CN100420592C - Automatic vehicle exterior light control system - Google Patents
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- CN100420592C CN100420592C CNB2004800046974A CN200480004697A CN100420592C CN 100420592 C CN100420592 C CN 100420592C CN B2004800046974 A CNB2004800046974 A CN B2004800046974A CN 200480004697 A CN200480004697 A CN 200480004697A CN 100420592 C CN100420592 C CN 100420592C
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Abstract
The present invention relates to a vehicle light control system (250) configured to distinguish between reflections off of a highly reflective surface and reflections off of atmospheric conditions of interest.
Description
The cross reference of related application
According to United States Code the 35th volume 119 (e) moneys (35U.S.C § 119 (e)), the application requires the preceence of the U.S. Provisional Patent Application 60/448,793 of submission on February 21st, 2003.The disclosed content of this temporary patent application is hereby incorporated by.
Technical field
The present invention relates to a kind of vehicle exterior light control system on the whole.More particularly, the present invention relates to a kind of system that outside car bulb is controlled in response to the appearance of specific atmospheric condition.
Background technology
In order to adapt to the change of traffic behavior, automatic vehicle exterior light control system provides very big convenience by the burden that alleviates the manual switchover between high luminosity and low luminosity head lamp for the driver.As everyone knows, the driver generally is not suitable for using frequently high luminosity head lamp.Compare with low luminosity head lamp, high luminosity head lamp can provide 2 to 4 times or more multi-fold range of visibility at night.Therefore, make the driver of controlled vehicle can be than earlier seeing obstacle or pedestrian under the reverse situation at night.The automation of luminosity task switching and the use that increases high luminosity head lamp can be night driving and bring safe benefit.
Known be designed to automatically that the system of Control of Automobile external lights uses the forward sight digital imaging system to obtain the image that generally is positioned at controlled vehicle fwd scene, analyze these images then and detect the automobile of approaching and the taillight of fwd automobile.If the ambient lighting state is enough low, to such an extent as to allow to use high luminosity head lamp, and do not detect approaching or the fwd automobile, high luminosity head lamp is with regard to self-opening.When the driver who is positioned at certain limit and other vehicle when the vehicle that detect other can suffer the high luminosity head lamp of controlled vehicle to bring discomfort dazzle, the brightness of the high luminosity head lamp of this controlled vehicle just reduces automatically, adjusts, suppresses target by operation or their combination.By way of parenthesis or alternatively, control high luminosity head lamp, the automobile external control system of automation is applicable to the multiple lighting engineering of control, comprises the target of brightness, at least one low luminosity head lamp of at least one low luminosity head lamp, crooked illumination, express highway illumination, urban district illumination, fog lamp, taillight or any other lighting device for vehicle.Should be appreciated that wherein disclosed content has been mentioned the control of high luminosity head lamp below especially or to the inhibition of the high luminosity head lamp of automation control, these methods also can be applicable to include but are not limited to: multiple exterior illumination technology listed above.
Even when do not have an approaching or fwd automobile when also not wishing high luminosity head lamp work because multiple factor, all there is a problem in known system many times.The example of this situation comprises inclement weathers such as thick fog, blizzard, or when the light of the high luminosity head lamp of controlled vehicle when atmospheric condition considered here reflects and makes the driver of controlled vehicle to divert one's attention.Some atmospheric condition has also weakened the light from other automobile, thereby imaging system is difficult in enough distance detecting to other vehicle.Another kind of situation of generally not wishing to use high luminosity head lamp is when driving in the urban district.In some European countries, the high brightness head lamp bans use of in the urban district, even without approaching or the fwd vehicle.
The pollutants of the visual field that the problem relevant with using imaging system automatic guidance automobile external light appears at relevant imageing sensor before by object or imageing sensor hinders or during obstruct.Preferably, this imaging system is integrated in the rearview mirror assemblies of controlled vehicle, and imaging sensor is placed in the zone of back of Windshield like this, and corresponding Windshield is by wiped clean in this zone.But,, still exist ice cube or other pollutants not to be removed, thereby may hinder imageing sensor by wiper even in this structure.In these cases, there is not other vehicle in the perception of imageing sensor possibility thereby this system mistake ground is concluded, and starts high luminosity head lamp, thereby make the driver of other vehicle suffer dazzling high light less than from light approaching or the fwd vehicle.These situations require the driver of controlled vehicle to intervene and cut off automatic system, may not satisfy the automation requirement like this, and reduce the confidence level of automatic vehicle exterior light control system.Therefore, what have advantage is to detect automatically under the situation that the automatic high light control system of detection is worked unsatisfactorily automatically, and forbids this characteristic automatically and revert to the low luminosity state that automatic fault is protected.Usually still provide manual control when automatic system can not be worked, to determine the external lights state of wanting in these cases to allow the driver.
Here providing of needing is used to detect the improved automatic vehicle exterior light control system of the characteristic of related work environment.Also need to be configured to system from the detected working environment of dynamic response.
Summary of the invention
The invention provides automatic vehicle exterior light control system, it can provide the characteristic of the improvement that detects the related work environment.The system that is configured to from the detected working environment of dynamic response also is provided.
In at least one embodiment, automatic vehicle exterior light control system has the ambient lighting detection characteristic of improvement.In relevant embodiment, provide system in response to the various automotive systems of detected environment light automatic guidance.
In at least one embodiment, automatic vehicle exterior light control system has the atmospheric condition of the improvement of the detection characteristic of being concerned about.In relevant embodiment, provide system in response to the detected atmospheric condition of being concerned about, the various automotive systems of automatic guidance.
In at least one embodiment, automatic vehicle exterior light control system has the imager obstruction and/or the fault imager detection characteristic of improvement.In relevant embodiment, provide system in response to detected imager obstruction and/or the various automotive systems of fault imager automatic guidance.
In at least one embodiment, automatic vehicle exterior light control system has improvement " urban district " operation detection characteristic.In relevant embodiment, provide system in response to the various automotive systems of detected city ride automatic guidance.
In at least one embodiment, automatic vehicle exterior light control system has the pedestrian of improvement and/or the detection characteristic of bicycle rider.In relevant embodiment, provide in response to detected pedestrian and/system of the various automotive systems of bicycle rider automatic guidance.
In at least one embodiment, multiple improvement of the present invention all integrates with other automotive system.In at least one relevant embodiment, described various integrated systems are configured to share the assembly that improves its operation and/or reduce relevant cost.
With reference to accompanying drawing, example and appended claim, by reading following specific descriptions, other advantage of the present invention will be more clear.
Description of drawings
Fig. 1 has described to relate to the taillight of preceding vehicle and near the controlled vehicle of the head lamp of vehicle;
Fig. 2 has described the block scheme of exterior light control system;
Fig. 3 has described the section-drawing of optical system;
Fig. 4 a has described the chart of detection algorithm at night;
Fig. 4 b has described the chart of detection algorithm on daytime;
Fig. 5 a-5c has described generally to be positioned at the multiple image in controlled vehicle the place ahead;
Fig. 6 a has described the diagram of curves of grey scale pixel value with respect to the pixel column position;
Fig. 6 b has described the diagram of curves of grey scale pixel value with respect to the pixel column position;
Fig. 7 has described generally to be positioned at a kind of image in controlled vehicle the place ahead; And
Fig. 8 has described imager assembly.
The specific embodiment
At first, for purposes of illustration, shown the automatic vehicle exterior light control system 6 that will be installed in the controlled vehicle 5 with reference to Fig. 1.Though control system 6 will be described as a whole with the inside rear view mirror assembly, should be appreciated that this control system or its any single component can be installed in the controlled vehicle 5 or any suitable position on the controlled vehicle 5.Term " controlled vehicle " is used for representing to comprise the vehicle of automatic vehicle exterior light control system here.The appropriate location that is used for installing the associated picture sensor is such position: the straightway visual field that generally is positioned at controlled vehicle 5 the place aheads promptly can be provided, and allow to detect near the head lamp 16 of vehicle 15 and the taillight 11 of preceding vehicle 10 in the corresponding dazzle of controlled vehicle zone 8.
