Camera Device and Method for Capturing a Surrounding Region of a Vehicle in a Situation-Adapted Manner

Abstract

The invention relates to a camera device for capturing a surrounding region of an ego-vehicle. The camera device comprises an optronics system and an image capture control unit, which are configured to acquire a sequence of images of the surrounding region. The optronics system comprises a wide-angle optical system and a high-resolution image acquisition sensor. The optronics system and the image capture control unit are configured or designed to generate an image (6), the resolution of which is reduced by pixel binning, of the entire capture region of the optronics system for each image of the sequence of images or to capture a subregion (1; 2; 3; 4; 5) of the capture region of the optronics system with maximum resolution; depending on a current traffic and/or surrounding situation (current situation), either to generate a binned image (6) with reduced resolution (for example of the pixels) of the image acquisition sensor or to capture an image of an unbinned subregion (1; 2; 3; 4; 5), wherein height and width of the subregion (1; 2; 3; 4; 5) are set depending on the current situation and wherein the size of the subregion (1; 2; 3; 4; 5) is set such that the pixel count of the image of the subregion (1; 2; 3; 4; 5) is no greater than the pixel count of the reduced-resolution image (6) of the entire capture region of the optronics system.

Claims

1. A camera device for capturing a surrounding region of an ego-vehicle, the camera device comprising: an optronics system and an image capture control unit, which are configured to acquire a sequence of images of the surrounding region, wherein the optronics system comprises a wide-angle optical system and a high-resolution image acquisition sensor, and the optronics system and the image capture control unit are configured to generate an image (6), the resolution of which is reduced by pixel binning, of the entire capture region of the optronics system for each image of the sequence of images or to capture a subregion (1; 2; 3; 4; 5) of the capture region of the optronics system with maximum resolution; depending on a current traffic and/or surrounding situation, either to generate a binned image (6) with reduced resolution of the image acquisition sensor or to capture an image of an unbinned subregion (1; 2; 3; 4; 5), wherein height and width of the subregion (1; 2; 3; 4; 5) are set depending on the current situation and wherein the size of the subregion (1; 2; 3; 4; 5) is set such that the pixel count of the image of the subregion (1; 2; 3; 4; 5) is no greater than the pixel count of the reduced-resolution image (6) of the entire capture region of the optronics system.

2. The camera device according to claim 1, wherein the optronics system and the image capture control unit are configured to acquire the sequence of images in such a way that the center point (A) of each subregion (1; 2; 3; 4; 5) is identical to the center point (A) of the entire capture region (6) of the optronics system.

3. The camera device according to claim claim 1, wherein the optronics system and the image capture control unit are configured to shift the vertical position of the subregion (1; 2; 3; 4; 5) as a function of the current traffic and/or surrounding situation.

4. The camera device according to claim 3, wherein the optronics system and the image capture control unit are configured to shift the horizontal position of the subregion (1; 2; 3; 4; 5) as a function of the current traffic and/or surrounding situation.

5. The camera device according to claim 1, wherein the optronics system and the image capture control unit are configured to acquire the sequence of images so that the pixel count of the subregion (1; 2; 3; 4; 5) amounts to 2.5 megapixels at most.

6. The camera device according to claim 1 wherein the optronics system and the image capture control unit are configured to acquire the sequence of images in such a way so that the pixel count of the subregion (1; 2; 3; 4; 5) is constant during acquisition of the sequence of images of the surrounding region.

7. The camera device according to claim 1 wherein the optronics system and the image capture control unit are configured to acquire the sequence of images so that the image width and/or the image height of the subregion (1; 2; 3; 4; 5) is/are controlled by way of content recognized in at least one previous image (1; 2; 3; 4; 5; 6).

8. The camera device according to claim 7, wherein a prediction of the recognized content for the current image is taken into account for controlling the image width and/or the image height of the subregion (1; 2; 3; 4; 5).

9. The camera device according to claim 1 wherein the optronics system and the image capture control unit are configured to acquire the sequence of images so that the sequence of images of the surrounding region includes, periodically alternatingly, a reduced-resolution image (6) and a high-resolution image of a subregion (1; 2; 3; 4; 5).

