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CN-114111765-B - Vehicle ambient object detection in dim light conditions

CN114111765BCN 114111765 BCN114111765 BCN 114111765BCN-114111765-B

Abstract

The present disclosure relates to vehicle ambient object detection in low light conditions. The present disclosure relates to a method performed by a vision control system for supporting object detection by means of at least one first image acquisition device in a vehicle-mounted backward and/or sideways direction under low light conditions in the surroundings of a moving vehicle. The vision control system acquires the surroundings behind and/or sideways of the moving vehicle with the aid of at least one first image acquisition device. The vision control system further determines lighting conditions in the surrounding environment. In addition, the vision control system provides, with the support of the at least one first light source, a light output illuminating a ground area of the surrounding environment to facilitate object detection by the at least one first image acquisition device when the lighting conditions meet the under-illumination criteria. The disclosure also relates to a vision control system according to the foregoing, a vehicle comprising such a vision control system, and a corresponding computer program product and non-transitory computer readable storage medium.

Inventors

  • Peter Hado
  • Bill Landforth

Assignees

  • 哲内提公司

Dates

Publication Date
20260505
Application Date
20210826
Priority Date
20200828

Claims (19)

  1. 1. A method performed by a vision control system (1) for supporting object detection by means of at least one first image acquisition device (3) in a vehicle-mounted backward and/or sideways direction under low light conditions in the surroundings of a moving vehicle (2), the method comprising the steps of: -acquiring (1001) the surroundings behind and/or sideways of the moving vehicle (2) with the support of the at least one first image acquisition device (3); determining (1002) a lighting condition in the surrounding environment, and Providing (1004) a light output illuminating a ground area (6) of the surrounding environment with the support of at least one first light source (5) to facilitate object detection by the at least one first image acquisition device (3) when the lighting condition fulfils an insufficient lighting criterion, wherein the providing (1004) with the support of at least one first light source (5) comprises providing with the support of at least one first light source (54, 55, 56) comprised in an entity (7) located within a predefinable distance from the vehicle (2), the providing (1004) in turn comprising providing the light output based on a request signal (8) transmitted to the entity (7) indicating the surrounding environment.
  2. 2. The method according to claim 1, wherein the entity (7) comprises an auxiliary vehicle (71) and/or an infrastructure (72).
  3. 3. The method of claim 1, further comprising the step of: -locating (1005) the vehicle (2) in view of a digital map (22) based at least partly on an object (4) detected in the ground area (6) acquired with the support of the at least one first image acquisition device (3) when providing (1004) the light output.
  4. 4. A method according to any one of claims 1 to 3, further comprising the step of: Determining (1003) a context condition; wherein the providing (1004) a light output comprises providing a light output illuminating a ground area (6) of the surrounding environment when the lighting condition meets an under-illumination criterion and when the contextual condition meets a light provision qualification criterion.
  5. 5. The method of claim 4, wherein the contextual conditions comprise object detection conditions, vehicle positioning conditions, and/or surrounding roadway user conditions.
  6. 6. The method as recited in claim 4, wherein the providing (1004) a light output includes providing a light output having one or more characteristics based on the lighting condition and/or the contextual condition.
  7. 7. The method according to claim 1, wherein the providing (1004) with support of at least one first light source (5) comprises providing with support of at least one first light source (51, 52, 53) comprised in the vehicle (2).
  8. 8. The method according to claim 7, wherein the at least one first light source (51, 52, 53) is located under and/or in a lower part of the vehicle (2).
  9. 9. A vision control system (1) for supporting object detection by means of at least one first image acquisition device (3) in a vehicle-mounted backward and/or sideways direction under low light conditions in the surroundings of a moving vehicle (2), the vision control system (1) comprising: -an ambient environment acquisition unit (101) for acquiring (1001) an ambient environment located behind and/or to the side of the moving vehicle (2) with the support of the at least one first image acquisition device (3); a lighting condition determination unit (102) for determining (1002) a lighting condition in the surrounding environment, and -A light output providing unit (104) for providing (1004) a light output illuminating a ground area (6) of the surroundings with the support of at least one first light source (5) for facilitating object detection by the at least one first image acquisition device (3), when the lighting condition fulfils an insufficient lighting criterion, wherein the light output providing unit (104) is adapted to be provided with the support of at least one first light source (54, 55, 56) comprised in an entity (7) located within a predefinable distance from the vehicle (2), the light output providing unit (104) being adapted to provide the light output based on a request signal (8) transmitted to the entity (7) indicating the surroundings.
  10. 10. The vision control system (1) according to claim 9, wherein the entity (7) comprises an auxiliary vehicle (71) and/or an infrastructure (72).
  11. 11. The vision control system (1) according to claim 9, further comprising: -a positioning unit (105) which, when providing (1004) the light output, positions (1005) the vehicle (2) in view of a digital map (22) based at least partly on an object (4) detected in the ground area (6) acquired with the support of the at least one first image acquisition device (3).
  12. 12. The vision control system (1) according to any one of claims 9 to 11, further comprising: a context condition determining unit (103) for determining (1003) a context condition; Wherein the light output providing unit (104) is adapted to provide a light output illuminating a floor area (6) of the surrounding environment when the lighting condition fulfils an insufficient lighting criterion and when the ambient condition fulfils a light provision qualification criterion.
  13. 13. The vision control system (1) according to claim 12, wherein the contextual conditions comprise object detection conditions, vehicle positioning conditions and/or surrounding road user conditions.
  14. 14. The vision control system (1) according to claim 12, wherein the light output providing unit (104) is adapted to provide a light output having one or more characteristics based on the lighting conditions and/or the contextual conditions.
  15. 15. The vision control system (1) according to claim 9, wherein the light output providing unit (104) is adapted to be provided with the support of at least one first light source (51, 52, 53) comprised in the vehicle (2).
  16. 16. The vision control system (1) according to claim 15, wherein the at least one first light source (51, 52, 53) is located in a lower part and/or below the vehicle (2).
  17. 17. A vehicle (2) comprising a vision control system (1) according to any one of claims 9-16.
  18. 18. A computer program product comprising a computer program comprising computer program code means arranged to cause a computer or processor to perform the steps of the method according to any of claims 1-8 stored on a computer readable medium or carrier wave.
  19. 19. A non-transitory computer readable storage medium having stored thereon the computer program product of claim 18.