Fig. 2 has described the block scheme of automatic vehicle exterior light control system 250, processing and control system 255 that it has adopted optical system 205 and has communicated via internal connection 265 and external lights controller 270.The function of described processing and control system is that configuration data is sent to described optical system, receives view data, handles this image here then as specifically described from described optical system, thereby produces the external lights control signal.Can incorporate automatic vehicle exterior light control system in the various embodiments of the present invention into and the specific descriptions of algorithm are included in the US Patent of owning together 5,837,994 to small part, 5,990,469,6,008,486,6,130,448,6,130,421,6,049,171,6,465,963,6,403,942,6,587,573,6,611,610,6,621,616,6,631, in 316 and US Patent 6,774,988,6,631,316,6,861,809, laid-open U.S. Patents application 2004/0008410 on January 15 in 6,587,573 and 2004 years, and in the laid-open U.S. Patents application 2004/0143380 on July 22 in 2004; The content that these patents are announced all is incorporated herein by reference at this.The block scheme that should be appreciated that Fig. 2 only is for illustrative illustrative purposes, and the suitable automatic vehicle exterior light control system announcing in patent that is hereby incorporated by and patent application can be incorporated into.
Refer now to Fig. 3, shown here to be used for optical system 305 of the present invention.In optical system shown in Figure 3 305, an imageing sensor 310 is installed on the printed circuit board (PCB) 315.Spectrum filtering modulator material 320 as the red spectrum filter, is positioned near this imageing sensor, makes at least a portion in the related pixel by spectral filtering.Sealing block 325 is preferably in casting on the imageing sensor, makes the part of sealing block adhere on the circuit card.Lens subassembly 330 is attached to sealing block 325 by UV cured material adhesives 335.This lens subassembly 330 comprises one first lens 331, and its function is the spectral filtering part that the light 340 that the light source in associated scenario sends is projected pattern matrix.Should be appreciated that the term " light source " that is used in this specifically described part comprises the reflecting body of reflected light rays.Lens subassembly 330 also comprises one second lens 332, and its function is that a light 340 that sends from the essentially identical scene relevant with first lens projects an independent part in the pattern matrix.As will here more specifically describing, some embodiment has the relevant advantage of the spectral filtering image different with two width of cloth of essentially identical scene.For example, the ratio of " ruddiness is to white light " can be introduced.Aperture stop 345 is positioned near first and second lens, is used to stop from the ray cast outside the desirable field range to imageing sensor.Should be appreciated that the optical system shown in Fig. 3 is a property illustrative purposes presented for purpose of illustration, the US Patent of owning together 5 that is hereby incorporated by as its published content, 990,469,6,008,486,6,130,421,6,130,448,6,049,171 and 6,4403,942 and the open text WO 2004/077175 of international monopoly shown in and any suitable optical system described can adopt.
As specifically described at this, at least one embodiment, automatic vehicle exterior light control system is applicable to the atmospheric condition that detection is concerned about, for example thick fog, rain and snow, hail, flue dust, steam, snow and rain.Here announced the multiple algorithm and the method that are used to detect the atmospheric condition of being concerned about, and the main frame that produces desirable system response.
In at least one embodiment, automatic vehicle exterior light control system is applicable to the imageing sensor state that is blocked that detects.Here at least some methods that are used to detect the imageing sensor that is blocked of Gong Buing also are applicable to imageing sensor in bad order or the system of detecting.Also announced by suitable system response that be blocked or that imageing sensor in bad order produced.
Automatic vehicle exterior light control system among at least one embodiment is applicable to the brightness degree of testing environment, and realizes external lights control in view of the above.Many external lights operating parameters all may depend on the ambient light signal.
In another embodiment, the automatic vehicle exterior light guide is applicable to according to the position of controlled vehicle and controls external lights.Some countries and regions require in as the position in city and within city and the cities and towns can not opening automobile specific external lights.Therefore, at least a automatic vehicle exterior light control system according to the present invention is configured to correspondingly stop automatically the automatic operation of at least a external lights.
The traffic regulation of many countries forbid the pedestrian or ride from passerby easily by the particular outer lamp from dazzling the specific automobile external light of time operation.In one embodiment, automatic vehicle exterior light control system is configured to prevention and can makes pedestrian and bicycle rider suffer the operation of the specific external lights of dazzling high light.Another relevant embodiment by the sense of hearing and/visual alarm warns the driver that caution pedestrian crossing and bicycle rider, and relies on the driver to guarantee that manually the state of external lights is selected.
In known automatic vehicle exterior light control system, attempted the ambient light level that is used for start-up system is measured.A kind of such system has used sky sensor, and this sky sensor optically points to the top of controlled vehicle usually.The problem that there is manufacture view clearly in it promptly needs the sky sensor on the printed circuit board (PCB) closed with imageing sensor and combines.The operation of the automatic vehicle exterior light control system of employing forward sight ambient light sensor of the prior art is unstable easily.The relevant ground of the direction of travelling with controlled vehicle may influence the ambient light level that senses from the light of the sun that falls or rise, and can cause intrasystem vibration when travel direction changes.With known relevant based on the relevant other problem of the system of forward sight ambient light sensor and approaching auto bulb, road surface light shade or overline bridge or the like.Similarly vibration or systematic jitters may occur in any sight.
Because residing lower ambient light level when wish starting automatic vehicle exterior light control system, preferably use the environmental sensor that is attached to the back mirror that is used for electric driven color-changing part control and/glare sensor.These environmental sensors, glare sensor and rearview mirror controller are published in the US Patent of owning together 6,313,457,6,359,274,6,379,013,6,402,328,6,469,291 and US Patent 6,679,608 and 6, in 831,268, the content of these announcements all is hereby incorporated by.
In at least one embodiment of the present invention, " reversed peak " detection algorithm is used to determine ambient light level, and starts automatic vehicle exterior light control system in view of the above.In known system, adopt the representative type ambient light peak detctor that detects and preserve signal peak.Environmental control equipment of the present invention has adopted peak value environment inversion method.Here the algorithm of Gong Buing is interested in especially the minimum value of ambient light.Low especially when ambient light level, be about 1 Lx or when lower, have a lot of sights may give the high sensing reading that makes mistake, as the head lamp of approaching automobile, AC street lamp, the sun that is falling, the sun that is rising, roadside signs illumination or the like.But the situation that causes wrong low environment light sensing reading is also few.Minimum ambient light sensing reading more can be represented actual ambient light usually.
In one embodiment of the invention, its algorithm uses the environment value that filters to realize, this value is at primal environment brightness level signal counting downwards fast during less than the current environment value that is filtered, and when the primal environment light signal is higher than the current value that is filtered slow counting upwards.
Be used to start the preferred thresholding ambient light level with ambient light sensor signal correction filtration automatic vehicle exterior light control system and be about 0.5 Lx.But should be appreciated that according to the present invention and can use higher or lower threshold value, as the 0.25-1.5 Lx.
The time that starts automatic vehicle exterior light control system is preferably along with the ambient light level of reality changes.If through the ambient light value of filtering near thresholding, preferably be to need to drive about one mile and start automatic vehicle exterior light control system.If lower 2 times or 4 times than thresholding through the value of filtering, automatic vehicle exterior light control system preferably starts quickly.Different toggle speeds is because no matter whether the primal environment light signal is filtered, all might obtain since approaching auto bulb, road lighting or the like cause for a long time or the interior very high always ambient lighting state of distance.Therefore, designed preferable methods,, just in the part mile, started automatic vehicle exterior light control system if the ambient light behind one section very bright zone is very low.If ambient light rises on the sluggish scope that is about 2 Lxs, will spend a few minutes through the value of filtering and reach more than the threshold value.In this environment, before surpassing threshold value through the ambient light level of filtering, controlled vehicle will be travelled several miles with the ambient light that senses that is higher than 2 Lxs.Preferably, start according to environmental sensor signals or close the sluggishness that automatic vehicle exterior light control system is gone up if having time and/or distance is last.