10. A method of capturing a surrounding region of an ego-vehicle by an optronics system, wherein the optronics system comprises a wide-angle optical system and a high-resolution image acquisition sensor, and the method comprises acquiring a sequence of images of the surrounding region of the ego-vehicle, wherein an image (6), the resolution of which is reduced by pixel binning, of the entire capture region of the optronics system is generated for an image of the sequence of images or a subregion (1; 2; 3; 4; 5) of the capture region of the optronics system is captured with maximum resolution, wherein, depending on the current traffic and/or surrounding situation, either a binned image (6) with reduced resolution of the image acquisition sensor or an image of an unbinned subregion (1; 2; 3; 4; 5) is captured, wherein a height and a width of the subregion (1; 2; 3; 4; 5) are set depending on the current traffic and/or surrounding situation and wherein the size of the subregion (1; 2; 3; 4; 5) is set such that the pixel count of the image of the subregion (1; 2; 3; 4; 5) is no greater than the pixel count of the reduced-resolution image (6) of the entire capture region of the optronics system.

11. The camera device according to claim 1, wherein the optronics system and the image capture control unit are configured to shift the horizontal position of the subregion (1; 2; 3; 4; 5) as a function of the current traffic and/or surrounding situation.

Description

[0069] Exemplary embodiments of the invention are explained in greater detail below with reference to schematic drawings.

[0070] FIG. 1 illustrates a method which serves as a starting point: Over the timed changeover, frames (F) are acquired with the camera device: [0071] unbinned images 5 from a region with center point A (A is identical to the center point of the field of view of the camera device) with maximum resolution, half the width and height of the FoV [0072] binned images 6 at half resolution (horizontal and vertical) of the full field of view of the camera device.

[0073] FIG. 2 illustrates aspects of an exemplary embodiment of the solution, namely an adaptive ROI control unit.

[0074] The ego-vehicle (not shown) is currently driving through an urban area. In an urban area, it is important to provide and analyze regular up-to-date images of the entire capture region of the optronics system, since relevant objects, for example pedestrians, intersecting vehicles or overhead traffic lights or traffic signs, may also emerge in the peripheral regions of the field of view of the optronics system. As soon as relevant objects are detected, a maximum-resolution image of a subregion of the capture region of the optronics system may be captured, in accordance with the current situation, so that the object is recognized quickly and reliably.

[0075] If no relevant object is currently detected, a subregion such as that defined in FIG. 1 by reference sign 5 could be captured, by which more distant objects may be detected (earlier), since the subregion is captured with maximum resolution by the optronics system. For as long as no relevant object is detected, the high-resolution central sub-region 5 could for example be captured as every fourth image of the sequence of images. Alternatively, periodically alternatingly binned and unbinned images could be generated or captured.

[0076] In the situation depicted in FIG. 2, the ego-vehicle is located directly at an intersection, it being assumed, for the sake of simplicity, that the ego-vehicle is at a standstill.

[0077] A traffic light is located in the upper region of the field of view (i.e. of the capture region) of the camera device. In the right-hand region of the field of view, a second vehicle is located, which is joining the intersection from the right or will enter it in the future. Taking the approach explained with reference to FIG. 1, the image portion 3 shown with dotted lines (maximum resolution, comparable to an unbinned image 5 in FIG. 1) would be captured as an unbinned ROI. However, the full driving situation cannot be inferred from this region: the second vehicle is not included in this ROI 3 at all and only the bottommost edge of the traffic lights.

[0078] In contrast, with a situation-adapted ROI selection for example the second vehicle may be completely captured with the image portion 1 or at least in part with the image portion 2 or the traffic light may likewise be completely captured with the image portion 4.

[0079] Thus, image capture control could in this situation proceed such that a binned overview image of the full imager area is generated and analyzed as first image. In a second image, the subregion 4 is captured and analyzed unbinned, from which it may for example be inferred whether the traffic light is currently green.

[0080] In a third image, a binned overview image is again generated, in order for example to be able to detect whether the second vehicle (on the right in the image) has moved or whether a new road user has emerged on the left. If movement of an object is detected in the third image (for example by comparison with the first image), a prediction of object movement may be made for capture of the fourth image, in order to adapt the subregion to be captured in such a way that the object is fully captured in the fourth image (and with maximum resolution).

[0081] In the fourth image, the subregion 1 is captured unbinned, for example in order to confirm that the second vehicle is stationary to the right, i.e. has not moved, and if the ego-vehicle moves in a straight line there is no risk of collision with the second vehicle.

[0082] In only four images, the overall situation (or driving situation), insofar as is apparent through the capture region of the optronics system, may be completely captured and understood through the corresponding analysis of the individual binned and/or unbinned images. In this driving situation, the ego-vehicle may commence or continue its journey without risk.