 because of the influence of the environment. The shots of the first camera 210 can in this case be weighted at a lower level to the detection of objects, here the vehicle 220 on the parking surface 230 which will be less weighted than the shots of the second camera 211.
    It is also possible to determine the lower shooting quality of the first camera 210 in Figure 6 by calculating the date and time of the position of the sun 240 and the position and orientation of the first camera 210, duration during which a ray beam 242 arrives on the first camera 210. During this time, the shots of the first camera 210 are weighted less strongly because of the recognized objects, here the vehicle 220 of the storage surface 230 that takes from the second camera 211 whose operation is not limited to this time, by the sun 240.
    The first camera 210 and the second camera 211 are positioned so that their quality of shooting is not limited simultaneously by solar radiation 241.
    The cameras 210, 211 may, as well as other image-generating sensors, be provided in place of or in addition to the fixed or mobile cameras.
    NOMENCLATURE OF THE MAIN ELEMENTS 100 Flowchart 101-104 Process step 100 101-105 Other process step 100 200 Calculation unit 201 Terminal 202 Emitter 210 First camera 211 Second camera 212 Data line 220 Vehicle 230 Parking surface 240 Sun 241 Rays of the sun 242 Beam of rays
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    CLAIMS 1 °) Method of detecting objects on a parking surface of vehicles by processing images of shots of at least two image-generating sensors, the gripping ranges overlapping at least partially - the images of an image-generating sensor whose picture quality is limited by environmental influences for detecting objects on the parking surface will be weighted less heavily by image processing than view of an image-generating sensor whose shooting quality is not limited by the influences of the environment.
    [0002]
    Method according to claim 1, characterized in that the image-generating sensors are: - cameras, laser scanning devices, radar scanning devices and / or lidar scanning devices.
    [0003]
    3) Method according to one of claims 1 and 2, characterized in that by image processing shots of more than two image-generating sensors, one recognizes objects on the parking surface and the ranges of capturing more than two image-generating sensors at least partially overlapping.
    [0004]
    4) Method according to one of claims 1 to 3, characterized in that one recognizes the quality of shooting limited a sensor image generator by the image processing.
    [0005]
    Method according to Claim 4, characterized in that the limited image quality of an image-generating sensor is detected by comparing the image-generating sensor image with that of a video image. reference taken at another time by the image generator sensor.
    [0006]
    Method according to one of Claims 1 to 5, characterized in that the times in which an image-generating sensor has a limited image quality are calculated using the geographical location of the generating sensor. of images and / or its orientation and / or date and / or time.
    [0007]
    7 °) Method according to one of claims 1 to 6, characterized in that it transmits information of a recognized object on a parking surface, including a position and a dimension of the detected object with the aid of a transmitter to a receiver in a vehicle equipped with a device for automatically performing at least one driving function.
    [0008]
    8 °) Method according to one of claims 1 to 7, characterized in that with the aid of objects detected on the parking surface, a trajectory is calculated for a vehicle equipped with a device for automatically executing at least one driving function and the trajectory is transmitted by the transmitter to the receiver of the vehicle.
    [0009]
    Computing unit (200) having terminals (201) for connecting at least two image generating sensors (210, 211) and adapted for applying the method of claims 1 to 8.
    [0010]
    10 °) calculation unit (200) according to claim 9, characterized in that it comprises a transmitter (202).
    [0011]
    11 °) Program comprising a program code for the implementation of the method according to one of claims 1 to 8, when the program is applied by a computing unit (200).
    [0012]
    12 °) A global system composed of at least two image-generating sensors (210, 211) and a computer (200) connected to the image-generating sensors (210, 211) and comprising a transmitter (200), the global system executing the method according to one of claims 1 to 8.
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    法律状态:
    2017-08-23| PLFP| Fee payment|Year of fee payment: 2 |
    2018-08-23| PLFP| Fee payment|Year of fee payment: 3 |
    2018-11-16| PLSC| Publication of the preliminary search report|Effective date: 20181116 |
    2019-08-22| PLFP| Fee payment|Year of fee payment: 4 |
    2020-08-27| PLFP| Fee payment|Year of fee payment: 5 |
    2021-08-18| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015216908.1A|DE102015216908A1|2015-09-03|2015-09-03|Method of detecting objects on a shelf|
    DE102015216908.1|2015-09-03|
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