Refer now to Fig. 4 a and 4b, the chart has here shown the algorithm according to detect night of the present invention and detect daytime respectively.In at least one embodiment, employing detection algorithm at night starts the automatic vehicle exterior light guide.Preferably, with about 75 milliseconds to about 125 milliseconds scope, preferably obtain the primal environment values of light from corresponding opto-electronic pickup with 100 milliseconds interval.This primal environment values of light can be used for computing environment short time aviation value, environment aviation value, the long-time aviation value of environment or their combination then.Preferably, environment short time aviation value is the weighted mean of nearest 16 environmental sensor readings; When being spaced apart 100 milliseconds, these 16 readings were converted into 1.6 seconds.
Preferably, environment on average is the exponential time weighted mean of nearest 256 environmental sensor readings for a long time; When being spaced apart 100 milliseconds, these readings were converted into 25.6 seconds.With further reference to Fig. 4 a, detect media 430a place at night, since night detect be closed to detect night the conversion 405a that opens preferably in this value between about 0.125 Lx and about 2 Lxs, when preferably being about 0.5 Lx.Detect high some 435a place at night, since night detect be opened to conversion 415a that night, detection was closed preferably in this value between about 0.5 Lx and about 88 Lxs, when preferably being about 2.0 Lxs.Preferably, conversion 405a is that the detection at night that it has is closed delay counter and is reset to about 0 second with respect to the long-time aviation value of environment.Preferably, conversion 415a is that its delay is about 150 seconds with respect to the long-time aviation value of environment.As an alternative, detect low spot 425a place at night, since night detect be closed to detect night the conversion 410a that opens preferably in this value between about 0.0 Lx and about 0.5 Lx, when preferably being about 0.125 Lx.Preferably, conversion 410a is with respect to environment short time aviation value.As an alternative, detect the 440a place by day, detect to be opened to from night and detect the conversion 420a that closes night between about 2 Lxs and about 100 Lxs, finish when preferably being about 88 Lxs.Preferably, conversion 420a is with respect to the long-time aviation value of environment.
Further, preferably detect the 420b place by day, be closed to the conversion 405b of detection unlatching on daytime between about 44 Lxs and about 100 Lxs, when preferably being about 88 Lxs since the detection on daytime with reference to figure 4b.Preferably, conversion 405b is with respect to the long-time aviation value of environment.Preferably detect by day and close 415b place, detect since daytime and be opened to conversion 410b that daytime, detection was closed between about 0.0 Lx and about 88 Lxs, when preferably being about 44 Lxs.Preferably, conversion 410b is with respect to the long-time aviation value of environment.
Night detection algorithm use concerning starting and closing the automatic vehicle exterior light guide particularly useful.Daytime, the use of detection algorithm was particularly useful concerning the automatic guidance of opening and closing EC mirror.These algorithms are advantageously used in the variation that solves ambient lighting, and the variation of these ambient lightings is owing to sunray, street lamp, parking area illumination, building lighting, moonlight, trees shade, bridge shade, tunnel shade and caused to the conversion of another kind of ambient lighting state from a kind of ambient lighting state.Should be appreciated that these algorithms can be applied in other automotive system as moist sensing, vision system, display brightness control etc.
According at least one embodiment of the present invention, as above with reference to Fig. 2 discussion and in the patent of above introducing and patent application disclosed automatic vehicle exterior light control system be applicable to the appearance of the caused atmospheric condition of light that detection is distributed by the external lights of the controlled vehicle that is reflected.The example of this atmospheric condition includes but are not limited to: thick fog, mist, snow, rain and snow, hail, rain, steam, flue dust, dust and their combination.Term as used herein " atmospheric condition " is used to represent the aerosol of any scattering or reflected light rays.Detect that the atmospheric condition be concerned about will be higher than the taillight that detects preceding vehicle usually to the desired sensitivity of external modulation reflection of light of controlled vehicle and near the needed sensitivity of the head lamp of vehicle.
The following certain methods that is used for detecting the method for the atmospheric condition of being concerned about is applicable to mainly that the low luminosity head lamp in controlled vehicle starts and detects atmospheric condition when high luminosity head lamp is stopped using.But should be appreciated that when any method may be used to high luminosity head lamp and starts.Not carry out the atmospheric condition measurement when having street lamp or other non-car bulb be favourable when identifying, because these light can disturb the measurement of atmospheric condition.The measurement of atmospheric condition can lie over, and skims over corresponding scene until these undesirable objects.By assessment the special car model that this system solves the difference of the beam pattern between the different external lights designs has been installed, has been used for image that atmospheric condition detects and the parameter of thresholding is favourable to determine to be used for assessing.Should be noted that head lamp that controlled vehicle has can allow the variation of beam intensity, light beam focusing, horizontal target, vertical target, aware colors.
When approaching auto bulb occurs, the reliability of the detection of the atmospheric condition be concerned about is reduced, because the head lamp of approaching automobile may " washing out " image.Term " washes out " and is used for describing resulting image here, and this image packets contains nearly all pixel of the light high brightness that senses of expression.But we are indifferent to washing out of image usually, because the detection of approaching auto bulb will cause the high brightness head lamp of controlled vehicle to be stopped using automatically.In case approaching headlight for vehicle is through image, the measurement of atmospheric condition can be carried out prior to restarting of high brightness head lamp.
Preferably, can obtain the image of high dynamic range to be used for to detecting the analysis of atmospheric condition.By obtaining the image of high dynamic range, low-level and high-caliber mist can both be detected, and " visibility " of imaging reflection most accurately determined.If the local imageing sensor of choosing can obtain the image of high dynamic range, do not produce enough scopes with regard to requiring special technology.If employed imageing sensor does not have enough local dynamic ranges, so can be by on a plurality of sensitivitys, obtaining a plurality of images of same scene in order, then they are combined, thereby form synthetic high dynamic range images, so just can synthesize the image of high dynamic range.This technology has been done detailed disclosing in the open text WO 2004/034183 of the international monopoly of owning together, the disclosure content all is hereby incorporated by.High dynamic range images preferably has the dynamic range greater than 40dB, preferably has the dynamic range greater than 60dB.The image that comprises greater than 8 dynamic range can be stored in the memory device in the logarithm mode, thereby reduces the storage requirement of system.
Fig. 5 a has shown the image that imageing sensor from be installed in controlled vehicle, that take with high sensitivity obtains, and this image is in the atmospheric condition that any care do not occur and takes when light from other objects or vehicle not occurring.Described on the road surface from the light of the low luminosity head lamp reflection of controlled vehicle in the relative low brightness area of image bottom.When Fig. 5 b has shown the mist that medium level occurs with the image of similar parameter acquiring.When Fig. 5 c has shown the thick fog that high level occurs with the image of similar parameter acquiring.The image of same train will have similar feature, because atmospheric condition of being concerned about outside the demist and the method that is used for analysis image discussed here all have identical application to the atmospheric condition of all care.With reference to Fig. 7, when the image sequence shown in observation Fig. 5 a-5c, can see that the reflecting effect that causes from ground-surface reflecting effect and the atmospheric condition of being concerned about is different.