Description

Vehicle ambient object detection in dim light conditions Technical Field The present disclosure relates to supporting object detection by at least one first on-board rearward and/or lateral image acquisition device under low light conditions of the surroundings of a vehicle. Background More and more modern vehicles have advanced driving assistance systems ADAS to improve vehicle safety and more general road safety. ADAS, which may be represented by, for example, lane departure avoidance, adaptive cruise control, ACC, collision avoidance systems, forward collision warning, etc., is an electronic system that may assist a driver of a vehicle while driving. To function as intended, an ADAS may rely on inputs from multiple data sources (such as, for example, LIDAR, radar, ultrasound, cameras, automotive imaging, image processing, computer vision, and/or in-vehicle networking). Furthermore, in the near future, autopilot systems or automated driving systems (i.e. AD systems) will be added to modern vehicles to a greater extent. AD systems are a complex combination of various components, which may be defined as systems in which the perception, decision-making and operation of a vehicle are performed by electronic devices and machinery, rather than human drivers, and may be defined as introducing automation into road traffic. This includes handling of the vehicle, destination, and awareness of the surrounding environment. While the automated system can control the vehicle, it allows a human operator to place all responsibility on the system. AD systems typically incorporate various sensors to sense the surroundings of the vehicle, such as, for example, radar, LIDAR, sonar, cameras, navigation and/or positioning systems (e.g., GNSS, such as GPS), odometers, and/or inertial measurement units from which advanced control systems may interpret sensed information to identify appropriate navigation paths and obstacles and/or related signs. To locate an ADAS or AD-enabled vehicle with high accuracy in a digital map (such as a high definition HD map), information about lane markers and other objects detected by forward, backward, and/or lateral cameras on the vehicle may be matched to the information in the digital map. However, in low light conditions, object detection by the rear and/or side cameras may be affected, although the front facing camera may be considered to work well as the road ahead may be illuminated by the vehicle's headlights. Insufficient light may lead to reduced or lost performance of object detection (e.g., lane marking detection), and thus reduced and/or negatively impacted functional usability of the ADAS or AD system. Disclosure of Invention It is therefore an object of embodiments herein to provide a method of supporting object detection in the surrounding environment behind and/or to the side of a moving vehicle in an improved and/or alternative manner under low light conditions. This object is achieved by the subject matter disclosed herein. Embodiments are set forth in the appended claims, the following description, and the drawings. The disclosed subject matter relates to a method performed by a vision control system for supporting object detection by at least one first on-board rearward and/or lateral image acquisition device in low light conditions in the surroundings of a moving vehicle. The vision control system acquires the surroundings behind and/or to the side of the moving vehicle with the aid of at least one first image acquisition device. The vision control system further determines lighting conditions in the ambient environment. Furthermore, the vision control system provides, with the support of the at least one first light source, a light output illuminating a ground area of the surrounding environment to facilitate object detection by the at least one first image acquisition device when the lighting conditions meet the under-illumination criterion. The disclosed subject matter also relates to a vision control system for-and/or adapted-supporting object detection by at least one first on-board rearward and/or lateral image acquisition device in low light conditions in the surroundings of a moving vehicle. The vision control system comprises an ambient acquisition unit for-and/or adapted-to acquire an ambient located behind and/or to the side of the moving vehicle with the support of at least one first image acquisition device. The vision control system further comprises a lighting condition determining unit for-and/or adapted-determining a lighting condition in said surrounding environment. Furthermore, the visual control system comprises a light output providing unit for-and/or adapted-providing, with the support of the at least one first light source, a light output illuminating a ground area of the surrounding environment for facilitating object detection by the at least one first image acquisition device when the lighting conditions fulfill the under-illumination criterion. Fur