Fig. 6 a has shown the vertical uplift that reflects under the hierarchy level growth pattern of mist.Similarly, shown in Fig. 6 b, follow the mist of growth, the expansion of reflection occurred level.This conclusion is being distinguished owing to the reflection of mist or other atmospheric conditions of being concerned about and from ground-surface reflex time particular importance.Can high strength on the road surface owing to be coated with water, snow, ice or their compound reflex time, from the ground-surface reflection with from the differentiation of the reflection of atmospheric condition difficulty especially.The road that is coated with water, snow, ice or their compound is called " highly reflective road surface " here.
The highly reflective road surface will cause the higher relatively reflection of the external lights light of controlled vehicle, as shown in Figure 7.As seen from Figure 7, the reflection width 701 of the light of controlled vehicle and horizontal clearance are narrower than reflecting 501b owing to the caused light of the atmospheric condition of being concerned about shown in Fig. 5 b.Therefore, width by the check image internal reflection and height just can improve definite to the appearance of the atmospheric condition be concerned about.
The specularity road surface seems in image usually than mist more " clear ".The definite of the visibility of catoptric imaging can be undertaken by the direct current composition of movement images, i.e. the average gray value of the subregion of computed image or image.Clear object in the image can be discerned with edge detection filter, perhaps by handle the subregion of image or image with high-pass filter, as Laplace filter.The ratio of high frequency composition and direct current composition can be used for distinguishing the reflection of the atmospheric condition of being concerned about and from road or other reflected by objects.
In some cases, the simple estimation of the average gray value of entire image or overall gray level value can be calculated and be compared with thresholding basically, thereby detects the atmospheric condition of being concerned about.If average gray value or overall gray level value surpass thresholding, so just take adequate measures, as the self-opening of the high luminosity head lamp that stops controlled vehicle.For the automatic operation that stops exterior light control system under the atmospheric condition of very high-caliber thick fog state, blizzard and other care, the measurement of average gray value and overall gray level value is particularly useful.This method when high luminosity just is being activated also of great use.The very high average or overall gray level value of entire image may represent that the driver has entered the dense fog zone, and the brightness of therefore lowering high luminosity head lamp will be favourable.
Under other state, as being unlocked at low luminosity only or the level of mist when low, can on average calculate multiple parameter, thereby allow to determine the appearance of the atmospheric condition be concerned about from the row and column of imageing sensor interior pixel.Row and column is on average calculated as the average gray value of all pixels in every row and the every row.Alternatively, can also use the summation of row and column.At first, basically, the simple estimation of the average gray value of entire image or overall gray level value can be calculated and be compared with corresponding thresholding.If average gray value and/or overall gray level value surpass thresholding, so just can take suitable measure, as stoping the high luminosity head lamp self-opening of controlled vehicle.For the automatic operation that stops exterior light control system under the atmospheric condition of very high-caliber thick fog state, blizzard and other care, the measurement of average gray value and overall gray level value is particularly useful.
Concerning the atmospheric condition of being concerned about of the mist of reduced levels or other reduced levels, can be calculated and be compared as the slope of the chart described among Fig. 6 a and the 6b and/or the estimation of intercept, with the appearance of the atmospheric condition determining to be concerned about with thresholding.Preferably, these values are calculated in its aviation value is non-zero and/or unsaturated row scope.Preferably, except that slope calculations and/or intercept, " determining coefficient " value:
(1) determines coefficient=R
2=1-(SSE/SST)
(2)SST＝∑y
i 2-[(∑y
i)
2/n]
(3)SSE＝∑y
i 2-β
0∑y
i-β
1∑x
iy
i
Also (perhaps alternatively) calculated, whether accurate with the calculating of determining slope and/or intercept.If the definite coefficient value that obtains is low excessively, slope and/or intercept, method just should not be used for the appearance of last definite atmospheric condition of being concerned about separately so.
As mentioned above and describe in Fig. 7, the capable gray value of the light image of highly reflective road reflection in some cases may be very similar to the light image of the atmospheric condition reflection of being concerned about.Several additional options can be used to the reflected light rays of the atmospheric condition be concerned about the district office with from highly reflective ground-surface reflected light rays.
At first, this image can be decomposed into a plurality of zones.For example, row on average can calculate respectively in left area, zone line and the zone, the right of image.Including from the scene image of the light of the atmospheric condition be concerned about reflection, the left side and zone, the right are similar with respect to the vertical luminance increase of zone line.For the light scene image that includes from the highly reflective road reflection, zone line expresses than the right and left area that much higher reflection is vertical to be increased.
Secondly, can analyze,, whether tangible irregularity be arranged perhaps to determine whether the suitable homogeneity on entire image to the row gray value.Can calculate homogeneity by obtaining column average as the standard deviation of the percentum of aviation value.As an alternative, the parabolic type match of column average can be used for determining whether the gray value in edge has significant decline.If the quadratic in the match has big amplitude, in edge higher decline is just arranged so, shown in Fig. 6 b.And, can calculate the value of determining coefficient again, with accept observed reading as the decisive factor of the appearance of the atmospheric condition of being concerned about before definite this match whether can accept.
At last, as discussed above, can analyze the height of image and low spatial frequency composition, to distinguish road reflection and mist reflection.The high fdrequency component of whole two dimensional image all can be analyzed, and the summation of row and column medium high frequency component can be investigated on one dimension individually.
The above common result of method of calculating be obtain can be evaluated with one or more parameters of the atmospheric condition that determines whether to occur to be concerned about.Except the measurement that can produce the atmospheric condition that indication is concerned about with the situation of specific run environment atmosphere is relevant.The example of this running environment comprises the appearance of snow drift and drives on the snowy slope of covering.During these running environment states, to avoid wrong identification, preferably on several images, usually the measurement to atmospheric condition is averaged on several seconds to the atmospheric condition of being concerned about.
For example, can per second obtain piece image and analyzed, to detect the atmospheric condition of being concerned about.The parameter of calculating from this analysis meter can be averaged in 20 seconds time period, then this averaged result is compared with thresholding, with the atmospheric condition that determines whether to occur to be concerned about.
When the atmospheric condition of high-caliber mist or other care may occur suddenly, as in dropping to the mountain valley time, require reaction more rapidly.Adapt to these situations, can consider that the atmospheric condition of " high " is measured, to generate response at once.A kind of method that realizes this function is to adopt " the absolute thresholding " that be higher than thresholding to compare with the aviation value that calculates.
Can realize that hesitation is to prevent between different external lights states repeatedly, with the further operation that improves automatic vehicle exterior light control system.In this case, first thresholding is used to represent the appearance of the atmospheric condition be concerned about, and second thresholding is used to represent that atmospheric condition eliminates.The setting of second thresholding makes must have the lower level atmospheric condition of being concerned about to occur after detection, and this level is lower than the described atmospheric condition of expression and desired level occurs.The use that the average atmospheric condition of hesitation binding time is measured provides stable and predictable automatic vehicle exterior light control system.Alternatively or by way of parenthesis, the mobile delay that can add time and distance is to prevent the switching between different conditions.For example, be closed in case detected atmospheric condition and the automatic high luminosity control be concerned about, must be before high luminosity control can be restarted through the specific minimum time length and/or the threshold distance of must travelling.
Another method that is used for detecting the appearance of the atmospheric condition of being concerned about comprises the uniform diffuse reflection of detected image light.At first, obtain image to detect the light from the controlled vehicle head lamp of the atmospheric condition reflection of being concerned about with enough sensitivitys.The image that is obtained can be identical with the image that is used for the automotive luminaire detection, can be the high dynamic range images that synthesizes, and perhaps can be the image that obtains for the atmospheric condition testing goal specially.Also can take a plurality of images by multiexposure, multiple exposure, and be combined as composograph.The sensitivity that obtains image when high luminosity head lamp cuts out can be higher, because much brighter than what reflect from low luminosity head lamp usually from the light of high luminosity head lamp reflection.
For determine that pixel senses only not from even diffusing source, can use low-pass filter to eliminate sharp-pointed or discontinuous feature in the image of measurement.This filter can move according to following formula:
LPF＝abs(C-N)+abs(C-S)+abs(C-E)+abs(C-W)
Wherein LPF is the value of low-pass filter, and C is the gray value of current pixel, N, S, E, W refer to the north, the south of current pixel, in the east, the gray value of western neighbor, abs () is meant ABS function.Also can adopt neighbor is used different weights or uses different or other filter of the adjacent element of big figure more.All pixels that surpass the minimum brightness thresholding in the window are carried out this function.Represent that pixel is the thresholding of the part of even diffusion area if the value of LPF drops to be lower than, then the horizontal counting machine of atmospheric condition increases.This counting machine is all pixel addition above thresholding of brightness in the image, and these pixels are confirmed as the part of even diffusion area by using low-pass filter.
The value of the horizontal counting machine of atmospheric condition is represented the flat instant measurement of fog.It is of great use that this value is averaged, as 15 seconds to 2 minutes cycle regular hour in and/or finish on the miles of relative movement of less obstruction inclination measurement and be averaged.Cover snowy slope and/or snow drift and also can represent the appearance of the atmospheric condition be concerned about.But these objects skim over usually soon, therefore are left in the basket when considering aviation value.It also is favourable only carrying out the mist measurement when running car.
Select the subpanel in the image to handle.For example, this subpanel can be to be 2 pixel regions of spending 1 degree below the horizon above the horizon when opening corresponding to high luminosity head lamp, and high luminosity head lamp is above the horizon 2 to spend the zones of 2 degree below the horizon when cutting out.Owing to increased the road reflection, higher low side cut-off frequency is used to high luminosity head lamp.The width of image can be to be used for the four corner that car bulb detects, and for example is approximately from taking back 12 to spend 12 degree that take over.The selection of image window can be adjusted according to the input of automobile obliquity sensor or other correcting device.
When preferably, the detection of the atmospheric condition of being concerned about occurs over just image and does not have other light source or only comprise the light source of finite population or limited brightness.If detect the light of other automobile, in any case high luminosity head lamp all will be deactivated general like this what adverse consequences that do not have.Fixing luminaire will skim over from image when controlled vehicle is travelled, and can carry out the detection of mist after this.
If average atmospheric condition level surpasses thresholding, so high luminosity head lamp just can be cut off or the automatic startup of high luminosity head lamp just can be disabled.Atmospheric condition that can be detected when in some cases, high luminosity head lamp is opened may can not detect when high luminosity head lamp cuts out.In this case, the unlatching of automatic high luminosity head lamp can be shelved one section preset time or predetermined distance, restarts control up to the driver by a switch, stops until controlled vehicle, has perhaps ceased fire until controlled vehicle and has restarted then.If atmospheric condition can detect with low luminosity head lamp, in case the atmospheric condition level drops to and just can reactivate the control of high luminosity when being lower than threshold level so.At forbidding with restart between the thresholding hesitation can be provided.
Be used for high luminosity head lamp partial sum/or the algorithm that detects the atmospheric condition of being concerned about when enabling fully with respect to the relevant algorithm of low luminosity fortune, preferably introduce different variablees and/or multiplication constant.When high luminosity head lamp was opened, the light of atmospheric condition reflection does not show as the vertical cut-off frequency of gradual change, and was represented as the slope of Fig. 6 a and 6b.On the contrary, from atmospheric condition entire image corresponding to given field range has almost been filled up in the reflection of high luminosity head lamp.But, because the much higher coaxial intensity of high luminosity head lamp, the amount of reflected light rays much bigger than in the image with the exposure time of lacking relatively on the axle.Because much bigger coaxial intensity, image acquisition sensitivity can be selected than the lower value of sensitivity that is used for detecting atmospheric condition when high luminosity head lamp cuts out.Alternatively, the image that being used for of being obtained detected near the taillight of the head lamp of vehicle or preceding vehicle can have suitable sensitivity, so that detect atmospheric condition when the high luminosity head lamp of controlled vehicle is opened.
If relevant image is to obtain with lower sensitivity under the situation of synthetic high dynamic range images, so when the high luminosity head lamp of controlled vehicle is opened, the detection of the atmospheric condition of being concerned about just can be adopted and abovely move the average gray value of the image of being discussed or the calculating of overall gray level value realizes about low luminosity.
The another kind of method that detects the atmospheric condition of being concerned about is particularly suitable for opening the high luminosity head lamp of controlled vehicle.But should be appreciated that this method also can use when only opening low luminosity head lamp.At first, obtain the image of very high image of sensitivity and insensitivity.The insensitivity image is preferably in when seldom (if any) has light source to occur in the associated scenario and is acquired.Preferably, when taking the insensitivity image, there is not light source.In addition preferably, when taking the insensitivity image, the speed of controlled vehicle is greater than given thresholding, acceleration/accel less than second thresholding and deceleration/decel less than the 3rd thresholding.Brake impels controlled vehicle to tilt so that imageing sensor is seen the preceding more road surface of automobile at once, and high luminosity head lamp is invested the road surface to more light simultaneously.Therefore, the image that is used for this analysis is not preferably in not brake or obtains when slowing down.Then, the average gray value of every row in the image that meter sensitivity is very high.If the atmospheric condition of being concerned about, the row average gray value will have net increase when moving down in image so.The net increase of the capable average gray value from the image apex to the bottom is measured and compare with thresholding.Row at the bottom end vicinity of image is on average maximum.The light that exists only in the first half of image will be rejected.If light source is arranged on the top and in the bottom reflection is arranged, this image will be accepted so, and there is the atmospheric condition of being concerned about in expression.Be acquired after preferably the image that second sensitivity is very high and second insensitivity image filter through red spectral.The white red ratio of basic entire image is calculated, and is used for representing the appearance of the atmospheric condition be concerned about.In addition, except that row is average, can adopt white red ratio, perhaps replace row average with it.
For stable high luminance levels, the light that reflects from mist will change along with the concentration of mist.To one period short period, suppose that the output of the concentration stabilize of mist and high luminosity is stable, then brightness should roughly be stablized.The variation of light luminance just represents that mist does not exist.
In addition, can calculate the summation of at least a portion of average gray value of every row of each image.If the summation of every capable average gray value high percentum of entire image almost when saturated, so this just atmospheric condition of being concerned about of expression occur.Alternatively, if the summation of every capable average gray value is a lower value, and white red ratio is higher than thresholding, and this image just can be represented the appearance of the atmospheric condition that concerned so.
With compare from the highly reflective road surface, have still less ruddiness composition from the reflection of some atmospheric condition of being concerned about, particularly mists.Preferably, before determining whether the atmospheric condition of being concerned about occurs, the combination of above method of measurement can be satisfied minimum time and/or driving distance.
The atmospheric condition that might be concerned about exists, but low luminosity atmospheric level measurement described above can not detect enough values to provide sure expression.But in case the high luminosity head lamp of controlled vehicle is opened, detected atmospheric condition level is just more remarkable.A kind of method that overcomes this problem is the brightness that increases the controlled vehicle head lamp in monitoring atmospheric condition level.If detected atmospheric condition horizontal survey is risen corresponding to the increase of head lamp brightness, so just can infer the sure sign that atmospheric condition occurs, automatic then high luminosity control can lie on the table.
In order to discern above feature with reference to Fig. 6 a and 6b discussion, the summation of the row and column of the every row of image, every row can be provided as the input variable of probability function and/or neural network.Can be introduced into as other input variable and/or the multiplication constant of describing elsewhere here.For example, neural network can be by comprising from the image of the light of the atmospheric condition be concerned about emission and not comprising the row of multiple other on-the-spot image of atmospheric condition and/or row, sum data carry out " training ".Distinguishingly, misdeem that easily the scene as covering snowy or other highly reflective road for the atmospheric condition that occurs being concerned about should be included in the training data.Neural network can be configured to discern those situations of describing among Fig. 5 a, 5b, 5c and Fig. 7, with the output of appearance that the atmospheric condition that expression is concerned about is provided.Independent neural network can be used for high luminosity head lamp and closes the additional input that can be provided as neural network with the state of the external lights of high luminosity head lamp opening and/or controlled vehicle.By adjacent row and column being merged to the number that can reduce required complexity of neural network and input in the signal output, reduce the resolution of method of inspection effectively.This is particularly useful when using high-resolution image sensors.If there is sufficient processing capacity to use, so all original data can be used for training this neural network.Alternatively, can come neural network training by image in different resolution rather than use row and column sum data that formation reduces.The image in different resolution that reduces can be averaged by the several pixels to adjacent area and form, thereby is the number that coefficient has reduced pixel with the size of the adjacent area selected.
In case recognize the atmospheric condition of being concerned about when the high luminosity head lamp of controlled vehicle is opened, the intensity of high luminosity head lamp just reduces gradually and suppresses automatic guidance, is eliminated until atmospheric condition.In addition, after the high luminosity of controlled vehicle is disabled, can obtain the measurement of low luminosity atmospheric condition level at once and be used as benchmark (that is, before low luminosity control was opened again, the measurement of low luminosity atmospheric condition level must be brought down below this result of a measurement).
Except above use imageing sensor detects from the method for the atmospheric condition be concerned about, also can use independent discrete light electric transducer or non-imaging photodetector, as the content of photodiode, photoconductive cell, photoelectricity door, its announcement in this US Patent of owning together 5 that all is incorporated herein by reference, 990,469; 6,008,486; 6,130,421; 6,130,448; 6,049,171; And 6,403, the sensor described in 942, or any sensor-based photoelectric commutator that can use jointly.Use discrete opto-electronic pickup, the increase of the ambient light that is caused by the atmospheric condition of being concerned about can be used as the decisive factor of the appearance of the atmospheric condition of being concerned about.During the increase of the corresponding forward direction ambient light of rising of brightness, the discrete light electric transducer is particularly useful when determining to open with the high luminosity head lamp of controlled vehicle, and therefore the atmospheric condition be concerned about of expression occurs at least in part.The advantage of using the discrete light electric transducer be can be faster and simple how obtain light level sensing reading, and the remarkable minimizing in the processing time of the data demand that obtained of analysis.
Can be used to the detection of the atmospheric condition of further auxiliary block post care as the secondary light source of high-brightness LED.This secondary light source can be encapsulated in other position of imaging device or automobile, as in the headlight device.Secondary light source is preferably assisted like this so that the light from light source of the atmospheric condition reflection of being concerned about can be detected by image and/or opto-electronic pickup.Preferably, this light source is not visible light source, as can be by the infrared light supply of sensor.
Infrared cut-off frequency filter can use with the imageing sensor of major part from the light of infrared light supply of can decaying significantly.In this case, independent discrete optical sensors (perhaps even do not have the independent imageing sensor of whole IR filtering) can be used for the reflection of detection light source.In this case, the discrete light electric transducer preferably is designed to have the visual angle identical substantially with the angle of divergence of light source.Preferably the discrete light electric transducer is filtered, and is detected with the spectral band that only allows the secondary light source emission.The environment forward sight optical sensor that this discrete light electric transducer can be an EC mirror.Yet the another kind of replacement scheme of discrete optical sensors provides the narrow trace passband in the infrared filter of imageing sensor, passes through with the certain wavelengths that allows secondary light source.
Use secondary light source to detect the atmospheric condition of being concerned about and is preferably undertaken, obtain during a kind of unlatchings light source, obtain during a kind of inactive light source by obtaining two kinds of images.If atmospheric condition occurs, imaging in the image that the reflection of light source will be obtained opening along with light source.The difference of the average gray value of two kinds of images can be used as the measurement of the atmospheric condition of being concerned about and measures.
If used the discrete light electric transducer, just can take the measurement of two kinds of light grades, a kind ofly when secondary light source is opened, obtain, and another kind is acquisition when stopping using.Difference between two kinds of measurements has been represented the level of the atmospheric condition be concerned about.
In addition, the task of detecting the atmospheric condition of being concerned about can be carried out as the non-optical sensor that can detect atmospheric condition of temperature or humidity sensor with other device or by using.The combination of optics and non-optical, technologies also is favourable.
Example: the detection of the atmospheric condition of being concerned about
As one exemplary embodiment of the present invention, can the combine sign of the atmospheric condition be concerned about to provide of five kinds of factors.
The first, the original number of detected light source can be a kind of factor in the image.For example, this factor can be a numeral between 0 to 7.When the atmospheric condition of being concerned about becomes more general in image, the light source of any appearance will be tending towards fuzzy simultaneously.Light source or only several light source may not appear in situation about having.But, if near 7 but not 0 light source occur, the possibility that occurs the atmospheric condition be concerned about so is just littler.The number of light source is linear in possibility that the atmospheric condition be concerned about occurs and the image, and perhaps the threshold number purpose light source boolean that may trigger this factor represents.
The second, the factor that comprises the atmospheric condition of being concerned about that expresses possibility is investigated general left side 500c, middle 501c and the right 502c row as pixel in Fig. 5 c institute image represented.Preferably, middle column is determined with reference to the automatic aiming feature of correspondence image; Left-hand column is preferably located in about the 15th row in the left side of middle column, and right-hand column is positioned at about the 15th row in the right of middle column.Move down each then and be listed as the light grade of calculating each pixel, preferably from row 4503c.As from Fig. 5 c as seen, the upper left corner of image 505c is designated as the 0th row, the 0th row, and the lower right corner of image 510c is designated as the 20th row, the 59th row.Should be appreciated that and to adopt other big or small image, other row and/or row that also can considered pixel.In case given row is confirmed as representing the atmospheric condition be concerned about, just can confirm the increase of reflected light level when moving down in image.In addition, the result of the left side, centre and right-hand column can compare mutually so that confirm.The row of comparing higher middle beginning with the left side with the right can be used as affirmation.Can adopt a preferably index between-10 to 30, it increases or reduces according to these factors, finally reaches the sign of the atmospheric condition of representing as second factor of being concerned about.
The 3rd, preferably check the difference of the light grade of the core neighbor bottom close the brilliant image of the 19th row 17-49 row.If absolute difference is greater than 8, the counting in the relevant counting machine between approximately-30 to about 5 just increases so.If this counting machine is more than or equal to 2, so just between about 0 smog possibility index to about 100 scopes, deducting 10.If counting machine less than 2, just adds 1 to smog possibility index.If the atmospheric condition of being concerned about so just can't be seen road sign.If occur mark intermittently in the image, as the striped in the middle of the track, just very fast minimizing of mist possibility index so.If do not occur mark in the image, the mist index just increases slightly.This has considered the interval between the mark, and has reduced to result from the big variation of road sign intermittently.Should be appreciated that also and can adopt the linear pixel value array.
The 4th, a plurality of pixels of the atmospheric condition that expression is concerned about are determined by near the multiple row pixel the image under consideration center.Analyze the homogeneity of each pixel and its four neighbors.If having determined pixel and its neighbors is uniformly, just increase between about 0 counting to about 100 scopes.This counting is added to the mist index then, as the factor of the atmospheric condition of determining to be concerned about.
The 5th, to the red spectral filtering image with represent that the pixel in the rectangular area in other images in the visual field much at one calculates its white red ratio.To be the most general from the reflection of the atmospheric condition be concerned about and from the reflection of road in this zone of image.Use the linear pixel value data array to calculate the average light of each rectangular area.On duty by what average brilliant image was correlated with 10, can determine white red ratio with this numeral divided by the relevant value of average ruddiness image then.Have a series of images from the reflection of the atmospheric condition be concerned about with respect to having from the image of ground-surface reflection, their cooresponding white red ratios are more stable.
Use probability function to calculate the possibility of the atmospheric condition of being concerned about in conjunction with cooresponding weight factor then with all factors as described herein.For example:
P (atmospheric condition of being concerned about)=A
*(original number of light)+
B
*(expression of the left side/centre/right-hand column)+C
*(bar detection)+
D
*(number of the pixel of expression state)+E
*(white red ratio)
During the atmospheric condition be concerned about when detecting, make the deepening of high luminosity head lamp.After deepening, several rectangular areas of respective image can be recorded.Can be used for determining when should the high luminosity head lamp of self-opening in these zones then.The aviation value of all rectangles deducts those values to determine whether the atmospheric condition of being concerned about keeps as the pattern-recognition template from follow-up sensing reading.When the difference addition of each rectangle near 0 value representation near coupling.This can be stored in the corresponding memory and be used to solve specific controlled vehicle illumination and imager configuration.
Except task of carry out stoping automatic high luminosity head lamp to be opened under the atmospheric condition of being concerned about, above method can be used for carrying out other function, as fog lamp before or after starting.By correspondingly adjusting suitable thresholding, above method can be worked in coordination with the illumination of control express highway and be used, and wherein variation has taken place the vertical angle of external lights light beam; Can use with the bending illumination is collaborative, wherein variation has taken place in the horizontal angle of external lights light beam.In addition, relevant automatic vehicle exterior light control system can be configured to produce at least a or multiple signal, and this signal is from comprising external lights governing speed signal, the graphical analysis signal, the system sensitivity signal, the algorithm parameter signal, the algorithm start signal, algorithm suppresses signal, the pattern matrix window signal, operator's indicator signal, good fortune is reined in weather light luminance signal, the taillight luminance signal, field, visual field signal, the variable spectral filter signal, the variable-focus range signal, the variable aperture signal, external lights transfer delay signal, external lights high-high brightness signal, and choose in the group of external lights minimum brightness signal.
In another embodiment, automatic vehicle exterior light control system is applicable to the obstacle of detected image sensor.During the Windshield that the visual field of forward direction scene is passed cleaned by the windshield wiper device in the arrangement of imageing sensor regional, the obstacle of imageing sensor may seldom occur.But, be difficult for may being occurred by the fixing pollutants that the windshield wiper device is removed, be difficult for removed pollutants as the dirt of stubbornness, ice or other.If these pollutantss do not hinder the driver to pass the visual field of Windshield, the driver may not can open the windshield wiper device energetically or takes measures to clean the Windshield of imageing sensor front region in other mode.In addition, because the obstacle of imageing sensor is rare incident, the driver may be not aware of the obstacle of imageing sensor, thereby suspects that mistake appears in automatic vehicle exterior light control system, rather than only is blocked.Check immediately or at a certain time interval that after start the imager that is hindered also is favourable.
Be several methods that are used to detect the imageing sensor that is hindered below.Any or combination of these methods can be used for all determining whether imageing sensor is hindered.Usually concluding that far and away imageing sensor all will carry out several obstacles before being hindered and measure.In case the obstacle of imageing sensor is determined, imageing sensor just can continue to obtain image and detect object once more in image, can open automatic guidance again this moment.If on a time cycle, be preferably in a long time and obtained several images on the cycle, and all not detecting light source in any image, just might be that obstruction has taken place imageing sensor.Confirm that imageing sensor is hindered, can adopt any technology in the following technology.
Referring now to Fig. 8 the method that another kind of imageing sensor detects is described.As shown in the figure, at least one embodiment has imaging device 815, and this device has imageing sensor 816 and the relevant optics 817 that aims at the Windshield 806 of controlled vehicle usually.Preferably, the light 811 from secondary light source 810 emissions intersects with the surface 806,807 of Windshield 805 in the field, the visual field of imaging device 815.System based on imageing sensor announces in the US Patent of owning together 5,923,027,6,617,564 and 6,681,163; This published content all is hereby incorporated by.Preferably LED can throw the whole zone that a spot of light overlay image sensor passes, though still less or the light of bigger quantity also be enough.Light source should be launched the wavelength of imageing sensor sensitivity or the light of range of wavelength.If ice, Windshield smog or other pollutants do not occur, will pass Windshield from the light of LED so and will be sightless concerning imageing sensor.If have ice, Windshield smog or other pollutants, will be reflected in lambert's mode at least in part from LED light, then the image detection that can be obtained by imageing sensor.Ice, Windshield mist or other pollutants move as motion picture screen, thereby make imageing sensor detect the light of emission.Detect Lambertian reflection light, will when LED is energized, obtain image.Preferably can take two width of cloth images, a width of cloth is taken when LED is energized, and a width of cloth is taken when unexcited, and their difference is used for the light of detection of reflected then.If the difference between two images is very big, just can confirm that a considerable amount of LED light have been reflected and imageing sensor is hindered.
The method of the photographic camera that current detection is hindered is to previous disclosed similar by the method for using secondary light source detection atmospheric condition.Light source all is energized in both cases, so that detect the reflection of the material before imageing sensor or discrete optical sensors.Under present case, this material is near field pollutants or the obstacle on the Windshield, and formerly under the situation this material be automobile fwd atmospheric condition.Two kinds of all available common assemblies of function are carried out.When the obstacle of sensing near field, may wish to move light source with lower power, perhaps alternatively with lower sensitivity operation image sensor or discrete optical sensors, this is because near field reflections is much bigger probably.Difference between near field obstacle and the atmospheric condition can be carried out based on the intensity of reflection.But, still be the measure wished after the atmospheric condition when being the control of forbidding automated external light detecting obstacle no matter, the difference between two kinds of situations is dispensable.
The method that another kind is used to detect the imageing sensor that is hindered is the state that utilizes the aiding sensors placed away from imageing sensor to come the detected image sensor to be hindered.This aiding sensors can be single non-imaging sensor, and it observes the direction identical substantially with imageing sensor, and has the visual angle similar to imageing sensor.Ideally, aiding sensors several inches settings of range image sensor at least.The forward direction environmental sensor of electrochromism back mirror can be used as aiding sensors.If the field, the visual field of forward direction environmental sensor is obviously different with imaging system, so single forward sense device with more similar field, the visual field just can be installed in the mirror as aiding sensors.Determine whether imageing sensor has obstacle, just obtain the light grade by aiding sensors.If aiding sensors measures a considerable amount of light, the light source of some types just should be detected by imageing sensor so.Obtain image so that the detected level environment light of aiding sensors can detect with certain sensitivity in image.If detect less than light in image, imageing sensor is hindered so probably.This method is particularly useful when approaching automotive headlight occurring.If headlight is approached, aiding sensors will detect the increase of light grade so, at the automobile warp unexpected decline of light grade later.If do not detect headlight in the image that this state hypograph sensor obtains, imageing sensor is hindered probably so.
Also have another to detect the method for the imageing sensor that is hindered, it comprises the image that obtains shown in Fig. 5 a.In Fig. 5 a, can see the reflection of road surface in the image to the low luminosity head lamp of controlled vehicle.If when the low luminosity head lamp of known controlled vehicle or other external lights were opened, the road surface can't see that to low luminosity head lamp or other external modulation reflection of light of controlled vehicle imageing sensor is hindered probably so.Before concluding that imageing sensor is hindered, should on cycle a period of time, obtain a plurality of images.Jolting on road or the slope may cause the reflection of low luminosity more obvious or more not obvious, thereby influence detects the ability of the imageing sensor that is hindered.If exist on the automobile as the axel sensor of self-moving vehicle head lamp level measurement system, the output of these sensors can be used to establish the suitable time and obtains image to detect road to hanging down the reflection of luminosity head lamp so.
When detecting obstacle, above invention can be used for starting cleaning or contaminant removal system, as wiper, scrubber, defogger, temperature booster or their combination, they are designed to surface from the path that is positioned at the imageing sensor visual field the depollution thing that gets on.This is particular importance concerning passing the imageing sensor of observing on this surface of removing the Windshield of pollutants except wiper system.At last, alarm light or message can automatically be shown to the driver of controlled vehicle, the disabled or suggestion cleaning Windshield with the expression automatic vehicle exterior light control system.
Suitable obstacle indicating device can be combination that can listen, visual or the sense of hearing and vision.Visual detector can be LED, vacuum fluorescent display, Liquid Crystal Display (LCD), LED/ index, the Liquid Crystal Display (LCD) that throws light on dorsad, and can integrate with any other position that the driver of instrument carrier panel, back mirror, preceding overhead central authorities storage tank, message center or controlled vehicle can see.Audible indicator can merge in any suitable device of controlled vehicle.The diagnostic message that provides can read in the public service station.
Except the automatic guidance of the high luminosity head lamp that stops controlled vehicle, above method can be used to guarantee the operation of the automatic fault protection of other vision system.For example, the electronics vision system can be used to detect encumbrance, provide auxiliary back to vision system, back to vision system, humidity sensor system and many other features.If have smog, rain or snow, if perhaps in the imageing sensor front obstacle is arranged, all these and many other features all can not correctly be moved.Invention described above can be used to detect these states and impels this characteristic recovery to automatic fault protection state or warning driver, warns this feature not carry out by the vision or the sense of hearing, so the driver can not rely on this vision system to execute the task.
Do not wish to have automatic high luminosity control when in the urban district, driving under the another kind of situation.In fact, some European countries forbid using high luminosity head lamp in the urban district.
To be lower than certain specific speed, for example 50 kilometers/hour when driving, the unlatching of automatic high luminosity head lamp can lie on the table.Alternatively, GPS or other navigation system can be used to discern the geographic position of controlled vehicle and forbidding automatic guidance when automobile is positioned at the urban district.Because the urban district is usually by urban lighting illumination, so the unlatching of when ambient light surpasses thresholding or by the combination of low velocity and high ambient lighting thresholding, forbidding high luminosity.At last, the detection AC street lamp of describing in the US Patent of owning together 5,837,994 that also all is hereby incorporated by can be realized the calculating of street lamp density.Every section interior street lamp number of mobile distance also can be calculated and be used for measuring city's zone state.If at the thresholding that outnumbers of given time or the interior detected street lamp of distance, the unlatching of so automatic high luminosity head lamp just is prevented from.In addition, when determining to operate in the urban district, controlled vehicle can open the urban district illumination.
Also have another situation, when pedestrian or bicycle rider occurring, may not wish to have the unlatching of automatic high luminosity.Pedestrian or bicycle rider are disturbed or harassing and wrecking from the dazzle of the high luminosity head lamp of approaching controlled vehicle probably.A kind of most important safety benefit of high luminosity head lamp is to improve range of visibility and detect the pedestrian on bigger distance.If darkening occurs in the driver of controlled vehicle and has an opportunity to see before pedestrian or the bicycle rider, just may negate the safety benefit of high luminosity head lamp for the automatic darkening of the high luminosity head lamp that adapts to pedestrian or bicycle rider so.But, in case having recognized pedestrian or bicycle rider and their position, the driver is determined, high luminosity head lamp just may be out of politeness and deepening.For simplicity, the driver and the holder that are necessary for controlled vehicle provide a switch to impel the deepening of high luminosity head lamp, and the unlatching of at least temporarily shelving automatic high luminosity head lamp, crossed the pedestrian or ridden until controlled vehicle from passerby, or until through the given time cycle.
Should be noted that any given according to automatic vehicle exterior light control system of the present invention all can be used to environment for use light algorithm, atmospheric condition detection algorithm, imageing sensor obstacle algorithm, city ride detection algorithm and pedestrian or bicycle rider detection algorithm and in conjunction with any corresponding to method discussed here or system.Should be appreciated that in addition all algorithms described herein or method all can be adopted separately constantly.There are many variables can influence the actual realization of certain embodiments and every kind of algorithm or method.
Claims (5)
1. automatic vehicle exterior light control system comprises:
Be configured to receive image and produce the controller of external lights control signal according to the appearance of the atmospheric condition of being concerned about from imageing sensor, wherein said automatic vehicle exterior light control system is characterised in that described controller also is configured to the reflection on highly reflective surface in the differentiate between images and the reflection of the atmospheric condition of being concerned about.
2. automatic vehicle exterior light control system as claimed in claim 1, wherein the atmospheric condition of being concerned about is selected from the group that comprises following option: mist, mist, snow, rain and snow, hail, rain, steam, flue dust and dust.
3. as the automatic vehicle exterior light control system of claim 1 or 2, wherein said highly reflective surface is selected from the group that comprises following option: to the road of small part humidity, be coated with the road of snow to small part, be coated with the road of ice to small part, along the surface of the snow drift of road, and the surface that is coated with the roadside of snow to small part.
4. automatic vehicle exterior light control system as claimed in claim 1, wherein said reflection is discerned by adopt at least a parameter of selecting from organize down, and this group comprises: the average gray value of at least a portion of at least one image, the overall gray level value of at least a portion of at least one image, the average gray value of at least a portion of at least one image, the pixel column position is with respect to the slope of the grey scale pixel value of at least a portion pixel in the row of one at least one image, the pixel column position is with respect to the slope of the grey scale pixel value of at least a portion pixel in the row of one at least one image, the pixel column position is with respect to the intercept of the grey scale pixel value of at least a portion pixel in the row of one at least one image, the pixel column position is with respect to the slope of the grey scale pixel value of at least a portion pixel in the row of one at least one image, determine coefficient, the parabolic type match of the average of at least a portion row pixel value at least one image, a plurality of images of different exposure time, input from the automobile tilt sensor, be applied to the low-pass filter of at least a portion of image, the vertical cut-off frequency of gradual change at least a portion pixel column at least one image, capable average gray value net increase when at least one image, moving down, the white red ratio of at least one pixel at least one pixel at least one white light image and at least one red spectral filtering image, the summation of the average gray value of the delegation at least at least one image, increase the brightness of controlled vehicle external lights and the increase of detection of reflected, at least a probability function, at least a neural network.
5. automatic vehicle exterior light control system as claimed in claim 1, wherein said controller also is configured to operate one that selects further from organize down, and this group comprises: restriction of external lights high-high brightness and external lights minimum brightness that external lights governing speed, image analysis parameters, sensitivity parameter, smog modulating signal, taillight luminance signal, field, visual field parameter, spectrum filter parameter, algorithm parameter, algorithm are opened, algorithm suppresses, carry out according to detected reflection limit.
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| US44879303P | 2003-02-21 | 2003-02-21 | |
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| US10/777,468 | 2004-02-12 |
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| CN2004800047568A Expired - Lifetime CN1751372B (en) | 2003-02-21 | 2004-02-20 | Automatic vehicle exterior light control systems |
| CNA2004800046993A Pending CN101099155A (en) | 2003-02-21 | 2004-02-23 | Equipment automatic monitoring and control systems |
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| CN2004800047568A Expired - Lifetime CN1751372B (en) | 2003-02-21 | 2004-02-20 | Automatic vehicle exterior light control systems |
| CNA2004800046993A Pending CN101099155A (en) | 2003-02-21 | 2004-02-23 | Equipment automatic monitoring and control systems |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN101099155A (en) | 2008-01-02 |
| CN1751391A (en) | 2006-03-22 |
| CN1751372A (en) | 2006-03-22 |
| CN1751372B (en) | 2012-02-01 |
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